NotifyObjectGrasped.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2014-2016, 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    RobotSkillTemplates::HandGroup
 * @author     Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu )
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "NotifyObjectGrasped.h"
 
#include <RobotAPI/interface/units/HandUnitInterface.h>
 
#include "HandGroupStatechartContext.h"
 
using namespace armarx;
using namespace HandGroup;
 
// DO NOT EDIT NEXT LINE
NotifyObjectGrasped::SubClassRegistry
    NotifyObjectGrasped::Registry(NotifyObjectGrasped::GetName(),
                                  &NotifyObjectGrasped::CreateInstance);
 
NotifyObjectGrasped::NotifyObjectGrasped(const XMLStateConstructorParams& stateData) :
    XMLStateTemplate<NotifyObjectGrasped>(stateData),
    NotifyObjectGraspedGeneratedBase<NotifyObjectGrasped>(stateData)
{
}
 
void
NotifyObjectGrasped::onEnter()
{
    HandUnitInterfacePrx handUnit =
        getContext<HandGroupStatechartContext>()->getHandUnit(in.getHandName());
    if (in.isObjectInstanceChannelSet())
    {
        handUnit->setObjectGrasped(
            in.getObjectInstanceChannel()->getDataField("className")->getString());
    }
    else if (in.isObjectNameSet())
    {
        handUnit->setObjectGrasped(in.getObjectName());
    }
    else
    {
        throw LocalException(
            "Either ObjectInstanceChannel or ObjectName inputparameter must be set");
    }
 
 
    emitDone();
}
 
void
NotifyObjectGrasped::run()
{
}
 
void
NotifyObjectGrasped::onBreak()
{
}
 
void
NotifyObjectGrasped::onExit()
{
}
 
// DO NOT EDIT NEXT FUNCTION
XMLStateFactoryBasePtr
NotifyObjectGrasped::CreateInstance(XMLStateConstructorParams stateData)
{
    return XMLStateFactoryBasePtr(new NotifyObjectGrasped(stateData));
}