PlanMotionIncludingPlatform.cpp
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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  * @package RobotSkillTemplates::MotionPlanningGroup
17  * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
18  * @date 2016
19  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
20  * GNU General Public License
21  */
22 
24 
25 using namespace armarx;
26 using namespace MotionPlanningGroup;
27 
28 // DO NOT EDIT NEXT LINE
29 PlanMotionIncludingPlatform::SubClassRegistry PlanMotionIncludingPlatform::Registry(PlanMotionIncludingPlatform::GetName(), &PlanMotionIncludingPlatform::CreateInstance);
30 
31 
32 
34 {
35  // put your user code for the enter-point here
36  // execution time should be short (<100ms)
37  local.setAgentProjectName(getRobotStateComponent()->getArmarXPackages());
38  local.setAgentRelativeFilePath(getRobotStateComponent()->getRobotFilename());
39  local.setInitialAgentPose(new Pose{Eigen::Matrix4f::Identity()});
40 }
41 
42 //void PlanMotionIncludingPlatform::run()
43 //{
44 // // put your user code for the execution-phase here
45 // // runs in seperate thread, thus can do complex operations
46 // // should check constantly whether isRunningTaskStopped() returns true
47 //
48 //// uncomment this if you need a continous run function. Make sure to use sleep or use blocking wait to reduce cpu load.
49 // while (!isRunningTaskStopped()) // stop run function if returning true
50 // {
51 // // do your calculations
52 // }
53 //}
54 
55 //void PlanMotionIncludingPlatform::onBreak()
56 //{
57 // // put your user code for the breaking point here
58 // // execution time should be short (<100ms)
59 //}
60 
62 {
63  // put your user code for the exit point here
64  // execution time should be short (<100ms)
65 }
66 
67 
68 // DO NOT EDIT NEXT FUNCTION
70 {
72 }
73 
armarx::XMLStateConstructorParams
Definition: XMLState.h:50
armarx::MotionPlanningGroup::PlanMotionIncludingPlatform::onExit
void onExit() override
Definition: PlanMotionIncludingPlatform.cpp:61
IceInternal::Handle
Definition: forward_declarations.h:8
GfxTL::Identity
void Identity(MatrixXX< N, N, T > *a)
Definition: MatrixXX.h:523
armarx::MotionPlanningGroup::PlanMotionIncludingPlatform::onEnter
void onEnter() override
Definition: PlanMotionIncludingPlatform.cpp:33
armarx::MotionPlanningGroup::PlanMotionIncludingPlatform::PlanMotionIncludingPlatform
PlanMotionIncludingPlatform(const XMLStateConstructorParams &stateData)
Definition: PlanMotionIncludingPlatform.h:33
armarx::MotionPlanningGroup::PlanMotionIncludingPlatform::CreateInstance
static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData)
Definition: PlanMotionIncludingPlatform.cpp:69
armarx::XMLStateFactoryBasePtr
IceInternal::Handle< XMLStateFactoryBase > XMLStateFactoryBasePtr
Definition: XMLState.h:65
armarx::Pose
The Pose class.
Definition: Pose.h:242
PlanMotionIncludingPlatform.h
armarx::MotionPlanningGroup::PlanMotionIncludingPlatform::Registry
static SubClassRegistry Registry
Definition: PlanMotionIncludingPlatform.h:46
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:28