WaypointController.cpp

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#include "WaypointController.h"
 
#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
 
#include <armarx/navigation/trajectory_control/global/TrajectoryController.h>
#include <armarx/navigation/trajectory_control/global/aron/WaypointControllerParams.aron.generated.h>
#include <armarx/navigation/trajectory_control/global/aron_conversions.h>
#include <armarx/navigation/trajectory_control/global/core.h>
 
namespace armarx::navigation::traj_ctrl::global
{
    // WaypointControllerParams
 
    Algorithms
    WaypointControllerParams::algorithm() const
    {
        return Algorithms::WaypointController;
    }
 
    aron::data::DictPtr
    WaypointControllerParams::toAron() const
    {
        arondto::WaypointControllerParams dto;
 
        WaypointControllerParams bo;
        armarx::navigation::traj_ctrl::global::toAron(dto, bo);
 
        return dto.toAron();
    }
 
    WaypointControllerParams
    WaypointControllerParams::FromAron(const aron::data::DictPtr& dict)
    {
        arondto::WaypointControllerParams dto;
        dto.fromAron(dict);
 
        WaypointControllerParams bo;
        armarx::navigation::traj_ctrl::global::fromAron(dto, bo);
 
        return bo;
    }
 
    // WaypointController
 
    WaypointController::WaypointController(const Params& params) : params(params)
    {
    }
 
    TrajectoryControllerResult
    WaypointController::control(const core::GlobalTrajectory& goal,
                                const core::Pose& global_T_robot)
    {
        return {}; // TODO implement
    }
} // namespace armarx::navigation::traj_ctrl::global