PersonFollowTask.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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#ifndef _MIRA_PersonFollowTask_H_
#define _MIRA_PersonFollowTask_H_

#include <transform/Pose.h>

#include <navigation/Task.h>

namespace mira { namespace navigation {


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

    PersonFollowTask() :
        minDistance(0.0f),
        maxDistance(0.0f),
        orientationToPerson(0.0f),
        orientationTolerance(0.0f)
    {}

    PersonFollowTask(float minDist, float maxDist, float orientTol,
                     float orientation = 0.0) :
        minDistance(minDist),
        maxDistance(maxDist),
        orientationToPerson(orientation),
        orientationTolerance(orientTol)
    {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, SubTask);
        r.property("MinDistance", minDistance,
                   "The minimum distance to the person in [m].");
        r.property("MaxDistance", maxDistance,
                   "The maximum distance to the person in [m].");
        r.property("OrientationToPerson", orientationToPerson,
                   "The desired orientation of the followed person relative "
                   "to the robot frame in [rad] ", 0.0);
        r.property("OrientationTolerance", orientationTolerance,
                   "The allowed tolerance for orientation in [rad].");
    }

public:
    float minDistance;

    float maxDistance;

    float orientationToPerson;

    float orientationTolerance;
};


}}

#endif