CommandEntityToPositions.h

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//  ConscienceRobotManager
//
//  Created by Louis Grignon on 03/01/2025.
//  Copyright © 2022 IliesZaoui. All rights reserved.
//
#ifndef CommandEntityToPositions_h
#define CommandEntityToPositions_h
 
#include "CommandCommons.h"
 
namespace conscience_core::bridging::commands::environment_entities {
 
class CSC_DLL_IMPORTEXPORT CommandEntityToPositions : public CscCommand {
 
public:
    inline static const CommandTypeId COMMAND_ID = "ENTITY_TO_POSITIONS";
 
    CommandEntityToPositions(
        const vector<const CscPoint3d *> &targetPositions,
        ptr<CscEntityReflexion> entityReflexion,
        CscArea3d *zone = nullptr,
        optional<double> distanceWithObjectAutorized = {},
        optional<int> matrixSize = {},
        const CscPoint3d *startPosition = nullptr,
        optional<bool> useGnssCoordinates = {},
        const vector<string> *placeModelIdsToIgnore = nullptr,
        optional<bool> resumeAtClosestPosition = {});
 
    ~CommandEntityToPositions() override;
 
protected:
    const CscCommandExecutionResultSequence *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
private:
    const vector<const CscPoint3d *> targetPositions;
    ptr<CscEntityReflexion> entityReflexion;
    CscArea3d *zone;
    optional<double> distanceWithObjectAutorized;
    optional<int> matrixSize;
    const CscPoint3d *startPosition;
    optional<bool> useGnssCoordinates;
    const vector<string> *placeModelIdsToIgnore;
    optional<bool> resumeAtClosestPosition;
};
 
COMMAND_REGISTER(CommandEntityToPositions, const vector<const CscPoint3d *> &, ptr<CscEntityReflexion> , CscArea3d *, optional<double>, optional<int>, const CscPoint3d *, optional<bool>, const vector<string> *, optional<bool>)
 
}
 
#endif