VisualServoWrapper.h
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1 /*
2  * This file is part of ArmarX.
3  *
4  * Copyright (C) 2014-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
5  *
6  * ArmarX is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License version 2 as
8  * published by the Free Software Foundation.
9  *
10  * ArmarX is distributed in the hope that it will be useful, but
11  * WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program. If not, see <http://www.gnu.org/licenses/>.
17  *
18  * @package RobotSkillTemplates::FindAndGraspObjectGroup
19  * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
20  * @date 2014
21  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
22  * GNU General Public License
23  */
24 
25 #pragma once
26 
29 #include <RobotSkillTemplates/statecharts/FindAndGraspObjectGroup/FindAndGraspObjectContext.h>
30 
32 {
33  DEFINEEVENT(EvObjectPoseUpdate)
35  virtual public XMLStateTemplate < VisualServoWrapper >,
36  public XMLStateFactoryBase
37  {
38  public:
40 
41  // inherited from StateBase
42  void onEnter() override;
43  void onExit() override;
44 
45  // static functions for AbstractFactory Method
46  static std::string GetName();
47  static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
48  static SubClassRegistry Registry;
49 
50  // DO NOT INSERT ANY CLASS MEMBERS,
51  // use stateparameters instead,
52  // if classmember are neccessary nonetheless, reset them in onEnter
53  ConditionIdentifier condObjectPoseUpdated;
54  ConditionIdentifier condObjectLost;
55  };
56 }
57 
58 
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