rename skill to 'PointAt'

source/armarx/control/components/control_skill_provider/Component.cpp

@@ -2,7 +2,7 @@
 
 #include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
-#include <armarx/control/pointing/skills/Pointing.h>
+#include <armarx/control/pointing/skills/PointAt.h>
 #include <armarx/control/skills/skills/MoveJointsToPosition.h>
 #include <armarx/control/skills/skills/MoveJointsWithVelocity.h>
 #include <armarx/control/skills/skills/RelaxHand.h>
@@ -79,9 +79,9 @@ namespace armarx::control::components::control_skill_provider
                 skillBlueprints.zeroTorque->connectTo(context);
             }
             {
-                armarx::control::pointing::skills::Pointing::Remote remote{
+                armarx::control::pointing::skills::PointAt::Remote remote{
                     properties.robotName, arviz, memoryNameSystem(), getTrajectoryPlayer()};
-                addSkillFactory<armarx::control::pointing::skills::Pointing>(remote);
+                addSkillFactory<armarx::control::pointing::skills::PointAt>(remote);
             }
         }
     }

source/armarx/control/pointing/aron/CMakeLists.txt

 armarx_add_aron_library(pointing_aron
     ARON_FILES
-        PointingParams.xml
+        Side.xml
+        PointAtParams.xml
 )

source/armarx/control/pointing/aron/PointingParams.xml → source/armarx/control/pointing/aron/PointAtParams.xml

 <?xml version="1.0" encoding="UTF-8" ?>
 <AronTypeDefinition>
-    <GenerateTypes>
 
-        <IntEnum name="::armarx::control::pointing::arondto::Side">
-            <EnumValue key="Left" value="0"/>
-            <EnumValue key="Right" value="1"/>
-        </IntEnum>
+    <AronIncludes>
+        <Include include="armarx/control/pointing/aron/Side.xml" />
+    </AronIncludes>
 
+    <GenerateTypes>
 
-        <!-- 'Pointing'-skill parameters -->
-        <Object name="::armarx::control::pointing::arondto::PointingParams">
+        <!-- 'PointAt'-skill parameters -->
+        <Object name="::armarx::control::pointing::arondto::PointAtParams">
 
             <!-- Side of the arm to point with -->
             <ObjectChild key="side">

source/armarx/control/pointing/aron/Side.xml

+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+    <GenerateTypes>
+
+        <IntEnum name="::armarx::control::pointing::arondto::Side">
+            <EnumValue key="Left" value="0"/>
+            <EnumValue key="Right" value="1"/>
+        </IntEnum>
+
+    </GenerateTypes>
+</AronTypeDefinition>

source/armarx/control/pointing/constants/constants.cpp

@@ -3,6 +3,6 @@
 namespace armarx::control::pointing
 {
     const std::string constants::ARVIZ_LAYER_NAME = "Pointing";
-    const std::string constants::POINTING_SKILL_NAME = "Pointing";
+    const std::string constants::POINT_AT_SKILL_NAME = "PointAt";
 
 } // namespace armarx::control::pointing

source/armarx/control/pointing/constants/constants.h

@@ -5,6 +5,6 @@
 namespace armarx::control::pointing::constants
 {
     extern const std::string ARVIZ_LAYER_NAME;
-    extern const std::string POINTING_SKILL_NAME;
+    extern const std::string POINT_AT_SKILL_NAME;
 
 } // namespace armarx::control::pointing::constants

source/armarx/control/pointing/skill_ids/skill_ids.cpp

@@ -4,6 +4,6 @@
 
 namespace armarx::control::pointing::skill_ids
 {
-    const armarx::skills::SkillID Pointing{.skillName = constants::POINTING_SKILL_NAME};
+    const armarx::skills::SkillID POINT_AT{.skillName = constants::POINT_AT_SKILL_NAME};
 
 } // namespace armarx::control::pointing::skill_ids

source/armarx/control/pointing/skill_ids/skill_ids.h

@@ -4,6 +4,6 @@
 
 namespace armarx::control::pointing::skill_ids
 {
-    extern const armarx::skills::SkillID Pointing;
+    extern const armarx::skills::SkillID POINT_AT;
 
 } // namespace armarx::control::pointing::skill_ids

source/armarx/control/pointing/skills/CMakeLists.txt

 armarx_add_library(pointing_skills
     SOURCES
-        Pointing.cpp
         aron_conversions.cpp
+        PointAt.cpp
 
     HEADERS
-        Pointing.h
         aron_conversions.h
+        PointAt.h
 
     DEPENDENCIES_PUBLIC
         # ArmarXCore

source/armarx/control/pointing/skills/Pointing.cpp → source/armarx/control/pointing/skills/PointAt.cpp

-#include "Pointing.h"
+#include "PointAt.h"
 
 #include <armarx/control/pointing/skill_ids/skill_ids.h>
 
@@ -8,7 +8,7 @@ namespace armarx::control::pointing::skills
 {
 
     armarx::skills::SkillDescription
-    Pointing::GetSkillDescription()
+    PointAt::GetSkillDescription()
     {
         ParamType defaultParams;
         defaultParams.side = core::Side::RIGHT;
@@ -17,19 +17,19 @@ namespace armarx::control::pointing::skills
         defaultParams.maxVelocity = 0.4;
         defaultParams.maxAcceleration = 0.3;
 
-        return armarx::skills::SkillDescription{.skillId = skill_ids::Pointing,
+        return armarx::skills::SkillDescription{.skillId = skill_ids::POINT_AT,
                                                 .description = "Lets the robot point at something.",
                                                 .rootProfileDefaults = defaultParams.toAron(),
                                                 .timeout = armarx::core::time::Duration::Minutes(1),
                                                 .parametersType = ParamType::ToAronType()};
     }
 
-    Pointing::Pointing(const Remote& remote) : Base(GetSkillDescription()), remote_(remote)
+    PointAt::PointAt(const Remote& remote) : Base(GetSkillDescription()), remote_(remote)
     {
     }
 
-    Pointing::MainResult
-    Pointing::main(const SpecializedMainInput& in)
+    PointAt::MainResult
+    PointAt::main(const SpecializedMainInput& in)
     {
         core::Pointing::Parameters parameters = fromAron(in.parameters);
         impl_.emplace(remote_);
@@ -49,13 +49,13 @@ namespace armarx::control::pointing::skills
     }
 
     void
-    Pointing::onStopRequested()
+    PointAt::onStopRequested()
     {
         impl_->abort();
     }
 
     void
-    Pointing::onTimeoutReached()
+    PointAt::onTimeoutReached()
     {
         impl_->abort();
     }

source/armarx/control/pointing/skills/Pointing.h → source/armarx/control/pointing/skills/PointAt.h

@@ -2,20 +2,20 @@
 
 #include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
-#include <armarx/control/pointing/aron/PointingParams.aron.generated.h>
+#include <armarx/control/pointing/aron/PointAtParams.aron.generated.h>
 #include <armarx/control/pointing/core/Pointing.h>
 
 namespace armarx::control::pointing::skills
 {
-    class Pointing : public armarx::skills::SimpleSpecializedSkill<arondto::PointingParams>
+    class PointAt : public armarx::skills::SimpleSpecializedSkill<arondto::PointAtParams>
     {
     public:
-        using Base = armarx::skills::SimpleSpecializedSkill<arondto::PointingParams>;
+        using Base = armarx::skills::SimpleSpecializedSkill<arondto::PointAtParams>;
 
         static armarx::skills::SkillDescription GetSkillDescription();
 
         using Remote = core::Pointing::Remote;
-        Pointing(const Remote&);
+        PointAt(const Remote&);
 
         MainResult main(const SpecializedMainInput& in) override;
 

source/armarx/control/pointing/skills/aron_conversions.cpp

@@ -19,7 +19,7 @@ namespace armarx::control::pointing
     }
 
     void
-    skills::fromAron(const arondto::PointingParams& dto, core::Pointing::Parameters& bo)
+    skills::fromAron(const arondto::PointAtParams& dto, core::Pointing::Parameters& bo)
     {
         fromAron(dto.side, bo.side);
         bo.frame = dto.frame;
@@ -30,7 +30,7 @@ namespace armarx::control::pointing
     }
 
     core::Pointing::Parameters
-    skills::fromAron(const arondto::PointingParams& dto)
+    skills::fromAron(const arondto::PointAtParams& dto)
     {
         core::Pointing::Parameters bo;
         fromAron(dto, bo);

source/armarx/control/pointing/skills/aron_conversions.h

 #pragma once
 
-#include <armarx/control/pointing/aron/PointingParams.aron.generated.h>
+#include <armarx/control/pointing/aron/PointAtParams.aron.generated.h>
 #include <armarx/control/pointing/core/Pointing.h>
 #include <armarx/control/pointing/core/Side.h>
 
@@ -8,7 +8,7 @@ namespace armarx::control::pointing::skills
 {
     void fromAron(const arondto::Side& dto, core::Side& bo);
 
-    void fromAron(const arondto::PointingParams& dto, core::Pointing::Parameters& bo);
-    core::Pointing::Parameters fromAron(const arondto::PointingParams& dto);
+    void fromAron(const arondto::PointAtParams& dto, core::Pointing::Parameters& bo);
+    core::Pointing::Parameters fromAron(const arondto::PointAtParams& dto);
 
 } // namespace armarx::control::pointing::skills