PlatformUnitExecutor.cpp

Go to the documentation of this file.

#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
 
#include <armarx/navigation/core/basic_types.h>
#include <armarx/navigation/server/execution/PlatformUnitExecutor.h>
 
namespace armarx::navigation::server
{
 
    PlatformUnitExecutor::PlatformUnitExecutor(PlatformUnitInterfacePrx platformUnit) :
        platformUnit{platformUnit}
    {
        // pass
    }
 
    PlatformUnitExecutor::~PlatformUnitExecutor()
    {
        // pass
    }
 
    void
    PlatformUnitExecutor::move(const core::Twist& twist)
    {
        ARMARX_CHECK_NOT_NULL(platformUnit) << "PlatformUnit is not available";
        platformUnit->move(twist.linear.x(), twist.linear.y(), twist.angular.z());
    }
 
} // namespace armarx::navigation::server