From e8217967d720b95891f6d8319363058048d16baf Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 8 Jul 2021 17:12:39 +0200
Subject: [PATCH] update
---
source/Navigation/components/Navigator/Navigator.cpp | 1 +
.../libraries/server/execution/PlatformUnitExecutor.h | 6 ++++++
2 files changed, 7 insertions(+)
diff --git a/source/Navigation/components/Navigator/Navigator.cpp b/source/Navigation/components/Navigator/Navigator.cpp
index 157fef07..05a025c3 100644
--- a/source/Navigation/components/Navigator/Navigator.cpp
+++ b/source/Navigation/components/Navigator/Navigator.cpp
@@ -91,6 +91,7 @@ namespace armarx::nav::components
updateContext();
server::NavigationStack stack = fac::NavigationStackFactory::create(stackConfig, scene);
+
server::Navigator navigator{stack, scene, executor};
navigator.moveTo(convert(waypoints), core::NavigationFramesMap.from_name(navigationMode));
diff --git a/source/Navigation/libraries/server/execution/PlatformUnitExecutor.h b/source/Navigation/libraries/server/execution/PlatformUnitExecutor.h
index 458ed29e..218304c4 100644
--- a/source/Navigation/libraries/server/execution/PlatformUnitExecutor.h
+++ b/source/Navigation/libraries/server/execution/PlatformUnitExecutor.h
@@ -1,6 +1,7 @@
#pragma once
// RobotAPI
+#include <atomic>
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
// Navigation
@@ -21,10 +22,15 @@ namespace armarx::nav::server
void move(const core::Twist &twist);
+ void disableAndStop();
+ void enable();
+
private:
PlatformUnitInterfacePrx platformUnit;
+ std::atomic_bool enabled{true};
+
};
}
--
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