MoveUntilContact.cpp
Go to the documentation of this file.
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::ForceControlGroup
19  * @author Mirko Waechter ( mirko dot waechter 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 "MoveUntilContact.h"
26 
27 using namespace armarx;
28 using namespace ForceControlGroup;
29 
30 // DO NOT EDIT NEXT LINE
31 MoveUntilContact::SubClassRegistry MoveUntilContact::Registry(MoveUntilContact::GetName(), &MoveUntilContact::CreateInstance);
32 
33 
34 
36  XMLStateTemplate<MoveUntilContact>(stateData), MoveUntilContactGeneratedBase<MoveUntilContact>(stateData)
37 {
38 }
39 
41 {
42  // put your user code for the enter-point here
43  // execution time should be short (<100ms)
44 }
45 
47 {
48  // put your user code for the execution-phase here
49  // runs in seperate thread, thus can do complex operations
50  // should check constantly whether isRunningTaskStopped() returns true
51 
52  // uncomment this if you need a continous run function. Make sure to use sleep or use blocking wait to reduce cpu load.
53  // while (!isRunningTaskStopped()) // stop run function if returning true
54  // {
55  // // do your calculations
56  // }
57 
58 }
59 
61 {
62  // put your user code for the breaking point here
63  // execution time should be short (<100ms)
64 }
65 
67 {
68  // put your user code for the exit point here
69  // execution time should be short (<100ms)
70 
71 }
72 
73 
74 // DO NOT EDIT NEXT FUNCTION
76 {
77  return XMLStateFactoryBasePtr(new MoveUntilContact(stateData));
78 }
79 
armarx::ForceControlGroup::MoveUntilContact::onEnter
void onEnter() override
Definition: MoveUntilContact.cpp:40
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
MoveUntilContact.h
armarx::ForceControlGroup::MoveUntilContact::MoveUntilContact
MoveUntilContact(const XMLStateConstructorParams &stateData)
Definition: MoveUntilContact.cpp:35
armarx::ForceControlGroup::MoveUntilContact::Registry
static SubClassRegistry Registry
Definition: MoveUntilContact.h:45
armarx::ForceControlGroup::MoveUntilContact
Definition: MoveUntilContact.h:31
armarx::XMLStateFactoryBasePtr
IceInternal::Handle< XMLStateFactoryBase > XMLStateFactoryBasePtr
Definition: XMLState.h:65
armarx::ForceControlGroup::MoveUntilContact::run
void run() override
Definition: MoveUntilContact.cpp:46
armarx::ForceControlGroup::MoveUntilContact::onBreak
void onBreak() override
Definition: MoveUntilContact.cpp:60
armarx::ForceControlGroup::MoveUntilContact::CreateInstance
static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData)
Definition: MoveUntilContact.cpp:75
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:28
armarx::ForceControlGroup::MoveUntilContact::onExit
void onExit() override
Definition: MoveUntilContact.cpp:66