sequence.hpp

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#pragma once
 
#include <stdexcept>
#include <vector>
#include <utility>
#include <typeinfo>
 
#include <moveit_msgs/msg/motion_sequence_request.hpp>
 
#include "command_types_typedef.hpp"
#include "motioncmd.hpp"
#include <variant>
 
namespace pilz_industrial_motion_planner_testutils
{
class Sequence
{
public:
  void add(const CmdVariant& cmd, const double blend_radius = 0.);
 
  size_t size() const;
 
  template <class T>
  T& getCmd(const size_t index_cmd);
 
  template <class T>
  const T& getCmd(const size_t index_cmd) const;
 
  template <class T>
  bool cmdIsOfType(const size_t index_cmd) const;
 
  MotionCmd& getCmd(const size_t index_cmd);
 
  void setAllBlendRadiiToZero();
  void setBlendRadius(const size_t index_cmd, const double blend_radius);
  double getBlendRadius(const size_t index_cmd) const;
 
  void erase(const size_t start, const size_t end);
 
  moveit_msgs::msg::MotionSequenceRequest toRequest() const;
 
private:
  using TCmdRadiiPair = std::pair<CmdVariant, double>;
  std::vector<TCmdRadiiPair> cmds_;
};
 
inline void Sequence::add(const CmdVariant& cmd, const double blend_radius)
{
  cmds_.emplace_back(cmd, blend_radius);
}
 
inline size_t Sequence::size() const
{
  return cmds_.size();
}
 
template <class T>
inline T& Sequence::getCmd(const size_t index_cmd)
{
  return std::get<T>(cmds_.at(index_cmd).first);
}
 
template <class T>
inline const T& Sequence::getCmd(const size_t index_cmd) const
{
  return std::get<T>(cmds_.at(index_cmd).first);
}
 
inline double Sequence::getBlendRadius(const size_t index_cmd) const
{
  return cmds_.at(index_cmd).second;
}
 
inline void Sequence::setBlendRadius(const size_t index_cmd, const double blend_radius)
{
  cmds_.at(index_cmd).second = blend_radius;
}
 
inline void Sequence::setAllBlendRadiiToZero()
{
  std::for_each(cmds_.begin(), cmds_.end(), [](TCmdRadiiPair& cmd) { cmd.second = 0.; });
}
 
template <class T>
inline bool Sequence::cmdIsOfType(const size_t index_cmd) const
{
  return std::holds_alternative<T>(cmds_.at(index_cmd).first);
}
}  // namespace pilz_industrial_motion_planner_testutils