Debounces the low-level controller's residual into a "reached" / "unreachable" decision for one control target. More...

#include <armarx/view_selection/gaze_scheduler/GazeTargetReachedMonitor.h>

Public Member Functions
	GazeTargetReachedMonitor (const GazeReachedConfig &config)

bool	reached () const
	Whether the gaze has been on target for `filterCount` consecutive reports.

void	reset (std::int64_t targetId)
	Begin monitoring another control target, dropping all state about the previous one.

gaze_controller::GazeResidual	residual () const
	Residual of the most recently accepted report.

bool	unreachable () const
	Whether the controller could not reach the target for `filterCount` consecutive reports.

void	update (std::int64_t targetId, const gaze_controller::GazeResidual &residual, bool targetReachable)
	Feed one controller report. Reports about a different target are ignored.

Detailed Description

Debounces the low-level controller's residual into a "reached" / "unreachable" decision for one control target.

Modelled on navigation's server::GoalReachedMonitor. Reports about any other target are dropped, so a residual still in flight for a superseded target can never be misattributed.

Thread-safe: reports arrive on the topic listener thread, the verdict is read by the scheduler's periodic task.

Definition at line 43 of file GazeTargetReachedMonitor.h.