improved remote robot sync performance

source/RobotAPI/components/RobotState/SharedRobotServants.cpp

@@ -472,6 +472,12 @@ namespace armarx
         return result;
     }
 
+    NameValueMap SharedRobotServant::getConfigAndPose(PoseBasePtr& globalPose, const Current& current)
+    {
+        globalPose = getGlobalPose(current);
+        return getConfig(current);
+    }
+
     TimestampBasePtr SharedRobotServant::getTimestamp(const Current&) const
     {
         return new TimestampVariant(updateTimestamp);

source/RobotAPI/components/RobotState/SharedRobotServants.h

@@ -138,6 +138,7 @@ namespace armarx
 
         virtual PoseBasePtr getGlobalPose(const Ice::Current& current = Ice::Current());
         NameValueMap getConfig(const Ice::Current& current = Ice::Current());
+        NameValueMap getConfigAndPose(PoseBasePtr& globalPose, const Ice::Current& current = Ice::Current());
         virtual void setGlobalPose(const PoseBasePtr& pose, const Ice::Current& current = Ice::Current());
 
         virtual float getScaling(const Ice::Current& = Ice::Current());

source/RobotAPI/interface/core/RobotState.ice

@@ -162,6 +162,7 @@ module armarx
         void setGlobalPose(PoseBase globalPose);
         PoseBase getGlobalPose();
         NameValueMap getConfig();
+        NameValueMap getConfigAndPose(out PoseBase globalPose);
 
         float getScaling();
     };

source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp

@@ -462,9 +462,9 @@ namespace armarx
             ARMARX_ERROR_S << "NULL data. Aborting..." << endl;
             return false;
         }
-
+        PoseBasePtr globalPose;
         RobotConfigPtr c(new RobotConfig(robot, "synchronizeLocalClone"));
-        NameValueMap jv = sharedRobotPrx->getConfig();
+        NameValueMap jv = sharedRobotPrx->getConfigAndPose(globalPose);
 
         for (NameValueMap::const_iterator it = jv.begin(); it != jv.end(); it++)
         {
@@ -479,7 +479,7 @@ namespace armarx
         }
 
         robot->setConfig(c);
-        auto pose = PosePtr::dynamicCast(sharedRobotPrx->getGlobalPose());
+        auto pose = PosePtr::dynamicCast(globalPose);
         robot->setGlobalPose(pose->toEigen());
         return true;
     }