HandOverToRobot.cpp
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1 /*
2  * This file is part of ArmarX.
3  *
4  * ArmarX is free software; you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License version 2 as
6  * published by the Free Software Foundation.
7  *
8  * ArmarX is distributed in the hope that it will be useful, but
9  * WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11  * GNU General Public License for more details.
12  *
13  * You should have received a copy of the GNU General Public License
14  * along with this program. If not, see <http://www.gnu.org/licenses/>.
15  *
16  * @package RobotSkillTemplates::HandOverGroup
17  * @author Mirko Waechter ( mirko dot waechter at kit dot edu )
18  * @date 2018
19  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
20  * GNU General Public License
21  */
22 
23 #include "HandOverToRobot.h"
24 
25 //#include <ArmarXCore/core/time/TimeUtil.h>
26 //#include <ArmarXCore/observers/variant/DatafieldRef.h>
27 
28 using namespace armarx;
29 using namespace HandOverGroup;
30 
31 // DO NOT EDIT NEXT LINE
32 HandOverToRobot::SubClassRegistry HandOverToRobot::Registry(HandOverToRobot::GetName(), &HandOverToRobot::CreateInstance);
33 
34 
35 
37 {
38  // put your user code for the enter-point here
39  // execution time should be short (<100ms)
40  getMessageDisplay()->setMessage("Receive object from human", "");
41  auto nodeSet = getRobotNameHelper()->getArm(in.getSide()).getKinematicChain();
42  ARMARX_INFO << "Selected nodeSet: " << nodeSet;
43  local.setNodeSetName(nodeSet);
44 }
45 
46 //void HandOverToRobot::run()
47 //{
48 // // put your user code for the execution-phase here
49 // // runs in seperate thread, thus can do complex operations
50 // // should check constantly whether isRunningTaskStopped() returns true
51 //
52 //// uncomment this if you need a continous run function. Make sure to use sleep or use blocking wait to reduce cpu load.
53 // while (!isRunningTaskStopped()) // stop run function if returning true
54 // {
55 // // do your calculations
56 // }
57 //}
58 
59 //void HandOverToRobot::onBreak()
60 //{
61 // // put your user code for the breaking point here
62 // // execution time should be short (<100ms)
63 //}
64 
66 {
67  // put your user code for the exit point here
68  // execution time should be short (<100ms)
69  getMessageDisplay()->setMessage("", "");
70 }
71 
72 
73 // DO NOT EDIT NEXT FUNCTION
75 {
76  return XMLStateFactoryBasePtr(new HandOverToRobot(stateData));
77 }
78 
armarx::XMLStateConstructorParams
Definition: XMLState.h:50
armarx::HandOverGroup::HandOverToRobot::HandOverToRobot
HandOverToRobot(const XMLStateConstructorParams &stateData)
Definition: HandOverToRobot.h:32
armarx::HandOverGroup::HandOverToRobot::Registry
static SubClassRegistry Registry
Definition: HandOverToRobot.h:45
IceInternal::Handle
Definition: forward_declarations.h:8
armarx::HandOverGroup::HandOverToRobot::onExit
void onExit() override
Definition: HandOverToRobot.cpp:65
armarx::HandOverGroup::HandOverToRobot::onEnter
void onEnter() override
Definition: HandOverToRobot.cpp:36
armarx::HandOverGroup::HandOverToRobot::CreateInstance
static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData)
Definition: HandOverToRobot.cpp:74
armarx::XMLStateFactoryBasePtr
IceInternal::Handle< XMLStateFactoryBase > XMLStateFactoryBasePtr
Definition: XMLState.h:65
ARMARX_INFO
#define ARMARX_INFO
Definition: Logging.h:174
HandOverToRobot.h
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:28