MotionMemory.cpp

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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    RobotAPI::ArmarXObjects::ExampleMemory
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2020
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "MotionMemory.h"
 
#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
ARMARX_REGISTER_COMPONENT_EXECUTABLE(armarx::MotionMemory, "MotionMemory");
 
namespace armarx
{
    armarx::PropertyDefinitionsPtr
    MotionMemory::createPropertyDefinitions()
    {
        armarx::PropertyDefinitionsPtr defs =
            new ComponentPropertyDefinitions(getConfigIdentifier());
 
        setMemoryName("Motion");
 
        const std::string prefix = "mem.";
        mdbMotions.defineProperties(defs, prefix + "mdbmotions.");
        motionPrimitive.defineProperties(defs, prefix + "trajs.");
        return defs;
    }
 
    MotionMemory::MotionMemory() : mdbMotions(iceAdapter()), motionPrimitive(iceAdapter())
    {
    }
 
    std::string
    MotionMemory::getDefaultName() const
    {
        return "MotionMemory";
    }
 
    void
    MotionMemory::onInitComponent()
    {
        mdbMotions.init();
        motionPrimitive.init();
    }
 
    void
    MotionMemory::onConnectComponent()
    {
        mdbMotions.onConnect();
        motionPrimitive.onConnect();
    }
 
    void
    MotionMemory::onDisconnectComponent()
    {
    }
 
    void
    MotionMemory::onExitComponent()
    {
    }
 
} // namespace armarx