PlatformUnitExecutor.cpp
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2 
3 #include <RobotAPI/interface/units/PlatformUnitInterface.h>
4 
7 
9 {
10 
11  PlatformUnitExecutor::PlatformUnitExecutor(PlatformUnitInterfacePrx platformUnit) :
12  platformUnit{platformUnit}
13  {
14  // pass
15  }
16 
18  {
19  // pass
20  }
21 
22  void
24  {
25  ARMARX_CHECK_NOT_NULL(platformUnit) << "PlatformUnit is not available";
26  platformUnit->move(twist.linear.x(), twist.linear.y(), twist.angular.z());
27  }
28 
29 } // namespace armarx::navigation::server
basic_types.h
armarx::navigation::server::PlatformUnitExecutor::PlatformUnitExecutor
PlatformUnitExecutor(PlatformUnitInterfacePrx platformUnit)
Definition: PlatformUnitExecutor.cpp:11
ARMARX_CHECK_NOT_NULL
#define ARMARX_CHECK_NOT_NULL(ptr)
This macro evaluates whether ptr is not null and if it turns out to be false it will throw an Express...
Definition: ExpressionException.h:206
armarx::navigation::server::PlatformUnitExecutor::~PlatformUnitExecutor
~PlatformUnitExecutor() override
Definition: PlatformUnitExecutor.cpp:17
PlatformUnitExecutor.h
armarx::navigation::core::Twist
Definition: basic_types.h:53
armarx::navigation::server
This file is part of ArmarX.
Definition: EventPublishingInterface.h:6
ExpressionException.h
armarx::navigation::core::Twist::linear
LinearVelocity linear
Definition: basic_types.h:55
armarx::navigation::core::Twist::angular
AngularVelocity angular
Definition: basic_types.h:56
armarx::navigation::server::PlatformUnitExecutor::move
void move(const core::Twist &twist) override
Definition: PlatformUnitExecutor.cpp:23