SetTCPVelocity.h

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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::GraspObjectGroup
 * @author     David ( david dot schiebener at kit dot edu )
 * @date       2014
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <ArmarXCore/statechart/xmlstates/XMLState.h>
#include <RobotSkillTemplates/statecharts/VisualServoGroup/SetTCPVelocity.generated.h>
 
namespace armarx::VisualServoGroup
{
    DEFINEEVENT(TargetReached)
    DEFINEEVENT(TCPVelocitySet)
 
    class SetTCPVelocity :
        public SetTCPVelocityGeneratedBase<SetTCPVelocity>
    {
    public:
        SetTCPVelocity(XMLStateConstructorParams stateData);
 
        // inherited from StateBase
        void onEnter() override;
        void onBreak() override;
        void onExit() override;
 
        float sigmoid(float t, float offset) const;
 
        void stopMovement();
 
        // static functions for AbstractFactory Method
        static std::string GetName();
        static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
        static SubClassRegistry Registry;
 
        void removeDebugVisu();
 
        // DO NOT INSERT ANY CLASS MEMBERS,
        // use stateparameters instead,
        // if classmember are neccessary nonetheless, reset them in onEnter
    };
}