AStarPathPlannerTestComponent.h
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1 /*
2 * This file is part of ArmarX.
3 *
4 * ArmarX is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License version 2 as
6 * published by the Free Software Foundation.
7 *
8 * ArmarX is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11 * GNU General Public License for more details.
12 *
13 * You should have received a copy of the GNU General Public License
14 * along with this program. If not, see <http://www.gnu.org/licenses/>.
15 *
16 * @package RobotComponents::applications::AStarPathPlannerTestApp
17 * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
18 * @date 2015 Humanoids Group, H2T, KIT
19 * @license http://www.gnu.org/licenses/gpl-2.0.txt
20 * GNU General Public License
21 */
22 
23 #pragma once
24 
26 
27 #include <MemoryX/interface/components/WorkingMemoryInterface.h>
29 #include <RobotComponents/interface/components/PathPlanner.h>
30 
31 namespace armarx
32 {
35  {
36  public:
39  {
40  defineOptionalProperty<std::string>("WorkingMemoryName", "WorkingMemory", "Name of WorkingMemory component");
41  defineOptionalProperty<std::string>("DebugDrawerName", "DebugDrawerUpdates", "Name of DebugDrawer component");
42  defineOptionalProperty<std::string>("AStarPathPlannerName", "AStarPathPlanner", "Name of AStarPathPlanner component");
43  }
44  };
45 
46  /**
47  * @brief A test component for the AStarPathPlanner
48  */
50  virtual public Component
51  {
52  public:
53  /**
54  * @see PropertyUser::createPropertyDefinitions()
55  */
57  {
59  {
61  };
62  }
63 
64  /**
65  * @see armarx::ManagedIceObject::onInitComponent()
66  */
67  void onInitComponent() override;
68 
69  /**
70  * @see armarx::ManagedIceObject::onConnectComponent()
71  */
72  void onConnectComponent() override;
73 
74  void onExitComponent() override;
75 
76  /**
77  * @see armarx::ManagedIceObject::getDefaultName()
78  */
79  std::string getDefaultName() const override
80  {
81  return "AStarPathPlannerTestComponent";
82  }
83  private:
84  memoryx::WorkingMemoryInterfacePrx workingMemoryPrx;
85  armarx::DebugDrawerInterfacePrx debugDrawerPrx;
86  armarx::AStarPathPlannerBasePrx aStarPathPlannerPrx;
87  };
88 }
89 
DebugDrawerComponent.h
armarx::AStarPathPlannerTestComponentPropertyDefinitions::AStarPathPlannerTestComponentPropertyDefinitions
AStarPathPlannerTestComponentPropertyDefinitions(std::string prefix)
Definition: AStarPathPlannerTestComponent.h:37
armarx::AStarPathPlannerTestComponent::getDefaultName
std::string getDefaultName() const override
Definition: AStarPathPlannerTestComponent.h:79
armarx::AStarPathPlannerTestComponent::onConnectComponent
void onConnectComponent() override
Definition: AStarPathPlannerTestComponent.cpp:45
armarx::PropertyDefinitionContainer::prefix
std::string prefix
Prefix of the properties such as namespace, domain, component name, etc.
Definition: PropertyDefinitionContainer.h:333
armarx::AStarPathPlannerTestComponent::onInitComponent
void onInitComponent() override
Definition: AStarPathPlannerTestComponent.cpp:38
armarx::AStarPathPlannerTestComponentPropertyDefinitions
Definition: AStarPathPlannerTestComponent.h:33
armarx::AStarPathPlannerTestComponent::onExitComponent
void onExitComponent() override
Hook for subclass.
Definition: AStarPathPlannerTestComponent.cpp:162
armarx::AStarPathPlannerTestComponent::createPropertyDefinitions
armarx::PropertyDefinitionsPtr createPropertyDefinitions() override
Definition: AStarPathPlannerTestComponent.h:56
Component.h
armarx::Component
Baseclass for all ArmarX ManagedIceObjects requiring properties.
Definition: Component.h:95
armarx::Component::getConfigIdentifier
std::string getConfigIdentifier()
Retrieve config identifier for this component as set in constructor.
Definition: Component.cpp:74
armarx::ComponentPropertyDefinitions
Default component property definition container.
Definition: Component.h:70
IceUtil::Handle< class PropertyDefinitionContainer >
IceInternal::ProxyHandle<::IceProxy::armarx::DebugDrawerInterface >
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:28
armarx::AStarPathPlannerTestComponent
A test component for the AStarPathPlanner.
Definition: AStarPathPlannerTestComponent.h:49