CloseHandAndAttach.h

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#pragma once
 
// BaseClass
# include "../GraspControlSkill.h"
 
// Type
#include <RobotSkillTemplates/libraries/skill_grasp_object/aron/CloseHandAndAttachAcceptedType.aron.generated.h>
 
// ArmarX
#include <RobotAPI/libraries/skills/provider/mixins/All.h>
#include <RobotSkillTemplates/libraries/skill_hand_control/CloseHand.h>
 
namespace armarx::skills
{
    class CloseHandAndAttachSkill :
            public TwoArmGraspControlSkill,
            public SimpleSpecializedSkill<grasp_object::arondto::CloseHandAndAttachAcceptedType>
    {
    public:
        using ArgType = grasp_object::arondto::CloseHandAndAttachAcceptedType;
 
        CloseHandAndAttachSkill(armem::client::MemoryNameSystem& mns, armarx::viz::Client& arviz, TwoArmGraspControlSkillContext&);
 
    private:
        MainResult main(const SpecializedMainInput& in) final;
 
    public:
        static SkillDescription Description;
    };
}