reaction.hpp

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#pragma once
 
#include <cmath>
#include <iostream>
#include <functional>
#include <memory>
#include <optional>
 
#include <movex/robot/measure.hpp>
 
 
namespace movex {
 
class WaypointMotion;
 
struct Reaction {
    using WaypointAction = std::function<WaypointMotion(const RobotState<7>&, double)>;
    std::optional<WaypointAction> waypoint_action;
    std::optional<std::shared_ptr<WaypointMotion>> waypoint_motion;
 
    Condition condition;
    bool has_fired {false};
 
    explicit Reaction(Condition::CallbackType callback): condition(callback) { }
    explicit Reaction(Condition::CallbackType callback, std::optional<std::shared_ptr<WaypointMotion>> waypoint_motion): condition(callback), waypoint_motion(waypoint_motion) { }
    explicit Reaction(Condition::CallbackType callback, std::optional<WaypointAction> waypoint_action): condition(callback), waypoint_action(waypoint_action) { }
 
    explicit Reaction(Condition condition): condition(condition) { }
    explicit Reaction(Condition condition, std::optional<std::shared_ptr<WaypointMotion>> waypoint_motion): condition(condition), waypoint_motion(waypoint_motion) { }
    explicit Reaction(Condition condition, std::optional<WaypointAction> waypoint_action): condition(condition), waypoint_action(waypoint_action) { }
};
 
} // namespace movex