AGV/MPC/navigation_main.h

//
// Created by zx on 23-5-8.
//

#ifndef NAVIGATION_NAVIGATION_MAIN_H
#define NAVIGATION_NAVIGATION_MAIN_H
#include "navigation.h"
class NavigationMain:public Navigation {

public:
    NavigationMain();
    ~NavigationMain();

    virtual void ResetPose(const Pose2d& pose);
    virtual bool Start(const NavMessage::NavCmd& cmd);
    virtual void publish_statu(NavMessage::NavStatu& statu);


    void ResetOtherClamp(ClampStatu statu);
    virtual void HandleAgvStatu(const MqttMsg& msg);
    virtual void SwitchMode(Monitor_emqx::ActionMode mode,float wheelBase){
      move_mode_=mode;
      if(move_mode_==Monitor_emqx::eMain)
      {
        wheelBase_=wheelBase;
      }
    }


protected:
    virtual void SendMoveCmd(Monitor_emqx::ActionMode mode,Monitor_emqx::ActionType type,
                             double v,double angular);
    virtual void HandleNavCmd(const NavMessage::NavCmd& cmd);
    virtual bool clamp_close();
    virtual bool clamp_open();
    virtual NavMessage::RobotStatu CreateRobotStatuMsg();
protected:
    float  wheelBase_;   //两节agv的位姿与单节的位姿变换
    TimedLockData<int> timed_other_clamp_;
};

#endif //NAVIGATION_NAVIGATION_MAIN_H