ControlModeChooser.cpp

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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::FindAndGraspObjectGroup
 * @author     Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
 * @date       2014
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "ControlModeChooser.h"
 
using namespace armarx;
using namespace FindAndGraspObjectGroup;
 
// DO NOT EDIT NEXT LINE
ControlModeChooser::SubClassRegistry
    ControlModeChooser::Registry(ControlModeChooser::GetName(),
                                 &ControlModeChooser::CreateInstance);
 
ControlModeChooser::ControlModeChooser(XMLStateConstructorParams stateData) :
    XMLStateTemplate<ControlModeChooser>(stateData)
{
}
 
void
ControlModeChooser::onEnter()
{
    ARMARX_VERBOSE << "Entering ControlModeChooser::onEnter()";
 
    const std::string controlMode = getInput<std::string>("jointControlMode");
 
    if (controlMode == "vel")
    {
        sendEvent<EvVelControl>();
    }
    else
    {
        ARMARX_ERROR << ARMARX_FUNCTION << ": controlMode " << controlMode << "nyi";
    }
}
 
// DO NOT EDIT NEXT FUNCTION
std::string
ControlModeChooser::GetName()
{
    return "ControlModeChooser";
}
 
// DO NOT EDIT NEXT FUNCTION
XMLStateFactoryBasePtr
ControlModeChooser::CreateInstance(XMLStateConstructorParams stateData)
{
    return XMLStateFactoryBasePtr(new ControlModeChooser(stateData));
}