Trajectory.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rtc/gui/details/traits.h>
#include <mc_rtc/gui/elements.h>
#include <mc_rtc/gui/types.h>
 
namespace mc_rtc::gui
{
 
namespace details
{
 
template<typename GetT>
struct TrajectoryImpl : public DataElement<GetT>
{
  static constexpr auto type = Elements::Trajectory;
 
  TrajectoryImpl(const std::string & name, const LineConfig & config, GetT get_fn)
  : DataElement<GetT>(name, get_fn), config_(config)
  {
    static_assert(details::CheckReturnType<GetT, Eigen::Vector3d, sva::PTransformd, std::vector<Eigen::Vector3d>,
                                           std::vector<sva::PTransformd>>::value,
                  "Trajectory element data callback must return either an Eigen::Vector3d, an sva::PTransformd or an "
                  "std::vector of either types");
  }
 
  TrajectoryImpl() {}
 
  constexpr static size_t write_size() { return DataElement<GetT>::write_size() + LineConfig::write_size(); }
 
  void write(mc_rtc::MessagePackBuilder & builder)
  {
    DataElement<GetT>::write(builder);
    config_.write(builder);
  }
 
private:
  LineConfig config_;
};
 
} // namespace details
 
template<typename GetT>
auto Trajectory(const std::string & name, GetT get_fn)
{
  return details::TrajectoryImpl(name, {}, get_fn);
}
 
template<typename GetT>
auto Trajectory(const std::string & name, const LineConfig & config, GetT get_fn)
{
  return details::TrajectoryImpl(name, config, get_fn);
}
 
} // namespace mc_rtc::gui