IntrospectorInterface.h
Go to the documentation of this file.
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/**
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* This file is part of ArmarX.
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*
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* ArmarX is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* ArmarX is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* @author Fabian Reister ( fabian dot reister at kit dot edu )
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* @author Christian R. G. Dreher ( c dot dreher at kit dot edu )
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* @date 2021
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* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
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* GNU General Public License
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*/
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#pragma once
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#include <
armarx/navigation/global_planning/GlobalPlanner.h
>
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#include <
armarx/navigation/local_planning/LocalPlanner.h
>
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#include <
armarx/navigation/safety_control/SafetyController.h
>
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#include <
armarx/navigation/trajectory_control/local/TrajectoryController.h
>
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namespace
armarx::navigation::server
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{
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struct
StackResult;
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class
IntrospectorInterface
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{
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public
:
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virtual
~IntrospectorInterface
() =
default
;
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virtual
void
onGoal
(
const
core::Pose
& goal) = 0;
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virtual
void
success
() = 0;
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virtual
void
failure
() = 0;
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virtual
void
onGlobalPlannerResult
(
const
global_planning::GlobalPlannerResult
& result) = 0;
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virtual
void
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onLocalPlannerResult
(
const
std::optional<local_planning::LocalPlannerResult>& result) = 0;
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virtual
void
onRobotPose
(
const
core::Pose
& pose) = 0;
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virtual
void
onGlobalShortestPath
(
const
std::vector<core::Pose>& path) = 0;
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virtual
void
onGlobalGraph
(
const
core::Graph
& graph) = 0;
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protected
:
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private
:
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};
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}
// namespace armarx::navigation::server
armarx::navigation::server::IntrospectorInterface::failure
virtual void failure()=0
armarx::navigation::core::Pose
Eigen::Isometry3f Pose
Definition:
basic_types.h:31
TrajectoryController.h
LocalPlanner.h
armarx::navigation::server::IntrospectorInterface::onGlobalGraph
virtual void onGlobalGraph(const core::Graph &graph)=0
armarx::navigation::server
This file is part of ArmarX.
Definition:
EventPublishingInterface.h:10
armarx::navigation::server::IntrospectorInterface::onGoal
virtual void onGoal(const core::Pose &goal)=0
armarx::navigation::server::IntrospectorInterface::onGlobalShortestPath
virtual void onGlobalShortestPath(const std::vector< core::Pose > &path)=0
armarx::navigation::core::Graph
Definition:
Graph.h:88
GlobalPlanner.h
armarx::navigation::global_planning::GlobalPlannerResult
Definition:
GlobalPlanner.h:38
armarx::navigation::server::IntrospectorInterface
Definition:
IntrospectorInterface.h:35
armarx::navigation::server::IntrospectorInterface::success
virtual void success()=0
armarx::navigation::server::IntrospectorInterface::onLocalPlannerResult
virtual void onLocalPlannerResult(const std::optional< local_planning::LocalPlannerResult > &result)=0
armarx::navigation::server::IntrospectorInterface::onGlobalPlannerResult
virtual void onGlobalPlannerResult(const global_planning::GlobalPlannerResult &result)=0
armarx::navigation::server::IntrospectorInterface::onRobotPose
virtual void onRobotPose(const core::Pose &pose)=0
armarx::navigation::server::IntrospectorInterface::~IntrospectorInterface
virtual ~IntrospectorInterface()=default
SafetyController.h
armarx
navigation
server
introspection
IntrospectorInterface.h
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