NavigatingState.h

Go to the documentation of this file.

 
#ifndef NAVIGATING_STATE_H
#define NAVIGATING_STATE_H
 
#include "../algorithms/controllers/PredictiveStanleyController.h"
#include "../algorithms/planners/AStar.h"
#include "../interfaces/State.hpp"
#include "../util/GeospatialOperations.hpp"
#include "../util/logging/PathTracer2D.hpp"
#include "../util/states/StuckDetection.hpp"
#include "../vision/aruco/TagDetector.h"
#include "../vision/objects/ObjectDetector.h"
 
 
namespace statemachine
{
 
    class NavigatingState : public State
    {
        private:
            // Declare private member variables.
            bool m_bFetchNewWaypoint;
            geoops::Waypoint m_stGoalWaypoint;
            bool m_bInitialized;
            std::vector<std::shared_ptr<TagDetector>> m_vTagDetectors;
            std::vector<std::shared_ptr<ObjectDetector>> m_vObjectDetectors;
            statemachine::TimeIntervalBasedStuckDetector m_StuckDetector;
            std::unique_ptr<logging::graphing::PathTracer> m_pRoverPathPlot;
            std::unique_ptr<controllers::PredictiveStanleyController> m_pStanleyController;
            std::unique_ptr<pathplanners::AStar> m_pAStarPlanner;
            std::vector<geoops::Waypoint> m_vPathCoordinates;
 
        protected:
            // Declare protected class methods.
            void Start() override;
            void Exit() override;
 
        public:
            // Declare public class methods.
            NavigatingState();
            void Run() override;
            States TriggerEvent(Event eEvent) override;
    };
}    // namespace statemachine
 
#endif    // NAVIGATINGSTATE_H