RotateXDegrees.cpp

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#include "RotateXDegrees.h"
 
#include <SimoxUtility/math/convert/deg_to_rad.h>
 
#include <armarx/navigation/skills/constants.h>
 
namespace armarx::navigation::skills
{
 
    RotateXDegrees::RotateXDegrees(const NavigatingSkillHelper::Properties& properties,
                                   const NavigatingSkillHelper::Services& srv) :
        Base(properties, srv, DefaultSkillDescription())
    {
    }
 
    Eigen::Isometry3f
    RotateXDegrees::relativeTarget(const Base::SpecializedMainInput& in)
    {
        const float rotation = simox::math::deg_to_rad(in.parameters.rotationDegrees);
        return Eigen::Isometry3f(Eigen::AngleAxisf(rotation, Eigen::Vector3f::UnitZ()));
    }
 
    armarx::skills::SkillDescription
    RotateXDegrees::DefaultSkillDescription()
    {
        ParamType defaultParams;
        defaultParams.rotationDegrees = 0;
        defaultParams.navigatingSkillParams = NavigatingSkillHelper::DefaultSkillDescription();
 
        return armarx::skills::SkillDescription{
            .skillId = {.skillName = constants::skill_names::RotateXDegrees},
            .description = "Rotate around the Z-axis by a specified degree value",
            .rootProfileDefaults = defaultParams.toAron(),
            .timeout = armarx::core::time::Duration::Minutes(1),
            .parametersType = ParamType::ToAronType()};
    }
} // namespace armarx::navigation::skills