OpenHand.cpp
Go to the documentation of this file.
1 #include "OpenHand.h"
2 
3 #include "util/HandUtil.h"
4 
5 namespace armarx::skills
6 {
7 
8  SkillDescription OpenHand::Description =
9  skills::SkillDescription{"OpenHand",
10  "Open a hand",
11  {},
13  hand_control::arondto::OpenHandAcceptedType::ToAronType()};
14 
16  HandControlSkill(context), SimpleSpecializedSkill<ArgType>(Description)
17  {
18  }
19 
21  OpenHand::main(const SpecializedMainInput& in)
22  {
23  if (simox::alg::starts_with(in.parameters.kinematicChainName, "Left"))
24  {
25  openLeftHand();
26  return {TerminatedSkillStatus::Succeeded, nullptr};
27  }
28 
29  if (simox::alg::starts_with(in.parameters.kinematicChainName, "Right"))
30  {
31  openRightHand();
32  return {TerminatedSkillStatus::Succeeded, nullptr};
33  }
34 
35  return {TerminatedSkillStatus::Failed, nullptr};
36  }
37 } // 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