TrajectoryExecutor.hpp

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#ifndef AIKIDO_CONTROL_TRAJECTORYEXECUTOR_HPP_
#define AIKIDO_CONTROL_TRAJECTORYEXECUTOR_HPP_
 
#include <chrono>
#include <future>
#include <set>
 
#include <dart/dart.hpp>
 
#include "aikido/common/pointers.hpp"
#include "aikido/control/Executor.hpp"
#include "aikido/control/util.hpp"
#include "aikido/trajectory/Trajectory.hpp"
 
namespace aikido {
namespace control {
 
AIKIDO_DECLARE_POINTERS(TrajectoryExecutor)
 
class TrajectoryExecutor : public Executor
{
public:
  TrajectoryExecutor(
      const std::vector<dart::dynamics::DegreeOfFreedom*>& dofs,
      const std::set<ExecutorType> otherTypes = std::set<ExecutorType>(),
      const std::chrono::milliseconds threadRate = defaultThreadRate)
    : Executor(
        concatenateTypes(
            std::set<ExecutorType>{ExecutorType::TRAJECTORY}, otherTypes),
        dofs,
        threadRate)
  {
  }
  virtual ~TrajectoryExecutor() = default;
 
  virtual void validate(const trajectory::Trajectory* traj) = 0;
 
  virtual std::future<void> execute(const trajectory::ConstTrajectoryPtr& traj)
      = 0;
 
  // Documentation inherited.
  virtual void step(
      const std::chrono::system_clock::time_point& timepoint) override = 0;
 
  virtual void cancel() = 0;
 
protected:
  std::set<const trajectory::Trajectory*> mValidatedTrajectories;
 
  std::chrono::system_clock::time_point mExecutionStartTime;
};
 
} // namespace control
} // namespace aikido
 
#endif