From 084a11fddd8991ff91a7fdd3aa9cc7601eb0c568 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 8 Jul 2021 16:11:43 +0200
Subject: [PATCH] update
---
.../Navigation/libraries/server/Navigator.cpp | 30 ++++++++++++++++++-
.../Navigation/libraries/server/Navigator.h | 23 ++------------
2 files changed, 31 insertions(+), 22 deletions(-)
diff --git a/source/Navigation/libraries/server/Navigator.cpp b/source/Navigation/libraries/server/Navigator.cpp
index b2908d81..749ad8f3 100644
--- a/source/Navigation/libraries/server/Navigator.cpp
+++ b/source/Navigation/libraries/server/Navigator.cpp
@@ -8,7 +8,35 @@
namespace armarx::nav::server
{
- Navigator::Navigator(const server::NavigationStack& navigationStack, const core::Scene& scene, ExecutorInterface& executor) :
+
+ // Stack result
+ core::TrajectoryPtr StackResult::trajectory() const
+ {
+ if (localTrajectory)
+ {
+ return localTrajectory;
+ }
+
+ ARMARX_CHECK_NOT_NULL(globalTrajectory);
+ return globalTrajectory;
+ }
+
+ core::Twist StackResult::velocity() const
+ {
+ if (safeVelocity.has_value())
+ {
+ return safeVelocity.value();
+ }
+
+ ARMARX_CHECK(controlVelocity.has_value());
+ return *controlVelocity;
+ }
+
+ // Navigator
+
+ Navigator::Navigator(const server::NavigationStack& navigationStack,
+ const core::Scene& scene,
+ ExecutorInterface& executor) :
stack(navigationStack), scene(scene), executor{executor}
{
setTag("Navigator");
diff --git a/source/Navigation/libraries/server/Navigator.h b/source/Navigation/libraries/server/Navigator.h
index 783d1acc..848daae3 100644
--- a/source/Navigation/libraries/server/Navigator.h
+++ b/source/Navigation/libraries/server/Navigator.h
@@ -43,27 +43,8 @@ namespace armarx::nav::server
std::optional<core::Twist> controlVelocity;
std::optional<core::Twist> safeVelocity;
- core::TrajectoryPtr trajectory() const
- {
- if (localTrajectory)
- {
- return localTrajectory;
- }
-
- ARMARX_CHECK_NOT_NULL(globalTrajectory);
- return globalTrajectory;
- }
-
- core::Twist velocity() const
- {
- if (safeVelocity.has_value())
- {
- return safeVelocity.value();
- }
-
- ARMARX_CHECK(controlVelocity.has_value());
- return *controlVelocity;
- }
+ core::TrajectoryPtr trajectory() const;
+ core::Twist velocity() const;
};
class Navigator : public armarx::Logging
--
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