NavigatorInterface.h
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1 #pragma once
2 
3 #include <string>
4 #include <vector>
5 
9 
11 {
12 
13  /**
14  * @brief Navigator interface for PointGoal navigation (with waypoints) and relative movement
15  *
16  */
18  {
19 
20  public:
21  virtual void moveTo(const std::vector<core::Pose>& waypoints,
22  core::NavigationFrame navigationFrame) = 0;
23 
24  virtual void moveTowards(const core::Direction& direction,
25  core::NavigationFrame navigationFrame) = 0;
26 
27  virtual void moveTo(const std::vector<client::WaypointTarget>& targets,
28  core::NavigationFrame navigationFrame) = 0;
29 
30  virtual void moveToLocation(const std::string& location) = 0;
31 
32  virtual void update(const std::vector<core::Pose>& waypoints,
33  core::NavigationFrame navigationFrame) = 0;
34 
35  virtual void pause() = 0;
36 
37  virtual void resume() = 0;
38 
39  virtual void stop() = 0;
40 
41  virtual bool isPaused() const noexcept = 0;
42 
43  virtual bool isStopped() const noexcept = 0;
44 
45  // Non-API
46  public:
47  virtual ~NavigatorInterface() = default;
48  };
49 
50 } // namespace armarx::navigation::core
ice_conversions.h
armarx::navigation::core::NavigatorInterface::isPaused
virtual bool isPaused() const noexcept=0
armarx::navigation::core::NavigationFrame
NavigationFrame
Definition: types.h:42
basic_types.h
armarx::navigation::core
This file is part of ArmarX.
Definition: aron_conversions.cpp:19
armarx::navigation::core::NavigatorInterface
Navigator interface for PointGoal navigation (with waypoints) and relative movement.
Definition: NavigatorInterface.h:17
armarx::navigation::core::NavigatorInterface::~NavigatorInterface
virtual ~NavigatorInterface()=default
armarx::navigation::core::NavigatorInterface::moveToLocation
virtual void moveToLocation(const std::string &location)=0
armarx::navigation::core::NavigatorInterface::isStopped
virtual bool isStopped() const noexcept=0
armarx::navigation::core::NavigatorInterface::moveTo
virtual void moveTo(const std::vector< core::Pose > &waypoints, core::NavigationFrame navigationFrame)=0
armarx::navigation::core::NavigatorInterface::moveTowards
virtual void moveTowards(const core::Direction &direction, core::NavigationFrame navigationFrame)=0
armarx::navigation::core::NavigatorInterface::update
virtual void update(const std::vector< core::Pose > &waypoints, core::NavigationFrame navigationFrame)=0
armarx::navigation::core::Direction
Eigen::Vector3f Direction
Definition: basic_types.h:39
armarx::navigation::core::NavigatorInterface::pause
virtual void pause()=0
armarx::navigation::core::NavigatorInterface::stop
virtual void stop()=0
types.h
armarx::navigation::core::NavigatorInterface::resume
virtual void resume()=0