HandUnitServices.h

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#pragma once
 
#include <string>
 
#include <RobotAPI/interface/units/HandUnitInterface.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
 
#include <armarx/control/skills/aron/HandParam.aron.generated.h>
 
namespace armarx::control::skills
{
    struct KinematicUnitService
    {
        ::armarx::KinematicUnitInterfacePrx kinematicUnit;
    };
 
    struct HandUnitServices
    {
        ::armarx::HandUnitInterfacePrx& leftHandUnit;
        ::armarx::HandUnitInterfacePrx& rightHandUnit;
 
        ::armarx::HandUnitInterfacePrx&
        getHandUnit(const arondto::Hand hand)
        {
            if (hand == arondto::Hand::Left)
            {
                return leftHandUnit;
            }
            else // hand == arondto::Hand::Right
            {
                return rightHandUnit;
            }
        }
    };
 
} // namespace armarx::control::skills