ZeroTorque.h
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#pragma once
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#include <experimental/memory>
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#include <VirtualRobot/VirtualRobot.h>
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#include <RobotAPI/interface/units/RobotUnit/NjointZeroTorqueController.h>
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#include <
RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
>
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#include <
RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h
>
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#include <armarx/control/skills/aron/ZeroTorque.aron.generated.h>
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namespace
armarx::control::skills::skills
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{
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class
ZeroTorque
:
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public
::armarx::skills::SimpleSpecializedSkill
<armarx::control::skills::params::ZeroTorque>
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{
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public
:
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struct
Context
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{
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VirtualRobot::RobotPtr
localRobot_
;
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std::experimental::observer_ptr<armarx::plugins::RobotUnitComponentPlugin>
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robotUnitPlugin_
;
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};
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static ::armarx::skills::SkillDescription
GetSkillDescription
();
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ZeroTorque
(
const
config::ZeroTorque&);
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void
connectTo
(
const
Context
& context);
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protected
:
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MainResult
main
(
const
SpecializedMainInput& in)
override
;
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InitResult
init
(
const
SpecializedInitInput& in)
override
;
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ExitResult
exit
(
const
SpecializedExitInput& in)
override
;
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private
:
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Context
context_;
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config::ZeroTorque config_;
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armarx::NJointZeroTorqueControllerInterfacePrx controller_;
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std::string controllerName_;
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};
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}
// 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
armarx
control
skills
skills
ZeroTorque.h
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