add_trajectory_link_command.h

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#ifndef TESSERACT_ENVIRONMENT_ADD_TRAJECTORY_LINK_COMMAND_H
#define TESSERACT_ENVIRONMENT_ADD_TRAJECTORY_LINK_COMMAND_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <memory>
#include <boost/serialization/export.hpp>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_environment/command.h>
#include <tesseract_common/joint_state.h>
 
namespace boost::serialization
{
class access;
}
 
namespace tesseract_environment
{
class AddTrajectoryLinkCommand : public Command
{
public:
  using Ptr = std::shared_ptr<AddTrajectoryLinkCommand>;
  using ConstPtr = std::shared_ptr<const AddTrajectoryLinkCommand>;
 
  AddTrajectoryLinkCommand();
  AddTrajectoryLinkCommand(std::string link_name,
                           std::string parent_link_name,
                           tesseract_common::JointTrajectory trajectory,
                           bool replace_allowed = false);
 
  const std::string& getLinkName() const;
  const std::string& getParentLinkName() const;
  const tesseract_common::JointTrajectory& getTrajectory() const;
  bool replaceAllowed() const;
 
  bool operator==(const AddTrajectoryLinkCommand& rhs) const;
  bool operator!=(const AddTrajectoryLinkCommand& rhs) const;
 
private:
  std::string link_name_;
  std::string parent_link_name_;
  tesseract_common::JointTrajectory trajectory_;
  bool replace_allowed_{ false };
 
  friend class boost::serialization::access;
  friend struct tesseract_common::Serialization;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int version);  // NOLINT
};
}  // namespace tesseract_environment
 
BOOST_CLASS_EXPORT_KEY(tesseract_environment::AddTrajectoryLinkCommand)
 
#endif  // TESSERACT_ENVIRONMENT_ADD_TRAJECTORY_LINK_COMMAND_H