MoveToRetreatPose.cpp
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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::PlaceObjectGroup
19  * @author David ( david dot schiebener at kit dot edu )
20  * @date 2015
21  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
22  * GNU General Public License
23  */
24 
25 #include "MoveToRetreatPose.h"
26 
27 using namespace armarx;
28 using namespace PlaceObjectGroup;
29 
30 // DO NOT EDIT NEXT LINE
31 MoveToRetreatPose::SubClassRegistry MoveToRetreatPose::Registry(MoveToRetreatPose::GetName(), &MoveToRetreatPose::CreateInstance);
32 
33 
34 
36  XMLStateTemplate<MoveToRetreatPose>(stateData), MoveToRetreatPoseGeneratedBase<MoveToRetreatPose>(stateData)
37 {
38 }
39 
41 {
42  PlaceObjectGroupStatechartContextBase* context = getContext<PlaceObjectGroupStatechartContextBase>();
43  local.setStartTimeRef(ChannelRefPtr::dynamicCast(context->getSystemObserver()->startTimer("MoveToPrePlacePoseStartTime")));
44 
45  auto retreatPose = in.getRetreatPose();
46  context->getDebugDrawerTopic()->setPoseVisu("PlacingPoses", "RetreatTarget", retreatPose);
47 
48  context->getTCPControlUnit()->request();
49 }
50 
51 
53 {
54  // put your user code for the exit point here
55  // execution time should be short (<100ms)
56  PlaceObjectGroupStatechartContextBase* context = getContext<PlaceObjectGroupStatechartContextBase>();
57  context->getTCPControlUnit()->release();
58  context->getDebugDrawerTopic()->removePoseVisu("PlacingPoses", "RetreatTarget");
59 
60 
61 }
62 
63 
64 // DO NOT EDIT NEXT FUNCTION
66 {
67  return XMLStateFactoryBasePtr(new MoveToRetreatPose(stateData));
68 }
69 
armarx::PlaceObjectGroup::MoveToRetreatPose::Registry
static SubClassRegistry Registry
Definition: MoveToRetreatPose.h:43
armarx::PlaceObjectGroup::MoveToRetreatPose::MoveToRetreatPose
MoveToRetreatPose(const XMLStateConstructorParams &stateData)
Definition: MoveToRetreatPose.cpp:35
armarx::XMLStateConstructorParams
Definition: XMLState.h:50
IceInternal::Handle
Definition: forward_declarations.h:8
armarx::XMLStateTemplate
Class for legacy to stay compatible with old statecharts.
Definition: XMLState.h:137
armarx::PlaceObjectGroup::MoveToRetreatPose::CreateInstance
static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData)
Definition: MoveToRetreatPose.cpp:65
armarx::PlaceObjectGroup::MoveToRetreatPose
Definition: MoveToRetreatPose.h:31
armarx::XMLStateFactoryBasePtr
IceInternal::Handle< XMLStateFactoryBase > XMLStateFactoryBasePtr
Definition: XMLState.h:65
armarx::PlaceObjectGroup::MoveToRetreatPose::onEnter
void onEnter() override
Definition: MoveToRetreatPose.cpp:40
MoveToRetreatPose.h
armarx::PlaceObjectGroup::MoveToRetreatPose::onExit
void onExit() override
Definition: MoveToRetreatPose.cpp:52
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:28