Component.h
Go to the documentation of this file.
1
#pragma once
2
3
#include <
ArmarXCore/core/Component.h
>
4
5
#include <RobotAPI/interface/units/HandUnitInterface.h>
6
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
7
#include <
RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
>
8
#include <
RobotAPI/libraries/armem/client/plugins/PluginUser.h
>
9
#include <
RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h
>
10
#include <
RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
>
11
#include <
RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
>
12
#include <
RobotAPI/libraries/skills/provider/blueprints/SkillWithContextBlueprint.h
>
13
14
#include <armarx/control/components/control_skill_provider/ComponentInterface.h>
15
#include <
armarx/control/skills/skills/ZeroTorque.h
>
16
17
namespace
armarx::control::components::control_skill_provider
18
{
19
class
Component
:
20
virtual
public
::armarx::Component
,
21
virtual
public
::armarx::control::components::control_skill_provider::ComponentInterface
,
22
virtual
public
::armarx::SkillProviderComponentPluginUser
,
23
virtual
public
::armarx::armem::client::PluginUser
24
{
25
26
public
:
27
Component
();
28
29
/// @see armarx::ManagedIceObject::getDefaultName()
30
std::string
getDefaultName
()
const override
;
31
32
/// Get the component's default name.
33
static
std::string
GetDefaultName
();
34
35
36
protected
:
37
/// @see PropertyUser::createPropertyDefinitions()
38
::armarx::PropertyDefinitionsPtr
createPropertyDefinitions
()
override
;
39
40
/// @see armarx::ManagedIceObject::onInitComponent()
41
void
onInitComponent
()
override
;
42
43
/// @see armarx::ManagedIceObject::onConnectComponent()
44
void
onConnectComponent
()
override
;
45
46
/// @see armarx::ManagedIceObject::onDisconnectComponent()
47
void
onDisconnectComponent
()
override
;
48
49
/// @see armarx::ManagedIceObject::onExitComponent()
50
void
onExitComponent
()
override
;
51
52
53
private
:
54
struct
Remote
55
{
56
::armarx::KinematicUnitInterfacePrx kinematicUnit;
57
::armarx::HandUnitInterfacePrx leftHandUnit;
58
::armarx::HandUnitInterfacePrx rightHandUnit;
59
std::experimental::observer_ptr<armarx::plugins::RobotUnitComponentPlugin>
60
robotUnitPlugin;
61
std::experimental::observer_ptr
<
62
armem::client::plugins::ReaderWriterPlugin<armem::robot_state::VirtualRobotReader>
>
63
robotReaderPlugin;
64
} remote;
65
66
struct
SkillBlueprints
67
{
68
std::experimental::observer_ptr
<
69
armarx::skills::SkillWithContextBlueprint<skills::skills::ZeroTorque>
>
70
zeroTorque;
71
} skillBlueprints;
72
73
struct
Properties
74
{
75
std::string robotName;
76
} properties;
77
78
static
const
std::string defaultName;
79
};
80
81
}
// namespace armarx::control::components::control_skill_provider
ZeroTorque.h
armarx::control::components::control_skill_provider::Component::onExitComponent
void onExitComponent() override
Definition:
Component.cpp:89
SkillProviderComponentPlugin.h
armarx::armem::client::plugins::ReaderWriterPlugin
A component plugin offering client-side access to a reader or writer and manages the lifecycle,...
Definition:
ReaderWriterPlugin.h:44
armarx::control::components::control_skill_provider::ComponentInterface
Definition:
ComponentInterface.ice:14
armarx::control::components::control_skill_provider::Component::getDefaultName
std::string getDefaultName() const override
Definition:
Component.cpp:96
armarx::control::components::control_skill_provider::Component::onDisconnectComponent
void onDisconnectComponent() override
Definition:
Component.cpp:84
ReaderWriterPlugin.h
armarx::skills::SkillWithContextBlueprint
Definition:
SkillWithContextBlueprint.h:38
std::experimental::fundamentals_v2::observer_ptr
Definition:
ManagedIceObject.h:53
armarx::control::components::control_skill_provider::Component::onConnectComponent
void onConnectComponent() override
Definition:
Component.cpp:42
armarx::control::components::control_skill_provider
Definition:
Component.cpp:11
armarx::control::components::control_skill_provider::Component::Component
Component()
Definition:
Component.cpp:107
armarx::armem::client::plugins::PluginUser
Adds the Memory Name System client component plugin.
Definition:
PluginUser.h:29
armarx::SkillProviderComponentPluginUser
Definition:
SkillProviderComponentPlugin.h:120
armarx::control::components::control_skill_provider::Component
Definition:
Component.h:19
armarx::control::components::control_skill_provider::Component::GetDefaultName
static std::string GetDefaultName()
Get the component's default name.
Definition:
Component.cpp:102
VirtualRobotReader.h
Component.h
armarx::Component
Baseclass for all ArmarX ManagedIceObjects requiring properties.
Definition:
Component.h:95
ScenarioManager::Data_Structure::Remote
@ Remote
Definition:
Scenario.h:54
IceUtil::Handle< class PropertyDefinitionContainer >
SkillWithContextBlueprint.h
PluginUser.h
armarx::control::components::control_skill_provider::Component::createPropertyDefinitions
::armarx::PropertyDefinitionsPtr createPropertyDefinitions() override
Definition:
Component.cpp:15
armarx::control::components::control_skill_provider::Component::onInitComponent
void onInitComponent() override
Definition:
Component.cpp:30
RobotUnitComponentPlugin.h
armarx
control
components
control_skill_provider
Component.h
Generated on Tue Feb 13 2024 06:11:59 for armarx_documentation by
1.8.17