IceNavigator.h

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#pragma once
 
 
#include <string>
#include <vector>
 
#include <armarx/navigation/client/NavigationStackConfig.h>
#include <armarx/navigation/client/ice/NavigatorInterface.h>
#include <armarx/navigation/client/ice_conversions.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 IceNavigator : virtual public core::NavigatorInterface
    {
 
    public:
        IceNavigator();
        IceNavigator(const NavigatorInterfacePrx& navigator);
 
        ~IceNavigator() override;
 
 
        void setNavigatorComponent(const NavigatorInterfacePrx& navigator);
 
        void createConfig(const client::NavigationStackConfig& config, const std::string& configId);
 
        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 moveToLocation(const std::string& location) 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:
        std::string configId;
 
        NavigatorInterfacePrx navigator;
    };
 
} // namespace armarx::navigation::client