NavigatorInterface.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    armarx::navigation::components::Navigator
 * @author     Christian R. G. Dreher ( c dot dreher at kit dot edu )
 * @date       2021
 * @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/aron.ice>
#include <RobotAPI/interface/core/PoseBase.ice>
 
[["python:pkgdir:armarx"]] module armarx
{
    module navigation
    {
 
        module client
        {
            module detail
            {
                // defines how a waypoint should be reached
                enum GlobalPlanningStrategy
                {
                    Free,
                    Point2Point
                };
 
                // either symbolic or subsymbolic
                struct Waypoint
                {
                    string locationId;
                    armarx::PoseBase pose;
 
                    GlobalPlanningStrategy strategy;
                };
 
                sequence<Waypoint> Waypoints;
 
                struct TargetAlternative
                {
                    Eigen::Matrix4f target;
                    int priority;
                }
 
                sequence<TargetAlternative> TargetAlternatives;
            };
 
 
            interface NavigatorInterface
            {
 
                void createConfig(aron::data::dto::Dict config, string callerId);
 
                void removeConfig(string callerId);
 
                void moveTo(Eigen::Matrix4fSeq waypoints, string navigationFrame, string callerId);
 
                void moveTo2(detail::Waypoints waypoints, string navigationFrame, string callerId);
 
                void moveToAlternatives(detail::TargetAlternatives targets, string navigationFrame, string callerId);
 
                void moveToLocation(string location, optional (1) string provider, string callerId);
 
                void updateMoveTo(
                    Eigen::Matrix4fSeq waypoints, string navigationFrame, string callerId);
 
                void moveTowards(
                    Eigen::Vector3f direction, string navigationFrame, string callerId);
 
                void setVelocityFactor(float velocityFactor, 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);
            };
        };
    };
};