//
// Created by xtkuang on 2025/5/8.
//

#ifndef CMVR_ES_ABSTRACT_AGV_H
#define CMVR_ES_ABSTRACT_AGV_H
#pragma once

#include "abstract_device.h"

namespace cmvr::device{
    class AbstractAGV: public AbstractDevice {
    public:
        explicit AbstractAGV(const XmlNode &config): AbstractDevice(config) {};
        ~AbstractAGV() override=default;

        virtual void getState(AGVState &state) {}

        // navigation
        virtual void eStop() {}
        virtual void goHome() {}
        virtual void moveto(math::Pose2d &location, double speed_ratio) {}
        virtual void setVelocity(math::Vec3 linear, math::Vec3 angular) {}

        // map
        virtual void initMap(float resolution, int width, int height) {}
        virtual void updateMap() {}
        virtual void saveMap(const std::string& file_path) {}
        virtual void loadMap(const std::string& file_path) {}

    protected:
        AGVState state_;
    };
}

#endif //CMVR_ES_ABSTRACT_AGV_H