orientation.hpp

#pragma once
 
#include <string>
#include <vector>
 
#include <boost/variant/variant.hpp>
 
#include <viam/api/app/v1/robot.pb.h>
 
#include <viam/sdk/spatialmath/orientation_types.hpp>
 
namespace viam {
namespace sdk {
 
typedef boost::
    variant<axis_angles, orientation_vector, orientation_vector_degrees, euler_angles, quaternion>
        orientation;
 
class OrientationConfig {
   public:
    viam::app::v1::Orientation to_proto() const;
    static OrientationConfig from_proto(const viam::app::v1::Orientation& proto);
    OrientationConfig(OrientationType type_,
                      std::vector<std::uint8_t> value,
                      orientation orientation)
        : type_(std::move(type_)), value_(std::move(value)), orientation_(std::move(orientation)) {}
    // Defaults to sentinel no rotation value
    OrientationConfig();
 
    OrientationType get_type() const;
    const std::vector<std::uint8_t>& get_value() const;
    const orientation& get_orientation() const;
 
   private:
    OrientationType type_;
    std::vector<std::uint8_t> value_;
    orientation orientation_;
};
 
}  // namespace sdk
}  // namespace viam