ZeroTorque.h
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1 #pragma once
2 
3 #include <experimental/memory>
4 
5 #include <VirtualRobot/VirtualRobot.h>
6 
7 #include <RobotAPI/interface/units/RobotUnit/NjointZeroTorqueController.h>
10 
11 #include <armarx/control/skills/aron/ZeroTorque.aron.generated.h>
12 
14 {
15 
16  class ZeroTorque :
17  public ::armarx::skills::SimpleSpecializedSkill<armarx::control::skills::params::ZeroTorque>
18  {
19 
20  public:
21  struct Context
22  {
23 
27  };
28 
29  static ::armarx::skills::SkillDescription GetSkillDescription();
30 
31  ZeroTorque(const config::ZeroTorque&);
32 
33  void connectTo(const Context& context);
34 
35 
36  protected:
37  MainResult main(const SpecializedMainInput& in) override;
38 
39  InitResult init(const SpecializedInitInput& in) override;
40 
41  ExitResult exit(const SpecializedExitInput& in) override;
42 
43  private:
44  Context context_;
45  config::ZeroTorque config_;
46  armarx::NJointZeroTorqueControllerInterfacePrx controller_;
47  std::string controllerName_;
48  };
49 
50 } // namespace armarx::control::skills::skills
armarx::skills::SimpleSpecializedSkill< armarx::control::skills::params::ZeroTorque >::init
Skill::InitResult init() final
Definition: SimpleSpecializedSkill.h:62
armarx::control::skills::skills::ZeroTorque::ZeroTorque
ZeroTorque(const config::ZeroTorque &)
Definition: ZeroTorque.cpp:24
armarx::control::skills::skills::ZeroTorque::GetSkillDescription
::armarx::skills::SkillDescription GetSkillDescription()
Definition: ZeroTorque.cpp:11
armarx::control::skills::skills::ZeroTorque
Definition: ZeroTorque.h:16
armarx::control::skills::skills::ZeroTorque::Context::localRobot_
VirtualRobot::RobotPtr localRobot_
Definition: ZeroTorque.h:24
armarx::control::skills::skills::ZeroTorque::connectTo
void connectTo(const Context &context)
Definition: ZeroTorque.cpp:47
std::experimental::fundamentals_v2::observer_ptr
Definition: ManagedIceObject.h:53
SimpleSpecializedSkill.h
armarx::skills::SimpleSpecializedSkill< armarx::control::skills::params::ZeroTorque >::exit
Skill::ExitResult exit() final
Definition: SimpleSpecializedSkill.h:81
armarx::skills::SimpleSpecializedSkill
Definition: SimpleSpecializedSkill.h:10
armarx::skills::Skill::MainResult
A result struct for th main method of a skill.
Definition: Skill.h:48
armarx::control::skills::skills::ZeroTorque::Context::robotUnitPlugin_
std::experimental::observer_ptr< armarx::plugins::RobotUnitComponentPlugin > robotUnitPlugin_
Definition: ZeroTorque.h:26
armarx::skills::Skill::ExitResult
A result struct for skill exit function.
Definition: Skill.h:55
armarx::skills::SimpleSpecializedSkill< armarx::control::skills::params::ZeroTorque >::main
Skill::MainResult main() final
Definition: SimpleSpecializedSkill.h:71
armarx::control::skills::skills
Definition: ExecuteTrajectory.cpp:18
armarx::skills::Skill::InitResult
A result struct for skill initialization.
Definition: Skill.h:36
armarx::control::skills::skills::ZeroTorque::Context
Definition: ZeroTorque.h:21
RobotUnitComponentPlugin.h
VirtualRobot::RobotPtr
std::shared_ptr< class Robot > RobotPtr
Definition: Bus.h:18