GraspObject.h

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#pragma once
 
// BaseClass
#include "../GraspControlSkill.h"
 
// Type
#include <RobotSkillTemplates/libraries/skill_grasp_object/aron/GraspObjectAcceptedType.aron.generated.h>
 
// ArmarX
#include <RobotAPI/libraries/skills/provider/mixins/All.h>
 
// Subskills
#include <RobotSkillTemplates/libraries/skill_hand_control/OpenHand.h>
#include <RobotSkillTemplates/libraries/skill_joint_control/MoveJointsToPosition.h>
#include <RobotSkillTemplates/libraries/skill_tcp_control/MoveTCPToTargetPose.h>
#include <RobotSkillTemplates/libraries/skill_visual_search/WhatCanYouSeeNow.h>
#include <RobotSkillTemplates/libraries/skill_visual_servo_tcp_control/VisualServoTCPToTargetPose.h>
 
#include "CloseHandAndAttach.h"
#include "ExecuteGrasp.h"
#include "MovePlatformAfterGrasp.h"
#include "MovePlatformForGrasp.h"
 
namespace armarx::skills
{
    class GraspObjectSkill :
        public TwoArmGraspControlSkill,
        public SimpleSpecializedSkill<grasp_object::arondto::GraspObjectAcceptedType>
    {
    public:
        using ArgType = grasp_object::arondto::GraspObjectAcceptedType;
 
        GraspObjectSkill(armem::client::MemoryNameSystem& mns,
                         armarx::viz::Client& arviz,
                         TwoArmGraspControlSkillContext&);
 
    private:
        MainResult main(const SpecializedMainInput& in) final;
 
    public:
        static SkillDescription Description;
    };
} // namespace armarx::skills