Program Listing for File basecmd.h
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#pragma once
#include <string>
#include "motioncmd.h"
namespace pilz_industrial_motion_planner_testutils
{
template <class StartType, class GoalType>
class BaseCmd : public MotionCmd
{
public:
BaseCmd() = default;
BaseCmd(const BaseCmd&) = default;
BaseCmd(BaseCmd&&) noexcept = default;
BaseCmd& operator=(const BaseCmd&) = default;
BaseCmd& operator=(BaseCmd&&) noexcept = default;
virtual ~BaseCmd() = default;
public:
planning_interface::MotionPlanRequest toRequest() const override;
void setStartConfiguration(StartType start);
void setGoalConfiguration(GoalType goal);
StartType& getStartConfiguration();
const StartType& getStartConfiguration() const;
GoalType& getGoalConfiguration();
const GoalType& getGoalConfiguration() const;
private:
virtual std::string getPlannerId() const = 0;
protected:
GoalType goal_;
StartType start_;
};
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
template <class StartType, class GoalType>
inline void BaseCmd<StartType, GoalType>::setStartConfiguration(StartType start)
{
start_ = start;
}
template <class StartType, class GoalType>
inline void BaseCmd<StartType, GoalType>::setGoalConfiguration(GoalType goal)
{
goal_ = goal;
}
template <class StartType, class GoalType>
inline StartType& BaseCmd<StartType, GoalType>::getStartConfiguration()
{
return start_;
}
template <class StartType, class GoalType>
inline const StartType& BaseCmd<StartType, GoalType>::getStartConfiguration() const
{
return start_;
}
template <class StartType, class GoalType>
inline GoalType& BaseCmd<StartType, GoalType>::getGoalConfiguration()
{
return goal_;
}
template <class StartType, class GoalType>
inline const GoalType& BaseCmd<StartType, GoalType>::getGoalConfiguration() const
{
return goal_;
}
template <class StartType, class GoalType>
planning_interface::MotionPlanRequest BaseCmd<StartType, GoalType>::toRequest() const
{
planning_interface::MotionPlanRequest req;
req.planner_id = getPlannerId();
req.group_name = planning_group_;
req.max_velocity_scaling_factor = vel_scale_;
req.max_acceleration_scaling_factor = acc_scale_;
req.start_state = start_.toMoveitMsgsRobotState();
req.goal_constraints.push_back(goal_.toGoalConstraints());
return req;
}
} // namespace pilz_industrial_motion_planner_testutils