CommandLidarLocalizationControl.h

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#ifndef CommandLidarLocalizationControl_h
#define CommandLidarLocalizationControl_h
 
#include "./Command.h"
#include "./ArtificialIntelligence/CscEntityReflexion.h"
#include "Parser/CscCommandAutoParse.h"
 
enum LocalizationRequestType{
    START_TO_LOCATE = 0,
    STOP_TO_LOCATE = 1
};
 
namespace conscience_core::bridging::commands {
class CSC_DLL_IMPORTEXPORT CommandLidarLocalizationControl : public CscCommand {
    
public:
    inline static const CommandTypeId COMMAND_ID = "LIDAR_LOCALIZATION_CONTROL";
    CommandLidarLocalizationControl(ptr<CscEntityReflexion> entityReflexion, const vector<string> &params, LocalizationRequestType requestType, optional<ptr<CscPoint3d>> initialPosition = {}, optional<double> initialHeadingInRad = {});
    ~CommandLidarLocalizationControl();
    const LocalizationRequestType getLocalizationRequestType() const;
    ptr<CscEntityReflexion> getEntityReflexion() const override {
        return entityReflexion;
    }
 
 
protected:
    ptr<CscEntityReflexion> entityReflexion;
    const CscCommandExecutionResultNone * doExecute(CscEnvironmentSimulator &environmentSimulator) override;
private:
    const vector<string> &params;
    LocalizationRequestType requestType;
    optional<ptr<CscPoint3d>> initialPosition;
    optional<double> initialHeadingInRad;
};
 
 
COMMAND_TYPE_BUILDER(CommandLidarLocalizationControl, CscPoint3d, double, double, double)
COMMAND_REGISTER(CommandLidarLocalizationControl, ptr<CscEntityReflexion>, const vector<string> &, LocalizationRequestType, optional<ptr<CscPoint3d>>, optional<double>)
 
}
#endif