public PathPlanningResult Run(Manipulator manipulator, Vector3 goal, InverseKinematicsSolver solver, CancellationToken cancellationToken = default)
{
var res = new PathPlanningResult();
try
{
// restart measuring execution time
Timer.Restart();
// turn the controller on
State = ControllerState.Running;
// execute path planning
using (var manipulatorCopy = manipulator.DeepCopy())
{
res = RunAbstract(manipulatorCopy, goal, solver, cancellationToken);
}
// turn the controller off
State = ControllerState.Idle;
}
catch (OperationCanceledException oce)
{
// TODO: provide some log info
Reset();
// indicate that the process has been aborted
State = ControllerState.Aborted;
}
finally
{
// stop measuring execution time
Timer.Stop();
}
return(res);
}