NavigatorInterface.h

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#pragma once
 
#include <optional>
#include <string>
#include <vector>
 
#include <armarx/navigation/client/ice_conversions.h>
#include <armarx/navigation/core/basic_types.h>
#include <armarx/navigation/core/types.h>
 
namespace armarx::navigation::core
{
 
    /**
     * @brief Navigator interface for PointGoal navigation (with waypoints) and relative movement
     * 
     */
    class NavigatorInterface
    {
 
    public:
        virtual void moveTo(const std::vector<core::Pose>& waypoints,
                            core::NavigationFrame navigationFrame) = 0;
 
        virtual void moveToAlternatives(const std::vector<core::TargetAlternative>& targets,
                                        core::NavigationFrame navigationFrame) = 0;
 
        virtual void moveTowards(const core::Direction& direction,
                                 core::NavigationFrame navigationFrame) = 0;
 
        virtual void moveTo(const std::vector<client::WaypointTarget>& targets,
                            core::NavigationFrame navigationFrame) = 0;
 
        virtual void moveToLocation(const std::string& location,
                                    const std::optional<std::string>& providerName) = 0;
 
        virtual void update(const std::vector<core::Pose>& waypoints,
                            core::NavigationFrame navigationFrame) = 0;
 
        virtual void setVelocityFactor(float velocityFactor) = 0;
 
        virtual void pause() = 0;
 
        virtual void resume() = 0;
 
        virtual void stop() = 0;
 
        virtual bool isPaused() const noexcept = 0;
 
        virtual bool isStopped() const noexcept = 0;
 
        // Non-API
    public:
        virtual ~NavigatorInterface() = default;
    };
 
} // namespace armarx::navigation::core