condition.hpp

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#pragma once
 
#include <functional>
#include <franky/robot_state.hpp>
 
namespace franky {
 
class Condition {
 public:
  using CheckFunc = std::function<bool(
      const RobotState &, franka::Duration, franka::Duration)>;
 
  explicit Condition(CheckFunc check_func, std::string repr = "NULL");
 
  Condition(bool constant_value);
 
  inline bool operator()(
      const RobotState &robot_state,
      franka::Duration rel_time,
      franka::Duration abs_time) const {
    return check_func_(robot_state, rel_time, abs_time);
  }
 
  [[nodiscard]] inline std::string repr() const {
    return repr_;
  }
 
 private:
  CheckFunc check_func_;
  std::string repr_;
};
 
Condition operator&&(const Condition &c1, const Condition &c2);
 
Condition operator||(const Condition &c1, const Condition &c2);
 
Condition operator==(const Condition &c1, const Condition &c2);
 
Condition operator!=(const Condition &c1, const Condition &c2);
 
Condition operator!(const Condition &c);
 
}  // namespace franky