6 #include <Eigen/Geometry>
15 Base(DefaultSkillDescription()), srv_(services)
29 std::string frame = in.parameters.frame;
30 std::string agent = in.parameters.agent;
32 Eigen::Vector3f{in.parameters.x, in.parameters.y, in.parameters.z}, frame, agent};
34 in.parameters.priority};
37 gaze_targets::GazeTarget
target{
38 in.parameters.gazeTargetName, targetPos, priority, duration,
false};
39 gazeTarget.emplace(
target);
43 return ::armarx::skills::Skill::InitResult{
44 .status = ::armarx::skills::TerminatedSkillStatus::Succeeded};
52 ARMARX_INFO <<
"Committing gaze target " << gazeTarget.value();
53 srv_->viewSelectionClient.commitGazeTarget(gazeTarget.value());
55 return ::armarx::skills::Skill::MainResult{
56 .status = ::armarx::skills::TerminatedSkillStatus::Succeeded};
60 SetCustomGazeTarget::onStopRequested()
62 if (gazeTarget.has_value())
64 srv_->viewSelectionClient.commitGazeTarget(gazeTarget.value());
72 defaultParameters.frame =
"root";
73 defaultParameters.agent =
"Armar7";
74 defaultParameters.gazeTargetName =
"SetCustomGazeTarget";
75 defaultParameters.priority = 1;
76 defaultParameters.duration_ms = 1000;
77 defaultParameters.x = 0;
78 defaultParameters.y = 1500;
79 defaultParameters.z = 1500;
83 .description =
"Set a gaze target by coordinate, agent and frame. Supported frames "
84 "include the Global frame and the robot root frames.",
85 .rootProfileDefaults = defaultParameters.toAron(),
87 .parametersType = Params::ToAronType(),