EncircleTrajectoryFactory.h

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#ifndef ENCIRCLE_TRAJECTORY_FACTORY_H
#define ENCIRCLE_TRAJECTORY_FACTORY_H
 
#include <trajectory/Trajectory6DOFLimits.h>
#include <trajectory/factory/TrajectoryFactoryInterface.h>
 
#include <bb_controls_msgs/srv/encircle_traj.hpp>
#include <memory>
#include <string>
 
class EncircleTrajectoryFactory : public TrajectoryFactoryInterface {
public:
    using Request = bb_controls_msgs::srv::EncircleTraj::Request;
 
    EncircleTrajectoryFactory(const Request& req, const State& origin, std::shared_ptr<Trajectory6DOFLimits> limits);
 
    EncircleTrajectoryFactory& with_origin_twist_threshold(double max_norm);
 
    EncircleTrajectoryFactory& with_frame_id(const std::string& frame_id);
 
    std::unique_ptr<TrajectoryBase> build() override;
 
private:
    State origin_;
    std::shared_ptr<Trajectory6DOFLimits> limits_;
    double radius_                      = 0.0;
    double turn_angle_                  = 0.0;
    double tangent_offset_              = 0.0;
    double spiral_proportion_           = 1.0;
    double origin_twist_norm_threshold_ = 0.03;
    std::string frame_id_               = "world_ned";
    bool is_valid_                      = true;
};
 
#endif  // ENCIRCLE_TRAJECTORY_FACTORY_H