InstallConditionExample.h

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/*
* This file is part of ArmarX.
*
* Copyright (C) 2011-2016, 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    ArmarXCore::StatechartExamples::InstallConditionExample
* @author     Mirko Waechter (mirko.waechter at kit dot edu)
* @date       2012
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXCore/statechart/Statechart.h>
 
namespace armarx
{
 
    class ARMARXCOMPONENT_IMPORT_EXPORT InstallConditionExample : virtual public StatechartContext
    {
    public:
        // inherited from Component
 
        virtual std::string
        getDefaultName() const
        {
            return "GraspPositionReached";
        }
 
        virtual void onInitStatechart();
        virtual void onConnectStatechart();
    };
 
    DEFINEEVENT(EvConditionReached)
    struct stateInstallCondition;
 
    struct StatechartInstallConditionExample : StateTemplate<StatechartInstallConditionExample>
    {
 
        void
        defineState()
        {
        }
 
        void
        defineSubstates()
        {
            // add substates
 
            setInitState(addState<stateInstallCondition>("ApproachGraspPosition"));
            StatePtr final = addState<SuccessState>("Success");
 
            // add transition
            ParameterMappingPtr mapping =
                ParameterMapping::createMapping()->mapFromOutput("hand_x", "position_x");
            addTransition<EvConditionReached>(getInitState(), final, mapping);
        }
 
        void
        defineParameters()
        {
            addToInput("hand_x", VariantType::Float, true);
            addToOutput("hand_current_x", VariantType::Float, true);
        }
 
        void
        onEnter()
        {
        }
    };
 
    struct stateInstallCondition : StateTemplate<stateInstallCondition>
    {
        ConditionIdentifier condId;
 
        void
        onEnter()
        {
            Literal checkAngles1("Armar4Observer.jointangles.LeftArm_Joint1",
                                 "larger",
                                 Literal::createParameterList(1.5f));
            Literal checkAngles2("Armar4Observer.jointangles.LeftArm_Joint2",
                                 "smaller",
                                 Literal::createParameterList(1.f));
            Literal checkAngles3("Armar4Observer.jointangles.Torso_Joint2",
                                 "larger",
                                 Literal::createParameterList(0.5f));
            condId = installCondition<EvConditionReached>((!checkAngles1 || !checkAngles2) &&
                                                          checkAngles3);
        }
 
        void
        onExit()
        {
 
            removeCondition(condId);
        }
    };
 
 
} // namespace armarx