VelocityTask.h

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/*
 * Copyright (C) 2014 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
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 * Contact: info@mira-project.org
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 *   Foundation and appearing in the file LICENSE.GPL3 included in the
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#ifndef _MIRA_VELOCITYTASK_H_
#define _MIRA_VELOCITYTASK_H_

#include <navigation/Task.h>
#include <transform/Velocity.h>

namespace mira { namespace navigation {


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

    VelocityTask() :
        velocity(1.0f, 0.0, deg2rad(90.0f)) {}

    VelocityTask(const Velocity2& v) :
        velocity(v)
    {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, SubTask);
        r.property("Velocity", velocity, "The requested max velocity.");
    }

public:
    Velocity2 velocity;
};


}} // namespace

#endif