add NavigateTo statechart

source/armarx/navigation/statecharts/NavigationGroup/NavigateTo.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    navigation::NavigationGroup
+ * @author     Markus Grotz ( Markus Grotz <markus dot grotz at kit dot edu> )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "NavigateTo.h"
+
+//#include <ArmarXCore/core/time/TimeUtil.h>
+//#include <ArmarXCore/observers/variant/DatafieldRef.h>
+
+namespace armarx::NavigationGroup
+{
+    // DO NOT EDIT NEXT LINE
+    NavigateTo::SubClassRegistry NavigateTo::Registry(NavigateTo::GetName(), &NavigateTo::CreateInstance);
+
+    void NavigateTo::onEnter()
+    {
+        // put your user code for the enter-point here
+        // execution time should be short (<100ms)
+    }
+
+    //void NavigateTo::run()
+    //{
+    //    // put your user code for the execution-phase here
+    //    // runs in seperate thread, thus can do complex operations
+    //    // should check constantly whether isRunningTaskStopped() returns true
+    //
+    //    // get a private kinematic instance for this state of the robot (tick "Robot State Component" proxy checkbox in statechart group)
+    //    VirtualRobot::RobotPtr robot = getLocalRobot();
+    //
+    //// uncomment this if you need a continous run function. Make sure to use sleep or use blocking wait to reduce cpu load.
+    //    while (!isRunningTaskStopped()) // stop run function if returning true
+    //    {
+    //        // do your calculations
+    //        // synchronize robot clone to most recent state
+    //        RemoteRobot::synchronizeLocalClone(robot, getRobotStateComponent());
+    //    }
+    //}
+
+    //void NavigateTo::onBreak()
+    //{
+    //    // put your user code for the breaking point here
+    //    // execution time should be short (<100ms)
+    //}
+
+    void NavigateTo::onExit()
+    {
+        // put your user code for the exit point here
+        // execution time should be short (<100ms)
+    }
+
+
+    // DO NOT EDIT NEXT FUNCTION
+    XMLStateFactoryBasePtr NavigateTo::CreateInstance(XMLStateConstructorParams stateData)
+    {
+        return XMLStateFactoryBasePtr(new NavigateTo(stateData));
+    }
+}

source/armarx/navigation/statecharts/NavigationGroup/NavigateTo.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    navigation::NavigationGroup
+ * @author     Markus Grotz ( Markus Grotz <markus dot grotz at kit dot edu> )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+#pragma once
+
+#include <navigation/statecharts/NavigationGroup/NavigateTo.generated.h>
+
+namespace armarx::NavigationGroup
+{
+    class NavigateTo :
+        public NavigateToGeneratedBase < NavigateTo >
+    {
+    public:
+        NavigateTo(const XMLStateConstructorParams& stateData):
+            XMLStateTemplate < NavigateTo > (stateData), NavigateToGeneratedBase < NavigateTo > (stateData)
+        {
+        }
+
+        // inherited from StateBase
+        void onEnter() override;
+        // void run() override;
+        // void onBreak() override;
+        void onExit() override;
+
+        // static functions for AbstractFactory Method
+        static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
+        static SubClassRegistry Registry;
+
+        // DO NOT INSERT ANY CLASS MEMBERS,
+        // use stateparameters instead,
+        // if classmember are neccessary nonetheless, reset them in onEnter
+    };
+}

source/armarx/navigation/statecharts/NavigationGroup/NavigateTo.xml

+<?xml version="1.0" encoding="utf-8"?>
+<State version="1.2" name="NavigateTo" uuid="BCF0FD77-35EE-4916-ADC1-4C7D05B502EB" width="800" height="600" type="Normal State">
+	<InputParameters>
+		<Parameter name="target" type="::armarx::Vector3Base" docType="Vector3" optional="no"/>
+	</InputParameters>
+	<OutputParameters/>
+	<LocalParameters/>
+	<Substates>
+		<EndState name="Failure" event="Failure" left="444.08" top="209.3" boundingSquareSize="100"/>
+		<EndState name="Success" event="Success" left="119.21" top="140" boundingSquareSize="100"/>
+	</Substates>
+	<Events>
+		<Event name="Failure">
+			<Description>Event for statechart-internal failures or optionally user-code failures</Description>
+		</Event>
+	</Events>
+	<StartState substateName="Success">
+		<ParameterMappings/>
+		<SupportPoints/>
+	</StartState>
+	<Transitions/>
+</State>
+

source/armarx/navigation/statecharts/NavigationGroup/NavigationGroup.scgxml

@@ -5,6 +5,7 @@
 		<Proxy value="armarx_navigation::client.navigator"/>
 	</Proxies>
 	<State filename="NavigateBetweenLocations.xml" visibility="public"/>
+	<State filename="NavigateTo.xml" visibility="public"/>
 	<State filename="NavigateToLocation.xml" visibility="public"/>
 </StatechartGroup>