DummyExecutor.h
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1 #pragma once
2 
3 #include <Eigen/Geometry>
4 
8 
10 {
11 
12  /**
13  * @brief Executor that doesn't do anything. Each method is empty.
14  *
15  */
16  class DummyExecutor : virtual public ExecutorInterface
17  {
18 
19  public:
20  DummyExecutor() = default;
21 
22  ~DummyExecutor() override = default;
23 
24 
25  void execute(const core::LocalTrajectory& trajectory,
26  bool activateController = false) override;
27 
28  void execute(const core::GlobalTrajectory& trajectory,
29  bool activateController = false) override;
30 
31  void start(ControllerType controllerType) override;
32  void stop() override;
33 
34  void ensureIsActive(ControllerType controllerType) override;
35 
36  void updateVelocityLimits(const core::TwistLimits& limits) override;
37  };
38 
39 } // 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