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run_policy/policy_runner_base.hpp

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+/**
+ * @file policy_runner_base.hpp
+ * @brief policy runner base class
+ * @author DeepRobotics
+ * @version 1.0
+ * @date 2025-11-07
+ * 
+ * @copyright Copyright (c) 2025  DeepRobotics
+ * 
+ */
+
+#pragma once
+
+#include "common_types.h"
+#include "basic_function.hpp"
+#include "onnxruntime_cxx_api.h"
+
+using namespace types;
+
+class PolicyRunnerBase{
+public:
+    PolicyRunnerBase(std::string policy_name):policy_name_(policy_name){
+        vel_delta_const_ << 0.3, 0.2, 0.3;
+        cmd_vel_input_.setZero();
+    }
+    virtual ~PolicyRunnerBase(){}
+    /**
+     * @brief use to display policy detail
+     */
+    virtual void DisplayPolicyInfo(){
+        
+    }
+
+    /**
+     * @brief Get the robot action object by run your policy
+     * @return RobotAction 
+     */
+    virtual RobotAction getRobotAction(const RobotBasicState&, const UserCommand&) = 0;
+
+    /**
+     * @brief execute function when first entering policy runner
+     */
+    virtual void OnEnter() = 0;
+
+    /**
+     * @brief Set the decimation
+     * @param  d decimation
+     */
+    virtual void SetDecimation(int d){
+        decimation_ = d;
+    }
+
+    const std::string policy_name_;
+    int decimation_;
+    int run_cnt_;
+    Vec3f vel_delta_const_, cmd_vel_input_;
+};
+