LookAtObject.h

Go to the documentation of this file.

/*
 * 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/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2023
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <experimental/memory>
 
#include <RobotAPI/libraries/ArmarXObjects/ObjectPoseClient.h>
#include <RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h>
#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
#include <armarx/view_selection/client/ViewSelection.h>
#include <armarx/view_selection/skills/aron/LookAtObject.aron.generated.h>
 
namespace armarx::view_selection::skills
{
    class LookAtObject :
        virtual public armarx::skills::SimpleSpecializedSkill<arondto::LookAtObjectParams>
    {
    public:
        using Params = arondto::LookAtObjectParams;
        using Result = arondto::LookAtObjectParams;
        using Base = ::armarx::skills::SimpleSpecializedSkill<Params>;
 
        struct Services
        {
            std::experimental::observer_ptr<::armarx::armem::obj::instance::Reader>
                objectInstanceReader;
            armem::robot_state::VirtualRobotReader& virtualRobotReader;
            const VirtualRobot::RobotPtr robot;
        };
 
        LookAtObject(const Services& srv);
 
    private:
        using Base::init;
        ::armarx::skills::Skill::InitResult init(const Base::SpecializedInitInput& in) override;
        
        using Base::main;
        ::armarx::skills::Skill::MainResult main(const Base::SpecializedMainInput& in) override;
 
        void onStopRequested() override;
 
 
    public:
        static armarx::skills::SkillDescription DefaultSkillDescription();
 
    private:
        Services srv_;
    };
 
} // namespace armarx::view_selection::skills