trajectory_player.h

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#ifndef TESSERACT_VISUALIZATION_TRAJECTORY_PLAYER_H
#define TESSERACT_VISUALIZATION_TRAJECTORY_PLAYER_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <chrono>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_visualization/trajectory_interpolator.h>
 
namespace tesseract_visualization
{
class TrajectoryPlayer
{
public:
  TrajectoryPlayer() = default;
 
  void setTrajectory(const tesseract_common::JointTrajectory& trajectory);
 
  void setScale(double scale);
 
  tesseract_common::JointState setCurrentDurationByIndex(long index);
 
  tesseract_common::JointState setCurrentDuration(double duration);
 
  tesseract_common::JointState getNext();
 
  tesseract_common::JointState getByIndex(long index) const;
 
  double currentDuration() const;
 
  double trajectoryDuration() const;
 
  bool isFinished() const;
 
  void enableLoop(bool loop);
 
  bool isLoopEnabled() const;
 
  void reset();
 
  long size() const;
 
private:
  TrajectoryInterpolator::UPtr trajectory_{ nullptr };
  double trajectory_duration_{ 0 };
  double current_duration_{ 0 };
  double scale_{ 1 };
  bool loop_{ false };
  bool finished_{ false };
 
  std::chrono::time_point<std::chrono::high_resolution_clock> start_time_;
};
 
}  // namespace tesseract_visualization
 
#endif  // TESSERACT_VISUALIZATION_TRAJECTORY_PLAYER_H