SimpleVirtualRobot.h

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#pragma once
 
#include <VirtualRobot/VirtualRobot.h>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
 
// #include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
 
#include <RobotAPI/libraries/armem/client/plugins.h>
#include <RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotWriter.h>
 
namespace armarx::simple_virtual_robot
{
 
    /**
     * @defgroup Component-SimpleVirtualRobot SimpleVirtualRobot
     * @ingroup RobotAPI-Components
     * Simply loads a Simox robot model and commits it to the memory.
     *
     * @class SimpleVirtualRobot
     * @ingroup Component-SimpleVirtualRobot
     * @brief Brief description of class SimpleVirtualRobot.
     *
     * Detailed description of class SimpleVirtualRobot.
     */
    class SimpleVirtualRobot :
        virtual public armarx::Component,
        virtual public armarx::armem::client::ComponentPluginUser
    {
    public:
        SimpleVirtualRobot();
 
        std::string getDefaultName() const override;
 
    protected:
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        void onInitComponent() override;
        void onConnectComponent() override;
        void onDisconnectComponent() override;
        void onExitComponent() override;
 
        void run();
 
 
    private:
        struct Properties
        {
            bool oneShot = true;
            float updateFrequency{10.F};
 
            struct Robot
            {
                std::string name;
                std::string package;
                std::string path;
 
                std::string jointValues; // json-style map<std::string, float>
 
                float globalPositionX = 0;
                float globalPositionY = 0;
                float globalPositionYaw = 0;
            };
 
            Robot robot;
        };
 
        VirtualRobot::RobotPtr loadRobot(const Properties::Robot& p) const;
 
 
    private:
        Properties properties;
 
 
        VirtualRobot::RobotPtr robot;
 
        armarx::SimpleRunningTask<>::pointer_type task;
 
        armem::client::plugins::ReaderWriterPlugin<armem::robot_state::VirtualRobotWriter>*
            virtualRobotWriterPlugin = nullptr;
    };
 
} // namespace armarx::simple_virtual_robot