From d11c236fab8591369aa982ccc9716fe249c1f195 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 12 Jan 2023 20:11:20 +0100
Subject: [PATCH] SkillProviderComponentPlugin: addSkill with template param
---
.../skills/provider/SkillProviderComponentPlugin.h | 13 +++++++++++++
1 file changed, 13 insertions(+)
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
index c018ecd9a..d6d8a49a9 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
@@ -4,6 +4,7 @@
#include <queue>
#include <thread>
#include <functional>
+#include <type_traits>
#include <ArmarXCore/core/ComponentPlugin.h>
#include <ArmarXCore/core/ManagedIceObject.h>
@@ -66,6 +67,18 @@ namespace armarx
void addSkill(const skills::LambdaSkill::FunT&, const skills::SkillDescription&);
void addSkill(std::unique_ptr<skills::Skill>&&);
+ template<typename T>
+ T* addSkill()
+ {
+ static_assert(std::is_base_of<skills::Skill, T>::value, "T must be derived from skills::Skill!");
+ static_assert(std::is_default_constructible<T>::value, "T must be default constructible!");
+
+ auto skill = std::make_unique<T>();
+ auto* skillPtr = skill.get();
+ addSkill(std::move(skill));
+ return static_cast<T*>(skillPtr);
+ }
+
private:
armarx::plugins::SkillProviderComponentPlugin* plugin = nullptr;
--
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