constrained_segment.h

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//
// Created by yijiangh on 4/10/18.
//

#ifndef FRAMEFAB_MPP_CONSTRAINED_SEGMENT_H
#define FRAMEFAB_MPP_CONSTRAINED_SEGMENT_H

#include <moveit/planning_scene/planning_scene.h>
#include <Eigen/Geometry>
#include <vector>

namespace descartes_planner
{

struct ConstrainedSegment
{
  enum PROCESS_TYPE
  {
    CREATE,
    CONNECT,
    SUPPORT
  };

  Eigen::Vector3d start, end; 
  std::vector<Eigen::Matrix3d> orientations; 
  double linear_disc; 
  double linear_vel; 
  // TODO: spatial extrusion specific
  double z_axis_disc; 
  double retract_dist;
  PROCESS_TYPE process_type; 
};

struct ConstrainedSegmentPickNPlace
{
  std::vector<std::vector<Eigen::Vector3d>> path_pts;
  std::vector<std::vector<Eigen::Matrix3d>> orientations;
  std::vector<planning_scene::PlanningScenePtr> planning_scenes;

  double linear_disc; 
  double linear_vel; 
};

}

#endif //FRAMEFAB_MPP_CONSTRAINED_SEGMENT_H