CNavigatorManualSequence.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/nav/reactive/CAbstractNavigator.h>
#include <map>
#include <mrpt/utils/CTicTac.h>

namespace mrpt {
namespace nav 
{
        /** "Fake navigator" for tests: it just sends out a pre-programmed sequence of commands to the robot.
         * For a short discussion of the API, see CNavigatorVirtualBase
         */
        class NAV_IMPEXP CNavigatorManualSequence : public mrpt::nav::CAbstractNavigator
        {
        public:
                CNavigatorManualSequence( CRobot2NavInterface &react_iterf_impl );
                virtual ~CNavigatorManualSequence();

                /** @name Initialization API
                  * @{ */
                virtual void loadConfigFile(const mrpt::utils::CConfigFileBase &c) MRPT_OVERRIDE; // See base class docs!
                virtual void saveConfigFile(mrpt::utils::CConfigFileBase &c) const MRPT_OVERRIDE; // See base class docs!
                void initialize() MRPT_OVERRIDE; //!< Must be called for loading collision grids, etc. before invoking any navigation command
                /** @} */

                /** Overriden in this class to ignore the cancel/pause/... commands */
                void navigationStep() MRPT_OVERRIDE;

                struct TVelCmd
                {
                        mrpt::kinematics::CVehicleVelCmdPtr cmd_vel; //!< all with the same meaning than in CRobot2NavInterface::changeSpeeds()
                };

                std::map<double,TVelCmd>  programmed_orders; //!< map [time_in_secs_since_beginning] -> orders.

        protected:
                virtual void onStartNewNavigation() MRPT_OVERRIDE { }

        private:
                // Not used in this class:
                virtual void navigate( const TNavigationParams *params ) MRPT_OVERRIDE { }
                virtual void  performNavigationStep( )  MRPT_OVERRIDE { } 
        };
}       
}