circ.h

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#pragma once
 
#include <memory>
 
#include "basecmd.h"
#include "circauxiliary.h"
 
namespace pilz_industrial_motion_planner_testutils
{
template <class StartType, class AuxiliaryType, class GoalType>
class Circ : public BaseCmd<StartType, GoalType>
{
public:
  Circ() : BaseCmd<StartType, GoalType>()
  {
  }
 
public:
  void setAuxiliaryConfiguration(AuxiliaryType auxiliary);
  AuxiliaryType& getAuxiliaryConfiguration();
  const AuxiliaryType& getAuxiliaryConfiguration() const;
 
public:
  planning_interface::MotionPlanRequest toRequest() const override;
 
private:
  std::string getPlannerId() const override;
 
private:
  AuxiliaryType auxiliary_;
};
 
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
template <class StartType, class AuxiliaryType, class GoalType>
inline void Circ<StartType, AuxiliaryType, GoalType>::setAuxiliaryConfiguration(AuxiliaryType auxiliary)
{
  auxiliary_ = auxiliary;
}
 
template <class StartType, class AuxiliaryType, class GoalType>
inline std::string Circ<StartType, AuxiliaryType, GoalType>::getPlannerId() const
{
  return "CIRC";
}
 
template <class StartType, class AuxiliaryType, class GoalType>
inline planning_interface::MotionPlanRequest Circ<StartType, AuxiliaryType, GoalType>::toRequest() const
{
  planning_interface::MotionPlanRequest req{ BaseCmd<StartType, GoalType>::toRequest() };
  req.path_constraints = auxiliary_.toPathConstraints();
 
  return req;
}
 
template <class StartType, class AuxiliaryType, class GoalType>
inline AuxiliaryType& Circ<StartType, AuxiliaryType, GoalType>::getAuxiliaryConfiguration()
{
  return auxiliary_;
}
 
template <class StartType, class AuxiliaryType, class GoalType>
inline const AuxiliaryType& Circ<StartType, AuxiliaryType, GoalType>::getAuxiliaryConfiguration() const
{
  return auxiliary_;
}
}  // namespace pilz_industrial_motion_planner_testutils