SimplePeriodicSkill.h

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#pragma once
 
#include "PeriodicSkill.h"
#include "SimpleSkill.h"
 
namespace armarx
{
    namespace skills
    {
        class SimplePeriodicSkill : public SimpleSkill
        {
        public:
            using Base = SimpleSkill;
 
            using Base::Base;
 
            using StepResult = PeriodicSkill::StepResult;
 
            SimplePeriodicSkill(const SkillDescription& skillDescription,
                                const armarx::Frequency& frequency);
 
        protected:
            /// Do not use anymore
            Skill::MainResult main(const MainInput& in) final;
 
            /// Override this method with your own step function
            virtual StepResult step(const MainInput& in);
 
        protected:
            const armarx::Frequency frequency;
        };
    } // namespace skills
} // namespace armarx