CloseHand.cpp

Go to the documentation of this file.

#include "CloseHand.h"
 
#include "util/HandUtil.h"
 
namespace armarx::skills
{
 
    SkillDescription CloseHand::Description =
        skills::SkillDescription{"CloseHand",
                                 "Close a hand",
                                 {},
                                 armarx::Duration::MilliSeconds(2000),
                                 hand_control::arondto::CloseHandAcceptedType::ToAronType()};
 
    CloseHand::CloseHand(HandControlSkillContext& context) :
        HandControlSkill(context), SimpleSpecializedSkill<ArgType>(Description)
    {
    }
 
    Skill::MainResult
    CloseHand::main(const SpecializedMainInput& in)
    {
        if (simox::alg::starts_with(in.parameters.kinematicChainName, "Left"))
        {
            closeLeftHand();
            return {TerminatedSkillStatus::Succeeded, nullptr};
        }
 
        if (simox::alg::starts_with(in.parameters.kinematicChainName, "Right"))
        {
            closeRightHand();
            return {TerminatedSkillStatus::Succeeded, nullptr};
        }
 
        return {TerminatedSkillStatus::Failed, nullptr};
    }
} // namespace armarx::skills