update

source/Navigation/libraries/client/test/clientTest.cpp

@@ -20,21 +20,21 @@
  *             GNU General Public License
  */
 
+#include "Navigation/libraries/core/types.h"
+#include "Navigation/libraries/factories/NavigationStackFactory.h"
 #include "Navigation/libraries/global_planning/AStar.h"
 #include "Navigation/libraries/server/NavigationStack.h"
-#include "Navigation/libraries/factories/NavigationStackFactory.h"
-#include "Navigation/libraries/core/types.h"
 #include "Navigation/libraries/server/Navigator.h"
 
 #define BOOST_TEST_MODULE Navigation::ArmarXLibraries::client
 
 #define ARMARX_BOOST_TEST
 
-#include <Navigation/Test.h>
-#include "../NavigationStackConfig.h"
-
 #include <iostream>
 
+#include "../NavigationStackConfig.h"
+#include <Navigation/Test.h>
+
 using namespace armarx::nav;
 
 BOOST_AUTO_TEST_CASE(testExample)
@@ -50,18 +50,14 @@ BOOST_AUTO_TEST_CASE(testExample)
     Eigen::Matrix4f goal;
     Eigen::Vector3f direction;
 
-    NavigatorPrx navigator;
-
-    navigator->moveTo(goal, stackConfig, core::NavigationFrame::Absolute);
-    navigator->moveTorwards(direction, stackConfig, core::NavigationFrame::Relative);
-
+    // NavigatorPrx navigator;
+    // navigator->moveTo(goal, stackConfig, core::NavigationFrame::Absolute);
+    // navigator->moveTorwards(direction, stackConfig, core::NavigationFrame::Relative);
 
     // CLIENT
     ////////////////////////////////////////////////
     // SERVER
 
-
-
     // create Navigator
     server::NavigationStack stack = fac::NavigationStackFactory::create(stackConfig);
 
@@ -69,9 +65,7 @@ BOOST_AUTO_TEST_CASE(testExample)
     // DirectionNavigator
     // RelativePointNavigator
 
-    navigator->moveTo(goal);
-
-
+    navigator.moveTo(goal, core::NavigationFrame::Absolute);
 
     BOOST_CHECK_EQUAL(true, true);
 }

source/Navigation/libraries/server/Navigator.cpp

@@ -2,7 +2,12 @@
 
 namespace armarx::nav::server
 {
-    void Navigator::moveTo(const Eigen::Matrix4f&, const core::NavigationFrame& navigationFrame) 
+    Navigator::Navigator(const server::NavigationStack& navigationStack) : stack(navigationStack)
+    {
+
+    }
+
+    void Navigator::moveTo(const Eigen::Matrix4f&, const core::NavigationFrame& navigationFrame)
     {
         // TODO implement
     }

source/Navigation/libraries/server/Navigator.h

@@ -25,15 +25,20 @@
 
 #include "Navigation/libraries/core/types.h"
 
+#include "NavigationStack.h"
+
 namespace armarx::nav::server
 {
 
     class Navigator
     {
     public:
+        Navigator(const server::NavigationStack& navigationStack);
+
         void moveTo(const Eigen::Matrix4f&, const core::NavigationFrame& navigationFrame);
 
     protected:
     private:
+        server::NavigationStack stack;
     };
 } // namespace armarx::nav::server
\ No newline at end of file