adding skills LookForObject and LookForObjectWithKinematicUnit

source/armarx/view_selection/CMakeLists.txt

@@ -18,3 +18,5 @@ add_subdirectory(components)
 # ===================================
 
 add_subdirectory(statecharts)
+
+add_subdirectory(skills)
\ No newline at end of file

source/armarx/view_selection/skills/CMakeLists.txt

+# Comment in to add an ARON library.
+armarx_add_aron_library(skills_aron
+    ARON_FILES
+        aron/LookForObject.xml
+)
+
+armarx_add_library(skills
+    SOURCES
+        skills.cpp
+        LookForObjectWithKinematicUnit.cpp
+        LookForObject.cpp
+    HEADERS
+        skills.h
+        LookForObjectWithKinematicUnit.h
+        LookForObject.h
+    DEPENDENCIES_PUBLIC
+        # ArmarXCore
+        ArmarXCoreInterfaces
+        ArmarXCore
+        # RobotAPI
+        RobotAPISkills
+
+        # view_selection
+        # view_selection::skills_aron
+    # DEPENDENCIES_PRIVATE
+        # ...
+    # DEPENDENCIES_INTERFACE
+        # ...
+    # DEPENDENCIES_LEGACY_PUBLIC
+        # ...
+    # DEPENDENCIES_LEGACY_PRIVATE
+        # ...
+    # DEPENDENCIES_LEGACY_INTERFACE
+        # ...
+)
+
+# Comment in to enable tests.
+# armarx_add_test(skills_test
+#     TEST_FILES
+#         test/skills_test.cpp
+#     DEPENDENCIES
+#         view_selection::skills
+# )

source/armarx/view_selection/skills/LookForObject.cpp

+#include "LookForObject.h"
+
+#include <memory>
+
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+
+
+
+namespace armarx::view_selection::skills
+{
+    LookForObject::LookForObject() : Base(DefaultSkillDescription())
+    {
+    }
+
+    void
+    LookForObject::connect(const Services& srv)
+    {
+        srv_.emplace(srv);
+    }
+
+    ::armarx::skills::Skill::InitResult
+    LookForObject::init(const Base::SpecializedInitInput& in)
+    {
+        return ::armarx::skills::Skill::InitResult{
+            .status = ::armarx::skills::TerminatedSkillStatus::Succeeded};
+    }
+
+    ::armarx::skills::Skill::MainResult
+    LookForObject::main(const Base::SpecializedMainInput& in)
+    {
+
+        return ::armarx::skills::Skill::MainResult{
+            .status = ::armarx::skills::TerminatedSkillStatus::Succeeded};
+    }
+
+
+    void
+    LookForObject::onStopRequested()
+    {
+        
+    }
+
+
+} // namespace armarx::view_selection::skills

source/armarx/view_selection/skills/LookForObject.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2023
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXCore/core/time/Duration.h>
+
+#include <RobotAPI/libraries/skills/provider/Skill.h>
+#include <RobotAPI/libraries/skills/provider/SpecializedSkill.h>
+
+#include <armarx/view_selection/skills/aron/LookForObject.aron.generated.h>
+#include <armarx/view_selection/skills/constants.h>
+
+namespace armarx::view_selection::skills
+{
+    class LookForObject :
+        virtual public armarx::skills::SpecializedSkill<arondto::LookForObjectParams>
+    {
+    public:
+        using Params = arondto::LookForObjectParams;
+        using Base = ::armarx::skills::SpecializedSkill<Params>;
+
+
+        struct Services
+        {
+            // armem::client::MemoryNameSystem& memoryNameSystem;
+        };
+
+        LookForObject();
+
+        void connect(const Services& srv);
+
+    private:
+        ::armarx::skills::Skill::InitResult init(const Base::SpecializedInitInput& in) override;
+
+        ::armarx::skills::Skill::MainResult main(const Base::SpecializedMainInput& in) override;
+
+        void onStopRequested() override;
+
+
+    public:
+        static armarx::skills::SkillDescription
+        DefaultSkillDescription()
+        {
+            return {constants::skill_names::LookForObject,
+                    "",
+                    {},
+                    armarx::core::time::Duration(),
+                    Params::ToAronType()};
+        }
+
+    protected:
+    private:
+        std::optional<Services> srv_;
+
+        // will be initialized in "init()"
+    };
+
+} // namespace armarx::view_selection::skills

source/armarx/view_selection/skills/LookForObjectWithKinematicUnit.cpp

+#include "LookForObjectWithKinematicUnit.h"
+
+#include <memory>
+
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+
+
+namespace armarx::view_selection::skills
+{
+    LookForObjectWithKinematicUnit::LookForObjectWithKinematicUnit() : Base(DefaultSkillDescription())
+    {
+    }
+
+    void
+    LookForObjectWithKinematicUnit::connect(const Services& srv)
+    {
+        srv_.emplace(srv);
+    }
+
+    ::armarx::skills::Skill::InitResult
+    LookForObjectWithKinematicUnit::init(const Base::SpecializedInitInput& in)
+    {
+        return ::armarx::skills::Skill::InitResult{
+            .status = ::armarx::skills::TerminatedSkillStatus::Succeeded};
+    }
+
+    ::armarx::skills::Skill::MainResult
+    LookForObjectWithKinematicUnit::main(const Base::SpecializedMainInput& in)
+    {
+        // TODO(Nagi): implement
+
+        return ::armarx::skills::Skill::MainResult{
+            .status = ::armarx::skills::TerminatedSkillStatus::Succeeded};
+    }
+
+
+    void
+    LookForObjectWithKinematicUnit::onStopRequested()
+    {
+        
+    }
+
+
+} // namespace armarx::view_selection::skills

source/armarx/view_selection/skills/LookForObjectWithKinematicUnit.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2023
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXCore/core/time/Duration.h>
+
+#include <RobotAPI/libraries/skills/provider/Skill.h>
+#include <RobotAPI/libraries/skills/provider/SpecializedSkill.h>
+
+#include <armarx/view_selection/skills/aron/LookForObject.aron.generated.h>
+#include <armarx/view_selection/skills/constants.h>
+
+namespace armarx::view_selection::skills
+{
+    class LookForObjectWithKinematicUnit :
+        virtual public armarx::skills::SpecializedSkill<arondto::LookForObjectParams>
+    {
+    public:
+        using Params = arondto::LookForObjectParams;
+        using Base = ::armarx::skills::SpecializedSkill<Params>;
+
+
+        struct Services
+        {
+            // armem::client::MemoryNameSystem& memoryNameSystem;
+        };
+
+        LookForObjectWithKinematicUnit();
+
+        void connect(const Services& srv);
+
+    private:
+        ::armarx::skills::Skill::InitResult init(const Base::SpecializedInitInput& in) override;
+
+        ::armarx::skills::Skill::MainResult main(const Base::SpecializedMainInput& in) override;
+
+        void onStopRequested() override;
+
+
+    public:
+        static armarx::skills::SkillDescription
+        DefaultSkillDescription()
+        {
+            return {constants::skill_names::LookForObjectWithKinematicUnit,
+                    "",
+                    {},
+                    armarx::core::time::Duration(),
+                    Params::ToAronType()};
+        }
+
+    protected:
+    private:
+        std::optional<Services> srv_;
+
+        // will be initialized in "init()"
+    };
+
+} // namespace armarx::view_selection::skills

source/armarx/view_selection/skills/aron/LookForObject.xml

+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+    <AronIncludes>
+    </AronIncludes>
+
+    <GenerateTypes>
+        <Object name='armarx::view_selection::skills::arondto::LookForObjectParams'>
+
+            <ObjectChild key='location'>
+                <string />
+            </ObjectChild>
+
+        </Object>
+    </GenerateTypes>
+</AronTypeDefinition>

source/armarx/view_selection/skills/constants.h

+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2023
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+namespace armarx::view_selection::skills::constants 
+{
+    inline const std::string ViewSelectionSkillProviderName = "ViewSelectionSkillProvider";
+}
+
+namespace armarx::view_selection::skills::constants::skill_names 
+{
+
+    inline const std::string LookForObjectWithKinematicUnit = "LookForObjectWithKinematicUnit";
+    inline const std::string LookForObject = "LookForObject";
+
+} // namespace armarx::view_selection::skills::constants::skill_names

source/armarx/view_selection/skills/skills.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    view_selection::ArmarXObjects::skills
+ * @author     armar-user ( armar6 at kit )
+ * @date       2023
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "skills.h"
+
+namespace armarx::view_selection::skills
+{
+
+}

source/armarx/view_selection/skills/skills.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    view_selection::ArmarXObjects::skills
+ * @author     armar-user ( armar6 at kit )
+ * @date       2023
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+
+namespace armarx::view_selection::skills
+{
+    /**
+    * @defgroup Library-skills skills
+    * @ingroup view_selection
+    * A description of the library skills.
+    *
+    * @class skills
+    * @ingroup Library-skills
+    * @brief Brief description of class skills.
+    *
+    * Detailed description of class skills.
+    */
+    class skills
+    {
+    public:
+
+    };
+
+}

source/armarx/view_selection/skills/test/skills_test.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    view_selection::ArmarXObjects::skills
+ * @author     armar-user ( armar6 at kit )
+ * @date       2023
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE view_selection::ArmarXLibraries::skills
+
+#define ARMARX_BOOST_TEST
+
+#include <view_selection/Test.h>
+#include "../skills.h"
+
+#include <iostream>
+
+BOOST_AUTO_TEST_CASE(testExample)
+{
+
+    BOOST_CHECK_EQUAL(true, true);
+}