MoveXMeters.h

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#pragma once
 
#include <armarx/navigation/skills/NavigateRelativeSkill.h>
#include <armarx/navigation/skills/aron/MoveXMeters.aron.generated.h>
#include <armarx/navigation/skills/constants.h>
 
namespace armarx::navigation::skills
{
 
    class MoveXMeters : public NavigateRelativeSkill<arondto::MoveXMetersParams>
    {
 
    public:
        using Base = NavigateRelativeSkill<arondto::MoveXMetersParams>;
 
        MoveXMeters(const Services& srv);
 
    private:
        Eigen::Isometry3f relativeTarget(const Base::SpecializedMainInput& in) override;
 
 
    public:
        static armarx::skills::SkillDescription
        DefaultSkillDescription()
        {
            ParamType defaultParams;
            defaultParams.distanceMillimeters = 0;
            defaultParams.direction = Eigen::Quaternion<float, 0>::Identity();
 
            return armarx::skills::SkillDescription{
                .skillId = {.skillName = constants::skill_names::MoveXMeters},
                .description = "Relative movement in specified direction",
                .rootProfileDefaults = defaultParams.toAron(),
                .timeout = armarx::core::time::Duration::Minutes(1),
                .parametersType = ParamType::ToAronType()};
        }
    };
 
} // namespace armarx::navigation::skills