trajectory_recorder.h

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#ifndef _TRAJECTORY_RECORDER_H_
#define _TRAJECTORY_RECORDER_H_

#include <ros/ros.h>
#include <boost/function.hpp>

#include <trajectory_msgs/JointTrajectory.h>

namespace trajectory_execution_monitor
{

typedef boost::function<bool(   const ros::Time& time, const std::map<std::string, double>&,
                              const std::map<std::string,double>&)> NewStateCallbackFunction;

class TrajectoryRecorder {

public:

  TrajectoryRecorder(const std::string& recorder_name) : recorder_name_(recorder_name) 
  {};

  void registerCallback(const std::string& name, const NewStateCallbackFunction& callback) {
    callback_map_[name] = callback;
  };

  void deregisterCallback(const std::string& name) {
    callback_map_.erase(name);
  };

  void delayedDeregisterCallback(const std::string& name) {
    deregister_list_.push_back(name);
  }

  const std::string& getName() const {
    return recorder_name_;
  }
    
protected:

  void callCallbacks(const ros::Time& time,
                     const std::map<std::string, double>& joint_positions,
                     const std::map<std::string, double>& joint_velocities) ;
  
  std::string recorder_name_;
  std::map<std::string, NewStateCallbackFunction> callback_map_;
  std::vector<std::string> deregister_list_;

};

}

#endif