TaskPostureSkill:: TaskPostureSkill(std::string const & name) : Skill(name) { declareSlot("eepos", &eepos_); declareSlot("posture", &posture_); }
GestureSkill:: GestureSkill(std::string const & name) : Skill(name), state_(STATE_OP_), eepos_task_(0), eeori_task_(0), posture_task_(0), joint_task_(0), eepos_goal_(0), eeori_goal_x_(0), eeori_goal_y_(0), eeori_goal_z_(0), posture_goal_(0), joint_goal_(0), eepos_(Vector::Zero(3)), eeori_x_(Vector::Zero(3)), eeori_y_(Vector::Zero(3)), eeori_z_(Vector::Zero(3)), posture_(Vector::Zero(7)), joint_pos_(Vector::Zero(7)), threshold_(-1), cur_row_(0), hold_count_(Vector::Zero(1)), count_(0), vel_threshold_(-1) { declareSlot("eepos", &eepos_task_); declareSlot("eeori", &eeori_task_); declareSlot("posture", &posture_task_); declareSlot("joint", &joint_task_); declareParameter("eepos", &eepos_); declareParameter("eeori_x", &eeori_x_); declareParameter("eeori_y", &eeori_y_); declareParameter("eeori_z", &eeori_z_); declareParameter("posture", &posture_); declareParameter("joint_positions", &joint_pos_); declareParameter("threshold", &threshold_); declareParameter("hold_count", &hold_count_); declareParameter("vel_threshold", &vel_threshold_); }
BaseMultiPos:: BaseMultiPos(std::string const & name) : Skill(name), ee_task_(0), ee_pos_(Vector::Zero(3)), threshold_(-1), vel_threshold_(-1), cur_row_(0), forward_(true) { declareSlot("eepos", &ee_task_); declareParameter("eepos", &ee_pos_); declareParameter("threshold", &threshold_); declareParameter("vel_threshold", &vel_threshold_); }