From 929e7894f16d47db62fd5c89c612231c727d6d77 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 20 Nov 2023 18:55:38 +0100
Subject: [PATCH] Add template overload of callSubskillWithParameters()
---
source/RobotAPI/libraries/skills/core/Skill.h | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/source/RobotAPI/libraries/skills/core/Skill.h b/source/RobotAPI/libraries/skills/core/Skill.h
index dac1767a0..8e42844ee 100644
--- a/source/RobotAPI/libraries/skills/core/Skill.h
+++ b/source/RobotAPI/libraries/skills/core/Skill.h
@@ -200,6 +200,18 @@ namespace armarx
callSubskillWithParameters(const SkillID& skillId,
const aron::data::DictPtr& parameters);
+ /**
+ * @brief Call a subskill with the given ID and parameters.
+ * @param skillId The subskill's ID.
+ * @param parameters The parameters.
+ * @return The terminated skill status update.
+ */
+ template <class ParameterT>
+ std::optional<TerminatedSkillStatusUpdate>
+ callSubskillWithParameters(const SkillID& skillId, const ParameterT& parameters)
+ {
+ return callSubskillWithParameters(skillId, parameters.toAron());
+ }
/**
* @brief Call a subskill with parameters based on the default parameters.
--
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