SafetyController.h
Go to the documentation of this file.
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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 <memory>
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#include <VirtualRobot/VirtualRobot.h>
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#include <
RobotAPI/libraries/aron/core/data/variant/container/Dict.h
>
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#include "
core.h
"
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#include <
armarx/navigation/core/DynamicScene.h
>
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#include <
armarx/navigation/core/StaticScene.h
>
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#include <
armarx/navigation/core/Trajectory.h
>
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#include <
armarx/navigation/core/types.h
>
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namespace
armarx::navigation::safe_ctrl
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{
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struct
SafetyControllerResult
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{
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core::Twist
twist
;
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};
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struct
SafetyControllerParams
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{
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virtual
~SafetyControllerParams
() =
default
;
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virtual
Algorithms
algorithm
()
const
= 0;
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virtual
aron::data::DictPtr
toAron
()
const
= 0;
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};
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class
SafetyController
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{
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public
:
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SafetyController
(
const
core::Scene
& context);
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virtual
~SafetyController
() =
default
;
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virtual
SafetyControllerResult
control
(
const
core::Twist
& twist) = 0;
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protected
:
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private
:
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const
core::Scene
& context;
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};
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using
SafetyControllerPtr
= std::shared_ptr<SafetyController>;
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}
// namespace armarx::navigation::safe_ctrl
armarx::navigation::safe_ctrl::SafetyControllerParams::algorithm
virtual Algorithms algorithm() const =0
armarx::navigation::safe_ctrl::SafetyControllerResult
Definition:
SafetyController.h:39
core.h
DynamicScene.h
StaticScene.h
Dict.h
armarx::navigation::core::Twist
Definition:
basic_types.h:53
armarx::navigation::safe_ctrl
This file is part of ArmarX.
Definition:
fwd.h:47
armarx::navigation::safe_ctrl::SafetyControllerPtr
std::shared_ptr< SafetyController > SafetyControllerPtr
Definition:
fwd.h:50
armarx::navigation::safe_ctrl::SafetyController::SafetyController
SafetyController(const core::Scene &context)
Definition:
SafetyController.cpp:5
armarx::navigation::safe_ctrl::SafetyController::control
virtual SafetyControllerResult control(const core::Twist &twist)=0
armarx::navigation::safe_ctrl::SafetyControllerParams::~SafetyControllerParams
virtual ~SafetyControllerParams()=default
armarx::navigation::safe_ctrl::SafetyControllerParams
Definition:
SafetyController.h:44
armarx::navigation::core::Scene
Definition:
types.h:71
armarx::navigation::safe_ctrl::Algorithms
Algorithms
Definition:
core.h:30
armarx::aron::data::DictPtr
std::shared_ptr< Dict > DictPtr
Definition:
Dict.h:41
armarx::navigation::safe_ctrl::SafetyControllerResult::twist
core::Twist twist
Definition:
SafetyController.h:41
armarx::navigation::safe_ctrl::SafetyControllerParams::toAron
virtual aron::data::DictPtr toAron() const =0
armarx::navigation::safe_ctrl::SafetyController::~SafetyController
virtual ~SafetyController()=default
armarx::navigation::safe_ctrl::SafetyController
Definition:
SafetyController.h:52
Trajectory.h
types.h
armarx
navigation
safety_control
SafetyController.h
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