InvertedPendulumJointLimits.h

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

#include <math.h>

namespace ct {
namespace models {
namespace InvertedPendulum {

template <typename SCALAR = double>
const typename ct::rbd::JointState<1, SCALAR>::Position& jointLowerLimit()
{
    static typename ct::rbd::JointState<1, SCALAR>::Position jointLowerLimit;
    jointLowerLimit << -M_PI;

    return jointLowerLimit;
}

template <typename SCALAR = double>
const typename ct::rbd::JointState<1, SCALAR>::Position& jointUpperLimit()
{
    static typename ct::rbd::JointState<1, SCALAR>::Position jointUpperLimit;
    jointUpperLimit << M_PI;

    return jointUpperLimit;
}

template <typename SCALAR = double>
const typename ct::rbd::JointState<1, SCALAR>::Velocity& jointVelocityLimit()
{
    static typename ct::rbd::JointState<1, SCALAR>::Velocity jointVelocityLimit;
    jointVelocityLimit << 2.0;

    return jointVelocityLimit;
}

}
}
}