NavigationStackConfig.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 <RobotAPI/interface/aron/Aron.h>
#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
 
#include <armarx/navigation/core/types.h>
#include <armarx/navigation/global_planning/GlobalPlanner.h>
#include <armarx/navigation/local_planning/LocalPlanner.h>
#include <armarx/navigation/safety_guard/SafetyGuard.h>
#include <armarx/navigation/trajectory_control/local/TrajectoryController.h>
 
namespace armarx::navigation::client
{
    struct GeneralConfig
    {
        // if the desired velocity is below this threshold, the platform will not be moved
        core::TwistLimits minVel{.linear = 0.F, .angular = 0.F};
 
        //! max ...
        core::TwistLimits maxVel;
 
        virtual ~GeneralConfig() = default;
 
        virtual aron::data::DictPtr toAron() const;
    };
 
    class NavigationStackConfig
    {
    public:
        NavigationStackConfig() = default;
        virtual ~NavigationStackConfig() = default;
 
        NavigationStackConfig& general(const GeneralConfig& cfg);
 
        NavigationStackConfig& globalPlanner(const global_planning::GlobalPlannerParams& params);
 
        NavigationStackConfig& localPlanner(const local_planning::LocalPlannerParams& params);
 
        NavigationStackConfig&
        trajectoryController(const traj_ctrl::local::TrajectoryControllerParams& params);
 
        NavigationStackConfig& safetyGuard(const safety_guard::SafetyGuardParams& params);
 
        aron::data::dto::DictPtr toAron() const;
 
        //! checks if at least global planner and trajectory controller are set
        bool isValid() const;
 
    protected:
    private:
        aron::data::Dict dict;
    };
} // namespace armarx::navigation::client