TrackingGroupStatechartContext.h
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/*
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* This file is part of ArmarX.
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*
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* Copyright (C) 2014-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
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*
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* ArmarX is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* ArmarX is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* @package RobotSkillTemplates::TrackingGroup
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* @author Manfred Kroehnert ( Manfred dot Kroehnert at kit dot edu )
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* @date 2015
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* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
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* GNU General Public License
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*/
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#pragma once
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#include <
ArmarXCore/core/Component.h
>
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#include <
ArmarXCore/core/system/ImportExportComponent.h
>
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#include <
ArmarXCore/statechart/StatechartContext.h
>
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// Custom Includes
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//#include <RobotAPI/interface/units/KinematicUnitInterface.h>
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//#include <RobotAPI/interface/units/TCPControlUnit.h>
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//#include <RobotAPI/interface/observers/KinematicUnitObserverInterface.h>
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//#include <RobotAPI/interface/core/RobotState.h>
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//#include <VirtualRobot/VirtualRobot.h>
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namespace
armarx::TrackingGroup
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{
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struct
TrackingGroupStatechartContextProperties
:
StatechartContextPropertyDefinitions
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{
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TrackingGroupStatechartContextProperties
(std::string
prefix
) :
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StatechartContextPropertyDefinitions
(
prefix
)
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{
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// defineRequiredProperty<std::string>("KinematicUnitName", "Name of the kinematic unit that should be used");
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// defineRequiredProperty<std::string>("KinematicUnitObserverName", "Name of the kinematic unit observer that should be used");
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// defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the robot state component that should be used");
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// defineOptionalProperty<std::string>("TCPControlUnitName", "TCPControlUnit", "Name of the tcp control unit component that should be used");
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}
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};
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/**
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* @class TrackingGroupStatechartContext is a custom implementation of the StatechartContext
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* for a statechart
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*/
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class
ARMARXCOMPONENT_IMPORT_EXPORT
TrackingGroupStatechartContext
:
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virtual
public
XMLStatechartContext
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{
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public
:
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// inherited from Component
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virtual
std::string
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getDefaultName
()
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{
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return
"TrackingGroupStatechartContext"
;
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}
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void
onInitStatechartContext()
override
;
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void
onConnectStatechartContext()
override
;
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// const VirtualRobot::RobotPtr getRobot() { return remoteRobot;}
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// RobotStateComponentInterfacePrx getRobotStateComponent() { return robotStateComponent; }
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// KinematicUnitInterfacePrx getKinematicUnit() { return kinematicUnitPrx; }
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// std::string getKinematicUnitObserverName() { return getProperty<std::string>("KinematicUnitObserverName").getValue(); }
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// TCPControlUnitInterfacePrx getTCPControlUnit() { return tcpControlPrx;}
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private
:
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/**
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* @see PropertyUser::createPropertyDefinitions()
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*/
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PropertyDefinitionsPtr
createPropertyDefinitions()
override
;
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// RobotStateComponentInterfacePrx robotStateComponent;
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// KinematicUnitInterfacePrx kinematicUnitPrx;
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// KinematicUnitObserverInterfacePrx kinematicUnitObserverPrx;
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// TCPControlUnitInterfacePrx tcpControlPrx;
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// VirtualRobot::RobotPtr remoteRobot;
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};
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}
// namespace armarx::TrackingGroup
armarx::XMLStatechartContext
Definition:
StatechartContext.h:208
armarx::TrackingGroup::TrackingGroupStatechartContextProperties::TrackingGroupStatechartContextProperties
TrackingGroupStatechartContextProperties(std::string prefix)
Definition:
TrackingGroupStatechartContext.h:45
armarx::PropertyDefinitionContainer::prefix
std::string prefix
Prefix of the properties such as namespace, domain, component name, etc.
Definition:
PropertyDefinitionContainer.h:345
StatechartContext.h
ARMARXCOMPONENT_IMPORT_EXPORT
#define ARMARXCOMPONENT_IMPORT_EXPORT
Definition:
ImportExportComponent.h:38
armarx::TrackingGroup::TrackingGroupStatechartContext::getDefaultName
virtual std::string getDefaultName()
Definition:
TrackingGroupStatechartContext.h:65
Component.h
armarx::TrackingGroup::TrackingGroupStatechartContextProperties
Definition:
TrackingGroupStatechartContext.h:43
IceUtil::Handle< class PropertyDefinitionContainer >
armarx::TrackingGroup::TrackingGroupStatechartContext
Definition:
TrackingGroupStatechartContext.h:59
armarx::TrackingGroup
Definition:
DetectObject.h:29
armarx::StatechartContextPropertyDefinitions
The StatechartContextPropertyDefinitions class contains properties associated with all statecharts.
Definition:
StatechartContext.h:56
ImportExportComponent.h
RobotSkillTemplates
statecharts
TrackingGroup
TrackingGroupStatechartContext.h
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