SpecializedSkill.h

Go to the documentation of this file.

#pragma once
 
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
#include <RobotAPI/libraries/skills/core/Skill.h>
 
// Debug
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
 
namespace armarx
{
    namespace skills
    {
        template <class AronT>
        class SpecializedSkill : public Skill
        {
        public:
            using Base = Skill;
            using ParamType = AronT;
 
            using Skill::Skill;
            virtual ~SpecializedSkill() = default;
 
            void
            setParameters(const AronT& d)
            {
                Base::setParameters(d.toAron());
            }
 
            /// Overwrite getter for parameters. Shadow Skill::getParameters()
            AronT
            getParameters() const
            {
                AronT d;
                d.fromAron(this->parameters);
                return d;
            }
 
            /// returns the accepted type of the skill
            static armarx::aron::type::ObjectPtr
            GetAcceptedType()
            {
                return AronT::ToAronType();
            }
 
 
        protected:
        };
    } // namespace skills
} // namespace armarx