RobotDriverHandler.hpp

#ifndef KINEMATICS_ROBOTDRIVERHANDLER_HPP
#define KINEMATICS_ROBOTDRIVERHANDLER_HPP

#include <ros/ros.h>
#include <Kinematics/Matrix.hpp>

namespace HLR
{
namespace Kinematics
{
class RobotDriverHandler
{
public:
    virtual Matrix<double, 5, 1> get_arm_state() const noexcept = 0;

    void set_move_complete_handler(const std::function<void()>& handler);

    virtual void move(const std::vector<Matrix<double, 5, 1>>& path,
                      double speed) = 0;

    virtual void stop() = 0;

private:
    std::function<void()> move_complete_handler;
};

} // namespace Kinematics
} // namespace HLR

#endif