36 lines
972 B
C
36 lines
972 B
C
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//
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// Created by xtkuang on 2025/5/8.
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//
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#ifndef CMVR_ES_ABSTRACT_AGV_H
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#define CMVR_ES_ABSTRACT_AGV_H
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#pragma once
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#include "abstract_device.h"
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namespace cmvr::device{
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class AbstractAGV: public AbstractDevice {
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public:
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explicit AbstractAGV(const XmlNode &config): AbstractDevice(config) {};
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~AbstractAGV() override=default;
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virtual void getState(AGVState &state) {}
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// navigation
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virtual void eStop() {}
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virtual void goHome() {}
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virtual void moveto(math::Pose2d &location, double speed_ratio) {}
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virtual void setVelocity(math::Vec3 linear, math::Vec3 angular) {}
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// map
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virtual void initMap(float resolution, int width, int height) {}
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virtual void updateMap() {}
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virtual void saveMap(const std::string& file_path) {}
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virtual void loadMap(const std::string& file_path) {}
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protected:
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AGVState state_;
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};
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}
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#endif //CMVR_ES_ABSTRACT_AGV_H
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