Program Listing for File testdata_loader.h
↰ Return to documentation for file (include/pilz_industrial_motion_planner_testutils/testdata_loader.h
)
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2018 Pilz GmbH & Co. KG
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Pilz GmbH & Co. KG nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#pragma once
#include <string>
#include <utility>
#include <moveit/robot_model/robot_model.h>
#include "jointconfiguration.h"
#include "cartesianconfiguration.h"
#include "command_types_typedef.h"
#include "sequence.h"
#include "gripper.h"
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