ComponentInterface.ice

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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/>.
 *
 * @package    RobotComponents
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021 Humanoids Group, H2T, KIT
 * @license    http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <ArmarXCore/interface/core/BasicVectorTypes.ice>
 
#include <RobotAPI/interface/armem/client/MemoryListenerInterface.ice>
#include <RobotAPI/interface/core/RobotLocalization.ice>
#include <RobotAPI/interface/units/InertialMeasurementUnit.ice>
#include <RobotAPI/interface/units/LaserScannerUnit.ice>
#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
 
 
module armarx
{
 
    interface CartographerMappingAndLocalizationInterface extends
        // OdometryListener, --> odometry is queried from memory
        LaserScannerUnitListener,
        // InertialMeasurementUnitListener,
        armem::client::MemoryListenerInterface{};
 
    interface SelfLocalizationListener
    {
        void reportCorrectedPose(float x, float y, float theta);
    }
};