VisualServoWrapper.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::FindAndGraspObjectGroup
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* @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
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* @date 2014
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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 <
RobotAPI/libraries/core/RobotAPIObjectFactories.h
>
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#include <
ArmarXCore/statechart/xmlstates/XMLState.h
>
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#include <RobotSkillTemplates/statecharts/FindAndGraspObjectGroup/FindAndGraspObjectContext.h>
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namespace
armarx::FindAndGraspObjectGroup
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{
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DEFINEEVENT
(EvObjectPoseUpdate)
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class
VisualServoWrapper
:
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virtual public
XMLStateTemplate
<
VisualServoWrapper
>,
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public
XMLStateFactoryBase
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{
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public
:
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VisualServoWrapper
(
XMLStateConstructorParams
stateData);
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// inherited from StateBase
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void
onEnter()
override
;
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void
onExit()
override
;
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// static functions for AbstractFactory Method
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static
std::string GetName();
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static
XMLStateFactoryBasePtr
CreateInstance(
XMLStateConstructorParams
stateData);
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static
SubClassRegistry
Registry
;
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// DO NOT INSERT ANY CLASS MEMBERS,
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// use stateparameters instead,
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// if classmember are neccessary nonetheless, reset them in onEnter
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ConditionIdentifier
condObjectPoseUpdated
;
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ConditionIdentifier
condObjectLost
;
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};
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}
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XMLState.h
armarx::XMLStateConstructorParams
Definition:
XMLState.h:50
armarx::FindAndGraspObjectGroup::VisualServoWrapper::condObjectLost
ConditionIdentifier condObjectLost
Definition:
VisualServoWrapper.h:54
RobotAPIObjectFactories.h
IceInternal::Handle
Definition:
forward_declarations.h:8
armarx::FindAndGraspObjectGroup::VisualServoWrapper
Definition:
VisualServoWrapper.h:34
armarx::XMLStateTemplate
Class for legacy to stay compatible with old statecharts.
Definition:
XMLState.h:137
armarx::FindAndGraspObjectGroup
Definition:
FindAndGraspObject.h:30
armarx::FindAndGraspObjectGroup::VisualServoWrapper::condObjectPoseUpdated
ConditionIdentifier condObjectPoseUpdated
Definition:
VisualServoWrapper.h:53
armarx::XMLStateFactoryBase
Definition:
XMLState.h:66
armarx::FindAndGraspObjectGroup::VisualServoWrapper::Registry
static SubClassRegistry Registry
Definition:
VisualServoWrapper.h:48
armarx::DEFINEEVENT
DEFINEEVENT(EvInit) struct StateRun
RobotSkillTemplates
statecharts
deprecated
FindAndGraspObjectGroup
VisualServoObjectSubGroup
VisualServoWrapper.h
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