DockingTask.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
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 * Contact: info@mira-project.org
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#ifndef _MIRA_DOCKINGTASK_H_
#define _MIRA_DOCKINGTASK_H_

#include <transform/Pose.h>

#include <navigation/Task.h>

namespace mira { namespace navigation {


class DockingTask : public SubTask
{
    MIRA_OBJECT(DockingTask);
public:

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    DockingTask() {}

    DockingTask(const Pose2& p, const Pose2& t, const std::string& g) :
        pose(p),
        tolerance(t),
        goalFrame(g)
    {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, SubTask);
        r.property("Pose", pose, "Position and orientation");
        r.property("Tolerance", tolerance, "The tolerance for docking.");
        r.property("GoalFrame", goalFrame, "The frame of the goal.");
    }

public:
    Pose2 pose;

    Pose2 tolerance;

    std::string goalFrame;
};


}}

#endif