GraspControlSkillProvider.cpp
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2 
3 
5 {
7  {
9 
10  graspControlSkillContext.defineProperties(defs, "graspControlSkills.");
11 
12  return defs;
13  }
14 
16  {
17  return "GraspControlSkillProvider";
18  }
19 
21  {
22  graspControlSkillContext.onInit(*this);
23  }
24 
26  {
27  graspControlSkillContext.onConnected(*this);
28 
29  auto& mns = memoryNameSystem();
30 
31  // Add move skill
32  addSkill(std::make_unique<CloseHandAndAttachSkill>(mns, arviz, graspControlSkillContext));
33  addSkill(std::make_unique<MovePlatformForGraspSkill>(mns, arviz, graspControlSkillContext));
34  addSkill(std::make_unique<MovePlatformAfterGraspSkill>(mns, arviz, graspControlSkillContext));
35  addSkill(std::make_unique<ExecuteGraspSkill>(mns, arviz, graspControlSkillContext));
36  addSkill(std::make_unique<GraspObjectSkill>(mns, arviz, graspControlSkillContext));
37 
38  addSkill(std::make_unique<OpenHandAndDetachSkill>(mns, arviz, graspControlSkillContext));
39  addSkill(std::make_unique<MovePlatformForPutdownSkill>(mns, arviz, graspControlSkillContext));
40  addSkill(std::make_unique<MovePlatformAfterPutdownSkill>(mns, arviz, graspControlSkillContext));
41  addSkill(std::make_unique<ExecutePutdownSkill>(mns, arviz, graspControlSkillContext));
42  addSkill(std::make_unique<PutdownObjectSkill>(mns, arviz, graspControlSkillContext));
43  }
44 
46  {
47 
48  }
49 
51  {}
52 }
armarx::skills::provider::GraspControlSkillProvider::onExitComponent
void onExitComponent() override
Hook for subclass.
Definition: GraspControlSkillProvider.cpp:50
armarx::armem::client::plugins::PluginUser::memoryNameSystem
MemoryNameSystem & memoryNameSystem()
Definition: PluginUser.cpp:22
armarx::skills::SkillContext::onConnected
virtual void onConnected(armarx::Component &parent)
Definition: SkillContext.h:22
armarx::skills::provider::GraspControlSkillProvider::createPropertyDefinitions
armarx::PropertyDefinitionsPtr createPropertyDefinitions() override
Definition: GraspControlSkillProvider.cpp:6
armarx::skills::provider::GraspControlSkillProvider::getDefaultName
std::string getDefaultName() const override
Definition: GraspControlSkillProvider.cpp:15
armarx::skills::provider
Definition: Callback.cpp:4
armarx::skills::provider::GraspControlSkillProvider::onDisconnectComponent
void onDisconnectComponent() override
Hook for subclass.
Definition: GraspControlSkillProvider.cpp:45
armarx::skills::TwoArmGraspControlSkillContext::onInit
virtual void onInit(armarx::Component &parent) final
Definition: GraspControlSkill.h:67
GraspControlSkillProvider.h
armarx::Component::getConfigIdentifier
std::string getConfigIdentifier()
Retrieve config identifier for this component as set in constructor.
Definition: Component.cpp:74
armarx::skills::provider::GraspControlSkillProvider::onInitComponent
void onInitComponent() override
Pure virtual hook for the subclass.
Definition: GraspControlSkillProvider.cpp:20
armarx::ComponentPropertyDefinitions
Default component property definition container.
Definition: Component.h:70
armarx::ArVizComponentPluginUser::arviz
armarx::viz::Client arviz
Definition: ArVizComponentPlugin.h:43
IceUtil::Handle< class PropertyDefinitionContainer >
armarx::skills::TwoArmGraspControlSkillContext::defineProperties
void defineProperties(const armarx::PropertyDefinitionsPtr &defs, const std::string &prefix) final
Definition: GraspControlSkill.h:55
armarx::skills::provider::GraspControlSkillProvider::onConnectComponent
void onConnectComponent() override
Pure virtual hook for the subclass.
Definition: GraspControlSkillProvider.cpp:25