HandUnitServices.h
Go to the documentation of this file.
1 #pragma once
2 
3 #include <string>
4 
5 #include <RobotAPI/interface/units/HandUnitInterface.h>
6 #include <RobotAPI/interface/units/KinematicUnitInterface.h>
7 
8 #include <armarx/control/skills/aron/HandParam.aron.generated.h>
9 
11 {
13  {
14  ::armarx::KinematicUnitInterfacePrx kinematicUnit;
15  };
16 
18  {
19  ::armarx::HandUnitInterfacePrx& leftHandUnit;
20  ::armarx::HandUnitInterfacePrx& rightHandUnit;
21 
22  ::armarx::HandUnitInterfacePrx&
23  getHandUnit(const arondto::Hand hand)
24  {
25  if (hand == arondto::Hand::Left)
26  {
27  return leftHandUnit;
28  }
29  else // hand == arondto::Hand::Right
30  {
31  return rightHandUnit;
32  }
33  }
34  };
35 
36 } // namespace armarx::control::skills
armarx::control::skills::HandUnitServices
Definition: HandUnitServices.h:17
armarx::control::skills::HandUnitServices::leftHandUnit
::armarx::HandUnitInterfacePrx & leftHandUnit
Definition: HandUnitServices.h:19
armarx::control::skills
Definition: constants.cpp:3
armarx::control::skills::KinematicUnitService
Definition: HandUnitServices.h:12
armarx::control::skills::HandUnitServices::rightHandUnit
::armarx::HandUnitInterfacePrx & rightHandUnit
Definition: HandUnitServices.h:20
armarx::control::skills::HandUnitServices::getHandUnit
::armarx::HandUnitInterfacePrx & getHandUnit(const arondto::Hand hand)
Definition: HandUnitServices.h:23
armarx::control::skills::KinematicUnitService::kinematicUnit
::armarx::KinematicUnitInterfacePrx kinematicUnit
Definition: HandUnitServices.h:14
Left
bool Left(const point2d &a, const point2d &b, const point2d &c)
Definition: gdiam.cpp:1617