Spec/ivan/trajectory

dimos/spec/nav.py

@@ -0,0 +1,43 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from typing import Protocol
+
+from dimos.core.stream import In, Out
+from dimos.msgs.geometry_msgs.Twist import Twist
+from dimos.msgs.nav_msgs.Odometry import Odometry
+from dimos.msgs.nav_msgs.Path import Path
+from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2
+
+
+class TrajectoryController(Protocol):
+    odometry: In[Odometry]
+    path: In[Path]
+
+    cmd_vel: Out[Twist]
+    goal_reached: Out[bool]
+
+    # equivalent to emitting an empty path?
+    stop_movement: In[bool]
+
+
+# this can take a radius of a robot
+# or even better some more precise shape of the robot (e.g. a polygon) to avoid collisions
+# probably force based repelling (like native go2 obstacle avoidance is better than just stopping the robot)
+class LocalPlanner(Protocol):
+    # LoGlo/terrainmap perception within some radius
+    lidar: In[PointCloud2]  # or occupancygrid?
+    odometry: In[Odometry]
+    path: In[Path]
+    safe_path: Out[Path]