ThunderAutoTrajectory.hpp

#pragma once
 
#include <ThunderLib/Trajectory/Trajectory.hpp>
#include <string>
#include <map>
 
namespace thunder {
 
class ThunderAutoProject;
 
namespace driver {
 
struct ThunderAutoTrajectoryState;
class ThunderAutoTrajectory;
 
}  // namespace driver
 
class ThunderAutoTrajectory final : public thunder::Trajectory {
 public:
  ~ThunderAutoTrajectory();
 
  ThunderAutoTrajectory(const ThunderAutoTrajectory&) = delete;
  ThunderAutoTrajectory& operator=(const ThunderAutoTrajectory&) = delete;
  ThunderAutoTrajectory(ThunderAutoTrajectory&&) noexcept = delete;
  ThunderAutoTrajectory& operator=(ThunderAutoTrajectory&&) noexcept = delete;
 
  bool isValid() const noexcept override;
 
  TrajectoryState sample(units::second_t time) const noexcept override;
 
  virtual units::second_t getDuration() const noexcept override;
 
  virtual TrajectoryState getInitialState() const noexcept override;
 
  virtual TrajectoryState getFinalState() const noexcept override;
 
  const std::string& getStartAction() const noexcept;
 
  const std::string& getEndAction() const noexcept;
 
  const std::map<units::second_t, std::string>& getStopActions() const noexcept;
 
  const std::multimap<units::second_t, std::string>& getActions() const noexcept;
 
  driver::ThunderAutoTrajectory* getHandle() noexcept;
  const driver::ThunderAutoTrajectory* getHandle() const noexcept;
 
 private:
  friend class ThunderAutoProject;
 
  // Ownership is transferred to the constructed object.
  explicit ThunderAutoTrajectory(driver::ThunderAutoTrajectory* trajectory) noexcept;
 
 private:
  driver::ThunderAutoTrajectory* m_handle = nullptr;
 
 private:
  static TrajectoryState convertState(const driver::ThunderAutoTrajectoryState& driverState) noexcept;
};
 
}  // namespace thunder