PointAt.h

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#pragma once
 
#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
#include <armarx/control/pointing/aron/PointAtParams.aron.generated.h>
#include <armarx/control/pointing/core/Pointing.h>
 
namespace armarx::control::pointing::skills
{
    /**
     * @brief Implementation of the PointAt-skill
     *
     * @ingroup Library-pointing
     */
    class PointAt : public armarx::skills::SimpleSpecializedSkill<arondto::PointAtParams>
    {
    public:
        using Base = armarx::skills::SimpleSpecializedSkill<arondto::PointAtParams>;
 
        static armarx::skills::SkillDescription GetSkillDescription();
 
        using Remote = core::Pointing::Remote;
        PointAt(const Remote&);
 
        using Base::main;
        MainResult main(const SpecializedMainInput& in) override;
 
        void onStopRequested() override;
        void onTimeoutReached() override;
 
    private:
        Remote remote_;
        std::optional<core::Pointing> impl_;
    };
 
} // namespace armarx::control::pointing::skills