GraspControlSkillProvider.cpp

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#include "GraspControlSkillProvider.h"
 
namespace armarx::skills::provider
{
    armarx::PropertyDefinitionsPtr
    GraspControlSkillProvider::createPropertyDefinitions()
    {
        armarx::PropertyDefinitionsPtr defs =
            new ComponentPropertyDefinitions(getConfigIdentifier());
 
        graspControlSkillContext.defineProperties(defs, "graspControlSkills.");
 
        return defs;
    }
 
    std::string
    GraspControlSkillProvider::getDefaultName() const
    {
        return "GraspControlSkillProvider";
    }
 
    void
    GraspControlSkillProvider::onInitComponent()
    {
        graspControlSkillContext.onInit(*this);
    }
 
    void
    GraspControlSkillProvider::onConnectComponent()
    {
        graspControlSkillContext.onConnected(*this);
 
        auto& mns = memoryNameSystem();
 
        // Add move skill
        addSkill(std::make_unique<CloseHandAndAttachSkill>(mns, arviz, graspControlSkillContext));
        addSkill(std::make_unique<MovePlatformForGraspSkill>(mns, arviz, graspControlSkillContext));
        addSkill(
            std::make_unique<MovePlatformAfterGraspSkill>(mns, arviz, graspControlSkillContext));
        addSkill(std::make_unique<ExecuteGraspSkill>(mns, arviz, graspControlSkillContext));
        addSkill(std::make_unique<GraspObjectSkill>(mns, arviz, graspControlSkillContext));
 
        addSkill(std::make_unique<OpenHandAndDetachSkill>(mns, arviz, graspControlSkillContext));
        addSkill(
            std::make_unique<MovePlatformForPutdownSkill>(mns, arviz, graspControlSkillContext));
        addSkill(
            std::make_unique<MovePlatformAfterPutdownSkill>(mns, arviz, graspControlSkillContext));
        addSkill(std::make_unique<ExecutePutdownSkill>(mns, arviz, graspControlSkillContext));
        addSkill(std::make_unique<PutdownObjectSkill>(mns, arviz, graspControlSkillContext));
    }
 
    void
    GraspControlSkillProvider::onDisconnectComponent()
    {
    }
 
    void
    GraspControlSkillProvider::onExitComponent()
    {
    }
} // namespace armarx::skills::provider