SetHandForces.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2014-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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::HandGroup
 * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "SetHandForces.h"
 
#include <RobotAPI/interface/units/HandUnitInterface.h>
 
#include "HandGroupStatechartContext.h"
 
using namespace armarx;
using namespace HandGroup;
 
// DO NOT EDIT NEXT LINE
SetHandForces::SubClassRegistry SetHandForces::Registry(SetHandForces::GetName(),
                                                        &SetHandForces::CreateInstance);
 
SetHandForces::SetHandForces(const XMLStateConstructorParams& stateData) :
    XMLStateTemplate<SetHandForces>(stateData), SetHandForcesGeneratedBase<SetHandForces>(stateData)
{
}
 
void
SetHandForces::onEnter()
{
    HandUnitInterfacePrx handUnit =
        getContext<HandGroupStatechartContext>()->getHandUnit(in.getHandName());
    handUnit->setJointForces(in.getHandForces());
    if (in.isWaitTimeMsSet())
    {
        setTimeoutEvent(in.getWaitTimeMs(), this->createEventDone());
    }
    else
    {
        emitDone();
    }
}
 
//void SetHandForces::run()
//{
//    // put your user code for the execution-phase here
//    // runs in seperate thread, thus can do complex operations
//    // should check constantly whether isRunningTaskStopped() returns true
 
//// uncomment this if you need a continous run function. Make sure to use sleep or use blocking wait to reduce cpu load.
////    while (!isRunningTaskStopped()) // stop run function if returning true
////    {
////        // do your calculations
////    }
 
//}
 
//void SetHandForces::onBreak()
//{
//    // put your user code for the breaking point here
//    // execution time should be short (<100ms)
//}
 
void
SetHandForces::onExit()
{
    // put your user code for the exit point here
    // execution time should be short (<100ms)
}
 
// DO NOT EDIT NEXT FUNCTION
XMLStateFactoryBasePtr
SetHandForces::CreateInstance(XMLStateConstructorParams stateData)
{
    return XMLStateFactoryBasePtr(new SetHandForces(stateData));
}