IceNavigatorHandle.h

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#pragma once
 
 
#include <memory>
#include <optional>
#include <string>
#include <vector>
 
#include <armarx/navigation/client/NavigationStackConfig.h>
#include <armarx/navigation/client/ice/NavigatorInterface.h>
#include <armarx/navigation/core/NavigatorInterface.h>
#include <armarx/navigation/core/basic_types.h>
#include <armarx/navigation/core/types.h>
 
namespace armarx::navigation::client
{
 
    class IceNavigatorFactory;
 
    class IceNavigatorHandle : virtual public core::NavigatorInterface
    {
 
    public:
        ~IceNavigatorHandle() override;
 
 
        void moveTo(const std::vector<core::Pose>& waypoints,
                    core::NavigationFrame navigationFrame) override;
 
        void moveTo(const std::vector<client::WaypointTarget>& targets,
                    core::NavigationFrame navigationFrame) override;
 
        void moveToAlternatives(const std::vector<core::TargetAlternative>& targets,
                                core::NavigationFrame navigationFrame) override;
 
        void moveToLocation(const std::string& location,
                            const std::optional<std::string>& providerName) override;
 
        void moveTowards(const core::Direction& direction,
                         core::NavigationFrame navigationFrame) override;
 
        void update(const std::vector<core::Pose>& waypoints,
                    core::NavigationFrame navigationFrame) override;
 
        void setVelocityFactor(float velocityFactor) override;
 
        void pause() override;
 
        void resume() override;
 
        void stop() override;
 
        bool isPaused() const noexcept override;
 
        bool isStopped() const noexcept override;
 
    private:
        IceNavigatorHandle(const NavigatorInterfacePrx& navigator, const std::string& configId);
 
        friend class IceNavigatorFactory;
 
    private:
        NavigatorInterfacePrx navigator_;
        std::string configId_;
    };
 
} // namespace armarx::navigation::client