circauxiliary.h
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34 
35 #ifndef CIRCAUXILIARY_H
36 #define CIRCAUXILIARY_H
37 
38 #include <string>
39 
40 #include <moveit_msgs/Constraints.h>
41 
43 {
48 template <class ConfigType, class BuilderType>
49 class CircAuxiliary
50 {
51 public:
52  void setConfiguration(const ConfigType& auxiliary_config);
53  ConfigType& getConfiguration();
54  const ConfigType& getConfiguration() const;
55 
56 public:
57  moveit_msgs::Constraints toPathConstraints() const;
58 
59 private:
60  virtual std::string getConstraintName() const = 0;
61 
62 protected:
63  ConfigType auxiliary_config_;
64 };
65 
66 template <class ConfigType, class BuilderType>
67 void CircAuxiliary<ConfigType, BuilderType>::setConfiguration(const ConfigType& auxiliary_config)
68 {
69  auxiliary_config_ = auxiliary_config;
70 }
71 
72 template <class ConfigType, class BuilderType>
74 {
75  return auxiliary_config_;
76 }
77 
78 template <class ConfigType, class BuilderType>
79 inline const ConfigType& CircAuxiliary<ConfigType, BuilderType>::getConfiguration() const
80 {
81  return auxiliary_config_;
82 }
83 
84 template <class ConfigType, class BuilderType>
85 inline moveit_msgs::Constraints CircAuxiliary<ConfigType, BuilderType>::toPathConstraints() const
86 {
87  return BuilderType().setConstraintName(getConstraintName()).setConfiguration(getConfiguration()).toPathConstraints();
88 }
89 } // namespace pilz_industrial_motion_planner_testutils
90 
91 #endif // CIRCAUXILIARY_H
pilz_industrial_motion_planner_testutils::CircAuxiliary::setConfiguration
void setConfiguration(const ConfigType &auxiliary_config)
Definition: circauxiliary.h:99
pilz_industrial_motion_planner_testutils::CircAuxiliary::toPathConstraints
moveit_msgs::Constraints toPathConstraints() const
Definition: circauxiliary.h:117
pilz_industrial_motion_planner_testutils::CircAuxiliary::getConfiguration
ConfigType & getConfiguration()
Definition: circauxiliary.h:105
pilz_industrial_motion_planner_testutils::CircAuxiliary::auxiliary_config_
ConfigType auxiliary_config_
Definition: circauxiliary.h:127
pilz_industrial_motion_planner_testutils
Definition: basecmd.h:42
pilz_industrial_motion_planner_testutils::CircAuxiliary::getConstraintName
virtual std::string getConstraintName() const =0


pilz_industrial_motion_planner_testutils
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autogenerated on Sat May 3 2025 02:28:27