Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Navigation/b.md

@@ -0,0 +1,125 @@
+curl -k -X POST https://localhost:7002/api/navigation/move_to_order_data \
+-H "Content-Type: application/json" \
+-d '{
+"x": -2.0,
+"y": 0.3,
+"yaw": 0.0,
+"frame_id": "map",
+"xy_tolerance": 0.3,
+"yaw_tolerance": 50,
+"order": {
+"headerId": 1,
+"timestamp": "2026-02-28T16:01:25.308Z",
+"version": "0.0.1",
+"manufacturer": "phenikaaX",
+"serialNumber": "T800Fake",
+"orderId": "reverse-order",
+"orderUpdateId": 1,
+"zoneSetId": "maze",
+
+"nodes": [
+
+{
+"nodeId": "node2",
+"sequenceId": 0,
+"nodeDescription": "Node2",
+"released": true,
+"nodePosition": {
+"x": 1.4,
+"y": 0.8,
+"theta": 1.57,
+"allowedDeviationXY": 0.3,
+"allowedDeviationTheta": 50,
+"mapId": "448039b7-23d2-4a70-a2d2-08dd61dadd33",
+"mapDescription": ""
+},
+"actions": []
+},
+
+{
+"nodeId": "node1",
+"sequenceId": 1,
+"nodeDescription": "Node1",
+"released": true,
+"nodePosition": {
+"x": 0.0,
+"y": 0.3,
+"theta": 0.0,
+"allowedDeviationXY": 0.3,
+"allowedDeviationTheta": 50,
+"mapId": "448039b7-23d2-4a70-a2d2-08dd61dadd33",
+"mapDescription": ""
+},
+"actions": []
+},
+
+{
+"nodeId": "node0",
+"sequenceId": 2,
+"nodeDescription": "Node0",
+"released": true,
+"nodePosition": {
+"x": -2.0,
+"y": 0.3,
+"theta": 0.0,
+"allowedDeviationXY": 0,
+"allowedDeviationTheta": 0,
+"mapId": "448039b7-23d2-4a70-a2d2-08dd61dadd33",
+"mapDescription": ""
+},
+"actions": []
+}
+
+],
+
+"edges": [
+
+{
+"edgeId": "edge1-rev",
+"sequenceId": 0,
+"edgeDescription": "node2-node1",
+"released": true,
+"startNodeId": "node2",
+"endNodeId": "node1",
+"maxSpeed": 0.5,
+"direction": "Both",
+"rotationAllowed": true,
+"maxRotationSpeed": 0.5,
+"trajectory": {
+"degree": 2,
+"knotVector": [0,0,0,1,1,1],
+"controlPoints": [
+{"x": 1.4, "y": 0.8, "weight": 1.0},
+{"x": 0.7, "y": 0.3, "weight": 0.707},
+{"x": 0.0, "y": 0.3, "weight": 1.0}
+]
+},
+"actions": []
+},
+
+{
+"edgeId": "edge0-rev",
+"sequenceId": 1,
+"edgeDescription": "node1-node0",
+"released": true,
+"startNodeId": "node1",
+"endNodeId": "node0",
+"maxSpeed": 0.5,
+"direction": "Both",
+"rotationAllowed": true,
+"maxRotationSpeed": 0.5,
+"trajectory": {
+"degree": 1,
+"knotVector": [0,0,1,1],
+"controlPoints": [
+{"x": 0.0, "y": 0.3, "weight": 1},
+{"x": -2.0, "y": 0.3, "weight": 1}
+]
+},
+"actions": []
+}
+
+]
+
+}
+}'