VisualServoTCPToTargetPose.h

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/*
 * This file is part of ArmarX.
 *
 * 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/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
// Base Class
#include "VisualServoTCPControlSkill.h"
 
#include <RobotAPI/libraries/armem/client.h>
 
#include <RobotSkillTemplates/libraries/skill_visual_servo_tcp_control/aron/MoveTCPToTargetPoseAcceptedType.aron.generated.h>
 
namespace armarx::skills
{
    class VisualServoToTargetPose :
            public VisualServoTCPControlSkill,
            public PeriodicSimpleSpecializedSkill<visual_servo_tcp_control::arondto::MoveTCPToTargetPoseAcceptedType>
    {
    public:
        using ArgType = visual_servo_tcp_control::arondto::MoveTCPToTargetPoseAcceptedType;
 
        VisualServoToTargetPose(armem::client::MemoryNameSystem& mns, armarx::viz::Client& arviz, VisualServoTCPControlSkillContext& context);
 
    private:
        Skill::InitResult init(const SpecializedInitInput& in) final;
        StepResult step(const SpecializedMainInput& in) final;
        Skill::ExitResult exit(const SpecializedExitInput& in) final;
 
    public:
        static SkillDescription Description;
 
    private:
        bool tcpControlUnitRequestedOnStart = false;
 
        armem::robot_state::VirtualRobotReader robotReader;
        armem::obj::instance::Reader objectReader;
    };
}