DummyExecutor.h

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#pragma once
 
#include <Eigen/Geometry>
 
#include <armarx/navigation/core/Trajectory.h>
#include <armarx/navigation/core/types.h>
#include <armarx/navigation/server/execution/ExecutorInterface.h>
 
namespace armarx::navigation::server
{
 
    /**
     * @brief Executor that doesn't do anything. Each method is empty.
     * 
     */
    class DummyExecutor : virtual public ExecutorInterface
    {
 
    public:
        DummyExecutor() = default;
 
        ~DummyExecutor() override = default;
 
 
        void execute(const core::LocalTrajectory& trajectory,
                     bool activateController = false) override;
 
        void execute(const core::GlobalTrajectory& trajectory,
                     bool activateController = false) override;
 
        void start(ControllerType controllerType) override;
        void stop() override;
 
        void ensureIsActive(ControllerType controllerType) override;
 
        void updateVelocityLimits(const core::TwistLimits& limits) override;
 
        void updateVelocityFactor(float velocityFactor) override;
    };
 
} // namespace armarx::navigation::server