GraspSelectionCriterionBase.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    RobotComponents
* @author     Valerij Wittenbeck ( valerij.wittenbeck at student dot kit dot edu)
* @date       2016
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <ArmarXCore/core/Component.h>
 
#include <RobotComponents/interface/components/GraspingManager/GraspSelectionManagerInterface.h>
 
namespace armarx
{
 
    class GraspSelectionCriterionPropertyDefinitions : public ComponentPropertyDefinitions
    {
    public:
        GraspSelectionCriterionPropertyDefinitions(std::string prefix) :
            ComponentPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>("GraspSelectionManagerName",
                                                "GraspSelectionManager",
                                                "Name of the GraspSelectionManager proxy");
        }
    };
 
    class GraspSelectionCriterionBase :
        virtual public GraspSelectionCriterionInterface,
        virtual public Component
    {
    public:
        /**
         * @brief ABC for the GraspSelectionCriterion
         *
         * Each new criterion needs a filterGrasps(const GeneratedGraspList& grasps, const Ice::Current&) and
         * filterPlacements(const GraspingPlacementList& placements, const Ice::Current&) method. If a criterion is
         * supposed to only filter a GeneratedGraspList or GraspingPlacementList, respectively, the other method needs
         * to only return the input list.
         *
         */
        GraspSelectionCriterionBase();
        virtual void onInitGraspSelectionCriterion() = 0;
        virtual void onConnectGraspSelectionCriterion() = 0;
 
    protected:
        GraspSelectionManagerInterfacePrx graspSelectionManager;
 
        // ManagedIceObject interface
    protected:
        void onInitComponent() override;
        void onConnectComponent() override;
 
        PropertyDefinitionsPtr
        createPropertyDefinitions() override
        {
            return PropertyDefinitionsPtr(
                new GraspSelectionCriterionPropertyDefinitions(getConfigIdentifier()));
        }
    };
 
} // namespace armarx