ControlModeChooser.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::FindAndGraspObjectGroup
19  * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
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 
29 
30 //This, among with with PosControl and PosVelControl is a stub state
31 //It would normally select the mode to use for the lifting action
32 //TODO: either implement proper selection here or move this to motion control
33 
35 {
36  DEFINEEVENT(EvPosControl)
37  DEFINEEVENT(EvVelControl)
38  DEFINEEVENT(EvPosVelControl)
40  virtual public XMLStateTemplate < ControlModeChooser >,
41  public XMLStateFactoryBase
42  {
43  public:
45 
46  // inherited from StateBase
47  void onEnter() override;
48 
49  // static functions for AbstractFactory Method
50  static std::string GetName();
51  static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
52  static SubClassRegistry Registry;
53 
54  // DO NOT INSERT ANY CLASS MEMBERS,
55  // use stateparameters instead,
56  // if classmember are neccessary nonetheless, reset them in onEnter
57  };
58 }
59 
60 
armarx::FindAndGraspObjectGroup::ControlModeChooser::Registry
static SubClassRegistry Registry
Definition: ControlModeChooser.h:52
armarx::FindAndGraspObjectGroup::ControlModeChooser
Definition: ControlModeChooser.h:39
XMLState.h
armarx::XMLStateConstructorParams
Definition: XMLState.h:50
RobotAPIObjectFactories.h
IceInternal::Handle
Definition: forward_declarations.h:8
armarx::XMLStateTemplate
Class for legacy to stay compatible with old statecharts.
Definition: XMLState.h:137
armarx::FindAndGraspObjectGroup
Definition: FindAndGraspObject.h:30
armarx::XMLStateFactoryBase
Definition: XMLState.h:66
armarx::DEFINEEVENT
DEFINEEVENT(EvInit) struct StateRun