HandUnitServices.h
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#pragma once
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#include <string>
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#include <RobotAPI/interface/units/HandUnitInterface.h>
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#include <RobotAPI/interface/units/KinematicUnitInterface.h>
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#include <armarx/control/skills/aron/HandParam.aron.generated.h>
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namespace
armarx::control::skills
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{
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struct
KinematicUnitService
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{
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::armarx::KinematicUnitInterfacePrx
kinematicUnit
;
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};
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struct
HandUnitServices
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{
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::armarx::HandUnitInterfacePrx&
leftHandUnit
;
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::armarx::HandUnitInterfacePrx&
rightHandUnit
;
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::armarx::HandUnitInterfacePrx&
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getHandUnit
(
const
arondto::Hand hand)
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{
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if
(hand ==
arondto::Hand::Left
)
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{
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return
leftHandUnit
;
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}
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else
// hand == arondto::Hand::Right
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{
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return
rightHandUnit
;
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}
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}
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};
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}
// 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
armarx
control
skills
skills
HandUnitServices.h
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