Program Listing for File 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