KinematicSimulationTrajectoryExecutor.hpp

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#ifndef AIKIDO_CONTROL_KINEMATICSIMULATIONTRAJECTORYEXECUTOR_HPP_
#define AIKIDO_CONTROL_KINEMATICSIMULATIONTRAJECTORYEXECUTOR_HPP_
 
#include <future>
#include <mutex>
 
#include <dart/dynamics/Skeleton.hpp>
 
#include "aikido/control/TrajectoryExecutor.hpp"
#include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
#include "aikido/trajectory/Trajectory.hpp"
 
namespace aikido {
namespace control {
 
class KinematicSimulationTrajectoryExecutor : public TrajectoryExecutor
{
public:
  explicit KinematicSimulationTrajectoryExecutor(
      ::dart::dynamics::SkeletonPtr skeleton);
 
  virtual ~KinematicSimulationTrajectoryExecutor();
 
  // Documentation inherited.
  void validate(const trajectory::Trajectory* traj) override;
 
  std::future<void> execute(
      const trajectory::ConstTrajectoryPtr& traj) override;
 
  void step(const std::chrono::system_clock::time_point& timepoint) override;
 
  void cancel() override;
 
private:
  ::dart::dynamics::SkeletonPtr mSkeleton;
 
  trajectory::ConstTrajectoryPtr mTraj;
 
  statespace::dart::ConstMetaSkeletonStateSpacePtr mStateSpace;
 
  ::dart::dynamics::MetaSkeletonPtr mMetaSkeleton;
 
  bool mInProgress;
 
  std::unique_ptr<std::promise<void>> mPromise;
 
  mutable std::mutex mMutex;
};
 
} // namespace control
} // namespace aikido
 
#endif