RelaxHand.cpp
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/*
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* This file is part of ArmarX.
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*
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* Copyright (C) 2014-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
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*
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* ArmarX is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* ArmarX is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* @package RobotSkillTemplates::HandGroup
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* @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
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* @date 2015
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* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
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* GNU General Public License
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*/
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#include "
HandGroupStatechartContext.h
"
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#include "
RelaxHand.h
"
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using namespace
armarx
;
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using namespace
HandGroup;
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// DO NOT EDIT NEXT LINE
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RelaxHand::SubClassRegistry
RelaxHand::Registry
(RelaxHand::GetName(), &
RelaxHand::CreateInstance
);
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RelaxHand::RelaxHand
(
const
XMLStateConstructorParams
& stateData) :
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XMLStateTemplate
<
RelaxHand
>(stateData), RelaxHandGeneratedBase<
RelaxHand
>(stateData)
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{
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}
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void
RelaxHand::onEnter
()
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{
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HandUnitInterfacePrx handUnit = getContext<HandGroupStatechartContext>()->getHandUnit(in.getHandName());
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handUnit->setShape(in.getShapeName());
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setTimeoutEvent(in.getWaitTimeMs(), this->createEventDone());
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}
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void
RelaxHand::run
()
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{
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// nop
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}
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void
RelaxHand::onBreak
()
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{
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// nop
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}
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void
RelaxHand::onExit
()
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{
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// nop
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}
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// DO NOT EDIT NEXT FUNCTION
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XMLStateFactoryBasePtr
RelaxHand::CreateInstance
(
XMLStateConstructorParams
stateData)
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{
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return
XMLStateFactoryBasePtr
(
new
RelaxHand
(stateData));
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}
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armarx::HandGroup::RelaxHand::onEnter
void onEnter() override
Definition:
RelaxHand.cpp:41
RelaxHand.h
armarx::XMLStateConstructorParams
Definition:
XMLState.h:50
armarx::HandGroup::RelaxHand::RelaxHand
RelaxHand(const XMLStateConstructorParams &stateData)
Definition:
RelaxHand.cpp:36
HandGroupStatechartContext.h
IceInternal::Handle
Definition:
forward_declarations.h:8
armarx::XMLStateTemplate
Class for legacy to stay compatible with old statecharts.
Definition:
XMLState.h:137
armarx::HandGroup::RelaxHand::Registry
static SubClassRegistry Registry
Definition:
RelaxHand.h:45
armarx::XMLStateFactoryBasePtr
IceInternal::Handle< XMLStateFactoryBase > XMLStateFactoryBasePtr
Definition:
XMLState.h:65
armarx::HandGroup::RelaxHand::run
void run() override
Definition:
RelaxHand.cpp:48
armarx::HandGroup::RelaxHand::CreateInstance
static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData)
Definition:
RelaxHand.cpp:65
armarx::HandGroup::RelaxHand::onExit
void onExit() override
Definition:
RelaxHand.cpp:58
armarx::HandGroup::RelaxHand
Definition:
RelaxHand.h:31
armarx::HandGroup::RelaxHand::onBreak
void onBreak() override
Definition:
RelaxHand.cpp:53
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition:
ArmarXTimeserver.cpp:28
RobotSkillTemplates
statecharts
HandGroup
RelaxHand.cpp
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