MemoryIntrospector.cpp

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#include "MemoryIntrospector.h"
 
#include <optional>
#include <string>
 
#include <armarx/navigation/core/basic_types.h>
#include <armarx/navigation/global_planning/GlobalPlanner.h>
#include <armarx/navigation/local_planning/LocalPlanner.h>
#include <armarx/navigation/memory/client/stack_result/Writer.h>
 
namespace armarx::navigation::server
{
    MemoryIntrospector::MemoryIntrospector(memory::client::stack_result::Writer& globPlanWriter,
                                           const std::string& clientID) :
        globPlanWriter(globPlanWriter), clientID(clientID)
    {
    }
 
    void
    MemoryIntrospector::onGlobalPlannerResult(const global_planning::GlobalPlannerResult& result)
    {
        globPlanWriter.store(result, clientID);
    }
 
    void
    MemoryIntrospector::onGlobalPlannerSubdivision(const GlobalPathSubdivision& subdivision)
    {
        // NYI
    }
 
    void
    MemoryIntrospector::onLocalPlannerResult(
        const std::optional<local_planning::LocalPlannerResult>& result)
    {
        // TODO(fabian.reister): implement
    }
 
    void
    MemoryIntrospector::onGoal(const core::Pose& goal)
    {
        // TODO(fabian.reister): implement
    }
 
    // void
    // MemoryIntrospector::onStackResult(const StackResult& result)
    // {
    //     globPlanWriter.store(result, clientID);
    //     // TODO(fabian.reister): add more
    // }
} // namespace armarx::navigation::server