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#pragma once

#include "pilz_industrial_motion_planner/joint_limits_container.h"
#include "pilz_industrial_motion_planner/joint_limits_extension.h"

#include <ros/ros.h>

#include <moveit/planning_interface/planning_interface.h>
#include <moveit/planning_interface/planning_response.h>
#include <moveit/robot_model/joint_model.h>

#include <map>

namespace pilz_industrial_motion_planner
{
/**
 * @brief  Unifies the joint limits from the given joint models with joint
 * limits from the parameter server.
 *
 * Does not support MultiDOF joints.
 */
class JointLimitsAggregator
{
public:
  /**
   * @brief  Aggregates(combines) the joint limits from joint model and
   * parameter server.
   * The rules for the combination are:
   *   1. Position and velocity limits on the parameter server must be stricter
   * or equal if they are defined.
   *   2. Limits on the parameter server where the corresponding
   *      has_<position|velocity|acceleration|deceleration>_limits are „false“
   * are considered undefined(see point 1).
   *   3. Not all joints have to be limited by the parameter server. Selective
   * limitation is possible.
   *   4. If max_deceleration is unset, it will be set to: max_deceleration = -
   * max_acceleration.
   * @note The acceleration/deceleration can only be set via the parameter
   * server since they are not supported
   * in the urdf so far.
   * @param nh Node handle in whose namespace the joint limit parameters are
   * expected.
   * @param joint_models The joint models
   * @return Container containing the limits
   */
  static JointLimitsContainer getAggregatedLimits(const ros::NodeHandle& nh,
                                                  const std::vector<const moveit::core::JointModel*>& joint_models);

protected:
  /**
   * @brief Update the position limits with the ones from the joint_model.
   *
   * If the joint model has no position limit, the value is unchanged.
   *
   * @param joint_model The joint model
   * @param joint_limit The joint_limit to be filled with new values.
   */
  static void updatePositionLimitFromJointModel(const moveit::core::JointModel* joint_model, JointLimit& joint_limit);

  /**
   * @brief Update the velocity limit with the one from the joint_model.
   *
   * If the joint model has no velocity limit, the value is unchanged.
   *
   * @param joint_model The joint model
   * @param joint_limit The joint_limit to be filled with new values.
   */
  static void updateVelocityLimitFromJointModel(const moveit::core::JointModel* joint_model, JointLimit& joint_limit);

  /**
   * @brief Checks if the position limits from the given joint_limit are
   * stricter than the limits of the joint_model.
   * Throws AggregationBoundsViolationException on violation
   * @param joint_model The joint_model
   * @param joint_limit The joint_limit
   */
  static void checkPositionBoundsThrowing(const moveit::core::JointModel* joint_model, const JointLimit& joint_limit);

  /**
   * @brief Checks if the velocity limit from the given joint_limit are stricter
   * than the limit of the joint_model.
   * Throws AggregationBoundsViolationException on violation
   * @param joint_model The joint_model
   * @param joint_limit The joint_limit
   */
  static void checkVelocityBoundsThrowing(const moveit::core::JointModel* joint_model, const JointLimit& joint_limit);
};

/** A base class for all aggregation exceptions inheriting from std::runtime_exception */
class AggregationException : public std::runtime_error
{
public:
  AggregationException(const std::string& error_desc) : std::runtime_error(error_desc)
  {
  }
};

/** Thrown the limits from the parameter server are weaker(forbidden) than the ones defined in the urdf */
class AggregationBoundsViolationException : public AggregationException
{
public:
  AggregationBoundsViolationException(const std::string& error_desc) : AggregationException(error_desc)
  {
  }
};

}  // namespace pilz_industrial_motion_planner
