fix: Minor Adjustments to client API.

source/Navigation/components/ExampleClient/ExampleClient.cpp

@@ -88,7 +88,7 @@ exns::ExampleClient::exampleNavigation()
 
     // Create an example configuration valid for the following move* calls.
     navigator.configure(NavigationStackConfig()
-                        .configureGeneral({}));
+                        .configureGeneral({}/*{.maxVel = VelocityLimits{.linear = 400 , .angular = 0.1}}*/));
 
     // Example of registering a lambda as callback.
     navigator.onGoalReached([&]()
@@ -105,8 +105,8 @@ exns::ExampleClient::exampleNavigation()
     const Pose goal = Pose::Identity();
     navigator.moveTo(goal, NavigationFrame::Absolute);
 
-    // Wait until goal is reached (or timeout is reached);
-    navigator.waitForGoalReached(5min);
+    // Wait until goal is reached
+    navigator.waitForGoalReached();
 
     std::this_thread::sleep_for(2s);
 

source/Navigation/libraries/client/Navigator.cpp

@@ -96,29 +96,25 @@ armarx::nav::client::Navigator::onWaypointNearlyReached(std::function<void(int)>
 }
 
 
-void
-armarx::nav::client::Navigator::waitForGoalReached(std::chrono::milliseconds timeout)
+auto armarx::nav::client::Navigator::waitForGoalReached() -> GoalReachedWaitResult
 {
-
+    return {};
 }
 
 
-void
-armarx::nav::client::Navigator::waitForGoalNearlyReached(std::chrono::milliseconds timeout)
+auto armarx::nav::client::Navigator::waitForGoalNearlyReached() -> GoalReachedWaitResult
 {
-
+    return {};
 }
 
 
-void
-armarx::nav::client::Navigator::waitForWaypointReached(std::chrono::milliseconds timeout, int waypointIndex)
+auto armarx::nav::client::Navigator::waitForWaypointReached() -> WaypointReachedWaitResult
 {
-
+    return {};
 }
 
 
-void
-armarx::nav::client::Navigator::waitForWaypointNearlyReached(std::chrono::milliseconds timeout, int waypointIndex)
+auto armarx::nav::client::Navigator::waitForWaypointNearlyReached() -> WaypointReachedWaitResult
 {
-
+    return {};
 }

source/Navigation/libraries/client/Navigator.h

@@ -22,7 +22,6 @@
 
 
 // STD/STL
-#include <chrono>
 #include <functional>
 #include <string>
 #include <vector>
@@ -63,13 +62,30 @@ namespace armarx::nav::client
 
         void onWaypointNearlyReached(std::function<void(int)> callback);
 
-        void waitForGoalReached(std::chrono::milliseconds timeout);
+        enum class Status
+        {
+            Success,
+            Failure
+        };
 
-        void waitForGoalNearlyReached(std::chrono::milliseconds timeout);
+        struct GoalReachedWaitResult
+        {
+            Status status;
+        };
 
-        void waitForWaypointReached(std::chrono::milliseconds timeout, int waypointIndex);
+        GoalReachedWaitResult waitForGoalReached();
 
-        void waitForWaypointNearlyReached(std::chrono::milliseconds timeout, int waypointIndex);
+        GoalReachedWaitResult waitForGoalNearlyReached();
+
+        struct WaypointReachedWaitResult
+        {
+            Status status;
+            int waypointIndex;
+        };
+
+        WaypointReachedWaitResult waitForWaypointReached();
+
+        WaypointReachedWaitResult waitForWaypointNearlyReached();
 
     protected: