MovePlatformToPose.h
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/*
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* This file is part of ArmarX.
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*
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* ArmarX is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* ArmarX is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* @author Fabian Reister ( fabian dot reister at kit dot edu )
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* @date 2021
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* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
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* GNU General Public License
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*/
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#pragma once
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// ArmarX
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#include <
ArmarXCore/core/Component.h
>
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// Base Class
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#include "
PlatformControlSkill.h
"
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// Type
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#include <RobotSkillTemplates/libraries/skill_platform_control/aron/MovePlatformToPoseAcceptedType.aron.generated.h>
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// Proxies
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#include <RobotAPI/interface/units/PlatformUnitInterface.h>
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// Others
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#include <
RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h
>
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#include <
RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h
>
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#include <
RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
>
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#include <
RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
>
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#include <
RobotAPI/libraries/core/FramedPose.h
>
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namespace
armarx::skills
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{
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class
MovePlatformToPose
:
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public
PlatformControlSkill
,
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public
mixin::RobotReadingSkillMixin
,
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public
SimplePeriodicSpecializedSkill
<
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platform_control::arondto::MovePlatformToPoseAcceptedType>
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{
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public
:
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using
ArgType
= platform_control::arondto::MovePlatformToPoseAcceptedType;
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MovePlatformToPose
(
armem::client::MemoryNameSystem
&
mns
,
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armarx::viz::Client
&
arviz
,
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PlatformControlSkillContext
&
context
);
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private
:
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// executor
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Skill::InitResult
init
(
const
SpecializedInitInput& in)
final
;
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Skill::ExitResult
exit
(
const
SpecializedExitInput& in)
final
;
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StepResult
step(
const
SpecializedMainInput& in)
final
;
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public
:
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static
SkillDescription
Description
;
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private
:
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float
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signedMin(
float
newValue,
float
minAbsValue)
const
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{
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return
std::copysign(std::min<float>(fabs(newValue), minAbsValue), newValue);
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}
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};
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}
// namespace armarx::skills
armarx::skills::mixin::MNSSkillMixin::mns
armem::client::MemoryNameSystem mns
Definition:
MNSSkillMixin.h:11
ArVizComponentPlugin.h
armarx::skills::SimpleSpecializedSkill< platform_control::arondto::MovePlatformToPoseAcceptedType >::init
Skill::InitResult init() final
Definition:
SimpleSpecializedSkill.h:62
armarx::skills
This file is part of ArmarX.
Definition:
PeriodicUpdateWidget.cpp:11
armarx::skills::SkillDescription
Definition:
SkillDescription.h:18
armarx::skills::MovePlatformToPose::Description
static SkillDescription Description
Definition:
MovePlatformToPose.h:66
armarx::skills::MovePlatformToPose::ArgType
platform_control::arondto::MovePlatformToPoseAcceptedType ArgType
Definition:
MovePlatformToPose.h:53
armarx::skills::mixin::RobotReadingSkillMixin
Definition:
RobotReadingSkillMixin.h:9
armarx::skills::mixin::ArvizSkillMixin::arviz
armarx::viz::Client arviz
Definition:
ArvizSkillMixin.h:11
armarx::skills::SimpleSpecializedSkill< platform_control::arondto::MovePlatformToPoseAcceptedType >::exit
Skill::ExitResult exit() final
Definition:
SimpleSpecializedSkill.h:81
armarx::skills::MovePlatformToPose::MovePlatformToPose
MovePlatformToPose(armem::client::MemoryNameSystem &mns, armarx::viz::Client &arviz, PlatformControlSkillContext &context)
Definition:
MovePlatformToPose.cpp:27
FramedPose.h
armarx::skills::PlatformControlSkill
Definition:
PlatformControlSkill.h:56
armarx::skills::PlatformControlSkill::context
PlatformControlSkillContext & context
Definition:
PlatformControlSkill.h:76
armarx::skills::MovePlatformToPose
Definition:
MovePlatformToPose.h:46
VirtualRobotReader.h
armarx::skills::PlatformControlSkillContext
Definition:
PlatformControlSkill.h:45
Component.h
ObjectReader.h
armarx::skills::Skill::ExitResult
A result struct for skill exit function.
Definition:
Skill.h:55
armarx::skills::SimplePeriodicSpecializedSkill
Definition:
SimplePeriodicSpecializedSkill.h:11
PlatformControlSkill.h
armarx::skills::Skill::InitResult
A result struct for skill initialization.
Definition:
Skill.h:36
armarx::armem::client::MemoryNameSystem
The memory name system (MNS) client.
Definition:
MemoryNameSystem.h:69
armarx::viz::Client
Definition:
Client.h:109
KnownGraspCandidateReader.h
armarx::skills::PeriodicSkill::StepResult
Definition:
PeriodicSkill.h:36
RobotSkillTemplates
libraries
skill_platform_control
MovePlatformToPose.h
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