environment_monitor_interface.h

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#ifndef TESSERACT_ENVIRONMENT_ENVIRONMENT_MONITOR_INTERFACE_H
#define TESSERACT_ENVIRONMENT_ENVIRONMENT_MONITOR_INTERFACE_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <vector>
#include <chrono>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_environment/commands.h>
#include <tesseract_environment/environment.h>
 
namespace tesseract_environment
{
class EnvironmentMonitorInterface
{
public:
  using Ptr = std::shared_ptr<EnvironmentMonitorInterface>;
  using ConstPtr = std::shared_ptr<const EnvironmentMonitorInterface>;
  using UPtr = std::unique_ptr<EnvironmentMonitorInterface>;
  using ConstUPtr = std::unique_ptr<const EnvironmentMonitorInterface>;
 
  EnvironmentMonitorInterface(std::string env_name) : env_name_(std::move(env_name)) {}
 
  virtual ~EnvironmentMonitorInterface() = default;
 
  virtual bool wait(std::chrono::duration<double> duration = std::chrono::seconds(0)) const = 0;
 
  virtual bool waitForNamespace(const std::string& monitor_namespace,
                                std::chrono::duration<double> duration = std::chrono::seconds(0)) const = 0;
 
  virtual void addNamespace(std::string monitor_namespace) = 0;
 
  virtual void removeNamespace(const std::string& monitor_namespace) = 0;
 
  virtual std::vector<std::string> applyCommand(const tesseract_environment::Command& command) const = 0;
  virtual std::vector<std::string> applyCommands(const tesseract_environment::Commands& commands) const = 0;
  virtual std::vector<std::string> applyCommands(const std::vector<tesseract_environment::Command>& commands) const = 0;
 
  virtual bool applyCommand(const std::string& monitor_namespace,
                            const tesseract_environment::Command& command) const = 0;
  virtual bool applyCommands(const std::string& monitor_namespace,
                             const tesseract_environment::Commands& commands) const = 0;
  virtual bool applyCommands(const std::string& monitor_namespace,
                             const std::vector<tesseract_environment::Command>& commands) const = 0;
 
  virtual tesseract_scene_graph::SceneState getEnvironmentState(const std::string& monitor_namespace) const = 0;
 
  virtual bool setEnvironmentState(const std::string& monitor_namespace,
                                   const std::unordered_map<std::string, double>& joints) const = 0;
  virtual bool setEnvironmentState(const std::string& monitor_namespace,
                                   const std::vector<std::string>& joint_names,
                                   const std::vector<double>& joint_values) const = 0;
  virtual bool setEnvironmentState(const std::string& monitor_namespace,
                                   const std::vector<std::string>& joint_names,
                                   const Eigen::Ref<const Eigen::VectorXd>& joint_values) const = 0;
 
  virtual std::vector<std::string> setEnvironmentState(const std::unordered_map<std::string, double>& joints) const = 0;
  virtual std::vector<std::string> setEnvironmentState(const std::vector<std::string>& joint_names,
                                                       const std::vector<double>& joint_values) const = 0;
  virtual std::vector<std::string> setEnvironmentState(const std::vector<std::string>& joint_names,
                                                       const Eigen::Ref<const Eigen::VectorXd>& joint_values) const = 0;
 
  virtual tesseract_environment::Environment::UPtr getEnvironment(const std::string& monitor_namespace) const = 0;
 
protected:
  std::string env_name_;
};
}  // namespace tesseract_environment
#endif  // TESSERACT_ENVIRONMENT_ENVIRONMENT_MONITOR_INTERFACE_H