MotionModelAttachedToOtherObject.h

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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package    MemoryX::MotionModelAttachedToOtherObject
* @author     David Schiebener ( Schiebener at kit dot edu)
* @date       2014
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <ArmarXCore/core/system/FactoryCollectionBase.h>
#include <ArmarXCore/observers/variant/ChannelRef.h>
 
#include "AbstractMotionModel.h"
 
namespace memoryx
{
    class MotionModelAttachedToOtherObject :
        virtual public AbstractMotionModel,
        virtual public MotionModelAttachedToOtherObjectBase
    {
    public:
        MotionModelAttachedToOtherObject(
            armarx::RobotStateComponentInterfacePrx robotStateProxy,
            armarx::ChannelRefPtr channelRefToObjectToWhichThisIsAttached);
 
        AbstractMotionModel::EMotionModelType
        getMotionModelType() override
        {
            return AbstractMotionModel::eMotionModelAttachedToOtherObject;
        }
 
        void setPoseAtLastLocalisation(
            const armarx::LinkedPoseBasePtr& poseAtLastLocalization,
            const armarx::PoseBasePtr& globalRobotPoseAtLastLocalization,
            const MultivariateNormalDistributionBasePtr& uncertaintyAtLastLocalization,
            const Ice::Current& c = Ice::emptyCurrent) override;
 
        void savePredictedPoseAtStartOfCurrentLocalization(
            const Ice::Current& c = Ice::emptyCurrent) override;
 
    protected:
        armarx::LinkedPosePtr getPredictedPoseInternal() override;
        MultivariateNormalDistributionBasePtr getUncertaintyInternal() override;
 
        // for the object factory
        template <class IceBaseClass, class DerivedClass>
        friend class armarx::GenericFactory;
 
        MotionModelAttachedToOtherObject()
        {
        }
    };
 
    using MotionModelAttachedToOtherObjectPtr =
        IceInternal::Handle<MotionModelAttachedToOtherObject>;
 
} // namespace memoryx