PlatformUnitExecutor.cpp
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#include <
ArmarXCore/core/exceptions/local/ExpressionException.h
>
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#include <RobotAPI/interface/units/PlatformUnitInterface.h>
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#include <
armarx/navigation/core/basic_types.h
>
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#include <
armarx/navigation/server/execution/PlatformUnitExecutor.h
>
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namespace
armarx::navigation::server
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{
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PlatformUnitExecutor::PlatformUnitExecutor
(PlatformUnitInterfacePrx platformUnit) :
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platformUnit{platformUnit}
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{
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// pass
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}
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PlatformUnitExecutor::~PlatformUnitExecutor
()
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{
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// pass
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}
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void
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PlatformUnitExecutor::move
(
const
core::Twist
& twist)
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{
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ARMARX_CHECK_NOT_NULL
(platformUnit) <<
"PlatformUnit is not available"
;
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platformUnit->move(twist.
linear
.x(), twist.
linear
.y(), twist.
angular
.z());
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}
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}
// 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
armarx
navigation
server
execution
PlatformUnitExecutor.cpp
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