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49 lines
938 B
49 lines
938 B
/**
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* move_action.h
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* Move action
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*
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* Created By Tony Huang @ 2014-5-22
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* Copyright (c) 2014 Shanghai SlamTec Co., Ltd.
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*/
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#pragma once
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#include <rpos/rpos_config.h>
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#include <rpos/core/action.h>
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#include "path.h"
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namespace rpos {
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namespace actions {
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namespace detail {
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class MoveActionImpl;
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}
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class RPOS_CORE_API MoveAction : public rpos::core::Action{
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public:
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typedef detail::MoveActionImpl impl_t;
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RPOS_OBJECT_CTORS_WITH_BASE(MoveAction, rpos::core::Action);
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MoveAction(boost::shared_ptr<impl_t> impl);
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~MoveAction();
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public:
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rpos::features::motion_planner::Path getRemainingPath();
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rpos::features::motion_planner::Path getRemainingMilestones();
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protected:
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int getRunTime();
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};
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}
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}
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namespace rpos { namespace core { namespace detail {
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template <>
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struct action_caster < actions::MoveAction >
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{
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static actions::MoveAction cast(Action&);
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};
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} } }
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