PlatformUnitExecutor.h

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#pragma once
 
// RobotAPI
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
 
// Navigation
#include <armarx/navigation/core/types.h>
#include <armarx/navigation/server/execution/ExecutorInterface.h>
 
namespace armarx::navigation::server
{
 
    /**
     * @brief The PlatformUnitExecutor class
     *
     * TODO: Should be renamed to whatever the new unit will be called which takes Mat4f
     * as input instead of X/Y/Yaw, so that we have a generic interface.
     */
    class PlatformUnitExecutor : virtual public ExecutorInterface
    {
 
    public:
        PlatformUnitExecutor(PlatformUnitInterfacePrx platformUnit);
        ~PlatformUnitExecutor() override;
 
        void move(const core::Twist& twist) override;
 
    private:
        PlatformUnitInterfacePrx platformUnit;
    };
 
} // namespace armarx::navigation::server