CustomCommandGoToElevatorStart.h

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//  ConscienceRobotManager
//
//  Created by Louis Grignon on 21/12/2022.
//  Copyright © 2022 IliesZaoui. All rights reserved.
//
#ifndef GoToElevatorStart_h
#define GoToElevatorStart_h
 
#include "./ArtificialIntelligence/Algorithms/pathFinding.h"
#include "environmentEntitiesCommands.h"
 
using namespace conscience_core::ai::algorithms::path_finding;
 
namespace conscience_core::bridging::commands::environment_entities {
class CSC_DLL_IMPORTEXPORT CommandGoToElevatorStart : public CscCommand {
 
public:
    inline static const CommandTypeId COMMAND_ID = "GO_TO_ELEVATOR_START";
 
    CommandGoToElevatorStart(
        const CscPoint3d *targetPosition,
        ptr<CscEntityReflexion> entityReflexion,
        CscArea3d *zone = nullptr,
        optional<double> distanceWithObjectAutorized = {},
        optional<int> matrixSize = {},
        const CscPoint3d *startPosition = nullptr,
        optional<bool> useGnssCoordinates = {},
        const vector<string> *placeModelIdsToIgnore = nullptr);
 
    ~CommandGoToElevatorStart() override;
 
protected:
    const CscCommandExecutionResultSequence *doExecute(CscEnvironmentSimulator &environmentSimulator) override;
    ptr<CscEntityReflexion> getEntityReflexion() const override;
 
private:
    const CscPoint3d *targetPosition;
    ptr<CscEntityReflexion> entityReflexion;
    CscArea3d *zone;
    optional<double> distanceWithObjectAutorized;
    optional<int> matrixSize;
    const CscPoint3d *startPosition;
    optional<bool> useGnssCoordinates;
    const vector<string> *placeModelIdsToIgnore;
    std::unique_ptr<CscLogger> logger = CscLogger::getForCategory("GoToElevatorStart");
};
 
COMMAND_TYPE_BUILDER(CommandGoToElevatorStart, CscPoint3d, double, double, double)
COMMAND_TYPE_BUILDER(CommandGoToElevatorStart, CscArea3d, double, double, double, double, double, double)
COMMAND_REGISTER(CommandGoToElevatorStart, const CscPoint3d *, ptr<CscEntityReflexion> , CscArea3d *, optional<double>, optional<int>, const CscPoint3d *, optional<bool>, const vector<string> *)
 
}
 
#endif