From 1472f430e1dcb0561ca3dc9ae03d5b33eb389211 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 22 Mar 2022 14:15:13 +0100
Subject: [PATCH] Update usage of time in armem_robot
---
.../armem_robot/aron_conversions.cpp | 8 +++----
.../RobotAPI/libraries/armem_robot/types.cpp | 23 +++++++++++++++----
source/RobotAPI/libraries/armem_robot/types.h | 21 ++++++-----------
3 files changed, 29 insertions(+), 23 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp b/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
index 0ab9ff1a4..5db2b5560 100644
--- a/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_robot/aron_conversions.cpp
@@ -53,14 +53,14 @@ namespace armarx::armem::robot
void fromAron(const arondto::RobotState& dto, RobotState& bo)
{
- bo.timestamp = dto.timestamp;
+ fromAron(dto.timestamp, bo.timestamp);
bo.globalPose.matrix() = dto.globalPose;
bo.jointMap = dto.jointMap;
}
void toAron(arondto::RobotState& dto, const RobotState& bo)
{
- dto.timestamp = bo.timestamp;
+ toAron(dto.timestamp, bo.timestamp);
dto.globalPose = bo.globalPose.matrix();
dto.jointMap = bo.jointMap;
}
@@ -97,14 +97,14 @@ namespace armarx::armem
void robot::fromAron(const objpose::arondto::ObjectPose& dto, RobotState& bo)
{
- bo.timestamp = dto.timestamp;
+ fromAron(dto.timestamp, bo.timestamp);
bo.globalPose = dto.objectPoseGlobal;
bo.jointMap = dto.objectJointValues;
}
void robot::toAron(objpose::arondto::ObjectPose& dto, const RobotState& bo)
{
- dto.timestamp = bo.timestamp;
+ toAron(dto.timestamp, bo.timestamp);
dto.objectPoseGlobal = bo.globalPose.matrix();
dto.objectJointValues = bo.jointMap;
}
diff --git a/source/RobotAPI/libraries/armem_robot/types.cpp b/source/RobotAPI/libraries/armem_robot/types.cpp
index 01847402c..6f09eee1a 100644
--- a/source/RobotAPI/libraries/armem_robot/types.cpp
+++ b/source/RobotAPI/libraries/armem_robot/types.cpp
@@ -1,11 +1,24 @@
#include "types.h"
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
namespace armarx::armem::robot
{
- std::ostream& operator<<(std::ostream &os, const RobotDescription &rhs)
- {
- os << "RobotDescription { name: '" << rhs.name << "', xml: '" << rhs.xml << "' }";
- return os;
- }
+
+ std::ostream& operator<<(std::ostream &os, const RobotDescription &rhs)
+ {
+ os << "RobotDescription { name: '" << rhs.name << "', xml: '" << rhs.xml << "' }";
+ return os;
+ }
+
+
+ std::string Robot::name() const
+ {
+ ARMARX_CHECK_NOT_EMPTY(description.name) << "The robot name must be set!";
+ ARMARX_CHECK_NOT_EMPTY(instance) << "The robot instance name must be provided!";
+
+ return description.name + "/" + instance;
+ }
}
diff --git a/source/RobotAPI/libraries/armem_robot/types.h b/source/RobotAPI/libraries/armem_robot/types.h
index 10ca7475f..345564d4b 100644
--- a/source/RobotAPI/libraries/armem_robot/types.h
+++ b/source/RobotAPI/libraries/armem_robot/types.h
@@ -1,23 +1,22 @@
#pragma once
+#include <filesystem>
#include <map>
#include <vector>
-#include <filesystem>
#include <Eigen/Geometry>
-#include <IceUtil/Time.h>
+#include <ArmarXCore/core/PackagePath.h>
+#include <ArmarXCore/core/time/DateTime.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
-#include <ArmarXCore/core/PackagePath.h>
namespace armarx::armem::robot
{
struct RobotDescription
{
- // IceUtil::Time timestamp;
+ // DateTime timestamp;
std::string name;
PackagePath xml{"", std::filesystem::path("")};
@@ -46,7 +45,7 @@ namespace armarx::armem::robot
using JointMap = std::map<std::string, float>;
using Pose = Eigen::Affine3f;
- IceUtil::Time timestamp;
+ DateTime timestamp;
Pose globalPose;
JointMap jointMap;
@@ -60,15 +59,9 @@ namespace armarx::armem::robot
RobotState config;
- IceUtil::Time timestamp;
-
- std::string name() const
- {
- ARMARX_CHECK_NOT_EMPTY(description.name) << "The robot name must be set!";
- ARMARX_CHECK_NOT_EMPTY(instance) << "The robot instance name must be provided!";
+ DateTime timestamp;
- return description.name + "/" + instance;
- }
+ std::string name() const;
};
using Robots = std::vector<Robot>;
--
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