From 9159b7f841d73f78e4e55a546c5ac8c0d1df37ee Mon Sep 17 00:00:00 2001
From: armar-user <armar-user@kit.edu>
Date: Thu, 11 Nov 2021 22:51:50 +0100
Subject: [PATCH] fixing statechart
---
.../navigation/statecharts/NavigationGroup/CMakeLists.txt | 1 -
.../statecharts/NavigationGroup/NavigateBetweenLocations.xml | 1 +
.../statecharts/NavigationGroup/NavigateToLocation.cpp | 2 +-
.../statecharts/NavigationGroup/NavigateToLocation.xml | 3 ++-
.../statecharts/NavigationGroup/NavigationGroup.scgxml | 2 +-
5 files changed, 5 insertions(+), 4 deletions(-)
diff --git a/source/armarx/navigation/statecharts/NavigationGroup/CMakeLists.txt b/source/armarx/navigation/statecharts/NavigationGroup/CMakeLists.txt
index f7a42975..77a2881f 100644
--- a/source/armarx/navigation/statecharts/NavigationGroup/CMakeLists.txt
+++ b/source/armarx/navigation/statecharts/NavigationGroup/CMakeLists.txt
@@ -1,7 +1,6 @@
armarx_add_statechart(NavigationGroup
SOURCES
NavigationGroupRemoteStateOfferer.cpp
- NavigateToLocation.cpp
HEADERS
NavigationGroupRemoteStateOfferer.h
DEPENDENCIES
diff --git a/source/armarx/navigation/statecharts/NavigationGroup/NavigateBetweenLocations.xml b/source/armarx/navigation/statecharts/NavigationGroup/NavigateBetweenLocations.xml
index fc6724c9..3fd66285 100644
--- a/source/armarx/navigation/statecharts/NavigationGroup/NavigateBetweenLocations.xml
+++ b/source/armarx/navigation/statecharts/NavigationGroup/NavigateBetweenLocations.xml
@@ -66,3 +66,4 @@
</Transition>
</Transitions>
</State>
+
diff --git a/source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.cpp b/source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.cpp
index 7259e4d8..cef91163 100644
--- a/source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.cpp
+++ b/source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.cpp
@@ -85,7 +85,7 @@ namespace armarx::navigation::statecharts::navigation_group
// assemble the path, which might consist of waypoints and a goal (the goal is just the last `waypoint`)
client::PathBuilder builder;
- builder.add(in.getlocation(), client::GlobalPlanningStrategy::Free);
+ builder.add(in.getlocation(), client::GlobalPlanningStrategy::Point2Point);
// execute
ARMARX_INFO << "Sending navigation request";
diff --git a/source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.xml b/source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.xml
index 271ce47a..9a295254 100644
--- a/source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.xml
+++ b/source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.xml
@@ -2,7 +2,7 @@
<State version="1.2" name="NavigateToLocation" uuid="11145B85-CD8C-4B7C-AF2F-65FCB07F6568" width="800" height="600" type="Normal State">
<InputParameters>
<Parameter name="location" type="::armarx::StringVariantData" docType="string" optional="yes">
- <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"R003/home"}}' docValue="R003/home"/>
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"R003/sh_center"}}' docValue="R003/sh_center"/>
</Parameter>
</InputParameters>
<OutputParameters/>
@@ -16,3 +16,4 @@
</Events>
<Transitions/>
</State>
+
diff --git a/source/armarx/navigation/statecharts/NavigationGroup/NavigationGroup.scgxml b/source/armarx/navigation/statecharts/NavigationGroup/NavigationGroup.scgxml
index 6e4e45c3..280a79d5 100644
--- a/source/armarx/navigation/statecharts/NavigationGroup/NavigationGroup.scgxml
+++ b/source/armarx/navigation/statecharts/NavigationGroup/NavigationGroup.scgxml
@@ -4,7 +4,7 @@
<Proxy value="RobotAPIInterfaces.MemoryNameSystem"/>
<Proxy value="armarx_navigation::client.navigator"/>
</Proxies>
- <Configurations/>
<State filename="NavigateBetweenLocations.xml" visibility="public"/>
<State filename="NavigateToLocation.xml" visibility="public"/>
</StatechartGroup>
+
--
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