diff --git a/source/armarx/control/components/control_skill_provider/Component.cpp b/source/armarx/control/components/control_skill_provider/Component.cpp
index 7c2f9ceae6e69dc627391313008c42eae058d6a8..4ee78c8aa365f6e4cf2e4564f08c17cf36f21529 100644
--- a/source/armarx/control/components/control_skill_provider/Component.cpp
+++ b/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);
}
}
}
diff --git a/source/armarx/control/pointing/aron/CMakeLists.txt b/source/armarx/control/pointing/aron/CMakeLists.txt
index 93f1e1e4dc69d6e0172ede4a66b7b4dc58667fd2..9e34ee4fe23d8a72867a448524927b27a4b70adf 100644
--- a/source/armarx/control/pointing/aron/CMakeLists.txt
+++ b/source/armarx/control/pointing/aron/CMakeLists.txt
@@ -1,4 +1,5 @@
armarx_add_aron_library(pointing_aron
ARON_FILES
- PointingParams.xml
+ Side.xml
+ PointAtParams.xml
)
diff --git a/source/armarx/control/pointing/aron/PointingParams.xml b/source/armarx/control/pointing/aron/PointAtParams.xml
similarity index 83%
rename from source/armarx/control/pointing/aron/PointingParams.xml
rename to source/armarx/control/pointing/aron/PointAtParams.xml
index 5d668dd0bb5004880dfa5a15e73c0f7c32454a1f..8d883275fde01a673a3a6f4d87f15649c6ad30f0 100644
--- a/source/armarx/control/pointing/aron/PointingParams.xml
+++ b/source/armarx/control/pointing/aron/PointAtParams.xml
@@ -1,15 +1,14 @@
<?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">
diff --git a/source/armarx/control/pointing/aron/Side.xml b/source/armarx/control/pointing/aron/Side.xml
new file mode 100644
index 0000000000000000000000000000000000000000..13e188fe12ca3ab2e23ec86e36c1b802dca93eb6
--- /dev/null
+++ b/source/armarx/control/pointing/aron/Side.xml
@@ -0,0 +1,11 @@
+<?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>
diff --git a/source/armarx/control/pointing/constants/constants.cpp b/source/armarx/control/pointing/constants/constants.cpp
index 767d21bce99716f000a3e1bfb740af9710739724..427e1d27db143fc2eb6f2ad39f2e1098b5b68e68 100644
--- a/source/armarx/control/pointing/constants/constants.cpp
+++ b/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
diff --git a/source/armarx/control/pointing/constants/constants.h b/source/armarx/control/pointing/constants/constants.h
index 426db639e01e28c2ef7dcde1d24806dd510a2d76..e9f25fc1461f7d073351048f597b00c0e4382539 100644
--- a/source/armarx/control/pointing/constants/constants.h
+++ b/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
diff --git a/source/armarx/control/pointing/skill_ids/skill_ids.cpp b/source/armarx/control/pointing/skill_ids/skill_ids.cpp
index 427b208d45eacaca1330cea7d5f180402c119848..6f7b296b07cf12fe8f64d0eac431f31ceced88fd 100644
--- a/source/armarx/control/pointing/skill_ids/skill_ids.cpp
+++ b/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
diff --git a/source/armarx/control/pointing/skill_ids/skill_ids.h b/source/armarx/control/pointing/skill_ids/skill_ids.h
index a0a60170f0b8d4c9acc3090a88502692bcf3b622..8f3c345f2afd8fcd80c4670c08d0da3f217a8754 100644
--- a/source/armarx/control/pointing/skill_ids/skill_ids.h
+++ b/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
diff --git a/source/armarx/control/pointing/skills/CMakeLists.txt b/source/armarx/control/pointing/skills/CMakeLists.txt
index a8b04636300bf9d799036177480c4ac630528d06..ae2379247594309b6852f7ee0e34cc17baddf875 100644
--- a/source/armarx/control/pointing/skills/CMakeLists.txt
+++ b/source/armarx/control/pointing/skills/CMakeLists.txt
@@ -1,11 +1,11 @@
armarx_add_library(pointing_skills
SOURCES
- Pointing.cpp
aron_conversions.cpp
+ PointAt.cpp
HEADERS
- Pointing.h
aron_conversions.h
+ PointAt.h
DEPENDENCIES_PUBLIC
# ArmarXCore
diff --git a/source/armarx/control/pointing/skills/Pointing.cpp b/source/armarx/control/pointing/skills/PointAt.cpp
similarity index 83%
rename from source/armarx/control/pointing/skills/Pointing.cpp
rename to source/armarx/control/pointing/skills/PointAt.cpp
index c222c742f3af8e2044c0dcf13b22c9edfbe4a0e8..bc5ab4727bd630175001688b49e27e98269bea51 100644
--- a/source/armarx/control/pointing/skills/Pointing.cpp
+++ b/source/armarx/control/pointing/skills/PointAt.cpp
@@ -1,4 +1,4 @@
-#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();
}
diff --git a/source/armarx/control/pointing/skills/Pointing.h b/source/armarx/control/pointing/skills/PointAt.h
similarity index 75%
rename from source/armarx/control/pointing/skills/Pointing.h
rename to source/armarx/control/pointing/skills/PointAt.h
index f2374e357a54c97868d918ce0a187b49ae4190e1..ff3655fd36c53bb01985597340f7b0956103c998 100644
--- a/source/armarx/control/pointing/skills/Pointing.h
+++ b/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;
diff --git a/source/armarx/control/pointing/skills/aron_conversions.cpp b/source/armarx/control/pointing/skills/aron_conversions.cpp
index d9e47d78f76c3427479aca4c3151ad4b42072137..169587908ab77d7f8e693996ffbb23eb5642ccc4 100644
--- a/source/armarx/control/pointing/skills/aron_conversions.cpp
+++ b/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);
diff --git a/source/armarx/control/pointing/skills/aron_conversions.h b/source/armarx/control/pointing/skills/aron_conversions.h
index 95b98e7ec33eb4f2b80366b51926f4400e0ec991..f484127e072d9c770ff6f5bb8d41c2f65dbb8a27 100644
--- a/source/armarx/control/pointing/skills/aron_conversions.h
+++ b/source/armarx/control/pointing/skills/aron_conversions.h
@@ -1,6 +1,6 @@
#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