TCPControlSkill.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
// STD/STL
#include <string>
 
// ArmarX
#include <ArmarXCore/core/Component.h>
 
// RobotAPI
#include <RobotAPI/libraries/skills/provider/PeriodicSimpleSpecializedSkill.h>
#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
#include <RobotAPI/libraries/skills/provider/SkillContext.h>
 
// Proxies
#include <RobotAPI/interface/units/TCPControlUnit.h>
 
// Skill Mixins
#include <RobotAPI/libraries/core/FramedOrientedPoint.h>
#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/libraries/skills/provider/mixins/All.h>
 
namespace armarx::skills
{
    struct TCPControlSkillContext : public SkillContext
    {
        // Properties
        TCPControlUnitInterfacePrx tcpControlUnitPrx;
 
        void
        defineProperties(const armarx::PropertyDefinitionsPtr& defs,
                         const std::string& prefix) override
        {
            defs->component(
                tcpControlUnitPrx, "TCPControlUnitName", prefix + "TCPControlUnitInterfaceName");
        }
    };
 
    class TCPControlSkill : public mixin::ArvizSkillMixin, public mixin::MNSSkillMixin
    {
    public:
        TCPControlSkill(armem::client::MemoryNameSystem& mns,
                        armarx::viz::Client& arviz,
                        const std::string& layerName,
                        TCPControlSkillContext& c) :
            mixin::ArvizSkillMixin({arviz, layerName}), mixin::MNSSkillMixin({mns}), context(c){};
 
    protected:
        void
        stopTCPMovement(const std::string& kinematicChainName, const std::string& tcpName)
        {
            FramedDirectionPtr cartesianVelocity =
                new FramedDirection(Eigen::Vector3f::Zero(), GlobalFrame, "");
            FramedDirectionPtr angleVelocity =
                new FramedDirection(Eigen::Vector3f::Zero(), GlobalFrame, "");
 
            context.tcpControlUnitPrx->setTCPVelocity(
                kinematicChainName, tcpName, cartesianVelocity, angleVelocity);
            std::this_thread::sleep_for(std::chrono::milliseconds(500));
        }
 
    protected:
        TCPControlSkillContext& context;
    };
} // namespace armarx::skills