HapticUnit.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 Lesser General Public License as
 * published by the Free Software Foundation; either version 2 of
 * the License, or (at your option) any later version.
 *
 * 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 Lesser 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    ArmarXCore::units
 * @author     Peter Kaiser <peter dot kaiser at kit dot edu>
 * @date       2014
 * @copyright  http://www.gnu.org/licenses/gpl.txt
 *             GNU General Public License
 */

#include "HapticUnit.h"

using namespace armarx;

void HapticUnit::onInitComponent()
{
    listenerName = "HapticValues";
    offeringTopic(listenerName);
    onInitForceTorqueUnit();
}

void HapticUnit::onConnectComponent()
{
    listenerPrx = getTopic<HapticUnitListenerPrx>(listenerName);
    onStartHapticUnit();
}

void HapticUnit::onExitComponent()
{
    onExitHapticUnit();
}

PropertyDefinitionsPtr HapticUnit::createPropertyDefinitions()
{
    return PropertyDefinitionsPtr(new HapticUnitPropertyDefinitions(getConfigIdentifier()));
}