GuidingWithCollAvoidance.h

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#pragma once
 
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
#include <armarx/control/client/ComponentPlugin.h>
#include <armarx/control/skills/aron/GuidingWithCollAvoidanceParams.aron.generated.h>
#include <armarx/control/skills/constants/constants.h>
 
namespace armarx::control::skills::skills
{
 
    /**
   * @class GuidingWithCollAvoidance
   * @brief GuidingWithCollAvoidance-skill to enable guiding mode with collision avoidance
   *
   * create a zero-torque controller (potentially with drifting) and collision avoidance.
   */
    class GuidingWithCollAvoidance :
        public ::armarx::skills::SimpleSpecializedSkill<arondto::GuidingWithCollAvoidanceParams>
    {
 
    public:
        struct Services
        {
            ::armarx::control::client::ComponentPlugin* controlComponentPluginUser;
            //armarx::manipulation::Robot& robot;
            /*::armarx::KinematicUnitInterfacePrx kinematicUnit;
            ::armarx::armem::robot_state::VirtualRobotReader virtualRobotReader;
            std::string robotName;*/
        };
 
        static ::armarx::skills::SkillDescription
        GetSkillDescription()
        {
            ParamType defaultParams;
            defaultParams.mode = arondto::GuidingMode::left_arm;
            return ::armarx::skills::SkillDescription{
                .skillId = {.skillName = constants::GUIDING_COLL_AVOIDANCE_SKILL_NAME},
                .description = "Enable guiding mode with collision avoidance feature.",
                .rootProfileDefaults = defaultParams.toAron(),
                .timeout = ::armarx::Duration::Minutes(1),
                .parametersType = ParamType::ToAronType()};
        }
 
        GuidingWithCollAvoidance(const Services&);
 
 
    private:
        using Base::exit;
        using Base::main;
 
        ::armarx::skills::Skill::MainResult main(const SpecializedMainInput& in) override;
        ::armarx::skills::Skill::ExitResult exit(const SpecializedExitInput& in) override;
 
 
    private:
        Services srv_;
    };
 
} // namespace armarx::control::skills::skills