Controller.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/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <ArmarXCore/interface/serialization/Eigen.ice>
 
#include <RobotAPI/interface/armem/client/MemoryListenerInterface.ice>
#include <RobotAPI/interface/aron.ice>
#include <RobotAPI/interface/core/PoseBase.ice>
 
[["python:pkgdir:armarx"]] module armarx
{
    module control
    {
 
        interface ControllerInterface
        { //extends armem::client::MemoryListenerInterface {
 
            void updateConfig(armarx::aron::data::dto::Dict config);
 
            // void moveTo(Eigen::Matrix4fSeq waypoints, string navigationFrame, string callerId);
 
            // void moveTo2(detail::Waypoints waypoints, string navigationFrame, string callerId);
 
            // void
            // moveTowards(Eigen::Vector3f direction, string navigationFrame, string callerId);
 
            // idempotent void pause(string callerId);
            // idempotent void resume(string callerId);
            // idempotent void stop(string callerId);
            // idempotent void stopAll();
 
            // bool isPaused(string callerId);
            // bool isStopped(string callerId);
        };
 
        interface ControllerCreator
        {
            ControllerInterface create(armarx::aron::data::dto::Dict config, string callerId);
        };
    };
};