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  #pragma once
  
  #include "pilz_industrial_motion_planner/joint_limits_container.h"
  #include "pilz_industrial_motion_planner/joint_limits_extension.h"
  
  namespace pilz_industrial_motion_planner
  {
  /**
   * @brief Validates the equality of all limits inside a container
   */
  class JointLimitsValidator
  {
  public:
    /**
     * @brief Validates that the position limits of all limits are equal
     * @param joint_limits the joint limits
     * @return true if all are equal
     * @note always returns true if has_position_limits=false for all limits, or
     * if the size of joint_limits is 0 or 1
     */
    static bool validateAllPositionLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
  
    /**
     * @brief Validates that the velocity of all limits is equal
     * @param joint_limits the joint limits
     * @return true if all are equal
     * @note always returns true if has_velocity_limits=false for all limits, or
     * if the size of joint_limits is 0 or 1
     */
    static bool validateAllVelocityLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
  
    /**
     * @brief Validates that the acceleration of all limits is equal
     * @param joint_limits the joint limits
     * @return true if all are equal
     * @note always returns true if has_acceleration_limits=false for all limits,
     * or if size of joint_limits is 0 or 1
     */
    static bool
    validateAllAccelerationLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
  
    /**
     * @brief Validates that the deceleration of all limits is equal
     * @param joint_limits the joint limits
     * @return true if all are equal
     * @note always returns true if has_acceleration_limits=false for all limits,
     * or if size of joint_limits is 0 or 1
     */
    static bool
    validateAllDecelerationLimitsEqual(const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
  
  private:
    static bool validateWithEqualFunc(bool (*eq_func)(const JointLimit&, const JointLimit&),
                                      const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits);
  
    static bool positionEqual(const JointLimit& lhs, const JointLimit& rhs);
  
    static bool velocityEqual(const JointLimit& lhs, const JointLimit& rhs);
  
    static bool accelerationEqual(const JointLimit& lhs, const JointLimit& rhs);
  
    static bool decelerationEqual(const JointLimit& lhs, const JointLimit& rhs);
  };
  
  /**
   * @class ValidationException
   * @brief A base class for all validations exceptions inheriting from
   * std::runtime_exception
   */
  class ValidationException : public std::runtime_error
  {
  public:
    ValidationException(const std::string& error_desc) : std::runtime_error(error_desc)
    {
    }
  };
  
  /**
   * @class ValidationJointMissingException
   * @brief Thrown the limits for a joint are defined in the urdf but not in the
   * node parameters (loaded from yaml)
   *
   */
  class ValidationJointMissingException : public ValidationException
  {
  public:
    ValidationJointMissingException(const std::string& error_desc) : ValidationException(error_desc)
    {
    }
  };
  
  /**
   * @class ValidationDifferentLimitsException
   * @brief Thrown when the limits differ
   *
   */
  class ValidationDifferentLimitsException : public ValidationException
  {
  public:
    ValidationDifferentLimitsException(const std::string& error_desc) : ValidationException(error_desc)
    {
    }
  };
  
  /**
   * @class ValidationBoundsViolationException
   * @brief Thrown when the limits from the param server are weaker than the ones
   * obtained from the urdf
   *
   */
  class ValidationBoundsViolationException : public ValidationException
  {
  public:
    ValidationBoundsViolationException(const std::string& error_desc) : ValidationException(error_desc)
    {
    }
  };
  
  }  // namespace pilz_industrial_motion_planner
  