MoveJointsToNamedConfiguration.h

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#pragma once
 
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
#include <armarx/control/skills/aron/MoveJointsToNamedConfigurationParams.aron.generated.h>
 
namespace armarx::control::skills::skills
{
 
    /**
     * @class MoveJointsToNamedConfiguration
     * @brief MoveJointsToNamedConfiguration-skill to move joints to a named configuartion in the robot model
     *
     * Move joints to the values specified in the robot model for the given configuration.
     * Parts of the robot (e.g. LeftArm ...) can be enabled/disabled in the params.
     */
    class MoveJointsToNamedConfiguration :
        public ::armarx::skills::SimpleSpecializedSkill<
            arondto::MoveJointsToNamedConfigurationParams>
    {
 
    public:
        struct Services
        {
            ::armarx::armem::robot_state::VirtualRobotReader virtualRobotReader;
            std::string robotName;
        };
 
        MoveJointsToNamedConfiguration(const Services& remote);
 
        static ::armarx::skills::SkillDescription GetSkillDescription();
 
 
    private:
        using Base::main;
        ::armarx::skills::Skill::MainResult main(const SpecializedMainInput& in) override;
 
    private:
        Services remote;
    };
 
} // namespace armarx::control::skills::skills