GraspControlSkillProvider.cpp

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#include "GraspControlSkillProvider.h"
 
#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
 
namespace armarx::skills::provider
{
    armarx::PropertyDefinitionsPtr
    GraspControlSkillProvider::createPropertyDefinitions()
    {
        armarx::PropertyDefinitionsPtr defs =
            new ComponentPropertyDefinitions(getConfigIdentifier());
 
        graspControlSkillContext.defineProperties(defs, "graspControlSkills.");
 
        return defs;
    }
 
    std::string
    GraspControlSkillProvider::getDefaultName() const
    {
        return "GraspControlSkillProvider";
    }
 
    void
    GraspControlSkillProvider::onInitComponent()
    {
        graspControlSkillContext.onInit(*this);
    }
 
    void
    GraspControlSkillProvider::onConnectComponent()
    {
        graspControlSkillContext.onConnected(*this);
 
        auto& mns = memoryNameSystem();
 
        // Add move skill
        addSkillFactory<CloseHandAndAttachSkill>(std::ref(mns), std::ref(arviz), std::ref(graspControlSkillContext));
        addSkillFactory<MovePlatformForGraspSkill>(std::ref(mns), std::ref(arviz), std::ref(graspControlSkillContext));
        addSkillFactory<MovePlatformAfterGraspSkill>(std::ref(mns), std::ref(arviz), std::ref(graspControlSkillContext));
        addSkillFactory<ExecuteGraspSkill>(std::ref(mns), std::ref(arviz), std::ref(graspControlSkillContext));
        addSkillFactory<GraspObjectSkill>(std::ref(mns), std::ref(arviz), std::ref(graspControlSkillContext));
 
        addSkillFactory<OpenHandAndDetachSkill>(std::ref(mns), std::ref(arviz), std::ref(graspControlSkillContext));
        addSkillFactory<MovePlatformForPutdownSkill>(std::ref(mns), std::ref(arviz), std::ref(graspControlSkillContext));
        addSkillFactory<MovePlatformAfterPutdownSkill>(std::ref(mns), std::ref(arviz), std::ref(graspControlSkillContext));
        addSkillFactory<ExecutePutdownSkill>(std::ref(mns), std::ref(arviz), std::ref(graspControlSkillContext));
        addSkillFactory<PutdownObjectSkill>(std::ref(mns), std::ref(arviz), std::ref(graspControlSkillContext));
    }
 
    void
    GraspControlSkillProvider::onDisconnectComponent()
    {
    }
 
    void
    GraspControlSkillProvider::onExitComponent()
    {
    }
 
    ARMARX_REGISTER_COMPONENT_EXECUTABLE(GraspControlSkillProvider, "GraspControlSkillProvider");
} // namespace armarx::skills::provider