QueuedTrajectoryExecutor.hpp

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#ifndef AIKIDO_CONTROL_QUEUEDTRAJECTORYEXECUTOR_HPP_
#define AIKIDO_CONTROL_QUEUEDTRAJECTORYEXECUTOR_HPP_
 
#include <queue>
 
#include <dart/dart.hpp>
 
#include "aikido/control/TrajectoryExecutor.hpp"
 
namespace aikido {
namespace control {
 
class QueuedTrajectoryExecutor : public TrajectoryExecutor
{
public:
  explicit QueuedTrajectoryExecutor(
      std::shared_ptr<TrajectoryExecutor> executor);
 
  virtual ~QueuedTrajectoryExecutor();
 
  // Documentation inherited.
  void validate(const trajectory::Trajectory* traj) override;
 
  std::future<void> execute(
      const trajectory::ConstTrajectoryPtr& traj) override;
 
  // Documentation inherited.
  void step(const std::chrono::system_clock::time_point& timepoint) override;
 
  void cancel() override;
 
private:
  std::shared_ptr<TrajectoryExecutor> mExecutor;
 
  bool mInProgress;
 
  std::future<void> mFuture;
 
  std::queue<trajectory::ConstTrajectoryPtr> mTrajectoryQueue;
 
  std::queue<std::shared_ptr<std::promise<void>>> mPromiseQueue;
 
  mutable std::mutex mMutex;
};
 
} // namespace control
} // namespace aikido
 
#endif // AIKIDO_CONTROL_QUEUEDTRAJECTORYEXECUTOR_HPP_