TCPControlSkillProvider.h
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1 
2 /*
3  * This file is part of ArmarX.
4  *
5  * ArmarX is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License version 2 as
7  * published by the Free Software Foundation.
8  *
9  * ArmarX is distributed in the hope that it will be useful, but
10  * WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU General Public License for more details.
13  *
14  * You should have received a copy of the GNU General Public License
15  * along with this program. If not, see <http://www.gnu.org/licenses/>.
16  *
17  * @author Fabian Reister ( fabian dot reister at kit dot edu )
18  * @date 2021
19  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
20  * GNU General Public License
21  */
22 
23 #pragma once
24 
25 #include <memory>
26 
27 // ArmarX
29 
30 // RobotAPI
34 
35 // Proxies
36 #include <RobotAPI/interface/units/TCPControlUnit.h>
37 
38 // Best put your skills in seperate libs
40 
42 {
44  virtual public armarx::Component,
45  virtual public SkillProviderComponentPluginUser,
46  virtual public armem::ClientPluginUser,
48  {
49  public:
50  TCPControlSkillProvider() = default;
51 
52  /// @see armarx::ManagedIceObject::getDefaultName()
53  std::string getDefaultName() const override;
54 
55  protected:
56 
58 
59  void onInitComponent() override;
60  void onConnectComponent() override;
61  void onDisconnectComponent() override;
62  void onExitComponent() override;
63 
64  private:
65  // skillContextes
66  TCPControlSkillContext tcpControlSkillContext;
67  };
68 }
ArVizComponentPlugin.h
armarx::skills::TCPControlSkillContext
Definition: TCPControlSkill.h:46
SkillProviderComponentPlugin.h
armarx::skills::provider::TCPControlSkillProvider::onConnectComponent
void onConnectComponent() override
Pure virtual hook for the subclass.
Definition: TCPControlSkillProvider.cpp:31
armarx::armem::client::plugins::PluginUser
Adds the Memory Name System client component plugin.
Definition: PluginUser.h:29
armarx::SkillProviderComponentPluginUser
Definition: SkillProviderComponentPlugin.h:120
armarx::ArVizComponentPluginUser
Provides a ready-to-use ArViz client arviz as member variable.
Definition: ArVizComponentPlugin.h:36
armarx::skills::provider::TCPControlSkillProvider::onDisconnectComponent
void onDisconnectComponent() override
Hook for subclass.
Definition: TCPControlSkillProvider.cpp:41
armarx::skills::provider
Definition: Callback.cpp:4
armarx::skills::provider::TCPControlSkillProvider::onInitComponent
void onInitComponent() override
Pure virtual hook for the subclass.
Definition: TCPControlSkillProvider.cpp:26
Component.h
armarx::Component
Baseclass for all ArmarX ManagedIceObjects requiring properties.
Definition: Component.h:95
armarx::skills::provider::TCPControlSkillProvider::createPropertyDefinitions
armarx::PropertyDefinitionsPtr createPropertyDefinitions() override
Definition: TCPControlSkillProvider.cpp:12
armarx::skills::provider::TCPControlSkillProvider::TCPControlSkillProvider
TCPControlSkillProvider()=default
armarx::skills::provider::TCPControlSkillProvider
Definition: TCPControlSkillProvider.h:43
IceUtil::Handle< class PropertyDefinitionContainer >
PluginUser.h
armarx::skills::provider::TCPControlSkillProvider::getDefaultName
std::string getDefaultName() const override
Definition: TCPControlSkillProvider.cpp:21
armarx::skills::provider::TCPControlSkillProvider::onExitComponent
void onExitComponent() override
Hook for subclass.
Definition: TCPControlSkillProvider.cpp:46
MoveTCPToTargetPose.h