StackResult.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @author     Christian R. G. Dreher ( c dot dreher at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <optional>
 
#include <armarx/navigation/local_planning/LocalPlanner.h>
#include <armarx/navigation/core/Trajectory.h>
#include <armarx/navigation/global_planning/GlobalPlanner.h>
#include <armarx/navigation/trajectory_control/global/TrajectoryController.h>
#include <armarx/navigation/trajectory_control/local/TrajectoryController.h>
 
 
namespace armarx::navigation::server
{
 
    struct StackResult
    {
        // TODO make struct, add timestamp
        using SafetyControllerResult = std::optional<core::Twist>;
 
        global_planning::GlobalPlannerResult globalPlan;
        local_planning::LocalPlannerResult localTrajectory;
        // traj_ctrl::global::TrajectoryControllerResult controlVelocity;
        // SafetyControllerResult safeVelocity;
 
        // core::TrajectoryPtr trajectory() const;
        // core::Twist velocity() const;
 
        /**
         * @brief Simple check if both calls to trajectory() and velocity() can be performed
         *        without throwing an exception.
         *
         * Note: This might not be sufficient, e.g. when a local planner is active but no local
         *       planner has written its result
         *
         */
        // bool isValid() const;
    };
} // namespace armarx::navigation::server