TwoArmVisualServoTowardsObjects.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2014-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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/>.
 *
 * @package    RobotSkillTemplates::VisualServoGroup
 * @author     Markus Grotz ( markus dot grotz at kit dot edu )
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <VirtualRobot/ManipulationObject.h>
 
#include "TwoArmVisualServoTowardsObjects.generated.h"
#include "VisualServoGroupStatechartContext.generated.h"
 
namespace armarx::VisualServoGroup
{
    class TwoArmVisualServoTowardsObjects :
        public TwoArmVisualServoTowardsObjectsGeneratedBase<TwoArmVisualServoTowardsObjects>
    {
    public:
        TwoArmVisualServoTowardsObjects(XMLStateConstructorParams stateData);
 
        // inherited from StateBase
        void onEnter() override;
        void onExit() override;
 
        // static functions for AbstractFactory Method
        static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
        static SubClassRegistry Registry;
 
        // DO NOT INSERT ANY CLASS MEMBERS,
        // use stateparameters instead,
        // if classmember are neccessary nonetheless, reset them in onEnter
 
 
    private:
        PosePtr getDesiredTcpOffsetToObject(std::string graspSetName,
                                            std::string graspName,
                                            VirtualRobot::ManipulationObjectPtr mo);
        VirtualRobot::ManipulationObjectPtr
        getObjectPtr(std::string objectName, VisualServoGroupStatechartContext* context);
    };
} // namespace armarx::VisualServoGroup