PlanMotionBase.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/>.
 *
 * @package    RobotSkillTemplates::MotionPlanningGroup
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <mutex>
 
#include <RobotComponents/components/MotionPlanning/Tasks/RandomShortcutPostprocessor/Task.h>
 
#include <RobotSkillTemplates/statecharts/MotionPlanningGroup/PlanMotionBase.generated.h>
 
namespace armarx::MotionPlanningGroup
{
    class PlanMotionBase : public PlanMotionBaseGeneratedBase<PlanMotionBase>
    {
    public:
        PlanMotionBase(const XMLStateConstructorParams& stateData) :
            XMLStateTemplate<PlanMotionBase>(stateData),
            PlanMotionBaseGeneratedBase<PlanMotionBase>(stateData)
        {
        }
 
        PlanMotionBase(const PlanMotionBase& other) :
            IceUtil::Shared(other),
            StateIceBase(other),
            StateBase(other),
            StateController(other),
            State(other),
            XMLState(other),
            XMLStateTemplate<PlanMotionBase>(other),
            PlanMotionBaseGeneratedBase<PlanMotionBase>(other)
        {
            //no need to copy the handle or mutex
        }
 
        // inherited from StateBase
        void
        onEnter() override
        {
            resetTask();
        }
 
        void run() override;
 
        void
        onBreak() override
        {
            resetTask();
        }
 
        void
        onExit() override
        {
            resetTask();
        }
 
        void resetTask();
 
        // 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
        RandomShortcutPostprocessorTaskHandle task;
        std::mutex taskMutex;
    };
} // namespace armarx::MotionPlanningGroup