[giskard] forgot to commit the PM file

Author: gaya-

cram_external_interfaces/cram_giskard/src/process-module.lisp

@@ -0,0 +1,85 @@
+;;;
+;;; Copyright (c) 2016, Gayane Kazhoyan <[email protected]>
+;;; All rights reserved.
+;;;
+;;; Redistribution and use in source and binary forms, with or without
+;;; modification, are permitted provided that the following conditions are met:
+;;;
+;;;     * Redistributions of source code must retain the above copyright
+;;;       notice, this list of conditions and the following disclaimer.
+;;;     * Redistributions in binary form must reproduce the above copyright
+;;;       notice, this list of conditions and the following disclaimer in the
+;;;       documentation and/or other materials provided with the distribution.
+;;;     * Neither the name of the Institute for Artificial Intelligence/
+;;;       Universitaet Bremen nor the names of its contributors may be used to
+;;;       endorse or promote products derived from this software without
+;;;       specific prior written permission.
+;;;
+;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+;;; POSSIBILITY OF SUCH DAMAGE.
+
+(in-package :giskard)
+
+(cpm:def-process-module giskard-pm (motion-designator)
+  (destructuring-bind (command argument-1 &rest rest-args)
+      (desig:reference motion-designator)
+    (ecase command
+      (cram-common-designators:move-tcp
+       (giskard:call-arm-cartesian-action
+        :goal-pose-left argument-1
+        :goal-pose-right (first rest-args)
+        :collision-mode (second rest-args)
+        :collision-object-b (third rest-args)
+        :collision-object-b-link (fourth rest-args)
+        :collision-object-a (fifth rest-args)
+        :move-base (sixth rest-args)
+        :prefer-base (seventh rest-args)
+        :align-planes-left (eighth rest-args)
+        :align-planes-right (ninth rest-args)))
+      (cram-common-designators:move-joints
+       (giskard:call-arm-joint-action
+        :goal-configuration-left argument-1
+        :goal-configuration-right (first rest-args)
+        :align-planes-left (second rest-args)
+        :align-planes-right (third rest-args)))
+      (cram-common-designators:move-arm-pull
+       (giskard:call-environment-manipulation-action
+        :open-or-close :open
+        :arm argument-1
+        :handle-link (fifth rest-args)
+        :joint-angle (second rest-args)
+        :prefer-base (eighth rest-args)))
+      (cram-common-designators:move-arm-push
+       (giskard:call-environment-manipulation-action
+        :open-or-close :close
+        :arm argument-1
+        :handle-link (fifth rest-args)
+        :joint-angle (second rest-args)
+        :prefer-base (eighth rest-args)))
+      (cram-common-designators:move-head
+       (when argument-1
+         (giskard:call-neck-action
+          :goal-pose argument-1))
+       (when (car rest-args)
+         (giskard:call-neck-joint-action
+          :goal-configuration (car rest-args))))
+      (cram-common-designators:move-base
+       (giskard:call-base-action
+        :goal-pose argument-1))
+      (cram-common-designators:move-torso
+       (giskard:call-torso-action
+        :goal-joint-state argument-1))
+      (cram-common-designators:move-gripper-joint
+       (giskard:call-gripper-action
+        :action-type-or-position argument-1
+        :arm (first rest-args)
+        :effort (second rest-args))))))