JointControlSkillProvider.cpp

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#include "JointControlSkillProvider.h"
 
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
#include <RobotAPI/libraries/aron/core/type/variant/primitive/String.h>
 
//#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client.h>
 
namespace armarx::skills::provider
{
    armarx::PropertyDefinitionsPtr
    JointControlSkillProvider::createPropertyDefinitions()
    {
        armarx::PropertyDefinitionsPtr defs =
            new ComponentPropertyDefinitions(getConfigIdentifier());
 
        jointControlSkillContext.defineProperties(defs, "jointControlSkills.");
 
        return defs;
    }
 
    std::string
    JointControlSkillProvider::getDefaultName() const
    {
        return "JointControlSkillProvider";
    }
 
    void
    JointControlSkillProvider::onInitComponent()
    {
        jointControlSkillContext.onInit(*this);
    }
 
    void
    JointControlSkillProvider::onConnectComponent()
    {
        jointControlSkillContext.onConnected(*this);
 
        auto& mns = memoryNameSystem();
 
        // Add move skill
        addSkill(std::make_unique<MoveJointsToPosition>(mns, jointControlSkillContext));
    }
 
    void
    JointControlSkillProvider::onDisconnectComponent()
    {
    }
 
    void
    JointControlSkillProvider::onExitComponent()
    {
    }
} // namespace armarx::skills::provider