motion_waypoint.hpp

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#pragma once
 
#include <atomic>
#include <optional>
 
#include <affx/affine.hpp>
#include <movex/waypoint.hpp>
 
 
namespace movex {
 
struct WaypointMotion {
    using Affine = affx::Affine;
 
    bool reload {false};
    bool return_when_finished {true};
 
    std::vector<Waypoint> waypoints;
 
    explicit WaypointMotion() {}
    explicit WaypointMotion(const std::vector<Waypoint>& waypoints): waypoints(waypoints) {}
    explicit WaypointMotion(const std::vector<Waypoint>& waypoints, bool return_when_finished): waypoints(waypoints), return_when_finished(return_when_finished) {}
 
    void setNextWaypoint(const Waypoint& waypoint) {
        waypoints = { waypoint };
        reload = true;
    }
 
    void setNextWaypoints(const std::vector<Waypoint>& waypoints) {
        this->waypoints = waypoints;
        reload = true;
    }
 
    void finish() {
        return_when_finished = true;
        reload = true;
    }
};
 
 
struct LinearMotion: public WaypointMotion {
    explicit LinearMotion(const Affine& target): WaypointMotion({ Waypoint(target) }) { }
    explicit LinearMotion(const Affine& target, double elbow): WaypointMotion({ Waypoint(target, elbow) }) { }
};
 
 
struct LinearRelativeMotion: public WaypointMotion {
    explicit LinearRelativeMotion(const Affine& affine): WaypointMotion({ Waypoint(affine, Waypoint::ReferenceType::Relative) }) { }
    explicit LinearRelativeMotion(const Affine& affine, double elbow): WaypointMotion({ Waypoint(affine, elbow, Waypoint::ReferenceType::Relative) }) { }
    explicit LinearRelativeMotion(const Affine& affine, double elbow, double dynamic_rel): WaypointMotion({ Waypoint(affine, elbow, Waypoint::ReferenceType::Relative, dynamic_rel) }) { }
};
 
 
struct StopMotion: public WaypointMotion {
    explicit StopMotion(): WaypointMotion() {
        Waypoint stop_waypoint(Affine(), 0.0, Waypoint::ReferenceType::Relative);
        stop_waypoint.max_dynamics = true;
        waypoints = { stop_waypoint };
    }
 
    explicit StopMotion(const Affine& affine): WaypointMotion() {
        Waypoint stop_waypoint(affine, Waypoint::ReferenceType::Relative);
        stop_waypoint.max_dynamics = true;
        waypoints = { stop_waypoint };
    }
 
    explicit StopMotion(const Affine& affine, double elbow): WaypointMotion() {
        Waypoint stop_waypoint(affine, elbow, Waypoint::ReferenceType::Relative);
        stop_waypoint.max_dynamics = true;
        waypoints = { stop_waypoint };
    }
};
 
 
struct PositionHold: public WaypointMotion {
    explicit PositionHold(double duration): WaypointMotion({ Waypoint(duration) }) { }
};
 
} // namespace movex