ExecutorInterface.h
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#pragma once
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#include <
armarx/navigation/core/Trajectory.h
>
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namespace
armarx::navigation::server
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{
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/**
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* @brief An executer the server navigator will use to send its control commands to.
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*/
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class
ExecutorInterface
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{
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public
:
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virtual
~ExecutorInterface
() =
default
;
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virtual
void
execute
(
const
core::LocalTrajectory
& trajectory,
bool
activateController =
false
) = 0;
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virtual
void
execute
(
const
core::GlobalTrajectory
& trajectory,
bool
activateController =
false
) = 0;
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enum class
ControllerType
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{
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GlobalTrajectory
,
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LocalTrajectory
,
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None
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};
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virtual
void
start
(
ControllerType
controllerType) = 0;
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virtual
void
stop
() = 0;
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virtual
void
ensureIsActive
(
ControllerType
controllerType) = 0;
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};
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}
// namespace armarx::navigation::server
armarx::navigation::core::GlobalTrajectory
Definition:
Trajectory.h:68
armarx::navigation::server::ExecutorInterface::~ExecutorInterface
virtual ~ExecutorInterface()=default
armarx::navigation::server::ExecutorInterface::stop
virtual void stop()=0
armarx::navigation::server::ExecutorInterface
An executer the server navigator will use to send its control commands to.
Definition:
ExecutorInterface.h:11
armarx::navigation::server::ExecutorInterface::ControllerType::GlobalTrajectory
@ GlobalTrajectory
armarx::navigation::server::ExecutorInterface::ControllerType::LocalTrajectory
@ LocalTrajectory
armarx::navigation::server::ExecutorInterface::ControllerType::None
@ None
armarx::navigation::server::ExecutorInterface::execute
virtual void execute(const core::LocalTrajectory &trajectory, bool activateController=false)=0
armarx::navigation::server
This file is part of ArmarX.
Definition:
EventPublishingInterface.h:10
armarx::navigation::server::ExecutorInterface::start
virtual void start(ControllerType controllerType)=0
armarx::navigation::core::LocalTrajectory
Definition:
Trajectory.h:167
armarx::navigation::server::ExecutorInterface::ensureIsActive
virtual void ensureIsActive(ControllerType controllerType)=0
armarx::navigation::server::ExecutorInterface::ControllerType
ControllerType
Definition:
ExecutorInterface.h:21
Trajectory.h
armarx
navigation
server
execution
ExecutorInterface.h
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