motionplayerclient.h

// Handles requests for play moton/frame, update motion, etc
// Author: Dmytro Pavlichenko <dm.mark999@gmail.com>

#ifndef MOTION_PLAYER_CLIENT_H
#define MOTION_PLAYER_CLIENT_H

#include <vector>
#include <string>

#include <ros/ros.h>
#include <ros/node_handle.h>
#include <ros/service_client.h>

#include <motion_file/motionfile.h>

class MotionPlayerClient
{
public:
    typedef boost::shared_ptr<motionfile::Keyframe> KeyframePtr;
    
    MotionPlayerClient();
    ~MotionPlayerClient();
    
    void playMotion(motionfile::Motion motion, float duration_factor);
    void playFrame(KeyframePtr frame, std::vector<std::string> joint_list, float duration_factor);
    void playSequence(motionfile::Motion motion, std::vector<int> indices);
    void updateMotion(motionfile::Motion motion);
    
    void tryPlayDelayedMotion(); // Plays a delayed motion if it exists
    
private:
    bool requestPlay(motionfile::Motion &motion, int type);
    bool requestUpdate(motionfile::Motion &motion, int type);

private:
    bool m_has_delayed_motion;
    motionfile::Motion m_delayed_motion; // Motion which is played after first frame was played completely
    
    ros::ServiceClient m_update_client;
    ros::ServiceClient m_play_client;
};

#endif