LaserBasedProximity.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @author     Christian R. G. Dreher ( c dot dreher at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include "SafetyController.h"
 
namespace armarx::navigation::safe_ctrl
{
 
    struct LaserBasedProximityParams : public SafetyControllerParams
    {
        bool includeStartPose{false};
 
        Algorithms algorithm() const override;
        aron::data::DictPtr toAron() const override;
        static LaserBasedProximityParams FromAron(const aron::data::DictPtr& dict);
    };
 
    class LaserBasedProximity : virtual public SafetyController
    {
    public:
        using Params = LaserBasedProximityParams;
 
        LaserBasedProximity(const Params& params, const core::Scene& ctx);
        ~LaserBasedProximity() override = default;
 
        SafetyControllerResult control(const core::Twist& twist) override;
 
    protected:
        const Params params;
 
    private:
    };
} // namespace armarx::navigation::safe_ctrl