PathBuilder.cpp
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#include "
PathBuilder.h
"
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#include <
armarx/navigation/client/ice_conversions.h
>
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namespace
armarx::navigation::client
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{
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PathBuilder&
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PathBuilder::add
(
const
std::string& locationId,
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const
GlobalPlanningStrategy
& strategy,
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const
Config
& config)
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{
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waypoints.push_back(
WaypointTarget
{.
locationId
= locationId, .strategy = strategy});
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return
*
this
;
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}
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PathBuilder
&
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PathBuilder::add
(
const
core::Pose
& pose,
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const
GlobalPlanningStrategy
& strategy,
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const
Config
& config)
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{
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waypoints.push_back(
WaypointTarget
{.
pose
= pose, .strategy = strategy});
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return
*
this
;
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}
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const
WaypointTargets
&
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PathBuilder::path
()
const
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{
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return
waypoints;
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}
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}
// namespace armarx::navigation::client
ice_conversions.h
armarx::navigation::core::Pose
Eigen::Isometry3f Pose
Definition:
basic_types.h:31
armarx::navigation::client::PathBuilder
Definition:
PathBuilder.h:41
armarx::navigation::client
This file is part of ArmarX.
Definition:
ComponentPlugin.cpp:20
armarx::navigation::client::WaypointTarget::pose
std::optional< core::Pose > pose
Definition:
ice_conversions.h:41
armarx::navigation::client::WaypointTarget::locationId
std::optional< std::string > locationId
Definition:
ice_conversions.h:40
PathBuilder.h
armarx::navigation::client::WaypointTarget
Definition:
ice_conversions.h:38
armarx::navigation::client::PathBuilder::add
PathBuilder & add(const std::string &locationId, const GlobalPlanningStrategy &strategy=GlobalPlanningStrategy::Free, const Config &config=Config())
Definition:
PathBuilder.cpp:8
armarx::navigation::client::Config
Definition:
PathBuilder.h:35
armarx::navigation::client::GlobalPlanningStrategy
GlobalPlanningStrategy
Definition:
types.h:27
armarx::navigation::client::PathBuilder::path
const WaypointTargets & path() const
Definition:
PathBuilder.cpp:32
armarx::navigation::client::WaypointTargets
std::vector< WaypointTarget > WaypointTargets
Definition:
ice_conversions.h:81
armarx
navigation
client
PathBuilder.cpp
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