JointPositionControl.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2014-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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    RobotSkillTemplates::MotionControlGroup
 * @author     Peter Kaiser ( peter dot kaiser at kit dot edu )
 * @date       2014
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "JointPositionControl.h"
 
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
#include <RobotAPI/libraries/core/RobotStatechartContext.h>
 
#include "MotionControlGroupStatechartContext.h"
 
using namespace armarx;
using namespace MotionControlGroup;
 
// DO NOT EDIT NEXT LINE
JointPositionControl::SubClassRegistry
    JointPositionControl::Registry(JointPositionControl::GetName(),
                                   &JointPositionControl::CreateInstance);
 
JointPositionControl::JointPositionControl(XMLStateConstructorParams stateData) :
    XMLStateTemplate<JointPositionControl>(stateData),
    JointPositionControlGeneratedBase<JointPositionControl>(stateData)
{
}
 
void
JointPositionControl::onEnter()
{
}
 
void
JointPositionControl::onExit()
{
    MotionControlGroupStatechartContext* context =
        getContext<MotionControlGroupStatechartContext>();
 
    auto targetValues = in.getJointTargetValues();
    std::map<std::string, float> distances;
 
    for (auto& pair : targetValues)
    {
        DataFieldIdentifierBasePtr dataFieldIdentifier = new DataFieldIdentifier(
            context->getKinematicUnitObserverName(), "jointangles", pair.first);
 
        if (!dataFieldIdentifier)
        {
            continue;
        }
 
        VariantBasePtr dataField =
            context->getKinematicUnitObserver()->getDataField(dataFieldIdentifier);
 
        if (!dataField || !dataField->getInitialized())
        {
            continue;
        }
 
        float currentValue = dataField->getFloat();
        distances[pair.first] = pair.second - currentValue;
    }
 
    out.setJointFinalDistancesToTarget(distances);
}
 
// DO NOT EDIT NEXT FUNCTION
XMLStateFactoryBasePtr
JointPositionControl::CreateInstance(XMLStateConstructorParams stateData)
{
    return XMLStateFactoryBasePtr(new JointPositionControl(stateData));
}