basecmd.hpp

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#pragma once
 
#include <string>
 
#include "motioncmd.hpp"
 
namespace pilz_industrial_motion_planner_testutils
{
template <class StartType, class GoalType>
class BaseCmd : public MotionCmd
{
public:
  BaseCmd() = default;
  BaseCmd(const BaseCmd&) = default;
  BaseCmd(BaseCmd&&) noexcept = default;
  BaseCmd& operator=(const BaseCmd&) = default;
  BaseCmd& operator=(BaseCmd&&) noexcept = default;
  virtual ~BaseCmd() = default;
 
public:
  planning_interface::MotionPlanRequest toRequest() const override;
 
  void setStartConfiguration(StartType start);
  void setGoalConfiguration(GoalType goal);
 
  StartType& getStartConfiguration();
  const StartType& getStartConfiguration() const;
 
  GoalType& getGoalConfiguration();
  const GoalType& getGoalConfiguration() const;
 
private:
  virtual std::string getPlannerId() const = 0;
 
protected:
  GoalType goal_;
  StartType start_;
};
 
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
template <class StartType, class GoalType>
inline void BaseCmd<StartType, GoalType>::setStartConfiguration(StartType start)
{
  start_ = start;
}
 
template <class StartType, class GoalType>
inline void BaseCmd<StartType, GoalType>::setGoalConfiguration(GoalType goal)
{
  goal_ = goal;
}
 
template <class StartType, class GoalType>
inline StartType& BaseCmd<StartType, GoalType>::getStartConfiguration()
{
  return start_;
}
 
template <class StartType, class GoalType>
inline const StartType& BaseCmd<StartType, GoalType>::getStartConfiguration() const
{
  return start_;
}
 
template <class StartType, class GoalType>
inline GoalType& BaseCmd<StartType, GoalType>::getGoalConfiguration()
{
  return goal_;
}
 
template <class StartType, class GoalType>
inline const GoalType& BaseCmd<StartType, GoalType>::getGoalConfiguration() const
{
  return goal_;
}
 
template <class StartType, class GoalType>
planning_interface::MotionPlanRequest BaseCmd<StartType, GoalType>::toRequest() const
{
  planning_interface::MotionPlanRequest req;
  req.planner_id = getPlannerId();
  req.group_name = planning_group_;
 
  req.max_velocity_scaling_factor = vel_scale_;
  req.max_acceleration_scaling_factor = acc_scale_;
 
  req.start_state = start_.toMoveitMsgsRobotState();
  req.goal_constraints.push_back(goal_.toGoalConstraints());
 
  return req;
}
}  // namespace pilz_industrial_motion_planner_testutils