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/* Author: Ioan Sucan */

#pragma once

#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit_msgs/msg/move_it_error_codes.hpp>
#include <boost/function.hpp>

namespace plan_execution
{
struct ExecutableMotionPlan;

/** \brief Representation of a trajectory that can be executed */
struct ExecutableTrajectory
{
  ExecutableTrajectory() : trajectory_monitoring_(true)
  {
  }

  ExecutableTrajectory(const robot_trajectory::RobotTrajectoryPtr& trajectory, const std::string& description)
    : trajectory_(trajectory), description_(description), trajectory_monitoring_(true)
  {
  }

  robot_trajectory::RobotTrajectoryPtr trajectory_;
  std::string description_;
  bool trajectory_monitoring_;
  collision_detection::AllowedCollisionMatrixConstPtr allowed_collision_matrix_;
  boost::function<bool(const ExecutableMotionPlan*)> effect_on_success_;
};

/// A generic representation on what a computed motion plan looks like
struct ExecutableMotionPlan
{
  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
  planning_scene::PlanningSceneConstPtr planning_scene_;

  std::vector<ExecutableTrajectory> plan_components_;

  /// The trace of the trajectory recorded during execution
  robot_trajectory::RobotTrajectoryPtr executed_trajectory_;

  /// An error code reflecting what went wrong (if anything)
  moveit_msgs::msg::MoveItErrorCodes error_code_;
};

/// The signature of a function that can compute a motion plan
typedef boost::function<bool(ExecutableMotionPlan& plan)> ExecutableMotionPlanComputationFn;
}
