PlatformControlSkillProvider.cpp

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#include "PlatformControlSkillProvider.h"
 
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
#include <RobotAPI/libraries/aron/core/type/variant/primitive/String.h>
 
//#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client.h>
#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
namespace armarx::skills::provider
{
    armarx::PropertyDefinitionsPtr
    PlatformControlSkillProvider::createPropertyDefinitions()
    {
        armarx::PropertyDefinitionsPtr defs =
            new ComponentPropertyDefinitions(getConfigIdentifier());
 
        platformControlSkillContext.defineProperties(defs, "platformControlSkills.");
 
        return defs;
    }
 
    std::string
    PlatformControlSkillProvider::getDefaultName() const
    {
        return "PlatformControlSkillProvider";
    }
 
    void
    PlatformControlSkillProvider::onInitComponent()
    {
        platformControlSkillContext.onInit(*this);
    }
 
    void
    PlatformControlSkillProvider::onConnectComponent()
    {
        platformControlSkillContext.onConnected(*this);
 
        auto& mns = memoryNameSystem();
 
        // Add move skill
        addSkillFactory<MovePlatformToLandmark>(std::ref(mns), std::ref(arviz), std::ref(platformControlSkillContext));
        addSkillFactory<MovePlatformToPose>(std::ref(mns), std::ref(arviz), std::ref(platformControlSkillContext));
    }
 
    void
    PlatformControlSkillProvider::onDisconnectComponent()
    {
    }
 
    void
    PlatformControlSkillProvider::onExitComponent()
    {
    }
 
    ARMARX_REGISTER_COMPONENT_EXECUTABLE(PlatformControlSkillProvider, "PlatformControlSkillProvider");
} // namespace armarx::skills::provider