CommandEntityObstacleStrategySet.h

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#ifndef CommandEntityObstacleStrategySet_h
#define CommandEntityObstacleStrategySet_h
 
#include "CommandCommons.h"
 
namespace conscience_core::bridging::commands {
 
struct CSC_DLL_IMPORTEXPORT EntityObstacleStrategyParamsCommandDataType {
    EntityObstacleStrategyParamsCommandDataType();
 
    EntityObstacleStrategyParamsCommandDataType(
        optional<double> robotWidth,
        optional<double> brakingStartDistance,
        optional<double> brakingStopDistance,
        optional<int> distanceDensityDBSCAN,
        optional<int> minimumNumberPointsDBSCAN,
        optional<double> shouldStopRatio,
        optional<int> maximumNumberOfPointsForClustering,
        optional<int> timeBeforeCheckMillis,
        optional<int> minimumStoppingTimeMillis,
        optional<bool> enableStrategy);
 
    optional<double> robotWidth = {};
    optional<double> brakingStartDistance = {};
    optional<double> brakingStopDistance = {};
    optional<int> distanceDensityDBSCAN = {};
    optional<int> minimumNumberPointsDBSCAN = {};
    optional<double> shouldStopRatio = {};
    optional<int> maximumNumberOfPointsForClustering = {};
    optional<int> timeBeforeCheckMillis = {};
    optional<int> minimumStoppingTimeMillis = {};
    optional<bool> enableStrategy = {};
};
 
class CSC_DLL_IMPORTEXPORT CommandEntityObstacleStrategySet : public CscCommand {
public:
    inline static const CommandTypeId COMMAND_ID = "ENTITY_OBSTACLE_STRATEGY_SET";
 
    CommandEntityObstacleStrategySet(ptr<CscEntityReflexion> entityReflexion, const EntityObstacleStrategyParamsCommandDataType *parameters);
 
protected:
    const CscCommandExecutionResultNone *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
 
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
    const ptr<CscEntityReflexion> entityReflexion;
    const EntityObstacleStrategyParamsCommandDataType *const parameters;
    std::unique_ptr<CscLogger> logger = CscLogger::getForCategory("CommandEntityObstacleStrategySet");
};
 
 
COMMAND_TYPE_BUILDER(CommandEntityObstacleStrategySet, EntityObstacleStrategyParamsCommandDataType, optional<double>, optional<double>, optional<double>, optional<int>, optional<int>, optional<double>, optional<int>, optional<int>, optional<int>, optional<bool>)
COMMAND_REGISTER(CommandEntityObstacleStrategySet, ptr<CscEntityReflexion>, const EntityObstacleStrategyParamsCommandDataType *)
 
}
 
#endif