ScanLocationsForObject.h

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#pragma once
 
 
#include <RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h>
#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
#include <armarx/view_selection/skills/aron/ScanLocationsForObjectParams.aron.generated.h>
 
namespace armarx::view_selection::skills
{
    class ScanLocationsForObject :
        public ::armarx::skills::SimpleSpecializedSkill<arondto::ScanLocationsForObjectParams>
    {
    public:
        static ::armarx::skills::SkillDescription GetSkillDescription();
 
        struct Services
        {
            armarx::armem::obj::instance::Reader objectReader;
        };
 
        struct Properties
        {
            struct SubSkillIds
            {
                SubSkillIds();
 
                armarx::skills::SkillID lookAtArticulatedObjectFrame;
            };
 
            SubSkillIds subSkillIDs;
        };
 
    public:
        ScanLocationsForObject(const Services& services, const Properties& properties);
 
    private:
        using Base::main;
        ::armarx::skills::Skill::MainResult main(const SpecializedMainInput& in) override;
 
 
    private:
        Services services;
        Properties properties;
    };
 
} // namespace armarx::view_selection::skills