#pragma once
#include "Kinematics.h"

class Limits {
public:
  // Clamps a foot target into a conservative safe envelope around the leg's neutral stance.
  static FootTarget clampWorkspace(int leg_index, const FootTarget& target);

  // Rate-limits a joint angle change to the servo's real max speed.
  static float clampJointRate(float current_deg, float target_deg, float max_deg_per_sec, float dt);

  // Coarse safety check: are enough legs grounded right now to be stable.
  // A real support-polygon/center-of-mass check is a good later upgrade.
  static bool stancePolygonOk(const bool in_stance[6]);
};