ShapeHand.h

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#pragma once
 
#include <RobotAPI/libraries/skills/provider/SpecializedSkill.h>
 
#include <armarx/control/skills/aron/ShapeHandParams.aron.generated.h>
#include <armarx/control/skills/constants/constants.h>
 
#include "HandUnitServices.h"
 
namespace armarx::control::skills::skills
{
 
    class ShapeHand : public ::armarx::skills::SpecializedSkill<arondto::ShapeHandParams>
    {
 
    public:
        struct Properties
        {
            bool disableWaitUntilFinished = true;
        };
 
        static ::armarx::skills::SkillDescription
        GetSkillDescription()
 
        {
            ParamType defaultParams;
 
            return ::armarx::skills::SkillDescription{
                .skillId = {.skillName = constants::SHAPE_HAND_SKILL_NAME},
                .description =
                    "Shapes the hand according to a predefined shape or passed joint angles",
                .rootProfileDefaults = defaultParams.toAron(),
                .timeout = ::armarx::Duration::Minutes(1),
                .parametersType = ParamType::ToAronType(),
            };
        }
 
        ShapeHand(const HandUnitServices&, Properties p);
 
    private:
        ::armarx::skills::Skill::MainResult main() override;
        Skill::MainResult waitUntilFinished(const NameValueMap& targetAngles);
 
    private:
        HandUnitServices srv_;
        Properties p_;
 
        float getAccuracy(const std::string& jointName);
    };
 
    class OpenHand : public ::armarx::skills::SpecializedSkill<arondto::OpenHandParams>
    {
    public:
        static ::armarx::skills::SkillDescription
        GetSkillDescription()
        {
            ParamType defaultParams;
 
            return ::armarx::skills::SkillDescription{
                .skillId = {.skillName = constants::OPEN_HAND_SKILL_NAME},
                .description = "Sets hand shape to 'Open'",
                .rootProfileDefaults = defaultParams.toAron(),
                .timeout = ::armarx::Duration::Minutes(1),
                .parametersType = ParamType::ToAronType()};
        }
 
        OpenHand();
 
    private:
        ::armarx::skills::Skill::MainResult main() override;
    };
 
    class CloseHand : public ::armarx::skills::SpecializedSkill<arondto::CloseHandParams>
    {
    public:
        static ::armarx::skills::SkillDescription
        GetSkillDescription()
        {
            ParamType defaultParams;
 
            return ::armarx::skills::SkillDescription{
                .skillId = {.skillName = constants::CLOSE_HAND_SKILL_NAME},
                .description = "Sets hand shape to 'Close'",
                .rootProfileDefaults = defaultParams.toAron(),
                .timeout = ::armarx::Duration::Minutes(1),
                .parametersType = ParamType::ToAronType()};
        }
 
        CloseHand();
 
    private:
        ::armarx::skills::Skill::MainResult main() override;
    };
 
} // namespace armarx::control::skills::skills