sequence.h
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34 
35 #ifndef SEQUENCE_H
36 #define SEQUENCE_H
37 
38 #include <stdexcept>
39 #include <vector>
40 #include <utility>
41 #include <typeinfo>
42 
43 #include <moveit_msgs/MotionSequenceRequest.h>
44 
45 #include "command_types_typedef.h"
46 #include "motioncmd.h"
47 
49 {
53 class Sequence
54 {
55 public:
60  void add(const CmdVariant& cmd, const double blend_radius = 0.);
61 
65  size_t size() const;
66 
67  template <class T>
68  T& getCmd(const size_t index_cmd);
69 
70  template <class T>
71  const T& getCmd(const size_t index_cmd) const;
72 
77  template <class T>
78  bool cmdIsOfType(const size_t index_cmd) const;
79 
85  MotionCmd& getCmd(const size_t index_cmd);
86 
88  void setBlendRadius(const size_t index_cmd, const double blend_radius);
89  double getBlendRadius(const size_t index_cmd) const;
90 
94  void erase(const size_t start, const size_t end);
95 
96  moveit_msgs::MotionSequenceRequest toRequest() const;
97 
98 private:
99  using TCmdRadiiPair = std::pair<CmdVariant, double>;
100  std::vector<TCmdRadiiPair> cmds_;
101 };
102 
103 inline void Sequence::add(const CmdVariant& cmd, const double blend_radius)
104 {
105  cmds_.emplace_back(cmd, blend_radius);
106 }
107 
108 inline size_t Sequence::size() const
109 {
110  return cmds_.size();
111 }
112 
113 template <class T>
114 inline T& Sequence::getCmd(const size_t index_cmd)
115 {
116  return boost::get<T>(cmds_.at(index_cmd).first);
117 }
118 
119 template <class T>
120 inline const T& Sequence::getCmd(const size_t index_cmd) const
121 {
122  return boost::get<T>(cmds_.at(index_cmd).first);
123 }
124 
125 inline double Sequence::getBlendRadius(const size_t index_cmd) const
126 {
127  return cmds_.at(index_cmd).second;
128 }
129 
130 inline void Sequence::setBlendRadius(const size_t index_cmd, const double blend_radius)
131 {
132  cmds_.at(index_cmd).second = blend_radius;
133 }
134 
136 {
137  std::for_each(cmds_.begin(), cmds_.end(), [](TCmdRadiiPair& cmd) { cmd.second = 0.; });
138 }
139 
140 template <class T>
141 inline bool Sequence::cmdIsOfType(const size_t index_cmd) const
142 {
143  return cmds_.at(index_cmd).first.type() == typeid(T);
144 }
145 } // namespace pilz_industrial_motion_planner_testutils
146 
147 #endif // SEQUENCE_H
pilz_industrial_motion_planner_testutils::MotionCmd
Base class for commands storing all general information of a command.
Definition: motioncmd.h:80
pilz_industrial_motion_planner_testutils::Sequence::toRequest
moveit_msgs::MotionSequenceRequest toRequest() const
Definition: sequence.cpp:100
pilz_industrial_motion_planner_testutils::Sequence::size
size_t size() const
Returns the number of commands.
Definition: sequence.h:140
motioncmd.h
pilz_industrial_motion_planner_testutils
Definition: basecmd.h:42
pilz_industrial_motion_planner_testutils::Sequence::cmdIsOfType
bool cmdIsOfType(const size_t index_cmd) const
Definition: sequence.h:173
pilz_industrial_motion_planner_testutils::Sequence::getCmd
T & getCmd(const size_t index_cmd)
Definition: sequence.h:146
pilz_industrial_motion_planner_testutils::CmdVariant
boost::variant< PtpJoint, PtpJointCart, PtpCart, LinJoint, LinCart, CircCenterCart, CircInterimCart, CircJointCenterCart, CircJointInterimCart, Gripper > CmdVariant
Definition: command_types_typedef.h:98
pilz_industrial_motion_planner_testutils::Sequence::setAllBlendRadiiToZero
void setAllBlendRadiiToZero()
Definition: sequence.h:167
pilz_industrial_motion_planner_testutils::Sequence::setBlendRadius
void setBlendRadius(const size_t index_cmd, const double blend_radius)
Definition: sequence.h:162
pilz_industrial_motion_planner_testutils::Sequence::erase
void erase(const size_t start, const size_t end)
Deletes all commands from index 'start' to index 'end'.
Definition: sequence.cpp:127
pilz_industrial_motion_planner_testutils::Sequence::add
void add(const CmdVariant &cmd, const double blend_radius=0.)
Adds a command to the end of the sequence.
Definition: sequence.h:135
command_types_typedef.h
pilz_industrial_motion_planner_testutils::Sequence::TCmdRadiiPair
std::pair< CmdVariant, double > TCmdRadiiPair
Definition: sequence.h:163
cmd
string cmd
pilz_industrial_motion_planner_testutils::Sequence::cmds_
std::vector< TCmdRadiiPair > cmds_
Definition: sequence.h:164
pilz_industrial_motion_planner_testutils::Sequence::getBlendRadius
double getBlendRadius(const size_t index_cmd) const
Definition: sequence.h:157


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