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 CNavigatorManualSequence : public mrpt::nav::CAbstractNavigator
{
   public:
        CNavigatorManualSequence(CRobot2NavInterface& react_iterf_impl);
        virtual ~CNavigatorManualSequence();

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

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

        struct TVelCmd
        {
                /** all with the same meaning than in
                 * CRobot2NavInterface::changeSpeeds() */
                mrpt::kinematics::CVehicleVelCmd::Ptr cmd_vel;
        };

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

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