34 lines
851 B
C++
34 lines
851 B
C++
#ifndef NAVIGATION_HPP
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#define NAVIGATION_HPP
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#include <string>
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#include <memory>
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#include <nlohmann/json.hpp>
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#include "unitree/robot/client/client.hpp"
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namespace custom {
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class Navigation {
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public:
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Navigation();
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~Navigation();
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void Init();
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bool startMapping();
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bool endMapping(const std::string& address);
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bool initializePose(double x, double y, double z, double q_x, double q_y, double q_z, double q_w, const std::string& address);
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bool poseNavigation(double x, double y, double z, double q_x, double q_y, double q_z, double q_w, int mode, double speed);
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bool pauseNavigation();
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bool resumeNavigation();
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bool closeSlam();
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private:
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std::unique_ptr<unitree::robot::Client> client_;
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bool callSlamService(int api_id, const nlohmann::json& data);
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};
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} // namespace custom
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#endif // NAVIGATION_HPP
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