CloseHandAndAttach.h

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#pragma once
 
// BaseClass
#include "../GraspControlSkill.h"
 
// Type
#include <RobotSkillTemplates/libraries/skill_grasp_object/aron/CloseHandAndAttachAcceptedType.aron.generated.h>
 
// ArmarX
#include <RobotAPI/libraries/skills/provider/mixins/All.h>
 
#include <RobotSkillTemplates/libraries/skill_hand_control/CloseHand.h>
 
namespace armarx::skills
{
    class CloseHandAndAttachSkill :
        public TwoArmGraspControlSkill,
        public SimpleSpecializedSkill<grasp_object::arondto::CloseHandAndAttachAcceptedType>
    {
    public:
        using ArgType = grasp_object::arondto::CloseHandAndAttachAcceptedType;
 
        CloseHandAndAttachSkill(armem::client::MemoryNameSystem& mns,
                                armarx::viz::Client& arviz,
                                TwoArmGraspControlSkillContext&);
 
    private:
        MainResult main(const SpecializedMainInput& in) final;
 
    public:
        static SkillDescription Description;
    };
} // namespace armarx::skills