PathBuilder.cpp
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1 #include "PathBuilder.h"
2 
3 #include <string>
4 
8 
10 {
11  PathBuilder&
12  PathBuilder::add(const std::string& locationId,
13  const GlobalPlanningStrategy& strategy,
14  const Config& config)
15  {
16 
17  waypoints.push_back(WaypointTarget{.locationId = locationId, .strategy = strategy});
18 
19  return *this;
20  }
21 
24  const GlobalPlanningStrategy& strategy,
25  const Config& config)
26  {
27 
28  waypoints.push_back(WaypointTarget{.pose = pose, .strategy = strategy});
29 
30 
31  return *this;
32  }
33 
34  const WaypointTargets&
36  {
37  return waypoints;
38  }
39 
40 } // namespace armarx::navigation::client
ice_conversions.h
armarx::navigation::core::Pose
Eigen::Isometry3f Pose
Definition: basic_types.h:31
types.h
basic_types.h
armarx::navigation::client::PathBuilder
Definition: PathBuilder.h:39
armarx::navigation::client
This file is part of ArmarX.
Definition: ComponentPlugin.cpp:21
armarx::navigation::client::WaypointTarget::pose
std::optional< core::Pose > pose
Definition: ice_conversions.h:42
armarx::navigation::client::WaypointTarget::locationId
std::optional< std::string > locationId
Definition: ice_conversions.h:41
PathBuilder.h
armarx::navigation::client::WaypointTarget
Definition: ice_conversions.h:39
armarx::navigation::client::PathBuilder::add
PathBuilder & add(const std::string &locationId, const GlobalPlanningStrategy &strategy=GlobalPlanningStrategy::Free, const Config &config=Config())
Definition: PathBuilder.cpp:12
armarx::navigation::client::Config
Definition: PathBuilder.h:34
armarx::navigation::client::GlobalPlanningStrategy
GlobalPlanningStrategy
Definition: types.h:27
armarx::navigation::client::PathBuilder::path
const WaypointTargets & path() const
Definition: PathBuilder.cpp:35
armarx::navigation::client::WaypointTargets
std::vector< WaypointTarget > WaypointTargets
Definition: ice_conversions.h:81