testdata_loader.hpp

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#pragma once
 
#include <string>
#include <utility>
 
#include <moveit/robot_model/robot_model.hpp>
 
#include "jointconfiguration.hpp"
#include "cartesianconfiguration.hpp"
#include "command_types_typedef.hpp"
#include "sequence.hpp"
#include "gripper.hpp"
 
namespace pilz_industrial_motion_planner_testutils
{
class TestdataLoader
{
public:
  TestdataLoader() = default;
 
  TestdataLoader(moveit::core::RobotModelConstPtr robot_model) : robot_model_(std::move(robot_model))
  {
  }
 
  TestdataLoader(const TestdataLoader&) = default;
  TestdataLoader(TestdataLoader&&) = default;
  TestdataLoader& operator=(const TestdataLoader&) = default;
  TestdataLoader& operator=(TestdataLoader&&) = default;
  virtual ~TestdataLoader() = default;
 
public:
  void setRobotModel(moveit::core::RobotModelConstPtr robot_model);
 
  virtual JointConfiguration getJoints(const std::string& pos_name, const std::string& group_name) const = 0;
 
  virtual CartesianConfiguration getPose(const std::string& pos_name, const std::string& group_name) const = 0;

  virtual PtpJoint getPtpJoint(const std::string& cmd_name) const = 0;
  virtual PtpCart getPtpCart(const std::string& cmd_name) const = 0;
  virtual PtpJointCart getPtpJointCart(const std::string& cmd_name) const = 0;

  virtual LinJoint getLinJoint(const std::string& cmd_name) const = 0;
  virtual LinCart getLinCart(const std::string& cmd_name) const = 0;
  virtual LinJointCart getLinJointCart(const std::string& cmd_name) const = 0;

  virtual CircCenterCart getCircCartCenterCart(const std::string& cmd_name) const = 0;
  virtual CircJointCenterCart getCircJointCenterCart(const std::string& cmd_name) const = 0;
  virtual CircInterimCart getCircCartInterimCart(const std::string& cmd_name) const = 0;
  virtual CircJointInterimCart getCircJointInterimCart(const std::string& cmd_name) const = 0;

  virtual Sequence getSequence(const std::string& cmd_name) const = 0;

  virtual Gripper getGripper(const std::string& cmd_name) const = 0;
 
protected:
  moveit::core::RobotModelConstPtr robot_model_;
};
 
inline void TestdataLoader::setRobotModel(moveit::core::RobotModelConstPtr robot_model)
{
  robot_model_ = std::move(robot_model);
}
 
using TestdataLoaderUPtr = std::unique_ptr<TestdataLoader>;
}  // namespace pilz_industrial_motion_planner_testutils