stop_primitive.h

#pragma once
 
#include <memory>
 
#include "proto/primitive.pb.h"
#include "software/ai/hl/stp/tactic/primitive.h"
 
class StopPrimitive : public Primitive
{
   public:
    StopPrimitive()           = default;
    ~StopPrimitive() override = default;
 
    std::pair<std::optional<TrajectoryPath>, std::unique_ptr<TbotsProto::Primitive>>
    generatePrimitiveProtoMessage(
        const World &world,
        const std::set<TbotsProto::MotionConstraint> &motion_constraints,
        const std::map<RobotId, TrajectoryPath> &robot_trajectories,
        const RobotNavigationObstacleFactory &obstacle_factory) override;
 
    void getVisualizationProtos(
        TbotsProto::ObstacleList &obstacle_list_out,
        TbotsProto::PathVisualization &path_visualization_out) const override;
};