circauxiliary.h

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#pragma once
 
#include <string>
 
#include <moveit_msgs/msg/constraints.hpp>
 
namespace pilz_industrial_motion_planner_testutils
{
template <class ConfigType, class BuilderType>
class CircAuxiliary
{
public:
  void setConfiguration(const ConfigType& auxiliary_config);
  ConfigType& getConfiguration();
  const ConfigType& getConfiguration() const;
 
public:
  moveit_msgs::msg::Constraints toPathConstraints() const;
 
private:
  virtual std::string getConstraintName() const = 0;
 
protected:
  ConfigType auxiliary_config_;
};
 
template <class ConfigType, class BuilderType>
void CircAuxiliary<ConfigType, BuilderType>::setConfiguration(const ConfigType& auxiliary_config)
{
  auxiliary_config_ = auxiliary_config;
}
 
template <class ConfigType, class BuilderType>
inline ConfigType& CircAuxiliary<ConfigType, BuilderType>::getConfiguration()
{
  return auxiliary_config_;
}
 
template <class ConfigType, class BuilderType>
inline const ConfigType& CircAuxiliary<ConfigType, BuilderType>::getConfiguration() const
{
  return auxiliary_config_;
}
 
template <class ConfigType, class BuilderType>
inline moveit_msgs::msg::Constraints CircAuxiliary<ConfigType, BuilderType>::toPathConstraints() const
{
  return BuilderType().setConstraintName(getConstraintName()).setConfiguration(getConfiguration()).toPathConstraints();
}
}  // namespace pilz_industrial_motion_planner_testutils