MoveJointsToPosition.h
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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  * @author Fabian Reister ( fabian dot reister at kit dot edu )
17  * @date 2021
18  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
19  * GNU General Public License
20  */
21 
22 #pragma once
23 
24 // Base Class
25 #include "JointControlSkill.h"
26 
27 #include <RobotSkillTemplates/libraries/skill_joint_control/aron/MoveJointsToPositionAcceptedType.aron.generated.h>
28 
29 namespace armarx::skills
30 {
32  public JointControlSkill,
34  public PeriodicSimpleSpecializedSkill<joint_control::arondto::MoveJointsToPositionAcceptedType>
35  {
36  public:
37  using ArgType = joint_control::arondto::MoveJointsToPositionAcceptedType;
38 
40 
41  private:
42  void reset() final;
43  Skill::InitResult init(const SpecializedInitInput& in) final;
44  PeriodicSkill::StepResult step(const SpecializedMainInput& in) final;
45  Skill::ExitResult exit(const SpecializedExitInput& in) final;
46 
47  public:
49 
50  private:
51  bool already_running = false;
52  };
53 }
armarx::skills::JointControlSkill
Definition: JointControlSkill.h:58
JointControlSkill.h
armarx::skills::MoveJointsToPosition
Definition: MoveJointsToPosition.h:31
armarx::skills
This file is part of ArmarX.
Definition: PeriodicUpdateWidget.cpp:11
armarx::skills::PeriodicSkill
Definition: PeriodicSkill.h:33
armarx::skills::SkillDescription
Definition: SkillDescription.h:18
armarx::skills::JointControlSkill::mns
armem::client::MemoryNameSystem & mns
Definition: JointControlSkill.h:81
armarx::skills::mixin::RobotReadingSkillMixin
Definition: RobotReadingSkillMixin.h:9
armarx::skills::JointControlSkillContext
Definition: JointControlSkill.h:47
armarx::skills::MoveJointsToPosition::ArgType
joint_control::arondto::MoveJointsToPositionAcceptedType ArgType
Definition: MoveJointsToPosition.h:37
armarx::skills::MoveJointsToPosition::MoveJointsToPosition
MoveJointsToPosition(armem::client::MemoryNameSystem &mns, JointControlSkillContext &context)
Definition: MoveJointsToPosition.cpp:24
armarx::skills::Skill
Base class for skills.
Definition: Skill.h:29
armarx::armem::client::MemoryNameSystem
The memory name system (MNS) client.
Definition: MemoryNameSystem.h:69
armarx::skills::JointControlSkill::context
JointControlSkillContext & context
Definition: JointControlSkill.h:83
armarx::skills::MoveJointsToPosition::Description
static SkillDescription Description
Definition: MoveJointsToPosition.h:48