describe hand state

source/RobotAPI/components/units/HandUnit.cpp

@@ -143,7 +143,7 @@ void HandUnit::setShape(const std::string& shapeName, const Ice::Current& c)
 
 void HandUnit::setShapeWithObjectInstance(const std::string& shapeName, const std::string& objectInstanceName, const Ice::Current& c)
 {
-    ARMARX_WARNING <<"setShapeWithObjectInstance Function not implemented!";
+    ARMARX_WARNING << "setShapeWithObjectInstance Function not implemented!";
 }
 
 
@@ -213,3 +213,8 @@ void armarx::HandUnit::setJointAngles(const armarx::NameValueMap& targetJointAng
 {
 
 }
+
+std::string HandUnit::describeHandState(const Ice::Current&)
+{
+    return "not implemented";
+}

source/RobotAPI/components/units/HandUnit.h

@@ -143,6 +143,8 @@ namespace armarx
         void setObjectReleased(const std::string& objectName, const Ice::Current&);
         void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current&);
 
+        std::string describeHandState(const Ice::Current&);
+
         /**
          * \see armarx::PropertyUser::createPropertyDefinitions()
          */

source/RobotAPI/interface/units/HandUnitInterface.ice

@@ -57,6 +57,7 @@ module armarx
         NameValueMap getShapeJointValues(string shapeName);
         NameValueMap getCurrentJointValues();
         string getHandName();
+        string describeHandState();
 
         /**
          * setObjectGrasped informs the hand unit that an object has been successfully grasped.