ForceTorqueUnit.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarXCore::units
 * @author     Peter Kaiser <peter dot kaiser at kit dot edu>
 * @date       2011
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "ForceTorqueUnit.h"
 
namespace armarx
{
    void ForceTorqueUnit::onInitComponent()
    {
        listenerName = getProperty<std::string>("ForceTorqueTopicName").getValue();
        offeringTopic(listenerName);
        onInitForceTorqueUnit();
    }
 
    void ForceTorqueUnit::onConnectComponent()
    {
        ARMARX_INFO << "setting report topic to " << listenerName << flush;
        listenerPrx = getTopic<ForceTorqueUnitListenerPrx>(listenerName);
        onStartForceTorqueUnit();
    }
 
    void ForceTorqueUnit::onExitComponent()
    {
        onExitForceTorqueUnit();
    }
 
    PropertyDefinitionsPtr ForceTorqueUnit::createPropertyDefinitions()
    {
        return PropertyDefinitionsPtr(new ForceTorqueUnitPropertyDefinitions(getConfigIdentifier()));
    }
}