added SpecializedSKillProxy that takes a ParamType

source/RobotAPI/libraries/skills/provider/SkillProxy.h

@@ -29,7 +29,7 @@ namespace armarx
             // Utiliy methods
             aron::data::DictPtr getDefaultParameters(const std::string& profileName = "root");
 
-        private:
+        protected:
             manager::dti::SkillManagerInterfacePrx manager;
             SkillDescription skillDescription;
         };

source/RobotAPI/libraries/skills/provider/SpecializedSkillProxy.cpp

+#include "SkillProxy.h"
+
+namespace armarx
+{
+    namespace skills
+    {
+    } // namespace skills
+} // namespace armarx

source/RobotAPI/libraries/skills/provider/SpecializedSkillProxy.h

+#pragma once
+
+#include "SkillProxy.h"
+
+namespace armarx
+{
+    namespace skills
+    {
+        template <class AronT>
+        class SpecializedSkillProxy : public SkillProxy
+        {
+        public:
+            using SkillProxy::SkillProxy;
+
+            // Provide a similar API as the skillprovider
+            TerminatedSkillStatusUpdate
+            executeSkill(const std::string& executorName, const AronT& params)
+            {
+                return SkillProxy::executeSkill(executorName, params.toAron());
+            }
+
+            SkillExecutionID
+            executeSkillAsync(const std::string& executorName, const AronT& params = nullptr)
+            {
+                return SkillProxy::executeSkillAsync(executorName, params.toAron());
+            }
+
+            // Utiliy methods
+            AronT
+            getDefaultParameters(const std::string& profileName = "root")
+            {
+                auto dict = SkillProxy::getDefaultParameters(profileName);
+                if (dict)
+                {
+                    return AronT::FromAron(dict);
+                }
+                return {};
+            }
+        };
+    } // namespace skills
+} // namespace armarx