Program Listing for File sequence.h
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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.h"
#include "motioncmd.h"
#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