IkDemo.h

Go to the documentation of this file.

#pragma once
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/core/application/properties/forward_declarations.h>
 
#include <RobotAPI/components/ArViz/Client/Client.h>
 
namespace armar6::skills::components::armar6_ik_demo
{
 
    struct Manipulator;
 
    class IkDemo
    {
    public:
        struct Params
        {
            Params();
 
            std::string robotFile;
            std::string robotNodeSetNamesStr;
            std::vector<std::string> robotNodeSetNames() const;
        };
 
        struct Remote
        {
            std::optional<armarx::viz::Client> arviz;
        };
 
        struct Robot
        {
            VirtualRobot::RobotPtr robot;
 
            armarx::viz::Layer layer;
            armarx::viz::Robot visu{"robot"};
        };
 
 
    public:
        IkDemo();
        ~IkDemo();
 
        void defineProperties(armarx::PropertyDefinitionContainer& defs);
 
        void connect(Remote&& remote);
 
        void start();
        void update();
 
        void runIk();
 
 
    public:
        Remote remote;
        Params params;
        Robot robot;
 
        armarx::viz::StagedCommit stage;
 
        std::vector<std::unique_ptr<Manipulator>> manipulators;
    };
 
} // namespace armar6::skills::components::armar6_ik_demo