Move code to cpp, use skill ID constant

source/armarx/navigation/skills/NavigateToLocation.cpp

@@ -6,6 +6,8 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
+#include <ArmarXCore/core/time/Duration.h>
+
 #include <armarx/navigation/client/NavigationStackConfig.h>
 #include <armarx/navigation/client/Navigator.h>
 #include <armarx/navigation/client/PathBuilder.h>
@@ -15,6 +17,7 @@
 #include <armarx/navigation/client/types.h>
 #include <armarx/navigation/global_planning/AStar.h>
 #include <armarx/navigation/global_planning/SPFA.h>
+#include <armarx/navigation/skills/skill_ids.h>
 #include <armarx/navigation/trajectory_control/local/TrajectoryFollowingController.h>
 
 namespace armarx::navigation::skills
@@ -45,6 +48,29 @@ namespace armarx::navigation::skills
         }
     }
 
+    armarx::skills::SkillDescription
+    NavigateToLocation::DefaultSkillDescription()
+    {
+        ParamType defaultParameters;
+        defaultParameters.location = "";
+        defaultParameters.velocityLimitAngular = std::nullopt;
+        defaultParameters.velocityLimitLinear = std::nullopt;
+
+        std::stringstream description;
+        description
+            << "Retrieve the location `location` from the memory and navigate to it."
+            << "\n\nThe `location` is specified by its provider segment name and entity name"
+               " in the format `providerSegmentName/entityName` .";
+
+        return armarx::skills::SkillDescription{
+            .skillId = skill_ids::NavigateToLocation,
+            .description = description.str(),
+            .rootProfileDefaults = defaultParameters.toAron(),
+            .timeout = armarx::core::time::Duration::Days(42),
+            .parametersType = Params::ToAronType(),
+        };
+    }
+
     NavigateToLocation::NavigateToLocation(const Services& srv) : Base(DefaultSkillDescription())
     {
         srv_.emplace(srv);
@@ -157,7 +183,6 @@ namespace armarx::navigation::skills
             }
         }
 
-
         return ::armarx::skills::Skill::MainResult{
             .status = ::armarx::skills::TerminatedSkillStatus::Failed};
     }
@@ -172,5 +197,4 @@ namespace armarx::navigation::skills
         }
     }
 
-
 } // namespace armarx::navigation::skills

source/armarx/navigation/skills/NavigateToLocation.h

@@ -21,16 +21,11 @@
 
 #pragma once
 
-#include <ArmarXCore/core/ManagedIceObject.h>
-#include <ArmarXCore/core/time/Duration.h>
-
-#include <RobotAPI/libraries/skills/provider/SimpleSkill.h>
 #include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
 #include <armarx/navigation/client.h>
 #include <armarx/navigation/client/services/MemorySubscriber.h>
 #include <armarx/navigation/skills/aron/NavigateToLocation.aron.generated.h>
-#include <armarx/navigation/skills/constants.h>
 
 namespace armarx::navigation::skills
 {
@@ -59,20 +54,7 @@ namespace armarx::navigation::skills
 
 
     public:
-        static armarx::skills::SkillDescription
-        DefaultSkillDescription()
-        {
-            ParamType defaultParameters;
-            defaultParameters.location = "";
-            defaultParameters.velocityLimitAngular = std::nullopt;
-            defaultParameters.velocityLimitLinear = std::nullopt;
-            return armarx::skills::SkillDescription{
-                .skillId = {.skillName = constants::skill_names::NavigateToLocation},
-                .description = "",
-                .rootProfileDefaults = defaultParameters.toAron(),
-                .timeout = armarx::core::time::Duration::Days(42),
-                .parametersType = Params::ToAronType()};
-        }
+        static armarx::skills::SkillDescription DefaultSkillDescription();
 
     protected:
     private: