RobotHand.h

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#pragma once
 
#include <optional>
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h>
 
#include "Robot.h"
 
 
namespace armarx::viz
{
 
    /**
     * @brief Left or right hand of a robot.
     */
    class RobotHand : public Robot
    {
    public:
 
        using Robot::Robot;
 
        /**
         * @brief Set the robot file according the desired side.
         * @param side The side ("Left" or "Right", see `RobotNameHelper::LocationLeft, LocationRight`)
         * @param robotInfo
         *  The robot info.
         *  You can get it from a RobotStateComponent: `robotStateComponent->getRobotInfo()`.
         *  If you do this in a loop, you should get the robot info just once before the loop.
         */
        RobotHand& fileBySide(const std::string& side, RobotInfoNodePtr robotInfo);
        RobotHand& fileBySide(const std::string& side, const RobotNameHelper& nameHelper);
        RobotHand& fileByArm(const RobotNameHelper::Arm& arm);
        RobotHand& fileByArm(const RobotNameHelper::RobotArm& arm);
 
 
        /**
         * @brief Set the pose of `robotViz` according to the given TCP pose.
         *
         * You must specify the side beforehand using `fileBySide()`.
         */
        RobotHand& tcpPose(const Eigen::Matrix4f& tcpPose, VirtualRobot::RobotPtr robot);
 
 
        /// The arm name helper. Set by `fileBySide()`.
        std::optional<RobotNameHelper::Arm> arm;
 
    };
 
}