PeriodicSkill.h

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/**
 * This file is part of ArmarX.
 *
 * 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/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <ArmarXCore/core/time/Frequency.h>
 
#include <RobotAPI/libraries/skills/core/Skill.h>
 
#include "SpecializedSkill.h"
 
namespace armarx::skills
{
 
    class PeriodicSkill : public Skill
    {
    public:
        struct StepResult
        {
            ActiveOrTerminatedSkillStatus status;
            aron::data::DictPtr data;
        };
 
        PeriodicSkill(const SkillDescription& skillDescription, const armarx::Frequency& frequency);
 
    protected:
        /// Do not use anymore
        Skill::MainResult main() final;
 
        /// Override this method with your own step function
        virtual StepResult step();
 
    protected:
        const armarx::Frequency frequency;
    };
 
 
} // namespace armarx::skills