GraspControlSkill.h

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/*
 * This file is part of ArmarX.
 *
 * 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/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
// STD/STL
#include <string>
 
// RobotAPI
#include <RobotAPI/libraries/skills/provider/PeriodicSimpleSpecializedSkill.h>
#include <RobotAPI/libraries/skills/provider/SkillContext.h>
#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
// Prx
#include <RobotAPI/interface/objectpose/ObjectPoseProvider.h>
 
// Mixins
#include <RobotAPI/libraries/skills/provider/mixins/All.h>
 
// ArmarX
#include <ArmarXCore/core/Component.h>
 
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
 
namespace armarx::skills
{
    struct TwoArmGraspControlSkillContext : public SkillContext
    {
        std::string handControlSkillProvider = "HandControlSkillProvider";
        std::string tcpControlSkillProvider = "TCPControlSkillProvider";
        std::string jointControlSkillProvider = "JointControlSkillProvider";
        std::string platformControlSkillProvider = "PlatformControlSkillProvider";
        std::string visualSearchSkillProvider = "VisualSearchSkillProvider";
 
        void
        defineProperties(const armarx::PropertyDefinitionsPtr& defs,
                         const std::string& prefix) final
        {
            defs->optional(handControlSkillProvider, prefix + "handControlSkillProviderName");
            defs->optional(tcpControlSkillProvider, prefix + "tcpControlSkillProviderName");
            defs->optional(jointControlSkillProvider, prefix + "jointControlSkillProviderName");
            defs->optional(platformControlSkillProvider,
                           prefix + "platformControlSkillProviderName");
            defs->optional(visualSearchSkillProvider, prefix + "visualSearchSkillProviderName");
        }
 
        virtual void
        onInit(armarx::Component& parent) final
        {
            parent.usingProxy(handControlSkillProvider);
            parent.usingProxy(tcpControlSkillProvider);
            parent.usingProxy(jointControlSkillProvider);
            parent.usingProxy(platformControlSkillProvider);
            parent.usingProxy(visualSearchSkillProvider);
        }
    };
 
    class TwoArmGraspControlSkill : public mixin::ArvizSkillMixin, public mixin::MNSSkillMixin
    {
    public:
        TwoArmGraspControlSkill(armem::client::MemoryNameSystem& mns,
                                armarx::viz::Client& arviz,
                                const std::string& layerName,
                                TwoArmGraspControlSkillContext& c) :
            mixin::ArvizSkillMixin(arviz, layerName), mixin::MNSSkillMixin(mns), context(c){};
 
    protected:
        TwoArmGraspControlSkillContext& context;
    };
} // namespace armarx::skills