An executer the server navigator will use to send its control commands to. More...

#include <armarx/navigation/server/execution/ExecutorInterface.h>

Inheritance diagram for ExecutorInterface:

Public Types
enum class	ControllerType { GlobalTrajectory , LocalTrajectory , None }

Public Member Functions
virtual bool	consumeEmergencyStopRelease ()
	Whether the emergency stop has been released since this was last asked.

virtual void	ensureIsActive (ControllerType controllerType)=0

virtual void	execute (const core::GlobalTrajectory &trajectory, bool activateController=false)=0

virtual void	execute (const core::LocalTrajectory &trajectory, bool activateController=false)=0

virtual void	start (ControllerType controllerType)=0

virtual void	stop ()=0

virtual void	updateVelocityFactor (float velocityFactor)=0

virtual void	updateVelocityLimits (const core::TwistLimits &limits)=0

virtual	~ExecutorInterface ()=default

Detailed Description

An executer the server navigator will use to send its control commands to.

Definition at line 12 of file ExecutorInterface.h.

Member Enumeration Documentation

◆ ControllerType

enum class ControllerType

strong

Enumerator
GlobalTrajectory
LocalTrajectory
None

Definition at line 24 of file ExecutorInterface.h.

Constructor & Destructor Documentation

◆ ~ExecutorInterface()

virtual ~ExecutorInterface ( )

virtualdefault

Member Function Documentation

◆ consumeEmergencyStopRelease()

virtual bool consumeEmergencyStopRelease ( )

inlinevirtual

Whether the emergency stop has been released since this was last asked.

Reports the edge once and clears it. The caller must re-anchor its plan at the robot's current pose before the controller is activated again: the robot stands still where the old profile assigns cruise speed, so resuming on the old trajectory steps the command from zero and the device ramp answers at its own maximum.

Defaults to false for executors with no emergency-stop source.

Reimplemented in PlatformControllerExecutor.

Definition at line 47 of file ExecutorInterface.h.