Program Listing for File types.hpp

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// Copyright (c) 2023 PAL Robotics S.L. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef PLAY_MOTION2__TYPES_HPP_
#define PLAY_MOTION2__TYPES_HPP_

#include <map>
#include <string>
#include <vector>

#include "trajectory_msgs/msg/joint_trajectory_point.hpp"

namespace play_motion2
{

using MotionKeys = std::vector<std::string>;
using JointNames = std::vector<std::string>;
using MotionPositions = std::vector<double>;
using MotionTimes = std::vector<double>;
using TrajectoryPoint = trajectory_msgs::msg::JointTrajectoryPoint;
using Trajectory = std::vector<TrajectoryPoint>;

struct MotionInfo
{
  std::string key;

  // meta
  std::string name;
  std::string usage;
  std::string description;

  // info
  JointNames joints;
  MotionPositions positions;
  MotionTimes times;
};

using MotionsMap = std::map<std::string, MotionInfo>;

struct Result
{
  enum State
  {
    INVALID = 0,
    SUCCESS = 1,
    ERROR = 2,
    CANCELED = 3
  };

  State state;
  std::string error;

  explicit Result(const State st = INVALID, const std::string & error_str = "")
  : state(st), error(error_str) {}
};

}  // namespace play_motion2

#endif  // PLAY_MOTION2__TYPES_HPP_