KinematicUnitComponentPlugin.h

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#pragma once
 
#include <ArmarXCore/core/ComponentPlugin.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
 
 
namespace armarx
{
    namespace plugins
    {
 
        class KinematicUnitComponentPlugin : public ComponentPlugin
        {
        public:
            using ComponentPlugin::ComponentPlugin;
 
            void preOnInitComponent() override;
 
            void preOnConnectComponent() override;
 
            void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
 
            KinematicUnitInterfacePrx getKinematicUnit();
 
        private:
            static constexpr const char* PROPERTY_NAME = "KinematicUnitName";
            KinematicUnitInterfacePrx _kinematicUnit;
        };
 
    }
}
 
 
#include <ArmarXCore/core/ManagedIceObject.h>
 
namespace armarx
{
    /**
     * @brief Provides a ready-to-use KinematicUnit.
     */
    class KinematicUnitComponentPluginUser : virtual public ManagedIceObject
    {
    public:
        KinematicUnitComponentPluginUser();
        KinematicUnitInterfacePrx getKinematicUnit();
 
    private:
        armarx::plugins::KinematicUnitComponentPlugin* plugin = nullptr;
    };
 
 
}
 
 
namespace armarx
{
    namespace plugins
    {
        // Legacy typedef.
        using KinematicUnitComponentPluginUser = armarx::KinematicUnitComponentPluginUser;
    }
}