PathBuilder.cpp

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#include "PathBuilder.h"
 
#include <string>
 
#include <armarx/navigation/client/ice_conversions.h>
#include <armarx/navigation/client/types.h>
#include <armarx/navigation/core/basic_types.h>
 
namespace armarx::navigation::client
{
    PathBuilder&
    PathBuilder::add(const std::string& locationId,
                     const GlobalPlanningStrategy& strategy,
                     const Config& config)
    {
 
        waypoints.push_back(WaypointTarget{.locationId = locationId, .strategy = strategy});
 
        return *this;
    }
 
    PathBuilder&
    PathBuilder::add(const core::Pose& pose,
                     const GlobalPlanningStrategy& strategy,
                     const Config& config)
    {
 
        waypoints.push_back(WaypointTarget{.pose = pose, .strategy = strategy});
 
 
        return *this;
    }
 
    const WaypointTargets&
    PathBuilder::path() const
    {
        return waypoints;
    }
 
} // namespace armarx::navigation::client