MoveJointsWithVelocity.h

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#pragma once
 
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
#include <armarx/control/skills/aron/MoveJointsWithVelocityParams.aron.generated.h>
#include <armarx/control/skills/constants/constants.h>
 
namespace armarx::control::skills::skills
{
 
    /**
   * @class MoveJoints
   * @brief MoveJoints-skill to move joints to specified target values using the KinematicUnit
   *
   * Sets joint values with the KinematicUnit and waits until target values are reached. Can
   * simulate trajectory when in simulation (otherwise trajectories from joint value updates through
   * the KinematicUnit are not simulated).
   */
    class MoveJointsWithVelocity :
        public ::armarx::skills::SimpleSpecializedSkill<arondto::MoveJointsWithVelocityParams>
    {
 
    public:
        struct Services
        {
            ::armarx::KinematicUnitInterfacePrx kinematicUnit;
        };
 
        static ::armarx::skills::SkillDescription
        GetSkillDescription()
        {
            ParamType defaultParameters;
            // TODO(): set parameter defaults
 
            return ::armarx::skills::SkillDescription{
                .skillId = {.skillName = constants::MOVE_JOINTS_WITH_VELOCITY_SKILL_NAME},
                .description = "Moves joints with a specific velocity using the KinematicUnit",
                .rootProfileDefaults = defaultParameters.toAron(),
                .timeout = ::armarx::Duration::Minutes(1),
                .parametersType = ParamType::ToAronType()};
        }
 
        MoveJointsWithVelocity(const Services&);
 
 
    private:
        using Base::exit;
        using Base::main;
 
        ::armarx::skills::Skill::MainResult main(const SpecializedMainInput& in) override;
        ::armarx::skills::Skill::ExitResult exit(const SpecializedExitInput& in) override;
 
        std::map<std::string, float>
        filterJointTargetValues(const NameValueMap& jointsTargetValues,
                                const std::vector<std::string>& disabledJoints) const;
 
        void switchControlMode(const NameValueMap& jointsTargetValues,
                               const armarx::ControlMode controlMode);
 
        void moveJoints(const NameValueMap& jointsTargetValues,
                        const armarx::core::time::Duration& dur);
 
    private:
        Services srv_;
    };
 
} // namespace armarx::control::skills::skills