SetHandJointAngles.cpp
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1 /*
2  * This file is part of ArmarX.
3  *
4  * Copyright (C) 2014-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
5  *
6  * ArmarX is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License version 2 as
8  * published by the Free Software Foundation.
9  *
10  * ArmarX is distributed in the hope that it will be useful, but
11  * WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program. If not, see <http://www.gnu.org/licenses/>.
17  *
18  * @package RobotSkillTemplates::HandGroup
19  * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
20  * @date 2015
21  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
22  * GNU General Public License
23  */
24 
25 #include "SetHandJointAngles.h"
26 
28 
29 using namespace armarx;
30 using namespace HandGroup;
31 
32 // DO NOT EDIT NEXT LINE
33 SetHandJointAngles::SubClassRegistry
34  SetHandJointAngles::Registry(SetHandJointAngles::GetName(),
36 
39  SetHandJointAnglesGeneratedBase<SetHandJointAngles>(stateData)
40 {
41 }
42 
43 void
45 {
46  HandUnitInterfacePrx handUnit =
47  getContext<HandGroupStatechartContext>()->getHandUnit(in.getHandName());
48  handUnit->setJointAngles(in.getJointAngles());
49  if (in.getWaitTimeMs() > 0)
50  {
51  setTimeoutEvent(in.getWaitTimeMs(), this->createEventDone());
52  }
53  else
54  {
55  emitDone();
56  }
57 }
58 
59 //void SetHandJointAngles::run()
60 //{
61 // // put your user code for the execution-phase here
62 // // runs in seperate thread, thus can do complex operations
63 // // should check constantly whether isRunningTaskStopped() returns true
64 
65 //// uncomment this if you need a continous run function. Make sure to use sleep or use blocking wait to reduce cpu load.
66 //// while (!isRunningTaskStopped()) // stop run function if returning true
67 //// {
68 //// // do your calculations
69 //// }
70 
71 //}
72 
73 //void SetHandJointAngles::onBreak()
74 //{
75 // // put your user code for the breaking point here
76 // // execution time should be short (<100ms)
77 //}
78 
79 void
81 {
82  // put your user code for the exit point here
83  // execution time should be short (<100ms)
84 }
85 
86 // DO NOT EDIT NEXT FUNCTION
89 {
90  return XMLStateFactoryBasePtr(new SetHandJointAngles(stateData));
91 }
armarx::XMLStateConstructorParams
Definition: XMLState.h:49
armarx::HandGroup::SetHandJointAngles::CreateInstance
static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData)
Definition: SetHandJointAngles.cpp:88
armarx::HandGroup::SetHandJointAngles::Registry
static SubClassRegistry Registry
Definition: SetHandJointAngles.h:44
armarx::XMLStateFactoryBasePtr
IceInternal::Handle< XMLStateFactoryBase > XMLStateFactoryBasePtr
Definition: XMLState.h:64
HandGroupStatechartContext.h
IceInternal::Handle
Definition: forward_declarations.h:8
armarx::HandGroup::SetHandJointAngles::onExit
void onExit() override
Definition: SetHandJointAngles.cpp:80
armarx::XMLStateTemplate
Class for legacy to stay compatible with old statecharts.
Definition: XMLState.h:146
SetHandJointAngles.h
armarx::HandGroup::SetHandJointAngles::onEnter
void onEnter() override
Definition: SetHandJointAngles.cpp:44
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:27
armarx::HandGroup::SetHandJointAngles::SetHandJointAngles
SetHandJointAngles(const XMLStateConstructorParams &stateData)
Definition: SetHandJointAngles.cpp:37
armarx::HandGroup::SetHandJointAngles
Definition: SetHandJointAngles.h:31