MoveXMeters.h

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#pragma once
 
#include <RobotAPI/libraries/skills/core/SkillDescription.h>
 
#include <armarx/navigation/skills/NavigateRelativeSkill.h>
#include <armarx/navigation/skills/aron/MoveXMeters.aron.generated.h>
 
namespace armarx::navigation::skills
{
 
    class MoveXMeters : public NavigateRelativeSkill<arondto::MoveXMetersParams>
    {
 
    public:
        using Base = NavigateRelativeSkill<arondto::MoveXMetersParams>;
 
        MoveXMeters(const NavigatingSkillHelper::Properties& properties,
                    const NavigatingSkillHelper::Services& srv);
 
    private:
        Eigen::Isometry3f relativeTarget(const Base::SpecializedMainInput& in) override;
 
 
    public:
        static armarx::skills::SkillDescription DefaultSkillDescription();
    };
 
} // namespace armarx::navigation::skills