trajectory_player.h

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#ifndef TESSERACT_VISUALIZATION_TRAJECTORY_PLAYER_H
#define TESSERACT_VISUALIZATION_TRAJECTORY_PLAYER_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <chrono>
#include <memory>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_common/fwd.h>
 
namespace tesseract_visualization
{
class TrajectoryInterpolator;
 
class TrajectoryPlayer
{
public:
  TrajectoryPlayer();
  ~TrajectoryPlayer();
  TrajectoryPlayer(const TrajectoryPlayer&) = delete;
  TrajectoryPlayer& operator=(const TrajectoryPlayer&) = delete;
  TrajectoryPlayer(TrajectoryPlayer&&) = default;
  TrajectoryPlayer& operator=(TrajectoryPlayer&&) = default;
 
  void setTrajectory(const tesseract_common::JointTrajectory& trajectory);
 
  void setScale(double scale);
 
  tesseract_common::JointState setCurrentDurationByIndex(long index);
 
  tesseract_common::JointState setCurrentDuration(double duration);
 
  tesseract_common::JointState getNext();
 
  tesseract_common::JointState getByIndex(long index) const;
 
  double currentDuration() const;
 
  double trajectoryDurationBegin() const;
 
  double trajectoryDurationEnd() const;
 
  bool isFinished() const;
 
  void enableLoop(bool loop);
 
  bool isLoopEnabled() const;
 
  void reset();
 
  long size() const;
 
private:
  std::unique_ptr<TrajectoryInterpolator> trajectory_{ nullptr };
  double trajectory_duration_start_{ 0 };
  double trajectory_duration_end_{ 0 };
  double current_duration_{ 0 };
  double scale_{ 1 };
  bool loop_{ false };
  bool finished_{ false };
 
  std::chrono::time_point<std::chrono::high_resolution_clock> start_time_;
};
 
}  // namespace tesseract_visualization
 
#endif  // TESSERACT_VISUALIZATION_TRAJECTORY_PLAYER_H