ZeroTorque.h

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#pragma once
 
#include <experimental/memory>
#include <VirtualRobot/Robot.h>
 
#include <RobotAPI/interface/units/RobotUnit/NjointZeroTorqueController.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
#include <armarx/control/skills/aron/ZeroTorque.aron.generated.h>
 
namespace armarx::control::skills::skills
{
 
    class ZeroTorque :
        public ::armarx::skills::SimpleSpecializedSkill<armarx::control::skills::params::ZeroTorque>
    {
 
    public:
        struct Context
        {
            std::experimental::observer_ptr<armem::robot_state::VirtualRobotReader> virtualRobotReader;
 
            std::experimental::observer_ptr<armarx::plugins::RobotUnitComponentPlugin>
                robotUnitPlugin_;
        };
 
        static ::armarx::skills::SkillDescription GetSkillDescription();
 
        ZeroTorque(const config::ZeroTorque&);
 
        void connectTo(const Context& context);
 
 
    protected:
        using Base::exit;
        using Base::init;
        using Base::main;
 
 
        InitResult init(const SpecializedInitInput& in) override;
        MainResult main(const SpecializedMainInput& in) override;
        ExitResult exit(const SpecializedExitInput& in) override;
 
    private:
        Context context_;
        config::ZeroTorque config_;
        armarx::NJointZeroTorqueControllerInterfacePrx controller_;
        std::string controllerName_;
 
    };
 
} // namespace armarx::control::skills::skills