CheckForceTorqueSensors.cpp
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1 /*
2  * This file is part of ArmarX.
3  *
4  * Copyright (C) 2014-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
5  *
6  * ArmarX is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License version 2 as
8  * published by the Free Software Foundation.
9  *
10  * ArmarX is distributed in the hope that it will be useful, but
11  * WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program. If not, see <http://www.gnu.org/licenses/>.
17  *
18  * @package RobotSkillTemplates::HapticsGroup
19  * @author [Author Name] ( [Author Email] )
20  * @date 2014
21  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
22  * GNU General Public License
23  */
24 
26 
27 using namespace armarx;
28 using namespace HapticsGroup;
29 
30 // DO NOT EDIT NEXT LINE
32 
33 
34 
37 {
38 }
39 
41 {
42  // put your user code for the enter-point here
43  // execution time should be short (<100ms)
44 }
45 
47 {
48  // put your user code for the execution-phase here
49  // runs in seperate thread, thus can do complex operations
50  // should check constantly whether isRunningTaskStopped() returns true
51 
52 
53  while (!isRunningTaskStopped()) // stop run function if returning true
54  {
55  // do your calculations
56  }
57 
58 }
59 
61 {
62  // put your user code for the breaking point here
63  // execution time should be short (<100ms)
64 }
65 
67 {
68  // put your user code for the exit point here
69  // execution time should be short (<100ms)
70 
71 }
72 
73 // DO NOT EDIT NEXT FUNCTION
75 {
76  return "CheckForceTorqueSensors";
77 }
78 
79 // DO NOT EDIT NEXT FUNCTION
81 {
82  return XMLStateFactoryBasePtr(new CheckForceTorqueSensors(stateData));
83 }
84 
armarx::HapticsGroup::CheckForceTorqueSensors::onExit
void onExit() override
Virtual function, in which the behaviour of state is defined, when it is exited. Can be overridden,...
Definition: CheckForceTorqueSensors.cpp:66
armarx::HapticsGroup::CheckForceTorqueSensors::run
void run() override
Virtual function, that can be reimplemented to calculate complex operations.
Definition: CheckForceTorqueSensors.cpp:46
armarx::HapticsGroup::CheckForceTorqueSensors::GetName
static std::string GetName()
Definition: CheckForceTorqueSensors.cpp:74
armarx::XMLStateConstructorParams
Definition: XMLState.h:50
armarx::HapticsGroup::CheckForceTorqueSensors::onBreak
void onBreak() override
Virtual function, in which the behaviour of state is defined, when it is abnormally exited....
Definition: CheckForceTorqueSensors.cpp:60
IceInternal::Handle
Definition: forward_declarations.h:8
armarx::HapticsGroup::CheckForceTorqueSensors::Registry
static SubClassRegistry Registry
Definition: CheckForceTorqueSensors.h:47
armarx::XMLStateTemplate
Class for legacy to stay compatible with old statecharts.
Definition: XMLState.h:137
armarx::HapticsGroup::CheckForceTorqueSensors
Definition: CheckForceTorqueSensors.h:31
armarx::StateController::isRunningTaskStopped
bool isRunningTaskStopped() const
isRunningTaskStopped checks whether the RunningTask, that executes run() is requested to stop.
Definition: StateController.cpp:1091
armarx::XMLStateFactoryBasePtr
IceInternal::Handle< XMLStateFactoryBase > XMLStateFactoryBasePtr
Definition: XMLState.h:65
armarx::HapticsGroup::CheckForceTorqueSensors::CheckForceTorqueSensors
CheckForceTorqueSensors(XMLStateConstructorParams stateData)
Definition: CheckForceTorqueSensors.cpp:35
CheckForceTorqueSensors.h
armarx::HapticsGroup::CheckForceTorqueSensors::CreateInstance
static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData)
Definition: CheckForceTorqueSensors.cpp:80
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:28
armarx::HapticsGroup::CheckForceTorqueSensors::onEnter
void onEnter() override
Virtual function, in which the behaviour of state is defined, when it is entered. Can be overridden,...
Definition: CheckForceTorqueSensors.cpp:40