Branch put on hold for now

include/ur_client_library/waypoints/move_j.hpp

@@ -0,0 +1,16 @@
+#pragma once
+
+#include "waypoint.hpp"
+#include "../ur/ur_driver.h"
+
+class move_j : private waypoint
+{
+  move_j(std::vector<double&> positions, double time, bool tool_contact, bool force_mode)
+    : waypoint(positions, time, tool_contact, force_mode)
+  {
+  }
+
+  void send_point() override
+  {
+  }
+};

include/ur_client_library/waypoints/trajectory.hpp

@@ -0,0 +1,14 @@
+#pragma once
+
+#include "waypoint.hpp"
+#include <memory>
+
+class trajectory
+{
+private:
+  std::vector<std::unique_ptr<waypoint>> trajectory;
+
+public:
+  void add(std::unique_ptr<waypoint> point);
+  void execute();
+};

include/ur_client_library/waypoints/waypoint.hpp

@@ -0,0 +1,35 @@
+#pragma once
+
+#include <vector>
+#include <memory>
+#include "../ur/ur_driver.h"
+
+class waypoint
+{
+public:
+  std::vector<double&> positions_;
+  double waypoint_time_;
+  bool tool_contact_;
+  bool force_mode_;
+  std::unique_ptr<urcl::control::TrajectoryPointInterface> interface_;
+  waypoint(std::unique_ptr<urcl::control::TrajectoryPointInterface> ur_driver, std::vector<double&> positions,
+           double time, bool tool_contact = false, bool force_mode = false)
+  {
+    positions_ = positions;
+    waypoint_time_ = time;
+    tool_contact_ = tool_contact;
+    force_mode_ = force_mode;
+    interface_.(ur_driver);
+  }
+  void set_tool_contact(bool enable)
+  {
+    tool_contact_ = enable;
+  }
+
+  void set_force_mode(bool enable)
+  {
+    force_mode_ = enable;
+  }
+
+  virtual void send_point();
+};