RestrictAreaTask.h

Go to the documentation of this file.

/*
 * Copyright (C) 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_RESTRICTAREATASK_H_
#define _MIRA_RESTRICTAREATASK_H_

#include <geometry/Polygon.h>
#include <navigation/Task.h>

namespace mira { namespace navigation {


class RestrictAreaTask : public navigation::SubTask
{
    MIRA_OBJECT(RestrictAreaTask);

public:
    RestrictAreaTask() :
        frameID("/GlobalFrame")
    {}

    RestrictAreaTask(Polygon2f area, const std::string& f = "/GlobalFrame") :
        restrictingAreas{std::move(area)},
        frameID(f)
    {}

    RestrictAreaTask(std::vector<Polygon2f> areas, const std::string& f = "/GlobalFrame") :
        restrictingAreas(std::move(areas)),
        frameID(f)
    {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, SubTask);
        r.property("RestrictingAreas", restrictingAreas, "The areas the robot is restricted to.");
        r.property("FrameID", frameID, "The frame the position is related to.", "/GlobalFrame");
    }

public:
    std::vector<Polygon2f> restrictingAreas;

    std::string frameID;
};


}} // namespace mira::navigation

#endif