OrientationTask.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.
 *
 * Contact: info@mira-project.org
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 * Commercial Usage:
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 *   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:
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 *   Foundation and appearing in the file LICENSE.GPL3 included in the
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#ifndef _MIRA_ORIENTATIONTASK_H_
#define _MIRA_ORIENTATIONTASK_H_

#include <math/Angle.h>
#include <serialization/PropertySerializer.h>

#include <navigation/Task.h>

namespace mira { namespace navigation {


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

    OrientationTask() :
        phi(0), tolerance(0), frameID("/GlobalFrame") {}

    OrientationTask(float p, float t, const std::string& f = "/GlobalFrame") :
        phi(p), tolerance(t), frameID(f)
    {}

    // keep using Angle for serialization compatibility
    template<typename Reflector>
    void reflectTolerance(Reflector& r) {
        if (Reflector::isReadOnly::value) {
            Anglef a(tolerance);
            r.property("Tolerance", a,
                       "The requested tolerance.",
                       PropertyHint(), REFLECT_CTRLFLAG_TEMP_TRACKING);
        } else {
            Anglef a;
            r.property("Tolerance", a,
                       "The requested tolerance.",
                       PropertyHint(), REFLECT_CTRLFLAG_TEMP_TRACKING);
            tolerance = a.rad();
        }
    }

    void reflectTolerance(PropertySerializer& r) {
        r.property("Tolerance",
                   rad2degGetter(tolerance), deg2radSetter(tolerance, Deg2RadNonNegative),
                   "The requested tolerance.", PropertyHints::minimum(0.f));
    }

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, SubTask);
        r.property("Orientation", phi, "The requested orientation.");
        reflectTolerance(r);
        r.property("FrameID", frameID,
                   "The frame the angle is related to.", "/GlobalFrame");
    }

    bool reached(float p) const
    {
        return std::abs(phi.smallestDifferenceValue(Anglef(p))) <= tolerance;
    }

public:
    Anglef phi;

    float tolerance;

    std::string frameID;
};


}}

#endif