OpenHand.cpp
Go to the documentation of this file.
1
#include "
OpenHand.h
"
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3
#include "
util/HandUtil.h
"
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namespace
armarx::skills
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{
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SkillDescription
OpenHand::Description
=
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skills::SkillDescription{
"OpenHand"
,
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"Open a hand"
,
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{},
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armarx::Duration::MilliSeconds
(2000),
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hand_control::arondto::OpenHandAcceptedType::ToAronType()};
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OpenHand::OpenHand
(
HandControlSkillContext
& context) :
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HandControlSkill
(context),
SimpleSpecializedSkill
<
ArgType
>(Description)
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{
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}
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Skill::MainResult
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OpenHand::main
(
const
SpecializedMainInput& in)
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{
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if
(
simox::alg::starts_with
(in.parameters.kinematicChainName,
"Left"
))
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{
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openLeftHand
();
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return
{
TerminatedSkillStatus::Succeeded
,
nullptr
};
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}
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if
(
simox::alg::starts_with
(in.parameters.kinematicChainName,
"Right"
))
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{
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openRightHand
();
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return
{
TerminatedSkillStatus::Succeeded
,
nullptr
};
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}
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return
{
TerminatedSkillStatus::Failed
,
nullptr
};
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}
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}
// namespace armarx::skills
armarx::skills::TerminatedSkillStatus::Succeeded
@ Succeeded
armarx::skills
This file is part of ArmarX.
Definition:
PeriodicUpdateWidget.cpp:11
armarx::skills::HandControlSkill::openLeftHand
void openLeftHand()
Definition:
HandControlSkill.h:76
armarx::skills::HandControlSkill::openRightHand
void openRightHand()
Definition:
HandControlSkill.h:90
armarx::starts_with
bool starts_with(const std::string &haystack, const std::string &needle)
Definition:
StringHelpers.cpp:47
armarx::skills::OpenHand::Description
static SkillDescription Description
Definition:
OpenHand.h:46
OpenHand.h
armarx::skills::SimpleSpecializedSkill
Definition:
SimpleSpecializedSkill.h:10
armarx::skills::HandControlSkill
Definition:
HandControlSkill.h:62
armarx::skills::Skill::MainResult
A result struct for th main method of a skill.
Definition:
Skill.h:39
armarx::skills::OpenHand::OpenHand
OpenHand(HandControlSkillContext &context)
Definition:
OpenHand.cpp:15
armarx::skills::HandControlSkillContext
Definition:
HandControlSkill.h:45
armarx::skills::TerminatedSkillStatus::Failed
@ Failed
armarx::skills::SimpleSpecializedSkill< hand_control::arondto::OpenHandAcceptedType >::main
Skill::MainResult main() final
Definition:
SimpleSpecializedSkill.h:71
armarx::skills::OpenHand::ArgType
hand_control::arondto::OpenHandAcceptedType ArgType
Definition:
OpenHand.h:38
HandUtil.h
armarx::core::time::Duration::MilliSeconds
static Duration MilliSeconds(std::int64_t milliSeconds)
Constructs a duration in milliseconds.
Definition:
Duration.cpp:48
RobotSkillTemplates
libraries
skill_hand_control
OpenHand.cpp
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