CheckTargetPoseReached.h
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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::PlaceObjectGroup
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 
25 #pragma once
26 
30 #include "CheckTargetPoseReached.generated.h"
31 
33 {
35  public CheckTargetPoseReachedGeneratedBase < CheckTargetPoseReached >
36  {
37  public:
39  bool checkForceTorqueExceeded(std::string tcpName, FramedDirectionPtr refForces, FramedDirectionPtr refTorques, float forceThreshhold, float torqueThreshhold);
40  // inherited from StateBase
41  void onEnter() override;
42  void run() override;
43  void onBreak() override;
44  void onExit() override;
45 
46  // static functions for AbstractFactory Method
47  static std::string GetName();
49  static SubClassRegistry Registry;
50 
51  // DO NOT INSERT ANY CLASS MEMBERS,
52  // use stateparameters instead,
53  // if classmember are neccessary nonetheless, reset them in onEnter
54  };
55 }
56 
57 
armarx::CoupledInteractionGroup::CheckTargetPoseReached::checkForceTorqueExceeded
bool checkForceTorqueExceeded(std::string tcpName, FramedDirectionPtr refForces, FramedDirectionPtr refTorques, float forceThreshhold, float torqueThreshhold)
Definition: CheckTargetPoseReached.cpp:43
armarx::CoupledInteractionGroup::CheckTargetPoseReached::CreateInstance
static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData)
Definition: CheckTargetPoseReached.cpp:153
XMLState.h
armarx::XMLStateConstructorParams
Definition: XMLState.h:50
armarx::CoupledInteractionGroup::CheckTargetPoseReached::Registry
static SubClassRegistry Registry
Definition: CheckTargetPoseReached.h:49
CoupledInteractionGroupStatechartContext.h
armarx::CoupledInteractionGroup::CheckTargetPoseReached
Definition: CheckTargetPoseReached.h:34
RobotAPIObjectFactories.h
armarx::CoupledInteractionGroup::CheckTargetPoseReached::onBreak
void onBreak() override
Definition: CheckTargetPoseReached.cpp:130
IceInternal::Handle< FramedDirection >
armarx::CoupledInteractionGroup::CheckTargetPoseReached::run
void run() override
Definition: CheckTargetPoseReached.cpp:122
armarx::CoupledInteractionGroup::CheckTargetPoseReached::CheckTargetPoseReached
CheckTargetPoseReached(XMLStateConstructorParams stateData)
Definition: CheckTargetPoseReached.cpp:38
armarx::CoupledInteractionGroup::CheckTargetPoseReached::GetName
static std::string GetName()
Definition: CheckTargetPoseReached.cpp:147
armarx::CoupledInteractionGroup::CheckTargetPoseReached::onExit
void onExit() override
Definition: CheckTargetPoseReached.cpp:136
armarx::CoupledInteractionGroup::CheckTargetPoseReached::onEnter
void onEnter() override
Definition: CheckTargetPoseReached.cpp:70
armarx::CoupledInteractionGroup
Definition: CalculateApproachTablePose.h:31