MoveJointsPosVelControl.h
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1 /*
2  * This file is part of ArmarX.
3  *
4  * Copyright (C) 2014-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
5  *
6  * ArmarX is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License version 2 as
8  * published by the Free Software Foundation.
9  *
10  * ArmarX is distributed in the hope that it will be useful, but
11  * WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program. If not, see <http://www.gnu.org/licenses/>.
17  *
18  * @package RobotSkillTemplates::FindAndGraspObjectGroup
19  * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
20  * @date 2014
21  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
22  * GNU General Public License
23  */
24 
25 #pragma once
26 
29 
31 {
33  virtual public XMLStateTemplate < MoveJointsPosVelControl >,
34  public XMLStateFactoryBase
35  {
36  public:
38 
39  // inherited from StateBase
40  void onEnter() override;
41  void run() override;
42  void onBreak() override;
43  void onExit() override;
44 
45  // static functions for AbstractFactory Method
46  static std::string GetName();
48  static SubClassRegistry Registry;
49 
50  // DO NOT INSERT ANY CLASS MEMBERS,
51  // use stateparameters instead,
52  // if classmember are neccessary nonetheless, reset them in onEnter
53  };
54 }
55 
56 
armarx::FindAndGraspObjectGroup::MoveJointsPosVelControl::onEnter
void onEnter() override
Virtual function, in which the behaviour of state is defined, when it is entered. Can be overridden,...
Definition: MoveJointsPosVelControl.cpp:40
armarx::FindAndGraspObjectGroup::MoveJointsPosVelControl::onExit
void onExit() override
Virtual function, in which the behaviour of state is defined, when it is exited. Can be overridden,...
Definition: MoveJointsPosVelControl.cpp:66
armarx::FindAndGraspObjectGroup::MoveJointsPosVelControl::onBreak
void onBreak() override
Virtual function, in which the behaviour of state is defined, when it is abnormally exited....
Definition: MoveJointsPosVelControl.cpp:60
armarx::FindAndGraspObjectGroup::MoveJointsPosVelControl::CreateInstance
static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData)
Definition: MoveJointsPosVelControl.cpp:80
XMLState.h
armarx::XMLStateConstructorParams
Definition: XMLState.h:50
RobotAPIObjectFactories.h
IceInternal::Handle
Definition: forward_declarations.h:8
armarx::XMLStateTemplate
Class for legacy to stay compatible with old statecharts.
Definition: XMLState.h:137
armarx::FindAndGraspObjectGroup
Definition: FindAndGraspObject.h:30
armarx::FindAndGraspObjectGroup::MoveJointsPosVelControl::MoveJointsPosVelControl
MoveJointsPosVelControl(XMLStateConstructorParams stateData)
Definition: MoveJointsPosVelControl.cpp:35
armarx::FindAndGraspObjectGroup::MoveJointsPosVelControl::GetName
static std::string GetName()
Definition: MoveJointsPosVelControl.cpp:74
armarx::XMLStateFactoryBase
Definition: XMLState.h:66
armarx::FindAndGraspObjectGroup::MoveJointsPosVelControl::Registry
static SubClassRegistry Registry
Definition: MoveJointsPosVelControl.h:48
armarx::FindAndGraspObjectGroup::MoveJointsPosVelControl::run
void run() override
Virtual function, that can be reimplemented to calculate complex operations.
Definition: MoveJointsPosVelControl.cpp:46
armarx::FindAndGraspObjectGroup::MoveJointsPosVelControl
Definition: MoveJointsPosVelControl.h:32