LocalPlanner.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 <memory>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <RobotAPI/components/ArViz/Client/ScopedClient.h>
#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
 
#include <armarx/navigation/core/DynamicScene.h>
#include <armarx/navigation/core/NavigationStackGeneralConfig.h>
#include <armarx/navigation/core/StaticScene.h>
#include <armarx/navigation/core/Trajectory.h>
#include <armarx/navigation/core/types.h>
#include <armarx/navigation/local_planning/core.h>
 
namespace armarx::navigation::local_planning
{
    struct LocalPlannerResult
    {
        core::LocalTrajectory trajectory;
    };
 
    struct LocalPlannerParams
    {
        virtual ~LocalPlannerParams() = default;
 
        virtual Algorithms algorithm() const = 0;
        virtual aron::data::DictPtr toAron() const = 0;
    };
 
    class LocalPlanner
    {
    public:
        LocalPlanner(const core::Scene& context, const core::GeneralConfig& generalConfig);
        virtual ~LocalPlanner() = default;
 
        virtual std::optional<LocalPlannerResult> plan(const core::GlobalTrajectory& goal) = 0;
 
        void setVisualization(viz::Client& vis);
 
    protected:
        std::optional<viz::ScopedClient> arviz;
 
        core::GeneralConfig generalConfig;
        const core::Scene& scene;
    };
 
    using LocalPlannerPtr = std::shared_ptr<LocalPlanner>;
 
} // namespace armarx::navigation::local_planning