INavigation.h

Go to the documentation of this file.

/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
 */

#ifndef _MIRA_INAVIGATION_H_
#define _MIRA_INAVIGATION_H_

#include <transform/Pose.h>
#include <navigation/Task.h>
#include <navigation/tasks/PositionTask.h>

namespace mira { namespace navigation {


namespace {
    TaskPtr createSampleTask()
    {
        TaskPtr task(new Task());
        task->addSubTask(SubTaskPtr(new PositionTask(Point2f(1.0, 2.0), 0.1, 0.2,
                                                     "/maps/MapFrame")));
        return task;
    }
}

class INavigation
{
public:
    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.interface("INavigation");
        r.method("setGoal", &INavigation::setGoal, this, "Set a goal",
                 "goal", "goal pose", Pose2(1.0f, 2.0f, deg2rad(90.f)),
                 "transT", "translation tolerance [m]", 0.1f,
                 "rotT", "rotation tolerance [rad]", deg2rad(10.f));

        static TaskPtr task = createSampleTask();

        r.method("setTask", &INavigation::setTask, this,
                 "Set a new task. NULL resets task and stops navigation.",
                 "task", "the task", task);
        r.method("repeatTask", &INavigation::repeatTask, this,
                 "Repeat the last task (if any)");
    }

    virtual ~INavigation() {};

public:

    virtual void setGoal(const Pose2& goal, float transT, float rotT) = 0;

    virtual void setTask(TaskPtr task) = 0;

    virtual void repeatTask() = 0;
};


}}

#endif