group_info.hpp

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#pragma once

#include "hebi.h"

#include <memory>
#include <vector>

#include "Eigen/Eigen"
#include "group_message_wrapper.hpp"
#include "info.hpp"

namespace hebi {

class GroupInfo final {
public:
#ifndef DOXYGEN_OMIT_INTERNAL

  std::shared_ptr<GroupInfoWrapper> internal_;
#endif // DOXYGEN_OMIT_INTERNAL

private:
  const size_t number_of_modules_;
  std::vector<Info> infos_;

  const bool is_subview_{};

  GroupInfo(std::shared_ptr<GroupInfoWrapper>, std::vector<int> indices);

public:
  GroupInfo(size_t number_of_modules);

  ~GroupInfo() noexcept = default;

  GroupInfo(GroupInfo&&) = default;

  GroupInfo subview(std::vector<int> indices) const;

  bool isSubview() const { return is_subview_; }

  size_t size() const;

  const Info& operator[](size_t index) const;

  bool writeGains(const std::string& file) const;

  FunctionCallResult writeSafetyParameters(const std::string& file) const {
    if (is_subview_)
      return FunctionCallResult{false, "Cannot call this method on a subview!"};
    auto res = hebiGroupInfoWriteSafetyParameters(internal_->internal_, file.c_str()) == HebiStatusSuccess;
    if (res) {
      return FunctionCallResult{true};
    }
    return FunctionCallResult{false, std::string{hebiSafetyParametersGetLastError()}};
  }

  Eigen::VectorXd getSpringConstant() const;

  void getSpringConstant(Eigen::VectorXd& out) const;
};

} // namespace hebi