RotateTask.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.
 *
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 *   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
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#ifndef _MIRA_ROTATETASK_H_
#define _MIRA_ROTATETASK_H_

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

#include <navigation/Task.h>

namespace mira { namespace navigation {


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

public:
    RotateTask(float angle = deg2rad(180.0f),
               float speed = deg2rad(30.0f)) : rotateAngle(angle),
                                               rotateSpeed(speed)
    {
        if (speed < 0.f) {
            MIRA_THROW(XInvalidParameter,
                       "RotateTask: speed must be non-negative.");
        }

    }

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, SubTask);

        r.member("Angle",
                 rad2degGetter(rotateAngle), deg2radSetter(rotateAngle),
                 "How much (and which direction) shall the robot rotate [deg]", 180.0f);

        r.member("Speed",
                 rad2degGetter(rotateSpeed), deg2radSetter(rotateSpeed, Deg2RadNonNegative),
                 "How fast shall the robot rotate [positive deg/s]", 30.0f);
    }

public:
    float rotateAngle;

    float rotateSpeed;
};


}}

#endif