PointAt.cpp

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#include "PointAt.h"
 
#include <armarx/control/pointing/skill_ids/skill_ids.h>
 
#include "aron_conversions.h"
 
namespace armarx::control::pointing::skills
{
 
    armarx::skills::SkillDescription
    PointAt::GetSkillDescription()
    {
        ParamType defaultParams;
        defaultParams.side = core::Side::RIGHT;
        defaultParams.target.header.frame = armarx::GlobalFrame;
        defaultParams.handShape = std::make_optional("Pointing");
        defaultParams.maxVelocity = 0.4;
        defaultParams.maxAcceleration = 0.3;
 
        return armarx::skills::SkillDescription{.skillId = skill_ids::POINT_AT,
                                                .description = "Lets the robot point at something.",
                                                .rootProfileDefaults = defaultParams.toAron(),
                                                .timeout = armarx::core::time::Duration::Minutes(1),
                                                .parametersType = ParamType::ToAronType()};
    }
 
    PointAt::PointAt(const Remote& remote) : Base(GetSkillDescription()), remote_(remote)
    {
    }
 
    PointAt::MainResult
    PointAt::main(const SpecializedMainInput& in)
    {
        core::Pointing::Parameters parameters = fromAron(in.parameters);
        impl_.emplace(remote_);
        try
        {
            impl_->execute(parameters);
        }
        catch (armarx::exceptions::local::PointingFailedException&)
        {
            return MakeFailedResult();
        }
        catch (armarx::exceptions::local::PointingAbortedException&)
        {
            return MakeAbortedResult();
        }
        return MakeSucceededResult();
    }
 
    void
    PointAt::onStopRequested()
    {
        impl_->abort();
    }
 
    void
    PointAt::onTimeoutReached()
    {
        impl_->abort();
    }
 
} // namespace armarx::control::pointing::skills