EnvironmentController.h

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#ifndef ENVIRONMENTCONTROLLER_H
#define ENVIRONMENTCONTROLLER_H
#include <RobotAPI/interface/core/RobotState.h>
 
#include "../Environment.h"
#include "AbstractController.h"
 
namespace armarx
{
    class EnvironmentController : public AbstractController
    {
        Q_OBJECT
 
    public:
        /**
         * @brief @see AbstractController
         */
        void onInitComponent() override;
 
        /**
         * @brief @see AbstractController
         */
        void onConnectComponent() override;
 
        /**
         * @brief @see AbstractController
         */
        void onDisconnectComponent() override;
 
        /**
         * @brief @see AbstractController
         */
        void onExitComponent() override;
 
        /**
         * @brief loads first armar3 in the application
         */
        void loadArmar3();
 
        /**
         * @brief loads the robot from proxy
         * @param robotFileName file name of the robot
         */
        void loadRobotFromProxy(std::string robotFileName);
 
        EnvironmentController();
 
    public slots:
        /**
         * @brief open a file dialog to select a robot
         */
        void openRobotFileDialog();
 
    signals:
        /**
         * @brief notifies all controller that the environment has changed
         * @param environment
         */
        void environmentChanged(EnvironmentPtr environment);
 
    protected:
        RobotStateComponentInterfacePrx robotStateComponentPrx;
 
    private:
        VirtualRobot::RobotPtr loadRobot(Ice::StringSeq includePaths);
        EnvironmentPtr environment;
    };
 
    using EnvironmentControllerPtr = std::shared_ptr<EnvironmentController>;
} // namespace armarx
 
#endif // ENVIRONMENTCONTROLLER_H