events.h

Go to the documentation of this file.

 
#ifndef TESSERACT_ENVIRONMENT_EVENTS_H
#define TESSERACT_ENVIRONMENT_EVENTS_H
#include <tesseract_environment/command.h>
#include <tesseract_scene_graph/scene_state.h>
 
namespace tesseract_environment
{
enum class Events
{
  COMMAND_APPLIED = 0,
  SCENE_STATE_CHANGED = 1
};
 
struct Event
{
  Event(Events type) : type(type) {}
  virtual ~Event() = default;
 
  const Events type;
};
 
struct CommandAppliedEvent : public Event
{
  CommandAppliedEvent(const Commands& commands, int revision)
    : Event(Events::COMMAND_APPLIED), commands(commands), revision(revision)
  {
  }
 
  const Commands& commands;
  int revision;
};
 
struct SceneStateChangedEvent : public Event
{
  SceneStateChangedEvent(const tesseract_scene_graph::SceneState& state)
    : Event(Events::SCENE_STATE_CHANGED), state(state)
  {
  }
 
  const tesseract_scene_graph::SceneState& state;
};
 
using EventCallbackFn = std::function<void(const Event& event)>;
}  // namespace tesseract_environment
 
#endif  // TESSERACT_ENVIRONMENT_EVENTS_H