measure.hpp

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#pragma once
 
#include <functional>
#include <iostream>
#include <franka/robot_state.h>
 
#include "franky/motion/condition.hpp"
 
namespace franky {
 
class Measure {
  using MeasureFunc = std::function<double(
      const RobotState &, franka::Duration, franka::Duration)>;
 
 public:
  explicit Measure(MeasureFunc measure_func, std::string repr = "NULL");
 
  Measure(double constant);
 
  inline double operator()(
      const RobotState &robot_state,
      franka::Duration rel_time,
      franka::Duration abs_time) const {
    return measure_func_(robot_state, rel_time, abs_time);
  }
 
  [[nodiscard]] inline std::string repr() const {
    return repr_;
  }
 
  static Measure ForceX();
 
  static Measure ForceY();
 
  static Measure ForceZ();
 
  static Measure RelTime();
 
  static Measure AbsTime();
 
 private:
  MeasureFunc measure_func_;
  std::string repr_;
};
 
Condition operator==(const Measure &m1, const Measure &m2);
Condition operator!=(const Measure &m1, const Measure &m2);
Condition operator<=(const Measure &m1, const Measure &m2);
Condition operator>=(const Measure &m1, const Measure &m2);
Condition operator<(const Measure &m1, const Measure &m2);
Condition operator>(const Measure &m1, const Measure &m2);
 
Measure operator+(const Measure &m1, const Measure &m2);
Measure operator-(const Measure &m1, const Measure &m2);
Measure operator*(const Measure &m1, const Measure &m2);
Measure operator/(const Measure &m1, const Measure &m2);
 
Measure operator-(const Measure &m);
 
Measure measure_pow(const Measure &base, const Measure &exponent);
 
}  // namespace franky