navigation.hpp

#ifndef NOOS_CLOUD_NAVIGATION
#define NOOS_CLOUD_NAVIGATION
/*
 * LICENSE HERE
 */
#include "includes.ihh"
#include <noos/objects.hpp>
#include <noos/cloud/asio/http_request.hpp>
#include <noos/cloud/cloud_base.hpp>

namespace noos {
namespace cloud {

enum class slam_type
{
    not_selected = 0,
    icp,
    rbpf
};

struct icp_slam 
: public http_request, 
  public cloud_base<noos::object::pose<float>>
{
    using callback = std::function<void(data_type)>;
    static const std::string uri;

    icp_slam(const std::string map_name,
             const std::string config_file_name,
             const noos::object::laser laser_data);

};

struct rbpf_slam 
: public http_request, 
  public cloud_base<noos::object::pose<float>>
{
    using callback = std::function<void(data_type)>;
    static const std::string uri;

    rbpf_slam(const std::string map_name,
              const std::string config_file_name,
              const noos::object::laser laser_data,
              const noos::object::odometry & odometry);

};

struct delete_map 
: public http_request, 
  public cloud_base<bool>
{
    using callback = std::function<void(data_type)>;
    static const std::string uri;

    delete_map(const std::string name);
};

struct upload_map 
: public http_request, 
  public cloud_base<bool>
{
    using callback = std::function<void(data_type)>;
    static const std::string uri;

    upload_map(const std::string name,
               const noos::object::picture & image);
};

struct upload_slam_config_file 
: public http_request, 
  public cloud_base<bool>
{
    using callback = std::function<void(data_type)>;
    static const std::string uri;
    static std::map<slam_type, std::string> config_type;


    upload_slam_config_file(noos::object::config_file & file,
                            std::string name,
                            slam_type type);
};

struct get_map 
: public http_request, 
  public cloud_base<bool>
{
    using callback = std::function<void(data_type)>;
    static const std::string uri;
    static std::map<slam_type, std::string> config_type;

    get_map(std::string map_name);
};

struct path_planning 
: public http_request, 
  public cloud_base<std::deque<noos::object::point2d<float>>>
{
    using callback = std::function<void(data_type)>;
    static const std::string uri;

    path_planning(const noos::object::pose2d<float> start,
                  const noos::object::pose2d<float> goal,
                  const float robot_radius,
                  const float resolution,
                  const std::string map_name);
};
}
}
#endif