RobotPoseUnit.cpp

Go to the documentation of this file.

/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarXCore::units
 * @author     Nikolaus Vahrenkamp (vahrenkamp at kit dot edu)
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#include "RobotPoseUnit.h"
 
namespace armarx
{
    void
    RobotPoseUnit::onInitComponent()
    {
        std::string RobotPoseName = getProperty<std::string>("RobotName").getValue();
 
        // component dependencies
        listenerChannelName = RobotPoseName + "6DPoseState";
        offeringTopic(listenerChannelName);
 
        this->onInitRobotPoseUnit();
    }
 
    void
    RobotPoseUnit::onConnectComponent()
    {
        ARMARX_INFO << "setting report topic to " << listenerChannelName << flush;
        listenerPrx = getTopic<RobotPoseUnitListenerPrx>(listenerChannelName);
 
        this->onStartRobotPoseUnit();
    }
 
    void
    RobotPoseUnit::onDisconnectComponent()
    {
        listenerPrx = NULL;
 
        this->onStopRobotPoseUnit();
    }
 
    void
    RobotPoseUnit::onExitComponent()
    {
        this->onExitRobotPoseUnit();
    }
 
    void
    RobotPoseUnit::moveTo(PoseBasePtr targetPose,
                          Ice::Float positionalAccuracy,
                          Ice::Float orientationalAccuracy,
                          const Ice::Current& c)
    {
    }
 
    PropertyDefinitionsPtr
    RobotPoseUnit::createPropertyDefinitions()
    {
        return PropertyDefinitionsPtr(new RobotPoseUnitPropertyDefinitions(getConfigIdentifier()));
    }
} // namespace armarx