From 1e274cfe1edb3dd7db47397056c13ce4f8664999 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Tue, 29 May 2018 16:41:15 +0200
Subject: [PATCH] Add ForceTorqueUtility StatecharGroup
It contains states to detect Force flanks and force spikes
---
source/RobotAPI/statecharts/CMakeLists.txt | 3 +-
.../ForceTorqueUtility/CMakeLists.txt | 45 +++++++
.../ForceTorqueUtility/DetectForceFlank.cpp | 76 +++++++++++
.../ForceTorqueUtility/DetectForceFlank.h | 55 ++++++++
.../ForceTorqueUtility/DetectForceFlank.xml | 29 +++++
.../ForceTorqueUtility/DetectForceSpike.cpp | 118 ++++++++++++++++++
.../ForceTorqueUtility/DetectForceSpike.h | 55 ++++++++
.../ForceTorqueUtility/DetectForceSpike.xml | 38 ++++++
.../ForceTorqueUtility.scgxml | 14 +++
.../ForceTorqueUtilityRemoteStateOfferer.cpp | 66 ++++++++++
.../ForceTorqueUtilityRemoteStateOfferer.h | 52 ++++++++
11 files changed, 550 insertions(+), 1 deletion(-)
create mode 100644 source/RobotAPI/statecharts/ForceTorqueUtility/CMakeLists.txt
create mode 100644 source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceFlank.cpp
create mode 100644 source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceFlank.h
create mode 100644 source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceFlank.xml
create mode 100644 source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.cpp
create mode 100644 source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.h
create mode 100644 source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.xml
create mode 100644 source/RobotAPI/statecharts/ForceTorqueUtility/ForceTorqueUtility.scgxml
create mode 100644 source/RobotAPI/statecharts/ForceTorqueUtility/ForceTorqueUtilityRemoteStateOfferer.cpp
create mode 100644 source/RobotAPI/statecharts/ForceTorqueUtility/ForceTorqueUtilityRemoteStateOfferer.h
diff --git a/source/RobotAPI/statecharts/CMakeLists.txt b/source/RobotAPI/statecharts/CMakeLists.txt
index bec92a7fb..57d792ac7 100644
--- a/source/RobotAPI/statecharts/CMakeLists.txt
+++ b/source/RobotAPI/statecharts/CMakeLists.txt
@@ -6,4 +6,5 @@ add_subdirectory(StatechartProfilesTestGroup)
add_subdirectory(OrientedTactileSensorGroup)
add_subdirectory(TrajectoryExecutionCode)
-add_subdirectory(SpeechObserverTestGroup)
\ No newline at end of file
+add_subdirectory(SpeechObserverTestGroup)
+add_subdirectory(ForceTorqueUtility)
\ No newline at end of file
diff --git a/source/RobotAPI/statecharts/ForceTorqueUtility/CMakeLists.txt b/source/RobotAPI/statecharts/ForceTorqueUtility/CMakeLists.txt
new file mode 100644
index 000000000..ef239c290
--- /dev/null
+++ b/source/RobotAPI/statecharts/ForceTorqueUtility/CMakeLists.txt
@@ -0,0 +1,45 @@
+armarx_component_set_name("ForceTorqueUtility")
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+#
+# all include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+# include_directories(${MyLib_INCLUDE_DIRS})
+#endif()
+
+#find_package(Eigen3 QUIET)
+#find_package(Simox QUIET)
+
+#
+#armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+#armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+
+#
+#if (Eigen3_FOUND AND Simox_FOUND)
+# include_directories(
+# ${Eigen3_INCLUDE_DIR}
+# ${Simox_INCLUDE_DIRS}
+# )
+#endif()
+
+set(COMPONENT_LIBS
+# ArmarXCoreInterfaces RobotAPIInterfaces RobotAPICore ${Simox_LIBRARIES}
+ ArmarXCore ArmarXCoreStatechart ArmarXCoreObservers)
+
+# Sources
+
+set(SOURCES
+ForceTorqueUtilityRemoteStateOfferer.cpp
+)
+
+set(HEADERS
+ForceTorqueUtilityRemoteStateOfferer.h
+ForceTorqueUtility.scgxml
+)
+
+# adds all existing state headers and sources to CMake
+armarx_generate_statechart_cmake_lists()
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
diff --git a/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceFlank.cpp b/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceFlank.cpp
new file mode 100644
index 000000000..d36cedf80
--- /dev/null
+++ b/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceFlank.cpp
@@ -0,0 +1,76 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * 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 RobotAPI::ForceTorqueUtility
+ * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date 2018
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <thread>
+
+#include <RobotAPI/libraries/core/FramedPose.h>
+
+#include "DetectForceFlank.h"
+
+using namespace armarx;
+using namespace ForceTorqueUtility;
+
+// DO NOT EDIT NEXT LINE
+DetectForceFlank::SubClassRegistry DetectForceFlank::Registry(DetectForceFlank::GetName(), &DetectForceFlank::CreateInstance);
+
+void DetectForceFlank::run()
+{
+ ARMARX_CHECK_EXPRESSION(in.getTriggerOnDecreasingForceVectorLength() || in.getTriggerOnIncreasingForceVectorLength());
+
+ const float forceThreshold = in.getForceVectorLengthThreshold();
+ DatafieldRefPtr forceDf = DatafieldRefPtr::dynamicCast(getForceTorqueObserver()->getForceDatafield(in.getFTDatafieldName()));
+ const Eigen::Vector3f weights = in.getForceWeights()->toEigen();
+ const float initialForce = forceDf->getDataField()->get<FramedDirection>()->toEigen().cwiseProduct(weights).norm();
+
+ while (!isRunningTaskStopped()) // stop run function if returning true
+ {
+
+ const float force = forceDf->getDataField()->get<FramedDirection>()->toEigen().cwiseProduct(weights).norm();
+ ARMARX_INFO << deactivateSpam(1) << VAROUT(force) << " " << VAROUT(initialForce);
+ if (
+ (
+ in.getTriggerOnDecreasingForceVectorLength() &&
+ force < initialForce &&
+ initialForce - force >= forceThreshold
+ ) ||
+ (
+ in.getTriggerOnIncreasingForceVectorLength() &&
+ force > initialForce &&
+ force - initialForce >= forceThreshold
+ )
+ )
+ {
+ emitSuccess();
+ return;
+ }
+ std::this_thread::sleep_for(std::chrono::milliseconds{10});
+ }
+ emitFailure();
+}
+
+
+// DO NOT EDIT NEXT FUNCTION
+XMLStateFactoryBasePtr DetectForceFlank::CreateInstance(XMLStateConstructorParams stateData)
+{
+ return XMLStateFactoryBasePtr(new DetectForceFlank(stateData));
+}
+
diff --git a/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceFlank.h b/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceFlank.h
new file mode 100644
index 000000000..2ac702f87
--- /dev/null
+++ b/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceFlank.h
@@ -0,0 +1,55 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * 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 RobotAPI::ForceTorqueUtility
+ * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date 2018
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+
+#include <RobotAPI/statecharts/ForceTorqueUtility/DetectForceFlank.generated.h>
+
+namespace armarx
+{
+ namespace ForceTorqueUtility
+ {
+ class DetectForceFlank :
+ public DetectForceFlankGeneratedBase < DetectForceFlank >
+ {
+ public:
+ DetectForceFlank(const XMLStateConstructorParams& stateData):
+ XMLStateTemplate < DetectForceFlank > (stateData), DetectForceFlankGeneratedBase < DetectForceFlank > (stateData)
+ {
+ }
+
+ // inherited from StateBase
+ void onEnter() override {}
+ void run() override;
+ void onExit() override {}
+
+ // static functions for AbstractFactory Method
+ static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
+ static SubClassRegistry Registry;
+
+ // DO NOT INSERT ANY CLASS MEMBERS,
+ // use stateparameters instead,
+ // if classmember are neccessary nonetheless, reset them in onEnter
+ };
+ }
+}
+
+
diff --git a/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceFlank.xml b/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceFlank.xml
new file mode 100644
index 000000000..15db8ac43
--- /dev/null
+++ b/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceFlank.xml
@@ -0,0 +1,29 @@
+<?xml version="1.0" encoding="utf-8"?>
+<State version="1.2" name="DetectForceFlank" uuid="177EFD66-2F0B-4544-A9AD-0B89A9C9E5E3" width="800" height="600" type="Normal State">
+ <InputParameters>
+ <Parameter name="FTDatafieldName" type="::armarx::StringVariantData" docType="string" optional="no"/>
+ <Parameter name="ForceVectorLengthThreshold" type="::armarx::FloatVariantData" docType="float" optional="no">
+ <DefaultValue profile="Armar6Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":15}}' docValue="15"/>
+ </Parameter>
+ <Parameter name="ForceWeights" type="::armarx::Vector3Base" docType="Vector3" optional="no">
+ <DefaultValue profile="Armar6Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::Vector3Base","value":{"x":1.0,"y":1.0,"z":1.0}}}' docValue="1\n1\n1"/>
+ </Parameter>
+ <Parameter name="TriggerOnDecreasingForceVectorLength" type="::armarx::BoolVariantData" docType="bool" optional="no">
+ <DefaultValue profile="Armar6Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::BoolVariantData","value":true}}' docValue="True"/>
+ </Parameter>
+ <Parameter name="TriggerOnIncreasingForceVectorLength" type="::armarx::BoolVariantData" docType="bool" optional="no">
+ <DefaultValue profile="Armar6Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::BoolVariantData","value":true}}' docValue="True"/>
+ </Parameter>
+ </InputParameters>
+ <OutputParameters/>
+ <LocalParameters/>
+ <Substates/>
+ <Events>
+ <Event name="Failure">
+ <Description>Event for statechart-internal failures or optionally user-code failures</Description>
+ </Event>
+ <Event name="Success"/>
+ </Events>
+ <Transitions/>
+</State>
+
diff --git a/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.cpp b/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.cpp
new file mode 100644
index 000000000..4061852d7
--- /dev/null
+++ b/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.cpp
@@ -0,0 +1,118 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * 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 RobotAPI::ForceTorqueUtility
+ * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date 2018
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <thread>
+
+#include "DetectForceSpike.h"
+
+#include <RobotAPI/libraries/core/FramedPose.h>
+
+using namespace armarx;
+using namespace ForceTorqueUtility;
+
+// DO NOT EDIT NEXT LINE
+DetectForceSpike::SubClassRegistry DetectForceSpike::Registry(DetectForceSpike::GetName(), &DetectForceSpike::CreateInstance);
+
+
+
+void DetectForceSpike::run()
+{
+ ARMARX_CHECK_EXPRESSION(in.getTriggerInAxisDirection() || in.getTriggerCounterAxisDirection());
+ ARMARX_CHECK_GREATER_EQUAL(in.getWindowSizeMs(), 10);
+ ARMARX_CHECK_GREATER_EQUAL(in.getWindowSizeMs(), 10);
+
+ const float forceThreshold = in.getForceThreshold();
+ ARMARX_CHECK_GREATER(forceThreshold, 0);
+
+ DatafieldRefPtr forceDf = DatafieldRefPtr::dynamicCast(getForceTorqueObserver()->getForceDatafield(in.getFTDatafieldName()));
+ const Eigen::Vector3f weights = in.getForceWeights()->toEigen();
+ const Eigen::Vector3f axis = in.getAxis()->toEigen().normalized();
+ auto getForceAlongAxis = [&]
+ {
+ return forceDf->getDataField()->get<FramedDirection>()->toEigen().cwiseProduct(weights).transpose() * axis;
+ };
+
+ in.getTriggerInAxisDirection();
+ in.getTriggerCounterAxisDirection();
+ std::deque<float> spikes(in.getWindowSizeMs()/10, getForceAlongAxis());
+
+ while (!isRunningTaskStopped()) // stop run function if returning true
+ {
+ spikes.push_back(getForceAlongAxis());
+ spikes.pop_front();
+
+ float refValue = spikes.at(0);
+ bool low = true;
+ bool risingEdgeDetected = false;
+ bool fallingEdgeDetected = false;
+
+ bool f2rDetected = false;
+ bool r2fDetected = false;
+
+ for(const float spike : spikes)
+ {
+ if(low)
+ {
+ if(spike < refValue)
+ {
+ refValue = spike;
+ }
+ else if(spike > refValue + forceThreshold)
+ {
+ low = false;
+ risingEdgeDetected = true;
+ f2rDetected |= fallingEdgeDetected;
+ }
+ }
+
+ if(!low)
+ {
+ if(spike > refValue)
+ {
+ refValue = spike;
+ }
+ else if(spike < refValue - forceThreshold)
+ {
+ low = true;
+ fallingEdgeDetected = true;
+ r2fDetected |= risingEdgeDetected;
+ }
+ }
+ }
+ if ((in.getTriggerInAxisDirection() && r2fDetected) || (in.getTriggerCounterAxisDirection() && f2rDetected))
+ {
+ emitSuccess();
+ return;
+ }
+
+ std::this_thread::sleep_for(std::chrono::milliseconds{10});
+ }
+ emitFailure();
+}
+
+
+// DO NOT EDIT NEXT FUNCTION
+XMLStateFactoryBasePtr DetectForceSpike::CreateInstance(XMLStateConstructorParams stateData)
+{
+ return XMLStateFactoryBasePtr(new DetectForceSpike(stateData));
+}
+
diff --git a/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.h b/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.h
new file mode 100644
index 000000000..03bd9170b
--- /dev/null
+++ b/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.h
@@ -0,0 +1,55 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * 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 RobotAPI::ForceTorqueUtility
+ * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date 2018
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+
+#include <RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.generated.h>
+
+namespace armarx
+{
+ namespace ForceTorqueUtility
+ {
+ class DetectForceSpike :
+ public DetectForceSpikeGeneratedBase < DetectForceSpike >
+ {
+ public:
+ DetectForceSpike(const XMLStateConstructorParams& stateData):
+ XMLStateTemplate < DetectForceSpike > (stateData), DetectForceSpikeGeneratedBase < DetectForceSpike > (stateData)
+ {
+ }
+
+ // inherited from StateBase
+ void onEnter() override {}
+ void run() override;
+ void onExit() override {}
+
+ // static functions for AbstractFactory Method
+ static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
+ static SubClassRegistry Registry;
+
+ // DO NOT INSERT ANY CLASS MEMBERS,
+ // use stateparameters instead,
+ // if classmember are neccessary nonetheless, reset them in onEnter
+ };
+ }
+}
+
+
diff --git a/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.xml b/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.xml
new file mode 100644
index 000000000..5bb2523df
--- /dev/null
+++ b/source/RobotAPI/statecharts/ForceTorqueUtility/DetectForceSpike.xml
@@ -0,0 +1,38 @@
+<?xml version="1.0" encoding="utf-8"?>
+<State version="1.2" name="DetectForceSpike" uuid="DCB1C3B2-FBBB-49ED-B0D0-70C35011E5E3" width="800" height="600" type="Normal State">
+ <InputParameters>
+ <Parameter name="Axis" type="::armarx::Vector3Base" docType="Vector3" optional="no">
+ <DefaultValue profile="Armar6Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::Vector3Base","value":{"x":0.0,"y":0.0,"z":-1.0}}}' docValue="0\n0\n-1"/>
+ </Parameter>
+ <Parameter name="FTDatafieldName" type="::armarx::StringVariantData" docType="string" optional="no"/>
+ <Parameter name="ForceThreshold" type="::armarx::FloatVariantData" docType="float" optional="no">
+ <DefaultValue profile="Armar6Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":20}}' docValue="20"/>
+ </Parameter>
+ <Parameter name="ForceWeights" type="::armarx::Vector3Base" docType="Vector3" optional="no">
+ <DefaultValue profile="Armar6Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::Vector3Base","value":{"x":1.0,"y":1.0,"z":1.0}}}' docValue="1\n1\n1"/>
+ </Parameter>
+ <Parameter name="MinDeltaThreshold" type="::armarx::FloatVariantData" docType="float" optional="no">
+ <DefaultValue profile="Armar6Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":1}}' docValue="1"/>
+ </Parameter>
+ <Parameter name="TriggerCounterAxisDirection" type="::armarx::BoolVariantData" docType="bool" optional="no">
+ <DefaultValue profile="Armar6Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::BoolVariantData","value":false}}' docValue="False"/>
+ </Parameter>
+ <Parameter name="TriggerInAxisDirection" type="::armarx::BoolVariantData" docType="bool" optional="no">
+ <DefaultValue profile="Armar6Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::BoolVariantData","value":true}}' docValue="True"/>
+ </Parameter>
+ <Parameter name="WindowSizeMs" type="::armarx::IntVariantData" docType="int" optional="no">
+ <DefaultValue profile="Armar6Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::IntVariantData","value":300}}' docValue="300"/>
+ </Parameter>
+ </InputParameters>
+ <OutputParameters/>
+ <LocalParameters/>
+ <Substates/>
+ <Events>
+ <Event name="Failure">
+ <Description>Event for statechart-internal failures or optionally user-code failures</Description>
+ </Event>
+ <Event name="Success"/>
+ </Events>
+ <Transitions/>
+</State>
+
diff --git a/source/RobotAPI/statecharts/ForceTorqueUtility/ForceTorqueUtility.scgxml b/source/RobotAPI/statecharts/ForceTorqueUtility/ForceTorqueUtility.scgxml
new file mode 100644
index 000000000..b9bcb4fc6
--- /dev/null
+++ b/source/RobotAPI/statecharts/ForceTorqueUtility/ForceTorqueUtility.scgxml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<StatechartGroup name="ForceTorqueUtility" package="RobotAPI" generateContext="true">
+ <Proxies>
+ <Proxy value="RobotAPIInterfaces.forceTorqueObserver"/>
+ </Proxies>
+ <Configurations>
+ <Configuration profileName="Armar6Real">
+ArmarX.ForceTorqueUtilityRemoteStateOfferer.ForceTorqueUnitObserverName = Armar6ForceTorqueObserver
+</Configuration>
+ </Configurations>
+ <State filename="DetectForceFlank.xml" visibility="public"/>
+ <State filename="DetectForceSpike.xml" visibility="public"/>
+</StatechartGroup>
+
diff --git a/source/RobotAPI/statecharts/ForceTorqueUtility/ForceTorqueUtilityRemoteStateOfferer.cpp b/source/RobotAPI/statecharts/ForceTorqueUtility/ForceTorqueUtilityRemoteStateOfferer.cpp
new file mode 100644
index 000000000..91dc4d2a8
--- /dev/null
+++ b/source/RobotAPI/statecharts/ForceTorqueUtility/ForceTorqueUtilityRemoteStateOfferer.cpp
@@ -0,0 +1,66 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * 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 RobotAPI::ForceTorqueUtility::ForceTorqueUtilityRemoteStateOfferer
+ * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date 2018
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "ForceTorqueUtilityRemoteStateOfferer.h"
+
+using namespace armarx;
+using namespace ForceTorqueUtility;
+
+// DO NOT EDIT NEXT LINE
+ForceTorqueUtilityRemoteStateOfferer::SubClassRegistry ForceTorqueUtilityRemoteStateOfferer::Registry(ForceTorqueUtilityRemoteStateOfferer::GetName(), &ForceTorqueUtilityRemoteStateOfferer::CreateInstance);
+
+
+
+ForceTorqueUtilityRemoteStateOfferer::ForceTorqueUtilityRemoteStateOfferer(StatechartGroupXmlReaderPtr reader) :
+ XMLRemoteStateOfferer < ForceTorqueUtilityStatechartContext > (reader)
+{
+}
+
+void ForceTorqueUtilityRemoteStateOfferer::onInitXMLRemoteStateOfferer()
+{
+
+}
+
+void ForceTorqueUtilityRemoteStateOfferer::onConnectXMLRemoteStateOfferer()
+{
+
+}
+
+void ForceTorqueUtilityRemoteStateOfferer::onExitXMLRemoteStateOfferer()
+{
+
+}
+
+// DO NOT EDIT NEXT FUNCTION
+std::string ForceTorqueUtilityRemoteStateOfferer::GetName()
+{
+ return "ForceTorqueUtilityRemoteStateOfferer";
+}
+
+// DO NOT EDIT NEXT FUNCTION
+XMLStateOffererFactoryBasePtr ForceTorqueUtilityRemoteStateOfferer::CreateInstance(StatechartGroupXmlReaderPtr reader)
+{
+ return XMLStateOffererFactoryBasePtr(new ForceTorqueUtilityRemoteStateOfferer(reader));
+}
+
+
+
diff --git a/source/RobotAPI/statecharts/ForceTorqueUtility/ForceTorqueUtilityRemoteStateOfferer.h b/source/RobotAPI/statecharts/ForceTorqueUtility/ForceTorqueUtilityRemoteStateOfferer.h
new file mode 100644
index 000000000..e1299f985
--- /dev/null
+++ b/source/RobotAPI/statecharts/ForceTorqueUtility/ForceTorqueUtilityRemoteStateOfferer.h
@@ -0,0 +1,52 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * 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 RobotAPI::ForceTorqueUtility
+ * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date 2018
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <ArmarXCore/statechart/xmlstates/XMLRemoteStateOfferer.h>
+#include "ForceTorqueUtilityStatechartContext.generated.h"
+
+namespace armarx
+{
+ namespace ForceTorqueUtility
+ {
+ class ForceTorqueUtilityRemoteStateOfferer :
+ virtual public XMLRemoteStateOfferer < ForceTorqueUtilityStatechartContext > // Change this statechart context if you need another context (dont forget to change in the constructor as well)
+ {
+ public:
+ ForceTorqueUtilityRemoteStateOfferer(StatechartGroupXmlReaderPtr reader);
+
+ // inherited from RemoteStateOfferer
+ void onInitXMLRemoteStateOfferer() override;
+ void onConnectXMLRemoteStateOfferer() override;
+ void onExitXMLRemoteStateOfferer() override;
+
+ // static functions for AbstractFactory Method
+ static std::string GetName();
+ static XMLStateOffererFactoryBasePtr CreateInstance(StatechartGroupXmlReaderPtr reader);
+ static SubClassRegistry Registry;
+
+
+ };
+ }
+}
+
--
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