DummyExecutor.h
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#pragma once
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#include <Eigen/Geometry>
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#include <
armarx/navigation/core/Trajectory.h
>
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#include <
armarx/navigation/core/types.h
>
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#include <
armarx/navigation/server/execution/ExecutorInterface.h
>
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namespace
armarx::navigation::server
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{
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/**
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* @brief Executor that doesn't do anything. Each method is empty.
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*
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*/
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class
DummyExecutor
:
virtual
public
ExecutorInterface
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{
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public
:
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DummyExecutor
() =
default
;
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~DummyExecutor
()
override
=
default
;
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void
execute
(
const
core::LocalTrajectory
& trajectory,
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bool
activateController =
false
)
override
;
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void
execute
(
const
core::GlobalTrajectory
& trajectory,
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bool
activateController =
false
)
override
;
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void
start
(
ControllerType
controllerType)
override
;
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void
stop
()
override
;
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void
ensureIsActive
(
ControllerType
controllerType)
override
;
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void
updateVelocityLimits
(
const
core::TwistLimits
& limits)
override
;
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};
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}
// namespace armarx::navigation::server
armarx::navigation::core::GlobalTrajectory
Definition:
Trajectory.h:70
armarx::navigation::server::ExecutorInterface
An executer the server navigator will use to send its control commands to.
Definition:
ExecutorInterface.h:12
armarx::navigation::server::DummyExecutor::ensureIsActive
void ensureIsActive(ControllerType controllerType) override
Definition:
DummyExecutor.cpp:30
ExecutorInterface.h
armarx::navigation::server::DummyExecutor::DummyExecutor
DummyExecutor()=default
armarx::navigation::server::DummyExecutor::updateVelocityLimits
void updateVelocityLimits(const core::TwistLimits &limits) override
Definition:
DummyExecutor.cpp:35
armarx::navigation::server::DummyExecutor::start
void start(ControllerType controllerType) override
Definition:
DummyExecutor.cpp:20
armarx::navigation::server
This file is part of ArmarX.
Definition:
EventPublishingInterface.h:6
armarx::navigation::server::DummyExecutor
Executor that doesn't do anything.
Definition:
DummyExecutor.h:16
armarx::navigation::server::DummyExecutor::~DummyExecutor
~DummyExecutor() override=default
armarx::navigation::core::TwistLimits
Definition:
types.h:80
armarx::navigation::core::LocalTrajectory
Definition:
Trajectory.h:170
armarx::navigation::server::ExecutorInterface::ControllerType
ControllerType
Definition:
ExecutorInterface.h:24
Trajectory.h
armarx::navigation::server::DummyExecutor::execute
void execute(const core::LocalTrajectory &trajectory, bool activateController=false) override
Definition:
DummyExecutor.cpp:10
types.h
armarx::navigation::server::DummyExecutor::stop
void stop() override
Definition:
DummyExecutor.cpp:25
armarx
navigation
server
execution
DummyExecutor.h
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