WorldStateUpdaterBase.h
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1 /*
2 * This file is part of ArmarX.
3 *
4 * ArmarX is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License version 2 as
6 * published by the Free Software Foundation.
7 *
8 * ArmarX is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11 * GNU General Public License for more details.
12 *
13 * You should have received a copy of the GNU General Public License
14 * along with this program. If not, see <http://www.gnu.org/licenses/>.
15 *
16 * @package ArmarX::
17 * @author Mirko Waechter ( mirko.waechter at kit dot edu)
18 * @date 2014
19 * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
20 * GNU General Public License
21 */
22 
23 
24 #pragma once
25 
26 #include <MemoryX/interface/observers/WorldStateObserver.h>
27 
29 
30 namespace memoryx
31 {
32 
35  {
36  public:
39  {
40  defineOptionalProperty<std::string>("WorldStateObserverName", "WorldStateObserver", "Name of the WorldStateObserver proxy");
41  }
42  };
43 
45  public memoryx::WorldStateUpdaterInterface,
46  public armarx::Component
47  {
48  public:
50  virtual void onInitWorldStateUpdater() = 0;
51  virtual void onConnectWorldStateUpdater() = 0;
52  // WorldStateUpdaterInterface interface
53  public:
54  void setObserver(const WorldStateObserverInterfacePrx& worldStateObserver, const Ice::Current&) override;
55  void requestUpdateOnRegisteredObserver(const Ice::Current&) override;
56  void requestUpdate(const WorldStateObserverInterfacePrx& observer, const Ice::Current& c = Ice::emptyCurrent) override;
57  protected:
58  WorldStateObserverInterfacePrx worldStateObserver;
59 
60  // ManagedIceObject interface
61  protected:
62  void onInitComponent() override;
63  void onConnectComponent() override;
64 
66  {
70  }
71 
72  };
73 
74 }
75 
memoryx::WorldStateUpdaterBase::requestUpdate
void requestUpdate(const WorldStateObserverInterfacePrx &observer, const Ice::Current &c=Ice::emptyCurrent) override
Definition: WorldStateUpdaterBase.cpp:43
armarx::PropertyDefinitionContainer::prefix
std::string prefix
Prefix of the properties such as namespace, domain, component name, etc.
Definition: PropertyDefinitionContainer.h:333
memoryx
VirtualRobot headers.
Definition: CommonPlacesTester.cpp:48
c
constexpr T c
Definition: UnscentedKalmanFilterTest.cpp:43
memoryx::WorldStateUpdaterBase::onConnectComponent
void onConnectComponent() override
Pure virtual hook for the subclass.
Definition: WorldStateUpdaterBase.cpp:56
memoryx::WorldStateUpdaterBase
Definition: WorldStateUpdaterBase.h:44
memoryx::WorldStateUpdaterBase::setObserver
void setObserver(const WorldStateObserverInterfacePrx &worldStateObserver, const Ice::Current &) override
Definition: WorldStateUpdaterBase.cpp:32
memoryx::WorldStateUpdaterBase::onInitComponent
void onInitComponent() override
Pure virtual hook for the subclass.
Definition: WorldStateUpdaterBase.cpp:49
memoryx::WorldStateUpdaterPropertyDefinitions::WorldStateUpdaterPropertyDefinitions
WorldStateUpdaterPropertyDefinitions(std::string prefix)
Definition: WorldStateUpdaterBase.h:37
memoryx::WorldStateUpdaterBase::WorldStateUpdaterBase
WorldStateUpdaterBase()
Definition: WorldStateUpdaterBase.cpp:28
memoryx::WorldStateUpdaterBase::onConnectWorldStateUpdater
virtual void onConnectWorldStateUpdater()=0
memoryx::WorldStateUpdaterBase::onInitWorldStateUpdater
virtual void onInitWorldStateUpdater()=0
Component.h
armarx::Component
Baseclass for all ArmarX ManagedIceObjects requiring properties.
Definition: Component.h:95
memoryx::WorldStateUpdaterPropertyDefinitions
Definition: WorldStateUpdaterBase.h:33
armarx::Component::getConfigIdentifier
std::string getConfigIdentifier()
Retrieve config identifier for this component as set in constructor.
Definition: Component.cpp:70
armarx::ComponentPropertyDefinitions
Default component property definition container.
Definition: Component.h:70
IceUtil::Handle< class PropertyDefinitionContainer >
armarx::ComponentPropertyDefinitions::ComponentPropertyDefinitions
ComponentPropertyDefinitions(std::string prefix, bool hasObjectNameParameter=true)
Definition: Component.cpp:37
memoryx::WorldStateUpdaterBase::requestUpdateOnRegisteredObserver
void requestUpdateOnRegisteredObserver(const Ice::Current &) override
Definition: WorldStateUpdaterBase.cpp:38
armarx::PropertyDefinitionsPtr
IceUtil::Handle< class PropertyDefinitionContainer > PropertyDefinitionsPtr
PropertyDefinitions smart pointer type.
Definition: forward_declarations.h:34
memoryx::WorldStateUpdaterBase::worldStateObserver
WorldStateObserverInterfacePrx worldStateObserver
Definition: WorldStateUpdaterBase.h:58
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:28
memoryx::WorldStateUpdaterBase::createPropertyDefinitions
armarx::PropertyDefinitionsPtr createPropertyDefinitions() override
Definition: WorldStateUpdaterBase.h:65