ResetPlatformVelocity.cpp

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotSkillTemplates::DynamicPlatformObstacleAvoidanceGroup
 * @author     armar-user ( armar6 at kit )
 * @date       2023
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "ResetPlatformVelocity.h"
 
//#include <ArmarXCore/core/time/TimeUtil.h>
//#include <ArmarXCore/observers/variant/DatafieldRef.h>
#include <RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.h>
 
namespace armarx::DynamicPlatformObstacleAvoidanceGroup
{
    // DO NOT EDIT NEXT LINE
    ResetPlatformVelocity::SubClassRegistry ResetPlatformVelocity::Registry(ResetPlatformVelocity::GetName(), &ResetPlatformVelocity::CreateInstance);
 
    void ResetPlatformVelocity::onEnter()
    {
        // put your user code for the enter-point here
        // execution time should be short (<100ms)
    }
 
    void ResetPlatformVelocity::run()
    {
        PlatformUnitInterfacePrx platform = getPlatformUnit2();
        VirtualRobot::RobotPtr robot = getLocalRobot();
 
        ObstacleAvoidingPlatformUnitHelper::Config cfg;
        ObstacleAvoidingPlatformUnitHelper platform_ctrl{platform, robot, cfg};
        platform_ctrl.setMaxVelocities(in.getDefaultMaxTranslationalVelocity(), in.getDefaultMaxAngularVelocity());
        emitSuccess();
    }
 
    //void ResetPlatformVelocity::onBreak()
    //{
    //    // put your user code for the breaking point here
    //    // execution time should be short (<100ms)
    //}
 
    void ResetPlatformVelocity::onExit()
    {
        // put your user code for the exit point here
        // execution time should be short (<100ms)
    }
 
 
    // DO NOT EDIT NEXT FUNCTION
    XMLStateFactoryBasePtr ResetPlatformVelocity::CreateInstance(XMLStateConstructorParams stateData)
    {
        return XMLStateFactoryBasePtr(new ResetPlatformVelocity(stateData));
    }
}