Follower.h

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#pragma once
 
#include <RobotAPI/libraries/skills/provider/SpecializedSkill.h>
#include <RobotAPI/libraries/skills/provider/mixins/RobotReadingSkillMixin.h>
 
#include <armarx/control/client/ComponentPlugin.h>
// #include <armarx/control/njoint_controller/platform/platform_follower_controller/aron/PlatformFollowerControllerConfig.aron.generated.h>
#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
#include <armarx/control/skills/skills/platform_follower_controller/aron/FollowerParams.aron.generated.h>
 
namespace armarx::control::skills::skills::platform_follower_controller
{
 
    /**
    * @class Follower
    * @ingroup Library-follower
    * @brief Brief description of class follower.
    *
    * Detailed description of class follower.
    */
    class Follower : public ::armarx::skills::SimpleSpecializedSkill<arondto::FollowerParams> //,
    // public ::armarx::skills::mixin::RobotReadingSkillMixin
    {
    public:
        static ::armarx::skills::SkillDescription GetSkillDescription();
 
        struct Services
        {
            armarx::armem::client::MemoryNameSystem& mns;
            ::armarx::control::client::ComponentPlugin* controlComponentPlugin;
            armem::robot_state::VirtualRobotReader robotReader;
        };
 
        struct Parameters
        {
            std::string robotName;
        };
 
        Follower(const Services& services, const Parameters& parameters);
 
    private:
        // SpecializedSkill interface
        // Enable each function you want to override.
        // bool isAvailable(const SpecializedInitInput&) const override;
        // ::armarx::skills::Skill::InitResult init(const SpecializedInitInput&) override;
 
        using Base::main;
 
        ::armarx::skills::Skill::MainResult main(const SpecializedMainInput& in) override;
        // ::armarx::skills::Skill::ExitResult exit(const SpecializedExitInput&) override;
 
        Services services_;
        Parameters parameters_;
    };
 
} // namespace armarx::control::skills::skills::platform_follower_controller