NavigateTo.h
Go to the documentation of this file.
1 /*
2  * This file is part of ArmarX.
3  *
4  * ArmarX is free software; you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License version 2 as
6  * published by the Free Software Foundation.
7  *
8  * ArmarX is distributed in the hope that it will be useful, but
9  * WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11  * GNU General Public License for more details.
12  *
13  * You should have received a copy of the GNU General Public License
14  * along with this program. If not, see <http://www.gnu.org/licenses/>.
15  *
16  * @author Fabian Reister ( fabian dot reister at kit dot edu )
17  * @date 2023
18  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
19  * GNU General Public License
20  */
21 
22 #pragma once
23 
26 
29 
32 #include <armarx/navigation/skills/aron/NavigateTo.aron.generated.h>
34 
36 {
37  class NavigateTo :
38  virtual public armarx::skills::SimpleSpecializedSkill<arondto::NavigateToParams>
39  {
40  public:
41  using Params = arondto::NavigateToParams;
43 
44  struct Services
45  {
48  };
49 
50  NavigateTo(const Services& srv);
51 
52  private:
54 
56 
57  void onStopRequested() override;
58 
59 
60  public:
63  {
66  .description = "",
68  .parametersType = Params::ToAronType()};
69  }
70 
71  protected:
72  private:
73  std::optional<Services> srv_;
74 
75  // will be initialized in "init()"
76  std::optional<client::MemorySubscriber> memorySubscriber;
77  std::optional<client::Navigator> navigator;
78  };
79 
80 } // namespace armarx::navigation::skills
constants.h
armarx::skills::SimpleSpecializedSkill< arondto::NavigateToParams >::init
Skill::InitResult init() final
Definition: SimpleSpecializedSkill.h:62
armarx::navigation::skills::NavigateTo
Definition: NavigateTo.h:37
armarx::skills::SkillID::skillName
std::string skillName
Definition: SkillID.h:60
armarx::skills::SkillDescription
Definition: SkillDescription.h:18
Duration.h
armarx::navigation::client::IceNavigator
Definition: IceNavigator.h:17
armarx::navigation::skills::NavigateTo::NavigateTo
NavigateTo(const Services &srv)
Definition: NavigateTo.cpp:49
SimpleSpecializedSkill.h
armarx::skills::SimpleSpecializedSkill::SpecializedMainInput
Definition: SimpleSpecializedSkill.h:24
armarx::navigation::skills::NavigateTo::Services
Definition: NavigateTo.h:44
MemorySubscriber.h
armarx::core::time::Duration::Seconds
static Duration Seconds(std::int64_t seconds)
Constructs a duration in seconds.
Definition: Duration.cpp:83
ManagedIceObject.h
armarx::navigation::skills::constants::skill_names::NavigateTo
const std::string NavigateTo
Definition: constants.h:38
armarx::navigation::skills::NavigateTo::Params
arondto::NavigateToParams Params
Definition: NavigateTo.h:41
armarx::skills::SkillDescription::skillId
SkillID skillId
Definition: SkillDescription.h:20
armarx::skills::SimpleSpecializedSkill
Definition: SimpleSpecializedSkill.h:10
client.h
armarx::skills::Skill::MainResult
A result struct for th main method of a skill.
Definition: Skill.h:48
SimpleSkill.h
armarx::skills::SimpleSpecializedSkill::SpecializedInitInput
Definition: SimpleSpecializedSkill.h:18
armarx::skills::SimpleSpecializedSkill< arondto::NavigateToParams >::main
Skill::MainResult main() final
Definition: SimpleSpecializedSkill.h:71
armarx::skills::Skill::InitResult
A result struct for skill initialization.
Definition: Skill.h:36
armarx::armem::client::MemoryNameSystem
The memory name system (MNS) client.
Definition: MemoryNameSystem.h:69
armarx::navigation::skills::NavigateTo::DefaultSkillDescription
static armarx::skills::SkillDescription DefaultSkillDescription()
Definition: NavigateTo.h:62
armarx::navigation::skills::NavigateTo::Services::iceNavigator
client::IceNavigator & iceNavigator
Definition: NavigateTo.h:46
armarx::navigation::skills
Definition: constants.cpp:25
armarx::navigation::skills::NavigateTo::Services::memoryNameSystem
armem::client::MemoryNameSystem & memoryNameSystem
Definition: NavigateTo.h:47