environment_monitor_interface.h

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#ifndef TESSERACT_ENVIRONMENT_ENVIRONMENT_MONITOR_INTERFACE_H
#define TESSERACT_ENVIRONMENT_ENVIRONMENT_MONITOR_INTERFACE_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <vector>
#include <chrono>
#include <memory>
#include <unordered_map>
#include <Eigen/Core>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_scene_graph/fwd.h>
#include <tesseract_common/eigen_types.h>
 
namespace tesseract_environment
{
class Command;
class Environment;
 
class EnvironmentMonitorInterface
{
public:
  using Ptr = std::shared_ptr<EnvironmentMonitorInterface>;
  using ConstPtr = std::shared_ptr<const EnvironmentMonitorInterface>;
  using UPtr = std::unique_ptr<EnvironmentMonitorInterface>;
  using ConstUPtr = std::unique_ptr<const EnvironmentMonitorInterface>;
 
  explicit EnvironmentMonitorInterface(std::string env_name);
  virtual ~EnvironmentMonitorInterface() = default;
  EnvironmentMonitorInterface(const EnvironmentMonitorInterface&) = default;
  EnvironmentMonitorInterface& operator=(const EnvironmentMonitorInterface&) = default;
  EnvironmentMonitorInterface(EnvironmentMonitorInterface&&) = default;
  EnvironmentMonitorInterface& operator=(EnvironmentMonitorInterface&&) = default;
 
  virtual bool wait(std::chrono::duration<double> duration = std::chrono::seconds(0)) const = 0;
 
  virtual bool waitForNamespace(const std::string& monitor_namespace,
                                std::chrono::duration<double> duration = std::chrono::seconds(0)) const = 0;
 
  virtual void addNamespace(std::string monitor_namespace) = 0;
 
  virtual void removeNamespace(const std::string& monitor_namespace) = 0;
 
  virtual std::vector<std::string> applyCommand(const Command& command) const = 0;
  virtual std::vector<std::string> applyCommands(const std::vector<std::shared_ptr<const Command>>& commands) const = 0;
  virtual std::vector<std::string> applyCommands(const std::vector<Command>& commands) const = 0;
 
  virtual bool applyCommand(const std::string& monitor_namespace, const Command& command) const = 0;
  virtual bool applyCommands(const std::string& monitor_namespace,
                             const std::vector<std::shared_ptr<const Command>>& commands) const = 0;
  virtual bool applyCommands(const std::string& monitor_namespace, const std::vector<Command>& commands) const = 0;
 
  virtual tesseract_scene_graph::SceneState getEnvironmentState(const std::string& monitor_namespace) const = 0;
 
  virtual bool setEnvironmentState(const std::string& monitor_namespace,
                                   const std::unordered_map<std::string, double>& joints,
                                   const tesseract_common::TransformMap& floating_joints = {}) const = 0;
  virtual bool setEnvironmentState(const std::string& monitor_namespace,
                                   const std::vector<std::string>& joint_names,
                                   const std::vector<double>& joint_values,
                                   const tesseract_common::TransformMap& floating_joints = {}) const = 0;
  virtual bool setEnvironmentState(const std::string& monitor_namespace,
                                   const std::vector<std::string>& joint_names,
                                   const Eigen::Ref<const Eigen::VectorXd>& joint_values,
                                   const tesseract_common::TransformMap& floating_joints = {}) const = 0;
  virtual bool setEnvironmentState(const std::string& monitor_namespace,
                                   const tesseract_common::TransformMap& floating_joints) const = 0;
 
  virtual std::vector<std::string>
  setEnvironmentState(const std::unordered_map<std::string, double>& joints,
                      const tesseract_common::TransformMap& floating_joints = {}) const = 0;
  virtual std::vector<std::string>
  setEnvironmentState(const std::vector<std::string>& joint_names,
                      const std::vector<double>& joint_values,
                      const tesseract_common::TransformMap& floating_joints = {}) const = 0;
  virtual std::vector<std::string>
  setEnvironmentState(const std::vector<std::string>& joint_names,
                      const Eigen::Ref<const Eigen::VectorXd>& joint_values,
                      const tesseract_common::TransformMap& floating_joints = {}) const = 0;
  virtual std::vector<std::string>
  setEnvironmentState(const tesseract_common::TransformMap& floating_joints = {}) const = 0;
 
  virtual std::unique_ptr<Environment> getEnvironment(const std::string& monitor_namespace) const = 0;
 
protected:
  std::string env_name_;
};
}  // namespace tesseract_environment
#endif  // TESSERACT_ENVIRONMENT_ENVIRONMENT_MONITOR_INTERFACE_H