RotateTowards.h

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#pragma once
 
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
 
#include <armarx/navigation/skills/NavigateRelativeSkill.h>
#include <armarx/navigation/skills/NavigatingSkillHelper.h>
#include <armarx/navigation/skills/aron/RotateTowards.aron.generated.h>
 
namespace armarx::navigation::skills
{
 
    class RotateTowards : public NavigateRelativeSkill<arondto::RotateTowardsParams>
    {
 
    public:
        using Base = NavigateRelativeSkill<arondto::RotateTowardsParams>;
 
        struct Services
        {
            armem::robot_state::VirtualRobotReader& robotReader;
        };
 
        struct Properties
        {
            std::string robotName;
        };
 
        RotateTowards(const NavigatingSkillHelper::Properties& helperProperties,
                      const NavigatingSkillHelper::Services& helperSrv,
                      const Properties& props,
                      const Services& srv);
 
    private:
        Eigen::Isometry3f relativeTarget(const Base::SpecializedMainInput& in) override;
 
        Services srv_;
        Properties properties_;
 
    public:
        static armarx::skills::SkillDescription DefaultSkillDescription();
    };
 
} // namespace armarx::navigation::skills