RelaxHand.cpp
Go to the documentation of this file.
1#include "RelaxHand.h"
2
3namespace armarx::control::skills::skills
4{
5 RelaxHand::RelaxHand(const HandUnitServices& srv) :
6 ::armarx::skills::SimpleSpecializedSkill<ParamType>(GetSkillDescription()), srv_(srv)
7 {
8 }
9
10 armarx::skills::Skill::MainResult
11 RelaxHand::main(const SpecializedMainInput& in)
12 {
13 HandUnitInterfacePrx& handUnit = srv_.getHandUnit(in.parameters.hand);
14
15 ARMARX_INFO << "Setting shape of hand '" << handUnit->getHandName() << "' to 'Relax'.";
16 handUnit->setShape("Relax");
17 return MakeSucceededResult();
18 }
19
20} // namespace armarx::control::skills::skills
armarx::control::skills::skills::RelaxHand::RelaxHand
RelaxHand(const HandUnitServices &)
Definition RelaxHand.cpp:5
armarx::control::skills::skills::RelaxHand::GetSkillDescription
::armarx::skills::SkillDescription GetSkillDescription()
Definition RelaxHand.h:18
armarx::skills::Skill::MakeSucceededResult
static MainResult MakeSucceededResult(aron::data::DictPtr data=nullptr)
Definition Skill.cpp:413
armarx::skills::Skill::main
virtual MainResult main()
Override this method with the actual implementation.
Definition Skill.cpp:542
ARMARX_INFO
#define ARMARX_INFO
The normal logging level.
Definition Logging.h:181
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition ArmarXTimeserver.cpp:28
skills
This file is part of ArmarX.
armarx::control::skills::HandUnitServices::getHandUnit
::armarx::HandUnitInterfacePrx & getHandUnit(const arondto::Hand hand)
Definition HandUnitServices.h:23
armarx::skills::Skill::MainResult
A result struct for th main method of a skill.
Definition Skill.h:62