info:
  description: |-
    A wheelchair can ask to the orchestrator to compute a global path from its current position to a target point. The wheelchairs and the orchestrator use the same 2D map of the building.
    The wheelchair can ask to go to a specific target point or to one of the target points in a set. The orchestrator will choose the best target point according to the state of the system.

    **NOTE**: Commit: c2d59e1 Date: 2024.07.03_10:54:52
  title: Requests from wheelchairs to the orchestrator
  version: 1.0.1
openapi: 3.0.0
paths:
  /api/requestPath:
    post:
      requestBody:
        content:
          application/json:
            schema:
              properties:
                nominalSpeed:
                  description: nominal speed of the wheelchair in km/h
                  type: number
                pose:
                  description: pose of the wheelchair.
                  properties:
                    x:
                      description: X coordinate.
                      type: number
                    'y':
                      description: Y coordinate.
                      type: number
                    yaw:
                      description: yaw angle.
                      type: number
                  required:
                    - x
                    - y
                    - yaw
                  type: object
                targetPoint:
                  description: set of target points. If more than one the orchestrator will choose the best one
                  items:
                    properties:
                      x:
                        description: X coordinate.
                        type: number
                      'y':
                        description: Y coordinate.
                        type: number
                      yaw:
                        description: yaw angle.
                        type: number
                    required:
                      - x
                      - y
                    type: object
                  minItems: 1
                  type: array
                timestamp:
                  description: Timestamp of pose.
                  format: date-time
                  type: string
                wheelchairID:
                  description: ID of the wheelchair.
                  type: string
              required:
                - pose
                - targetPoint
              type: object
        required: true
      responses:
        "201":
          content:
            application/json:
              schema:
                properties:
                  globalPath:
                    description: sequence of waypoints to visit
                    items:
                      properties:
                        x:
                          description: X coordinate.
                          type: number
                        'y':
                          description: Y coordinate.
                          type: number
                        yaw:
                          description: yaw angle.
                          type: number
                      required:
                        - x
                        - y
                      type: object
                    type: array
                  targetPoint:
                    description: position of the target point.
                    properties:
                      x:
                        description: X coordinate.
                        type: number
                      'y':
                        description: Y coordinate.
                        type: number
                      yaw:
                        description: yaw angle.
                        type: number
                    required:
                      - x
                      - y
                    type: object
                  wheelchairID:
                    description: ID of the wheelchair.
                    type: string
                required:
                  - globalPath
                  - targetPoint
                type: object
          description: path computed successfully.
        "400":
          content:
            application/json:
              schema:
                properties:
                  errorMessage:
                    description: description of the error
                    type: string
                  unknownField:
                    description: set of unknown fields
                    items:
                      description: name of the fields
                      type: string
                    type: array
                type: object
          description: Invalid request. To be detailed.
      summary: compute a path
