From 605e87173beb48a23648ecf5e855affda312fc46 Mon Sep 17 00:00:00 2001
From: "Christian R. G. Dreher" <c.dreher@kit.edu>
Date: Tue, 27 Jul 2021 18:04:45 +0200
Subject: [PATCH] chore: Event documentation.
---
source/Navigation/libraries/core/events.h | 26 +++++++++++++++++++++++
1 file changed, 26 insertions(+)
diff --git a/source/Navigation/libraries/core/events.h b/source/Navigation/libraries/core/events.h
index 29797d34..4c288c40 100644
--- a/source/Navigation/libraries/core/events.h
+++ b/source/Navigation/libraries/core/events.h
@@ -11,35 +11,61 @@
namespace armarx::nav::core
{
+ /**
+ * @brief Event describing that the targeted goal was successfully reached.
+ */
struct GoalReachedEvent
{
core::Pose pose;
};
+ /**
+ * @brief Event describing that a user-defined waypoint was successfully reached.
+ */
struct WaypointReachedEvent
{
core::Pose pose;
int waypointId;
};
+ /**
+ * @brief Event desciribing that a significant safety throttling factor was reached.
+ *
+ * Can be configured.
+ */
struct SafetyThrottlingTriggeredEvent
{
core::Pose pose;
+
+ /**
+ * @brief Ratio of throttled velocity divided by desired velocity.
+ *
+ * Value between 0 and 1 where 0 means full stop and 1 full desired velocity without any throttling.
+ */
float throttlingFactor = 1.0;
// TODO: Direction where safety-critical obstacle is (or range or whatever...).
};
+ /**
+ * @brief Event describing that for security reasons, the robot was stopped completely.
+ */
struct SafetyStopTriggeredEvent
{
core::Pose pose;
// TODO: Direction where safety-critical obstacle is (or range or whatever...).
};
+ /**
+ * @brief Event describing that the user aborted the current execution.
+ */
struct UserAbortTriggeredEvent
{
core::Pose pose;
};
+ /**
+ * @brief Event describing the occurance of an internal unhandled error.
+ */
struct InternalErrorEvent
{
core::Pose pose;
--
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