MoveTCPToTargetPose.h
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1 /*
2  * This file is part of ArmarX.
3  *
4  * ArmarX is free software; you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License version 2 as
6  * published by the Free Software Foundation.
7  *
8  * ArmarX is distributed in the hope that it will be useful, but
9  * WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11  * GNU General Public License for more details.
12  *
13  * You should have received a copy of the GNU General Public License
14  * along with this program. If not, see <http://www.gnu.org/licenses/>.
15  *
16  * @author Fabian Reister ( fabian dot reister at kit dot edu )
17  * @date 2021
18  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
19  * GNU General Public License
20  */
21 
22 #pragma once
23 
24 // Base Class
25 #include <VirtualRobot/RobotNodeSet.h>
26 
28 
29 #include <RobotSkillTemplates/libraries/skill_tcp_control/aron/MoveTCPToTargetPoseAcceptedType.aron.generated.h>
30 
31 #include "TCPControlSkill.h"
32 
33 namespace armarx::skills
34 {
36  public TCPControlSkill,
38  public PeriodicSimpleSpecializedSkill<tcp_control::arondto::MoveTCPToTargetPoseAcceptedType>
39  {
40  public:
41  using ArgType = armarx::skills::tcp_control::arondto::MoveTCPToTargetPoseAcceptedType;
42 
46 
47  private:
48  Skill::InitResult init(const SpecializedInitInput& in) final;
49  StepResult step(const SpecializedMainInput& in) final;
50  Skill::ExitResult exit(const SpecializedExitInput& in) final;
51 
52  public:
54 
55  private:
56  bool tcpControlUnitRequestedOnStart = false;
57  };
58 } // namespace armarx::skills
armarx::skills::mixin::MNSSkillMixin::mns
armem::client::MemoryNameSystem mns
Definition: MNSSkillMixin.h:11
armarx::skills::TCPControlSkillContext
Definition: TCPControlSkill.h:45
armarx::skills
This file is part of ArmarX.
Definition: PeriodicUpdateWidget.cpp:11
armarx::skills::SkillDescription
Definition: SkillDescription.h:17
armarx::skills::MoveTCPToTargetPose::MoveTCPToTargetPose
MoveTCPToTargetPose(armem::client::MemoryNameSystem &mns, armarx::viz::Client &arviz, TCPControlSkillContext &context)
Definition: MoveTCPToTargetPose.cpp:29
armarx::skills::mixin::RobotReadingSkillMixin
Definition: RobotReadingSkillMixin.h:9
armarx::skills::mixin::ArvizSkillMixin::arviz
armarx::viz::Client arviz
Definition: ArvizSkillMixin.h:11
FramedPose.h
armarx::skills::TCPControlSkill::context
TCPControlSkillContext & context
Definition: TCPControlSkill.h:83
armarx::skills::Skill::ExitResult
A result struct for skill exit function.
Definition: Skill.h:46
armarx::skills::MoveTCPToTargetPose::ArgType
armarx::skills::tcp_control::arondto::MoveTCPToTargetPoseAcceptedType ArgType
Definition: MoveTCPToTargetPose.h:41
armarx::skills::TCPControlSkill
Definition: TCPControlSkill.h:59
armarx::skills::MoveTCPToTargetPose::Description
static SkillDescription Description
Definition: MoveTCPToTargetPose.h:53
armarx::skills::Skill::InitResult
A result struct for skill initialization.
Definition: Skill.h:27
armarx::armem::client::MemoryNameSystem
The memory name system (MNS) client.
Definition: MemoryNameSystem.h:68
TCPControlSkill.h
armarx::viz::Client
Definition: Client.h:117
armarx::skills::MoveTCPToTargetPose
Definition: MoveTCPToTargetPose.h:35