features_interface.hpp

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// Copyright 2024 Intrinsic Innovation LLC.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#pragma once
 
#include <warehouse_ros/message_collection.h>
#include <moveit/move_group_interface/move_group_interface.hpp>
 
namespace moveit_ros
{
namespace trajectory_cache
{
 
template <typename FeatureSourceT>
class FeaturesInterface
{
public:
  virtual ~FeaturesInterface() = default;
 
  virtual std::string getName() const = 0;
 
  virtual moveit::core::MoveItErrorCode
  appendFeaturesAsFuzzyFetchQuery(warehouse_ros::Query& query, const FeatureSourceT& source,
                                  const moveit::planning_interface::MoveGroupInterface& move_group,
                                  double exact_match_precision) const = 0;
 
  virtual moveit::core::MoveItErrorCode
  appendFeaturesAsExactFetchQuery(warehouse_ros::Query& query, const FeatureSourceT& source,
                                  const moveit::planning_interface::MoveGroupInterface& move_group,
                                  double exact_match_precision) const = 0;
 
  virtual moveit::core::MoveItErrorCode
  appendFeaturesAsInsertMetadata(warehouse_ros::Metadata& metadata, const FeatureSourceT& source,
                                 const moveit::planning_interface::MoveGroupInterface& move_group) const = 0;
};
 
}  // namespace trajectory_cache
}  // namespace moveit_ros