CloseHand.cpp

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#include "CloseHand.h"
 
#include "util/HandUtil.h"
 
namespace armarx::skills
{
 
    SkillDescription CloseHand::Description = skills::SkillDescription{
        "CloseHand", "Close a hand",
        {}, armarx::Duration::MilliSeconds(2000),
        hand_control::arondto::CloseHandAcceptedType::ToAronType()
    };
 
    CloseHand::CloseHand(HandControlSkillContext& context) :
        HandControlSkill(context),
        SimpleSpecializedSkill<ArgType>(Description)
    {
    }
 
    Skill::MainResult CloseHand::main(const SpecializedMainInput& in)
    {
        if (simox::alg::starts_with(in.parameters.kinematicChainName, "Left"))
        {
            closeLeftHand();
            return {TerminatedSkillStatus::Succeeded, nullptr};
        }
 
        if (simox::alg::starts_with(in.parameters.kinematicChainName, "Right"))
        {
            closeRightHand();
            return {TerminatedSkillStatus::Succeeded, nullptr};
        }
 
        return {TerminatedSkillStatus::Failed, nullptr};
    }
}