ILocalization2D.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_ILOCALIZATION2D_H
#define YARP_DEV_ILOCALIZATION2D_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
#include <yarp/dev/Map2DLocation.h>
#include <yarp/dev/OdometryData.h>
#include <yarp/sig/Matrix.h>
#include <vector>
 
namespace yarp::dev::Nav2D {
class ILocalization2D;
 
enum LocalizationStatusEnum
{
    localization_status_not_yet_localized = yarp::os::createVocab32('l', 'o', 'c', 'n'),
    localization_status_localized_ok = yarp::os::createVocab32('l', 'o', 'c', 'y'),
    localization_status_error = yarp::os::createVocab32('e', 'r', 'r')
};
} // namespace yarp
 
class YARP_dev_API yarp::dev::Nav2D::ILocalization2D
{
public:
    virtual ~ILocalization2D() {}
 
    virtual bool   startLocalizationService() = 0;
 
    virtual bool   stopLocalizationService() = 0;
 
    virtual bool   getLocalizationStatus(LocalizationStatusEnum& status) = 0;
 
    virtual bool   getEstimatedPoses(std::vector<yarp::dev::Nav2D::Map2DLocation>& poses) = 0;
 
    virtual bool   getCurrentPosition(yarp::dev::Nav2D::Map2DLocation& loc) = 0;
 
    virtual bool   getCurrentPosition(yarp::dev::Nav2D::Map2DLocation& loc, yarp::sig::Matrix& cov) = 0;
 
    virtual bool   getEstimatedOdometry(yarp::dev::OdometryData& odom) = 0;
 
 
    virtual bool   setInitialPose(const yarp::dev::Nav2D::Map2DLocation& loc) = 0;
 
    virtual bool   setInitialPose(const yarp::dev::Nav2D::Map2DLocation& loc, const yarp::sig::Matrix& cov) = 0;
};
 
constexpr yarp::conf::vocab32_t VOCAB_INAVIGATION            = yarp::os::createVocab32('i','n','a','v');
 
constexpr yarp::conf::vocab32_t VOCAB_NAV_GOTOABS            = yarp::os::createVocab32('s','a','b','s');
constexpr yarp::conf::vocab32_t VOCAB_NAV_GOTOREL            = yarp::os::createVocab32('s','r','e','l');
constexpr yarp::conf::vocab32_t VOCAB_NAV_GOTOABS_AND_NAME   = yarp::os::createVocab32('s','a','b','n');
constexpr yarp::conf::vocab32_t VOCAB_NAV_VELOCITY_CMD       = yarp::os::createVocab32('v', 'e', 'l', 'c');
constexpr yarp::conf::vocab32_t VOCAB_NAV_RECOMPUTE_PATH     = yarp::os::createVocab32('r','c','m','p');
 
constexpr yarp::conf::vocab32_t VOCAB_NAV_GET_X                 = yarp::os::createVocab32('g','e','t');
constexpr yarp::conf::vocab32_t VOCAB_NAV_GET_LIST_X            = yarp::os::createVocab32('l','i','s','t');
constexpr yarp::conf::vocab32_t VOCAB_NAV_GET_ABS_TARGET        = yarp::os::createVocab32('g','a','b','s');
constexpr yarp::conf::vocab32_t VOCAB_NAV_GET_REL_TARGET        = yarp::os::createVocab32('g','r','e','l');
constexpr yarp::conf::vocab32_t VOCAB_NAV_GET_NAME_TARGET       = yarp::os::createVocab32('g','n','a','m');
constexpr yarp::conf::vocab32_t VOCAB_NAV_GET_NAVIGATION_STATUS = yarp::os::createVocab32('n','s','t','s');
constexpr yarp::conf::vocab32_t VOCAB_NAV_CLEARALL_X               = yarp::os::createVocab32('c','l','r');
constexpr yarp::conf::vocab32_t VOCAB_NAV_DELETE_X              = yarp::os::createVocab32('d','e','l');
constexpr yarp::conf::vocab32_t VOCAB_NAV_RENAME_X              = yarp::os::createVocab32('r','e','n','m');
constexpr yarp::conf::vocab32_t VOCAB_NAV_STORE_X               = yarp::os::createVocab32('s','t','o','r');
constexpr yarp::conf::vocab32_t VOCAB_NAV_AREA                  = yarp::os::createVocab32('a','r','e','a');
constexpr yarp::conf::vocab32_t VOCAB_NAV_LOCATION              = yarp::os::createVocab32('l','o','c');
constexpr yarp::conf::vocab32_t VOCAB_NAV_PATH                  = yarp::os::createVocab32('p','a','t','h');
constexpr yarp::conf::vocab32_t VOCAB_NAV_TEMPORARY_FLAGS       = yarp::os::createVocab32('t','f','l','g');
 
//This section of vocabs is used just by deprecated device Localization2DServer and Localization2DClient
//It can be thus safely eliminated as soon as these devices are removed from yarp
constexpr yarp::conf::vocab32_t VOCAB_NAV_GET_ESTIMATED_ODOM    = yarp::os::createVocab32('g','o','d','m');
constexpr yarp::conf::vocab32_t VOCAB_NAV_GET_CURRENT_POS       = yarp::os::createVocab32('g','p','o','s');
constexpr yarp::conf::vocab32_t VOCAB_NAV_SET_INITIAL_POS       = yarp::os::createVocab32('i','p','o','s');
constexpr yarp::conf::vocab32_t VOCAB_NAV_GET_CURRENT_POSCOV    = yarp::os::createVocab32('g','c','o','v');
constexpr yarp::conf::vocab32_t VOCAB_NAV_SET_INITIAL_POSCOV    = yarp::os::createVocab32('i','c','o','v');
constexpr yarp::conf::vocab32_t VOCAB_NAV_LOCALIZATION_START    = yarp::os::createVocab32('l','c','g','o');
constexpr yarp::conf::vocab32_t VOCAB_NAV_LOCALIZATION_STOP     = yarp::os::createVocab32('l','c','s','t');
constexpr yarp::conf::vocab32_t VOCAB_NAV_GET_LOCALIZER_STATUS  = yarp::os::createVocab32('l','s','t','s');
constexpr yarp::conf::vocab32_t VOCAB_NAV_GET_LOCALIZER_POSES   = yarp::os::createVocab32('l','p','s','s');
 
#endif // YARP_DEV_ILOCALIZATION2D_H