NavigateToChargingStation.h

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#pragma once
 
#include <RobotAPI/libraries/skills/core/Skill.h>
#include <RobotAPI/libraries/skills/core/SkillDescription.h>
#include <RobotAPI/libraries/skills/core/SkillID.h>
#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
#include <armarx/navigation/skills/aron/NavigateToChargingStation.aron.generated.h>
 
namespace armarx::navigation::skills
{
    /**
     * @class NavigateToChargingStation
     * @ingroup Library-armarx_navigation_skills
     *
     * @brief Navigate to the charging station location and initiate charging.
     *
     * Subskills:
     * - armarx::navigation::skills::NavigateToNamedLocation
     *
     * @todo Rename, this is more general than just navigation.
     */
    class NavigateToChargingStation :
        virtual public armarx::skills::SimpleSpecializedSkill<
            arondto::NavigateToChargingStationParams>
    {
    public:
        using Params = arondto::NavigateToChargingStationParams;
        using Base = ::armarx::skills::SimpleSpecializedSkill<Params>;
 
        static ::armarx::skills::SkillDescription GetSkillDescription();
 
        struct Properties
        {
            struct SubSkillIds
            {
                SubSkillIds();
 
                armarx::skills::SkillID navigateToNamedLocation;
            };
 
            SubSkillIds subSkillIDs;
        };
 
        NavigateToChargingStation(const Properties& properties);
 
 
    private:
        // SpecializedSkill interface
        // Enable each function you want to override.
        // bool isAvailable(const SpecializedInitInput&) const override;
        // ::armarx::skills::Skill::InitResult init(const SpecializedInitInput&) override;
        using Base::main;
        ::armarx::skills::Skill::MainResult main(const SpecializedMainInput& in) override;
        // ::armarx::skills::Skill::ExitResult exit(const SpecializedExitInput&) override;
 
 
    protected:
    private:
        Properties properties;
    };
 
} // namespace armarx::navigation::skills