24#ifndef _INTERFACES_NAVIGATORINTERFACE_H_
25#define _INTERFACES_NAVIGATORINTERFACE_H_
27#include <interface/interface.h>
28#include <interface/message.h>
29#include <interface/field_iterator.h>
73 int64_t timestamp_sec;
74 int64_t timestamp_usec;
93 bool escaping_enabled;
102 } NavigatorInterface_data_t;
104 NavigatorInterface_data_t *data;
115 int64_t timestamp_sec;
116 int64_t timestamp_usec;
126 } StopMessage_data_t;
128 StopMessage_data_t *data;
139 uint32_t
msgid()
const;
140 void set_msgid(
const uint32_t new_msgid);
150 int64_t timestamp_sec;
151 int64_t timestamp_usec;
155 } TurnMessage_data_t;
157 TurnMessage_data_t *data;
162 TurnMessage(
const float ini_angle,
const float ini_velocity);
182 int64_t timestamp_sec;
183 int64_t timestamp_usec;
187 } CartesianGotoMessage_data_t;
189 CartesianGotoMessage_data_t *data;
201 void set_x(
const float new_x);
204 void set_y(
const float new_y);
217 int64_t timestamp_sec;
218 int64_t timestamp_usec;
224 } CartesianGotoWithToleranceMessage_data_t;
226 CartesianGotoWithToleranceMessage_data_t *data;
231 CartesianGotoWithToleranceMessage(
const float ini_x,
const float ini_y,
const float ini_orientation,
const float ini_translation_tolerance,
const float ini_orientation_tolerance);
238 void set_x(
const float new_x);
241 void set_y(
const float new_y);
260 int64_t timestamp_sec;
261 int64_t timestamp_usec;
266 } CartesianGotoWithFrameMessage_data_t;
268 CartesianGotoWithFrameMessage_data_t *data;
280 void set_x(
const float new_x);
283 void set_y(
const float new_y);
299 int64_t timestamp_sec;
300 int64_t timestamp_usec;
307 } CartesianGotoWithFrameWithToleranceMessage_data_t;
309 CartesianGotoWithFrameWithToleranceMessage_data_t *data;
314 CartesianGotoWithFrameWithToleranceMessage(
const float ini_x,
const float ini_y,
const float ini_orientation,
const char * ini_target_frame,
const float ini_translation_tolerance,
const float ini_orientation_tolerance);
321 void set_x(
const float new_x);
324 void set_y(
const float new_y);
346 int64_t timestamp_sec;
347 int64_t timestamp_usec;
351 } PolarGotoMessage_data_t;
353 PolarGotoMessage_data_t *data;
358 PolarGotoMessage(
const float ini_phi,
const float ini_dist,
const float ini_orientation);
365 void set_phi(
const float new_phi);
368 void set_dist(
const float new_dist);
381 int64_t timestamp_sec;
382 int64_t timestamp_usec;
384 } PlaceGotoMessage_data_t;
386 PlaceGotoMessage_data_t *data;
397 char *
place()
const;
408 int64_t timestamp_sec;
409 int64_t timestamp_usec;
412 } PlaceWithOriGotoMessage_data_t;
414 PlaceWithOriGotoMessage_data_t *data;
425 char *
place()
const;
439 int64_t timestamp_sec;
440 int64_t timestamp_usec;
444 } ObstacleMessage_data_t;
446 ObstacleMessage_data_t *data;
451 ObstacleMessage(
const float ini_x,
const float ini_y,
const float ini_width);
458 void set_x(
const float new_x);
461 void set_y(
const float new_y);
474 int64_t timestamp_sec;
475 int64_t timestamp_usec;
476 } ResetOdometryMessage_data_t;
478 ResetOdometryMessage_data_t *data;
496 int64_t timestamp_sec;
497 int64_t timestamp_usec;
499 } SetMaxVelocityMessage_data_t;
501 SetMaxVelocityMessage_data_t *data;
523 int64_t timestamp_sec;
524 int64_t timestamp_usec;
526 } SetMaxRotationMessage_data_t;
528 SetMaxRotationMessage_data_t *data;
550 int64_t timestamp_sec;
551 int64_t timestamp_usec;
552 bool escaping_enabled;
554 } SetEscapingMessage_data_t;
556 SetEscapingMessage_data_t *data;
578 int64_t timestamp_sec;
579 int64_t timestamp_usec;
581 } SetSecurityDistanceMessage_data_t;
583 SetSecurityDistanceMessage_data_t *data;
605 int64_t timestamp_sec;
606 int64_t timestamp_usec;
608 } SetDriveModeMessage_data_t;
610 SetDriveModeMessage_data_t *data;
632 int64_t timestamp_sec;
633 int64_t timestamp_usec;
635 } SetStopAtTargetMessage_data_t;
637 SetStopAtTargetMessage_data_t *data;
659 int64_t timestamp_sec;
660 int64_t timestamp_usec;
662 } SetOrientationModeMessage_data_t;
664 SetOrientationModeMessage_data_t *data;
686 int64_t timestamp_sec;
687 int64_t timestamp_usec;
688 } ResetParametersMessage_data_t;
690 ResetParametersMessage_data_t *data;
710 uint32_t
flags()
const;
711 void set_flags(
const uint32_t new_flags);
714 void set_x(
const float new_x);
717 void set_y(
const float new_y);
731 uint32_t
msgid()
const;
732 void set_msgid(
const uint32_t new_msgid);
770 virtual const char *
enum_tostring(
const char *enumtype,
int val)
const;
Base class for all Fawkes BlackBoard interfaces.
const char * type() const
Get type of interface.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
CartesianGotoMessage Fawkes BlackBoard Interface Message.
void set_y(const float new_y)
Set y value.
size_t maxlenof_orientation() const
Get maximum length of orientation value.
void set_orientation(const float new_orientation)
Set orientation value.
float x() const
Get x value.
float orientation() const
Get orientation value.
virtual Message * clone() const
Clone this message.
~CartesianGotoMessage()
Destructor.
void set_x(const float new_x)
Set x value.
float y() const
Get y value.
size_t maxlenof_y() const
Get maximum length of y value.
CartesianGotoMessage()
Constructor.
size_t maxlenof_x() const
Get maximum length of x value.
CartesianGotoWithFrameMessage Fawkes BlackBoard Interface Message.
size_t maxlenof_orientation() const
Get maximum length of orientation value.
~CartesianGotoWithFrameMessage()
Destructor.
char * target_frame() const
Get target_frame value.
virtual Message * clone() const
Clone this message.
size_t maxlenof_target_frame() const
Get maximum length of target_frame value.
size_t maxlenof_x() const
Get maximum length of x value.
float y() const
Get y value.
void set_target_frame(const char *new_target_frame)
Set target_frame value.
size_t maxlenof_y() const
Get maximum length of y value.
void set_orientation(const float new_orientation)
Set orientation value.
void set_y(const float new_y)
Set y value.
void set_x(const float new_x)
Set x value.
float x() const
Get x value.
CartesianGotoWithFrameMessage()
Constructor.
float orientation() const
Get orientation value.
CartesianGotoWithFrameWithToleranceMessage Fawkes BlackBoard Interface Message.
float y() const
Get y value.
float orientation() const
Get orientation value.
size_t maxlenof_translation_tolerance() const
Get maximum length of translation_tolerance value.
void set_y(const float new_y)
Set y value.
float x() const
Get x value.
void set_target_frame(const char *new_target_frame)
Set target_frame value.
float orientation_tolerance() const
Get orientation_tolerance value.
void set_orientation(const float new_orientation)
Set orientation value.
size_t maxlenof_orientation_tolerance() const
Get maximum length of orientation_tolerance value.
void set_orientation_tolerance(const float new_orientation_tolerance)
Set orientation_tolerance value.
~CartesianGotoWithFrameWithToleranceMessage()
Destructor.
char * target_frame() const
Get target_frame value.
CartesianGotoWithFrameWithToleranceMessage()
Constructor.
size_t maxlenof_x() const
Get maximum length of x value.
size_t maxlenof_target_frame() const
Get maximum length of target_frame value.
size_t maxlenof_y() const
Get maximum length of y value.
float translation_tolerance() const
Get translation_tolerance value.
virtual Message * clone() const
Clone this message.
void set_translation_tolerance(const float new_translation_tolerance)
Set translation_tolerance value.
size_t maxlenof_orientation() const
Get maximum length of orientation value.
void set_x(const float new_x)
Set x value.
CartesianGotoWithToleranceMessage Fawkes BlackBoard Interface Message.
float x() const
Get x value.
~CartesianGotoWithToleranceMessage()
Destructor.
void set_x(const float new_x)
Set x value.
float orientation_tolerance() const
Get orientation_tolerance value.
void set_orientation_tolerance(const float new_orientation_tolerance)
Set orientation_tolerance value.
size_t maxlenof_x() const
Get maximum length of x value.
size_t maxlenof_y() const
Get maximum length of y value.
CartesianGotoWithToleranceMessage()
Constructor.
size_t maxlenof_orientation() const
Get maximum length of orientation value.
virtual Message * clone() const
Clone this message.
size_t maxlenof_orientation_tolerance() const
Get maximum length of orientation_tolerance value.
void set_translation_tolerance(const float new_translation_tolerance)
Set translation_tolerance value.
float translation_tolerance() const
Get translation_tolerance value.
void set_y(const float new_y)
Set y value.
void set_orientation(const float new_orientation)
Set orientation value.
float y() const
Get y value.
float orientation() const
Get orientation value.
size_t maxlenof_translation_tolerance() const
Get maximum length of translation_tolerance value.
ObstacleMessage Fawkes BlackBoard Interface Message.
float y() const
Get y value.
~ObstacleMessage()
Destructor.
virtual Message * clone() const
Clone this message.
size_t maxlenof_y() const
Get maximum length of y value.
size_t maxlenof_x() const
Get maximum length of x value.
void set_y(const float new_y)
Set y value.
float x() const
Get x value.
ObstacleMessage()
Constructor.
float width() const
Get width value.
void set_width(const float new_width)
Set width value.
size_t maxlenof_width() const
Get maximum length of width value.
void set_x(const float new_x)
Set x value.
PlaceGotoMessage Fawkes BlackBoard Interface Message.
~PlaceGotoMessage()
Destructor.
void set_place(const char *new_place)
Set place value.
PlaceGotoMessage()
Constructor.
virtual Message * clone() const
Clone this message.
size_t maxlenof_place() const
Get maximum length of place value.
char * place() const
Get place value.
PlaceWithOriGotoMessage Fawkes BlackBoard Interface Message.
void set_place(const char *new_place)
Set place value.
virtual Message * clone() const
Clone this message.
~PlaceWithOriGotoMessage()
Destructor.
char * place() const
Get place value.
void set_orientation(const float new_orientation)
Set orientation value.
size_t maxlenof_orientation() const
Get maximum length of orientation value.
PlaceWithOriGotoMessage()
Constructor.
size_t maxlenof_place() const
Get maximum length of place value.
float orientation() const
Get orientation value.
PolarGotoMessage Fawkes BlackBoard Interface Message.
float phi() const
Get phi value.
size_t maxlenof_phi() const
Get maximum length of phi value.
PolarGotoMessage()
Constructor.
float orientation() const
Get orientation value.
size_t maxlenof_orientation() const
Get maximum length of orientation value.
size_t maxlenof_dist() const
Get maximum length of dist value.
void set_dist(const float new_dist)
Set dist value.
virtual Message * clone() const
Clone this message.
float dist() const
Get dist value.
~PolarGotoMessage()
Destructor.
void set_phi(const float new_phi)
Set phi value.
void set_orientation(const float new_orientation)
Set orientation value.
ResetOdometryMessage Fawkes BlackBoard Interface Message.
~ResetOdometryMessage()
Destructor.
virtual Message * clone() const
Clone this message.
ResetOdometryMessage()
Constructor.
ResetParametersMessage Fawkes BlackBoard Interface Message.
~ResetParametersMessage()
Destructor.
virtual Message * clone() const
Clone this message.
ResetParametersMessage()
Constructor.
SetDriveModeMessage Fawkes BlackBoard Interface Message.
void set_drive_mode(const DriveMode new_drive_mode)
Set drive_mode value.
virtual Message * clone() const
Clone this message.
~SetDriveModeMessage()
Destructor.
SetDriveModeMessage()
Constructor.
DriveMode drive_mode() const
Get drive_mode value.
size_t maxlenof_drive_mode() const
Get maximum length of drive_mode value.
SetEscapingMessage Fawkes BlackBoard Interface Message.
~SetEscapingMessage()
Destructor.
virtual Message * clone() const
Clone this message.
size_t maxlenof_escaping_enabled() const
Get maximum length of escaping_enabled value.
bool is_escaping_enabled() const
Get escaping_enabled value.
SetEscapingMessage()
Constructor.
void set_escaping_enabled(const bool new_escaping_enabled)
Set escaping_enabled value.
SetMaxRotationMessage Fawkes BlackBoard Interface Message.
size_t maxlenof_max_rotation() const
Get maximum length of max_rotation value.
virtual Message * clone() const
Clone this message.
SetMaxRotationMessage()
Constructor.
float max_rotation() const
Get max_rotation value.
~SetMaxRotationMessage()
Destructor.
void set_max_rotation(const float new_max_rotation)
Set max_rotation value.
SetMaxVelocityMessage Fawkes BlackBoard Interface Message.
virtual Message * clone() const
Clone this message.
~SetMaxVelocityMessage()
Destructor.
SetMaxVelocityMessage()
Constructor.
size_t maxlenof_max_velocity() const
Get maximum length of max_velocity value.
float max_velocity() const
Get max_velocity value.
void set_max_velocity(const float new_max_velocity)
Set max_velocity value.
SetOrientationModeMessage Fawkes BlackBoard Interface Message.
SetOrientationModeMessage()
Constructor.
virtual Message * clone() const
Clone this message.
OrientationMode orientation_mode() const
Get orientation_mode value.
~SetOrientationModeMessage()
Destructor.
void set_orientation_mode(const OrientationMode new_orientation_mode)
Set orientation_mode value.
size_t maxlenof_orientation_mode() const
Get maximum length of orientation_mode value.
SetSecurityDistanceMessage Fawkes BlackBoard Interface Message.
void set_security_distance(const float new_security_distance)
Set security_distance value.
~SetSecurityDistanceMessage()
Destructor.
virtual Message * clone() const
Clone this message.
SetSecurityDistanceMessage()
Constructor.
float security_distance() const
Get security_distance value.
size_t maxlenof_security_distance() const
Get maximum length of security_distance value.
SetStopAtTargetMessage Fawkes BlackBoard Interface Message.
~SetStopAtTargetMessage()
Destructor.
void set_stop_at_target(const bool new_stop_at_target)
Set stop_at_target value.
size_t maxlenof_stop_at_target() const
Get maximum length of stop_at_target value.
bool is_stop_at_target() const
Get stop_at_target value.
SetStopAtTargetMessage()
Constructor.
virtual Message * clone() const
Clone this message.
StopMessage Fawkes BlackBoard Interface Message.
size_t maxlenof_msgid() const
Get maximum length of msgid value.
virtual Message * clone() const
Clone this message.
~StopMessage()
Destructor.
void set_msgid(const uint32_t new_msgid)
Set msgid value.
StopMessage()
Constructor.
uint32_t msgid() const
Get msgid value.
TurnMessage Fawkes BlackBoard Interface Message.
size_t maxlenof_velocity() const
Get maximum length of velocity value.
float velocity() const
Get velocity value.
~TurnMessage()
Destructor.
virtual Message * clone() const
Clone this message.
void set_angle(const float new_angle)
Set angle value.
float angle() const
Get angle value.
size_t maxlenof_angle() const
Get maximum length of angle value.
void set_velocity(const float new_velocity)
Set velocity value.
TurnMessage()
Constructor.
NavigatorInterface Fawkes BlackBoard Interface.
size_t maxlenof_dest_x() const
Get maximum length of dest_x value.
size_t maxlenof_max_rotation() const
Get maximum length of max_rotation value.
bool is_final() const
Get final value.
static const uint32_t FLAG_SECURITY_DISTANCE
FLAG_SECURITY_DISTANCE constant.
void set_max_rotation(const float new_max_rotation)
Set max_rotation value.
void set_msgid(const uint32_t new_msgid)
Set msgid value.
void set_stop_at_target(const bool new_stop_at_target)
Set stop_at_target value.
float y() const
Get y value.
size_t maxlenof_dest_y() const
Get maximum length of dest_y value.
void set_max_velocity(const float new_max_velocity)
Set max_velocity value.
size_t maxlenof_stop_at_target() const
Get maximum length of stop_at_target value.
size_t maxlenof_auto_drive_mode() const
Get maximum length of auto_drive_mode value.
float dest_x() const
Get dest_x value.
size_t maxlenof_drive_mode() const
Get maximum length of drive_mode value.
static const uint32_t FLAG_PLACE_GOTO
FLAG_PLACE_GOTO constant.
void set_drive_mode(const DriveMode new_drive_mode)
Set drive_mode value.
size_t maxlenof_security_distance() const
Get maximum length of security_distance value.
float dest_y() const
Get dest_y value.
size_t maxlenof_escaping_enabled() const
Get maximum length of escaping_enabled value.
float max_velocity() const
Get max_velocity value.
size_t maxlenof_x() const
Get maximum length of x value.
uint32_t error_code() const
Get error_code value.
char * target_frame() const
Get target_frame value.
void set_target_frame(const char *new_target_frame)
Set target_frame value.
uint32_t flags() const
Get flags value.
void set_flags(const uint32_t new_flags)
Set flags value.
void set_security_distance(const float new_security_distance)
Set security_distance value.
bool is_stop_at_target() const
Get stop_at_target value.
float dest_dist() const
Get dest_dist value.
size_t maxlenof_final() const
Get maximum length of final value.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
void set_auto_drive_mode(const bool new_auto_drive_mode)
Set auto_drive_mode value.
static const uint32_t ERROR_UNKNOWN_PLACE
ERROR_UNKNOWN_PLACE constant.
void set_x(const float new_x)
Set x value.
float max_rotation() const
Get max_rotation value.
size_t maxlenof_y() const
Get maximum length of y value.
void set_error_code(const uint32_t new_error_code)
Set error_code value.
uint32_t msgid() const
Get msgid value.
void set_dest_ori(const float new_dest_ori)
Set dest_ori value.
size_t maxlenof_dest_dist() const
Get maximum length of dest_dist value.
void set_dest_dist(const float new_dest_dist)
Set dest_dist value.
static const uint32_t ERROR_NONE
ERROR_NONE constant.
void set_dest_y(const float new_dest_y)
Set dest_y value.
DriveMode
Drive modes enum.
@ Forward
Moving forward constant.
@ AllowBackward
Moving allow backward constant.
@ Backward
Moving backward constant.
@ MovingNotAllowed
Moving not allowed constant.
void set_y(const float new_y)
Set y value.
size_t maxlenof_max_velocity() const
Get maximum length of max_velocity value.
virtual void copy_values(const Interface *other)
Copy values from other interface.
bool is_escaping_enabled() const
Get escaping_enabled value.
float x() const
Get x value.
static const uint32_t FLAG_CART_GOTO
FLAG_CART_GOTO constant.
const char * tostring_DriveMode(DriveMode value) const
Convert DriveMode constant to string.
void set_dest_x(const float new_dest_x)
Set dest_x value.
DriveMode drive_mode() const
Get drive_mode value.
virtual Message * create_message(const char *type) const
Create message based on type name.
size_t maxlenof_error_code() const
Get maximum length of error_code value.
float security_distance() const
Get security_distance value.
OrientationMode
Orientation mode enum.
@ OrientDuringTravel
Orient during travel BUT NOT at target, if omnidirectional platform and orientation is given.
@ OrientAtTarget
Orient when at target, if orientation is given.
size_t maxlenof_target_frame() const
Get maximum length of target_frame value.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
static const uint32_t ERROR_PATH_GEN_FAIL
ERROR_PATH_GEN_FAIL constant.
size_t maxlenof_dest_ori() const
Get maximum length of dest_ori value.
static const uint32_t FLAG_UPDATES_DEST_DIST
FLAG_UPDATES_DEST_DIST constant.
static const uint32_t FLAG_ESCAPING
FLAG_ESCAPING constant.
size_t maxlenof_msgid() const
Get maximum length of msgid value.
static const uint32_t ERROR_MOTOR
ERROR_MOTOR constant.
bool is_auto_drive_mode() const
Get auto_drive_mode value.
static const uint32_t ERROR_OBSTRUCTION
ERROR_OBSTRUCTION constant.
float dest_ori() const
Get dest_ori value.
const char * tostring_OrientationMode(OrientationMode value) const
Convert OrientationMode constant to string.
void set_final(const bool new_final)
Set final value.
OrientationMode orientation_mode() const
Get orientation_mode value.
static const uint32_t FLAG_NONE
FLAG_NONE constant.
void set_orientation_mode(const OrientationMode new_orientation_mode)
Set orientation_mode value.
void set_escaping_enabled(const bool new_escaping_enabled)
Set escaping_enabled value.
size_t maxlenof_flags() const
Get maximum length of flags value.
static const uint32_t FLAG_POLAR_GOTO
FLAG_POLAR_GOTO constant.
size_t maxlenof_orientation_mode() const
Get maximum length of orientation_mode value.
Fawkes library namespace.
std::map< int, std::string > interface_enum_map_t
Map of enum integer to string values.