make it possible to enqueue Arviz layers

source/RobotAPI/components/ArViz/Client/Client.h

@@ -37,55 +37,93 @@ namespace armarx::viz
             return client;
         }
 
+        // ////////////////////////////////////////////////////////////////// //
+        //layer
         Layer layer(std::string const& name)
         {
             return Layer(componentName, name);
         }
 
-        void commit(std::initializer_list<Layer> const& layers)
+        template<class...Ts>
+        Layer layerContaining(std::string const& name, Ts&& ...elems)
         {
-            updates.clear();
-            std::transform(layers.begin(), layers.end(), std::back_inserter(updates),
-                           [](const auto & layer)
+            auto l = layer(name);
+            l.add(std::forward<Ts>(elems)...);
+            return l;
+        }
+
+        // ////////////////////////////////////////////////////////////////// //
+        //enqueue
+        void enqueueLayer(const Layer& l)
+        {
+            updates.emplace_back(l.data_);
+        }
+        void enqueueLayer(const Layer* l)
+        {
+            updates.emplace_back(l->data_);
+        }
+        void enqueueLayer(std::initializer_list<Layer> const& layers)
+        {
+            for (const auto& l : layers)
             {
-                return layer.data_;
-            });
-            topic->updateLayers(updates);
+                enqueueLayer(l);
+            }
+        }
+        void enqueueLayer(const std::vector<const Layer*>& layers)
+        {
+            for (const auto& l : layers)
+            {
+                enqueueLayer(l);
+            }
+        }
+        void enqueueLayer(const std::vector<Layer>& layers)
+        {
+            for (const auto& l : layers)
+            {
+                enqueueLayer(l);
+            }
+        }
+        template<class...Ts>
+        void enqueueLayerContaining(std::string const& name, Ts&& ...elems)
+        {
+            enqueueLayer(layerContaining(name, std::forward<Ts>(elems)...));
+        }
+        // ////////////////////////////////////////////////////////////////// //
+        //commit
+        void commit(std::initializer_list<Layer> const& layers)
+        {
+            enqueueLayer(layers);
+            commit();
         }
 
         void commit(Layer const& layer)
         {
-            commit({layer});
+            enqueueLayer(layer);
+            commit();
         }
 
         void commit(const std::vector<const Layer*>& layers)
         {
-            updates.clear();
-            std::transform(layers.begin(), layers.end(), std::back_inserter(updates),
-                           [](const auto & layerRef)
-            {
-                return layerRef->data_;
-            });
-            topic->updateLayers(updates);
+            enqueueLayer(layers);
+            commit();
         }
 
         void commit(const std::vector<Layer>& layers)
         {
-            updates.clear();
-            std::transform(layers.begin(), layers.end(), std::back_inserter(updates),
-                           [](const auto & layer)
-            {
-                return layer.data_;
-            });
+            enqueueLayer(layers);
+            commit();
+        }
+
+        void commit()
+        {
             topic->updateLayers(updates);
+            updates.clear();
         }
 
         template<class...Ts>
         void commitLayerContaining(std::string const& name, Ts&& ...elems)
         {
-            auto l = layer(name);
-            l.add(std::forward<Ts>(elems)...);
-            commit(l);
+            commit(layerContaining(name, std::forward<Ts>(elems)...));
         }
     private:
         std::string componentName;