From 1757e7c69b129579e5bb7fed2d320a6842709a32 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Tue, 25 Apr 2023 08:35:31 +0200
Subject: [PATCH] added new aliases for vectors and matrices in aron
---
.../aron/codegeneration/typereader/xml/Data.h | 91 ++++++++++++++-----
1 file changed, 68 insertions(+), 23 deletions(-)
diff --git a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h
index 0d0b108f4..bc5574781 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h
+++ b/source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h
@@ -24,12 +24,13 @@
#pragma once
// STD/STL
-#include <memory>
#include <map>
+#include <memory>
#include <optional>
// ArmarX
#include <SimoxUtility/xml.h>
+
#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
/**
@@ -116,36 +117,80 @@ namespace armarx::aron::typereader::xml
};
// Replacements ({tagName, {replacementsTag, additionalAronDTOXMLIncludePackagePath}, deprecationwarning})
- const std::map<std::string, Replacement> REPLACEMENTS =
- {
- {"int", {"<int32 />", {}, "The <int />-tag is deprecated. Please use <int32 /> instead."}},
- {"long", {"<int64 />", {}, "The <long />-tag is deprecated. Please use <int64 /> instead."}},
- {"float", {"<float32 />", {}, "The <float />-tag is deprecated. Please use <float32 /> instead."}},
- {"double", {"<float64 />", {}, "The <double />-tag is deprecated. Please use <float64 /> instead."}},
- {"position", {"<matrix rows='3' cols='1' type='float32' />", {}, ""}},
- {"pose", {"<matrix rows='4' cols='4' type='float32' />", {}, ""}},
- {"orientation", {"<quaternion type='float32' />", {}, ""}},
+ const std::map<std::string, Replacement> REPLACEMENTS = {
+ {"int",
+ {"<int32 />", {}, "The <int />-tag is deprecated. Please use <int32 /> instead."}},
+ {"long",
+ {"<int64 />", {}, "The <long />-tag is deprecated. Please use <int64 /> instead."}},
+ {"float",
+ {"<float32 />",
+ {},
+ "The <float />-tag is deprecated. Please use <float32 /> instead."}},
+ {"double",
+ {"<float64 />",
+ {},
+ "The <double />-tag is deprecated. Please use <float64 /> instead."}},
+
+ // should that be deprecated?
+ {"position", {"<matrix rows='3' cols='1' type='float32' />", {}, ""}},
+ {"pose", {"<matrix rows='4' cols='4' type='float32' />", {}, ""}},
+ {"orientation", {"<quaternion type='float32' />", {}, ""}},
+
+ // values similar to eigen
+ {"quaternionf", {"<quaternion type='float32' />", {}, ""}},
+ {"quaterniond", {"<quaternion type='float64' />", {}, ""}},
+ {"vector2f", {"<matrix rows='2' cols='1' type='float32' />", {}, ""}},
+ {"vector2d", {"<matrix rows='2' cols='1' type='float64' />", {}, ""}},
+ {"vector3f", {"<matrix rows='3' cols='1' type='float32' />", {}, ""}},
+ {"vector3d", {"<matrix rows='3' cols='1' type='float64' />", {}, ""}},
+ {"vector4f", {"<matrix rows='4' cols='1' type='float32' />", {}, ""}},
+ {"vector4d", {"<matrix rows='4' cols='1' type='float64' />", {}, ""}},
+ {"matrix2f", {"<matrix rows='2' cols='2' type='float32' />", {}, ""}},
+ {"matrix2d", {"<matrix rows='2' cols='2' type='float64' />", {}, ""}},
+ {"matrix3f", {"<matrix rows='3' cols='3' type='float32' />", {}, ""}},
+ {"matrix3d", {"<matrix rows='3' cols='3' type='float64' />", {}, ""}},
+ {"matrix4f", {"<matrix rows='4' cols='4' type='float32' />", {}, ""}},
+ {"matrix4d", {"<matrix rows='4' cols='4' type='float64' />", {}, ""}},
// You can also add replacements for arondtos here!
// structure: {xml-identifier, {replacement, auto-include}, deprecationwarning}
- {"datetime", {"<armarx::arondto::DateTime />", {"RobotAPI", "libraries/aron/common/aron/time.xml"}, ""}},
- {"time", {"<armarx::arondto::DateTime />", {"RobotAPI", "libraries/aron/common/aron/time.xml"}, ""}},
- {"duration", {"<armarx::arondto::Duration />", {"RobotAPI", "libraries/aron/common/aron/time.xml"}, ""}},
- {"framedposition", {"<armarx::arondto::FramedPosition />", {"RobotAPI", "libraries/aron/common/aron/framed.xml"}, ""}},
- {"framedorientation", {"<armarx::arondto::FramedOrientation />", {"RobotAPI", "libraries/aron/common/aron/framed.xml"}, ""}},
- {"framedpose", {"<armarx::arondto::FramedPose />", {"RobotAPI", "libraries/aron/common/aron/framed.xml"}, ""}}
- };
- }
-
+ {"datetime",
+ {"<armarx::arondto::DateTime />",
+ {"RobotAPI", "libraries/aron/common/aron/time.xml"},
+ ""}},
+ {"time",
+ {"<armarx::arondto::DateTime />",
+ {"RobotAPI", "libraries/aron/common/aron/time.xml"},
+ ""}},
+ {"duration",
+ {"<armarx::arondto::Duration />",
+ {"RobotAPI", "libraries/aron/common/aron/time.xml"},
+ ""}},
+ {"framedposition",
+ {"<armarx::arondto::FramedPosition />",
+ {"RobotAPI", "libraries/aron/common/aron/framed.xml"},
+ ""}},
+ {"framedorientation",
+ {"<armarx::arondto::FramedOrientation />",
+ {"RobotAPI", "libraries/aron/common/aron/framed.xml"},
+ ""}},
+ {"framedpose",
+ {"<armarx::arondto::FramedPose />",
+ {"RobotAPI", "libraries/aron/common/aron/framed.xml"},
+ ""}}};
+ } // namespace constantes
namespace util
{
- std::optional<RapidXmlReaderNode> GetFirstNodeWithTag(const RapidXmlReaderNode& node, const std::string& name);
+ std::optional<RapidXmlReaderNode> GetFirstNodeWithTag(const RapidXmlReaderNode& node,
+ const std::string& name);
void EnforceAttribute(const RapidXmlReaderNode& node, const std::string& att);
bool HasAttribute(const RapidXmlReaderNode& node, const std::string& att);
std::string GetAttribute(const RapidXmlReaderNode& node, const std::string& att);
- std::string GetAttributeWithDefault(const RapidXmlReaderNode& node, const std::string& att, const std::string& def);
+ std::string GetAttributeWithDefault(const RapidXmlReaderNode& node,
+ const std::string& att,
+ const std::string& def);
bool AttributeIsTrue(const RapidXmlReaderNode& node, const std::string& att);
bool HasTagName(const RapidXmlReaderNode& node, const std::string& name);
@@ -158,5 +203,5 @@ namespace armarx::aron::typereader::xml
void EnforceChildSize(const RapidXmlReaderNode& node, const size_t size);
void EnforceChildSizeGreaterEqual(const RapidXmlReaderNode& node, const size_t size);
void EnforceChildSizeGreater(const RapidXmlReaderNode& node, const size_t size);
- }
-}
+ } // namespace util
+} // namespace armarx::aron::typereader::xml
--
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