update

source/Navigation/components/Navigator/Navigator.cpp

@@ -29,7 +29,7 @@
 // #include <SimoxUtility/color/Color.h>
 
 
-namespace armarx
+namespace armarx::nav::components
 {
 
     armarx::PropertyDefinitionsPtr Navigator::createPropertyDefinitions()

source/Navigation/components/Navigator/test/NavigatorTest.cpp

@@ -31,7 +31,7 @@
 
 BOOST_AUTO_TEST_CASE(testExample)
 {
-    armarx::Navigator instance;
+    armarx::nav::components::Navigator instance;
 
     BOOST_CHECK_EQUAL(true, true);
 }

source/Navigation/libraries/algorithms/CMakeLists.txt

@@ -7,6 +7,8 @@ armarx_add_library(
     LIBS     
         ArmarXCoreInterfaces
         ArmarXCore
+        Navigation::core
+
     SOURCES  
         ./algorithms.cpp
     HEADERS  

source/Navigation/libraries/client/CMakeLists.txt

@@ -8,8 +8,14 @@ armarx_add_library(
         ArmarXCoreInterfaces
         ArmarXCore
         # RobotAPI
+        aron_core
         aron
-        armem
+        # Navigation
+        Navigation::core
+        Navigation::global_planning
+        Navigation::local_planning
+        Navigation::trajectory_control
+        Navigation::safety_control
     SOURCES  
         # ./Navigator.cpp
         ./NavigationStackConfig.cpp

source/Navigation/libraries/client/NavigationStackConfig.cpp

@@ -2,10 +2,27 @@
 
 #include <RobotAPI/interface/aron/Aron.h>
 
+#include "Navigation/libraries/core/constants.h"
+
 namespace armarx::nav::client
 {
     aron::data::AronDictPtr NavigationStackConfig::toAron() const
     {
         return dict.toAronDictPtr();
     }
-}
\ No newline at end of file
+
+    NavigationStackConfig&
+    NavigationStackConfig::configureGlobalPlanner(const glob_plan::GlobalPlannerParams& params)
+    {
+        aron::datanavigator::DictNavigatorPtr element(new aron::datanavigator::DictNavigator);
+        element->addElement(
+            core::NAME_KEY,
+            std::make_shared<aron::datanavigator::StringNavigator>(
+                glob_plan::AlgorithmNames.to_name(params.algorithm())));
+        element->addElement(core::PARAMS_KEY, params.toAron());
+
+        dict.addElement(GLOBAL_PLANNER, element);
+
+        return *this;
+    }
+} // namespace armarx::nav::client
\ No newline at end of file

source/Navigation/libraries/client/NavigationStackConfig.h

@@ -29,57 +29,19 @@
 #include <RobotAPI/interface/aron/Aron.h>
 #include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
 
+#include "Navigation/libraries/global_planning/GlobalPlanner.h"
+
 #include <type_traits>
 
 namespace armarx::nav::client
 {
 
-    const std::string NAME_KEY   = "name";
-    const std::string PARAMS_KEY = "params";
-
-
-
-
-    class Factory
-    {
-        GlobalPlannerPtr create(const aron::data::AronDictPtr& params)
-        {
-            const aron::datanavigator::DictNavigatorPtr dict =
-                aron::datanavigator::DictNavigator::FromAronDictPtr(params);
-
-            GlobalPlannerAlgorithms algo; // TODO from params / dict
-            aron::datanavigator::DictNavigatorPtr algoParams =
-                aron::datanavigator::DictNavigator::DynamicCast(dict->getElement(PARAMS_KEY));
-
-            GlobalPlannerPtr globalPlanner;
-
-            switch (algo)
-            {
-                case GlobalPlannerAlgorithms::AStar:
-                    globalPlanner = std::make_shared<AStar>(AStarParams::FromAron(algoParams));
-            }
-
-            return globalPlanner;
-        }
-    };
-
     class NavigationStackConfig
     {
     public:
         NavigationStackConfig() = default;
 
-        NavigationStackConfig& configureGlobalPlanner(const GlobalPlannerParams& params)
-        {
-            aron::datanavigator::DictNavigatorPtr element(new aron::datanavigator::DictNavigator);
-            element->addElement(NAME_KEY,
-                                std::make_shared<aron::datanavigator::StringNavigator>(
-                                    GlobalPlannerAlgorithmNames.to_name(params.algorithm())));
-            element->addElement(PARAMS_KEY, params.toAron());
-
-            dict.addElement(GLOBAL_PLANNER, element);
-
-            return *this;
-        }
+        NavigationStackConfig& configureGlobalPlanner(const glob_plan::GlobalPlannerParams& params);
 
         NavigationStackConfig& configureLocalPlanner();
 

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

@@ -20,6 +20,9 @@
  *             GNU General Public License
  */
 
+#include "Navigation/libraries/global_planning/AStar.h"
+#include "Navigation/libraries/server/NavigationStack.h"
+
 #define BOOST_TEST_MODULE Navigation::ArmarXLibraries::client
 
 #define ARMARX_BOOST_TEST

source/Navigation/libraries/core/CMakeLists.txt

@@ -7,6 +7,10 @@ armarx_add_library(
     LIBS     
         ArmarXCoreInterfaces
         ArmarXCore
+        # RobotAPI
+        aron_core
+        aron
+        RobotAPIInterfaces
     SOURCES  
     HEADERS
         types.h

source/Navigation/libraries/core/constants.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/>.
+ *
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+namespace armarx::nav::core
+{
+
+    const std::string NAME_KEY   = "name";
+    const std::string PARAMS_KEY = "params";
+
+} // namespace armarx::nav::core
\ No newline at end of file

source/Navigation/libraries/factories/CMakeLists.txt

@@ -7,6 +7,11 @@ armarx_add_library(
     LIBS
         ArmarXCoreInterfaces
         ArmarXCore
+        Navigation::core
+        Navigation::global_planning
+        Navigation::local_planning
+        Navigation::trajectory_control
+        Navigation::safety_control
     SOURCES
         ./GlobalPlannerFactory.cpp
         ./LocalPlannerFactory.cpp

source/Navigation/libraries/factories/GlobalPlannerFactory.cpp

 #include "GlobalPlannerFactory.h"
+#include "Navigation/libraries/global_planning/AStar.h"
+
+#include "Navigation/libraries/core/constants.h"
+#include "Navigation/libraries/global_planning/core.h"
+
+
+namespace armarx::nav::fac
+{
+    glob_plan::GlobalPlannerPtr GlobalPlannerFactory::create(const aron::data::AronDictPtr& params)
+    {
+        const aron::datanavigator::DictNavigatorPtr dict =
+            aron::datanavigator::DictNavigator::FromAronDictPtr(params);
+
+        glob_plan::Algorithms algo = glob_plan::Algorithms::AStar; // TODO from params / dict
+        aron::datanavigator::DictNavigatorPtr algoParams =
+            aron::datanavigator::DictNavigator::DynamicCast(dict->getElement(core::PARAMS_KEY));
+
+        glob_plan::GlobalPlannerPtr globalPlanner;
+
+        switch (algo)
+        {
+            case glob_plan::Algorithms::AStar:
+                globalPlanner = std::make_shared<glob_plan::AStar>(glob_plan::AStarParams::FromAron(algoParams));
+        }
+
+        return globalPlanner;
+    }
+
+} // namespace armarx::nav::fac

source/Navigation/libraries/factories/GlobalPlannerFactory.h

@@ -21,15 +21,13 @@
 
 #pragma once
 
+#include "Navigation/libraries/global_planning/GlobalPlanner.h"
+
 namespace armarx::nav::fac
 {
-
     class GlobalPlannerFactory
     {
-    public:
-
-    protected:
-
-    private:
+        glob_plan::GlobalPlannerPtr create(const aron::data::AronDictPtr& params);
     };
+
 } // namespace armarx::nav::fac
\ No newline at end of file

source/Navigation/libraries/global_planning/AStar.cpp

@@ -5,20 +5,20 @@ namespace armarx::nav::glob_plan
 
     // AStarParams
 
-    GlobalPlannerAlgorithms AStarParams::algorithm() const
+    Algorithms AStarParams::algorithm() const
     {
-        return GlobalPlannerAlgorithms::AStar;
+        return Algorithms::AStar;
     }
 
     aron::datanavigator::DictNavigatorPtr AStarParams::toAron() const
     {
         return nullptr; // TODO implement
-    };
+    }
 
     AStarParams AStarParams::FromAron(const aron::datanavigator::DictNavigatorPtr& dict)
     {
         return AStarParams(); // TODO implement
-    };
+    }
 
     // AStar
 

source/Navigation/libraries/global_planning/AStar.h

@@ -28,7 +28,7 @@ namespace armarx::nav::glob_plan
 
     struct AStarParams : public GlobalPlannerParams
     {
-        GlobalPlannerAlgorithms algorithm() const override;
+        Algorithms algorithm() const override;
 
         aron::datanavigator::DictNavigatorPtr toAron() const override;
 

source/Navigation/libraries/global_planning/CMakeLists.txt

@@ -7,6 +7,8 @@ armarx_add_library(
     LIBS     
         ArmarXCoreInterfaces
         ArmarXCore
+
+                Navigation::core
     SOURCES  
         ./GlobalPlanner.cpp
         ./AStar.cpp

source/Navigation/libraries/global_planning/GlobalPlanner.h

@@ -30,7 +30,7 @@ namespace armarx::nav::glob_plan
 
     struct GlobalPlannerParams
     {
-        virtual GlobalPlannerAlgorithms algorithm() const            = 0;
+        virtual Algorithms algorithm() const            = 0;
         virtual aron::datanavigator::DictNavigatorPtr toAron() const = 0;
     };
 
@@ -40,4 +40,6 @@ namespace armarx::nav::glob_plan
     protected:
     private:
     };
+
+    using GlobalPlannerPtr = std::shared_ptr<GlobalPlanner>;
 } // namespace armarx::nav::glob_plan
\ No newline at end of file

source/Navigation/libraries/global_planning/core.h

@@ -27,14 +27,14 @@
 namespace armarx::nav::glob_plan
 {
 
-    enum class GlobalPlannerAlgorithms
+    enum class Algorithms
     {
         AStar
         // TODO extend
     };
 
-    simox::meta::EnumNames<GlobalPlannerAlgorithms> GlobalPlannerAlgorithmNames
+    simox::meta::EnumNames<Algorithms> AlgorithmNames
     {
-        {GlobalPlannerAlgorithms::AStar, "AStar"}};
+        {Algorithms::AStar, "AStar"}};
 
 } // namespace armarx::nav::glob_plan
\ No newline at end of file

source/Navigation/libraries/local_planning/CMakeLists.txt

@@ -7,6 +7,8 @@ armarx_add_library(
     LIBS     
         ArmarXCoreInterfaces
         ArmarXCore
+        Navigation::core
+
     SOURCES  
         ./LocalPlanner.cpp
     HEADERS  

source/Navigation/libraries/safety_control/CMakeLists.txt

@@ -7,6 +7,8 @@ armarx_add_library(
     LIBS     
         ArmarXCoreInterfaces
         ArmarXCore
+        Navigation::core
+
     SOURCES  
         ./SafetyController.cpp
     HEADERS  

source/Navigation/libraries/safety_control/SafetyController.h

@@ -21,15 +21,16 @@
 
 #pragma once
 
+#include <memory>
 namespace armarx::nav::safe_ctrl
 {
 
     class SafetyController
     {
     public:
-
     protected:
-
     private:
     };
+
+    using SafetyControllerPtr = std::shared_ptr<SafetyController>;
 } // namespace armarx::nav::safe_ctrl
\ No newline at end of file