namespace RobotNet10.RobotApp.SLAM.Cartographer.Enums;

/// <summary>
/// Triggers cho CartographerService state machine
/// </summary>
public enum CartographerTrigger
{
    Start,
    InitializationComplete,
    InitializationFailed,
    StartLocalization,
    /// <summary>MCL converged; initial pose ready, trajectory added. Transition from InitializingLocalizing to Localizing.</summary>
    MclConverged,
    /// <summary>Initial pose set without MCL (trajectory already added). Transition from InitializingLocalizing to Localizing.</summary>
    MclSkipped,
    StartScanMapping,
    StopLocalization,
    SaveMap,
    MapSaved,
    ErrorOccurred,
    Reset,
    Shutdown
}