NavigationStack.h
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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/global/TrajectoryController.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
NavigationStack
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{
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global_planning::GlobalPlannerPtr
globalPlanner
;
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local_planning::LocalPlannerPtr
localPlanner
=
nullptr
;
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traj_ctrl::local::TrajectoryControllerPtr
trajectoryControl
=
nullptr
;
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// safe_ctrl::SafetyControllerPtr safetyControl = nullptr;
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};
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}
// namespace armarx::navigation::server
TrajectoryController.h
LocalPlanner.h
armarx::navigation::server::NavigationStack
Definition:
NavigationStack.h:34
armarx::navigation::local_planning::LocalPlannerPtr
std::shared_ptr< LocalPlanner > LocalPlannerPtr
Definition:
fwd.h:38
armarx::navigation::global_planning::GlobalPlannerPtr
std::shared_ptr< GlobalPlanner > GlobalPlannerPtr
Definition:
fwd.h:32
armarx::navigation::server::NavigationStack::localPlanner
local_planning::LocalPlannerPtr localPlanner
Definition:
NavigationStack.h:37
armarx::navigation::server
This file is part of ArmarX.
Definition:
EventPublishingInterface.h:10
TrajectoryController.h
GlobalPlanner.h
armarx::navigation::traj_ctrl::local::TrajectoryControllerPtr
std::shared_ptr< TrajectoryController > TrajectoryControllerPtr
Definition:
TrajectoryController.h:71
armarx::navigation::server::NavigationStack::globalPlanner
global_planning::GlobalPlannerPtr globalPlanner
Definition:
NavigationStack.h:36
armarx::navigation::server::NavigationStack::trajectoryControl
traj_ctrl::local::TrajectoryControllerPtr trajectoryControl
Definition:
NavigationStack.h:38
SafetyController.h
armarx
navigation
server
NavigationStack.h
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