PositionTask.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_POSITIONTASK_H_
#define _MIRA_POSITIONTASK_H_

#include <geometry/Point.h>

#include <navigation/Task.h>

namespace mira { namespace navigation {


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

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    PositionTask() :
        position(Point2f(0.0, 0.0)),
        minTolerance(0.0f),
        maxTolerance(0.0f),
        frameID("/GlobalFrame")
    {}

    PositionTask(const Point2f& pos, float maxT,
                 const std::string& f = "/GlobalFrame") :
        position(pos),
        minTolerance(maxT),
        maxTolerance(maxT),
        frameID(f)
    {}

    PositionTask(const Point2f& pos, float minT, float maxT,
                 const std::string& f = "/GlobalFrame") :
        position(pos),
        minTolerance(minT<maxT?minT:maxT),
        maxTolerance(maxT>minT?maxT:minT),
        frameID(f)
    {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, SubTask);
        r.property("Position", position,
                   "The request position.");
        r.property("MinTolerance", minTolerance,
                   "The minimum tolerance/lower limit for path planner hysteresis.");
        r.property("MaxTolerance", maxTolerance,
                   "The maximum tolerance/upper limit for path planner hysteresis.");
        r.property("FrameID", frameID,
                   "The frame the position is related to.", "/GlobalFrame");
    }

    bool reached(const Point2f& pos) const
    {
        return hypotf(position.x()-pos.x(),
                      position.y()-pos.y()) <= maxTolerance;
    }

public:
    Point2f position;

    float minTolerance;

    float maxTolerance;

    std::string frameID;
};


}}

#endif