ExecutorInterface.h

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#pragma once
 
#include <armarx/navigation/core/Trajectory.h>
#include <armarx/navigation/core/types.h>
 
namespace armarx::navigation::server
{
 
    /**
     * @brief An executer the server navigator will use to send its control commands to.
     */
    class ExecutorInterface
    {
 
    public:
        virtual ~ExecutorInterface() = default;
 
        virtual void execute(const core::LocalTrajectory& trajectory,
                             bool activateController = false) = 0;
        virtual void execute(const core::GlobalTrajectory& trajectory,
                             bool activateController = false) = 0;
 
 
        enum class ControllerType
        {
            GlobalTrajectory,
            LocalTrajectory,
            None
        };
 
        virtual void start(ControllerType controllerType) = 0;
        virtual void stop() = 0;
 
        virtual void ensureIsActive(ControllerType controllerType) = 0;
 
        virtual void updateVelocityLimits(const core::TwistLimits& limits) = 0;
 
        virtual void updateVelocityFactor(float velocityFactor) = 0;
    };
 
} // namespace armarx::navigation::server