JointPositionControl.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2014-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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/>.
 *
 * @package    RobotSkillTemplates::MotionControlGroup
 * @author     Peter Kaiser ( peter dot kaiser at kit dot edu )
 * @date       2014
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include "JointPositionControl.generated.h"
 
namespace armarx::MotionControlGroup
{
    /**
     * State for moving a set of joints using position control.
     *
     * \param[in] JointTargetValues (StringValueMap) Specifies the target angles for each joint to move
     * \param[in] JointTargetTolerance (Float, optional)
     * \param[in] JointSpeed (Float) Default speed to apply for all joints
     * \param[in] JointSpeeds (StringValueMap) Speed settings for individual joints. Overrides JointSpeed
     * \param[in] Timeout (Float) Timeout value for the whole operation
     * \param[out] JointFinalDistancesToTarget (StringValueMap) Return distances to target
     */
    class JointPositionControl :
        public JointPositionControlGeneratedBase<JointPositionControl>
    {
    public:
        JointPositionControl(XMLStateConstructorParams stateData);
 
        // inherited from StateBase
        void onEnter() override;
        void onExit() override;
 
        // static functions for AbstractFactory Method
        static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
        static SubClassRegistry Registry;
 
        // DO NOT INSERT ANY CLASS MEMBERS,
        // use stateparameters instead,
        // if classmember are neccessary nonetheless, reset them in onEnter
    };
}