Robot.h

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#pragma once
 
#include <map>
#include <memory>
#include <string>
#include <vector>
 
#include <RobotAPI/interface/robot_name_service/RobotNameServiceInterface.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
 
namespace armarx::robot_name_service::core
{
    class TCPInfo
    {
    public:
        void fromIce(const armarx::robot_name_service::dto::TCPInfo& r);
        armarx::robot_name_service::dto::TCPInfo toIce() const;
 
    public:
        std::string name;
        std::string ft_name;
        armarx::HandUnitInterfacePrx handUnitInterface;
    };
 
    class ArmInfo
    {
    public:
        void fromIce(const armarx::robot_name_service::dto::ArmInfo& r);
        armarx::robot_name_service::dto::ArmInfo toIce() const;
 
    public:
        std::string kinematicChainName;
        TCPInfo hand;
    };
 
    class RobotInfo
    {
    public:
        void fromIce(const armarx::robot_name_service::dto::RobotInfo& r);
        armarx::robot_name_service::dto::RobotInfo toIce() const;
 
    public:
        // header
        std::string name;
        armarx::data::PackagePath xmlPackagePath;
 
        // memory and skills
        armarx::armem::client::MemoryNameSystem memoryNameSystem;
        armarx::skills::manager::dti::SkillManagerInterfacePrx skillManager;
 
        // kinematic stuff
        std::map<std::string, ArmInfo> armInfos;
 
        // units
        armarx::RobotUnitInterfacePrx robotUnit;
    };
} // namespace armarx::robot_name_service::core