From 179aad26633200f8ddb0658e5c989ee7dd023656 Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Thu, 5 May 2022 14:02:27 +0200
Subject: [PATCH] Transform Arm and RobotArm from nested class to separate
classes
This facilitates eg forward declarations
---
.../RobotNameHelper.cpp | 66 +++---
.../RobotStatechartHelpers/RobotNameHelper.h | 197 +++++++++++-------
2 files changed, 156 insertions(+), 107 deletions(-)
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
index f5a88c0ae..4f2d0c35f 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
@@ -130,18 +130,18 @@ namespace armarx
return new RobotInfoNode(name, profile, value, children);
}
- RobotNameHelper::Arm RobotNameHelper::getArm(const std::string& side) const
+ Arm RobotNameHelper::getArm(const std::string& side) const
{
return Arm(shared_from_this(), side);
}
- RobotNameHelper::RobotArm
+ RobotArm
RobotNameHelper::getRobotArm(const std::string& side, const VirtualRobot::RobotPtr& robot) const
{
return RobotArm(Arm(shared_from_this(), side), robot);
}
- std::shared_ptr<const RobotNameHelper> RobotNameHelper::Arm::getRobotNameHelper() const
+ std::shared_ptr<const RobotNameHelper> Arm::getRobotNameHelper() const
{
return rnh;
}
@@ -197,150 +197,150 @@ namespace armarx
}
}
- std::string RobotNameHelper::Arm::getSide() const
+ std::string Arm::getSide() const
{
return side;
}
- std::string RobotNameHelper::Arm::getKinematicChain() const
+ std::string Arm::getKinematicChain() const
{
ARMARX_TRACE;
return select("KinematicChain");
}
- std::string RobotNameHelper::Arm::getTorsoKinematicChain() const
+ std::string Arm::getTorsoKinematicChain() const
{
ARMARX_TRACE;
return select("TorsoKinematicChain");
}
- std::string RobotNameHelper::Arm::getTCP() const
+ std::string Arm::getTCP() const
{
ARMARX_TRACE;
return select("TCP");
}
- std::string RobotNameHelper::Arm::getForceTorqueSensor() const
+ std::string Arm::getForceTorqueSensor() const
{
ARMARX_TRACE;
return select("ForceTorqueSensor");
}
- std::string RobotNameHelper::Arm::getForceTorqueSensorFrame() const
+ std::string Arm::getForceTorqueSensorFrame() const
{
ARMARX_TRACE;
return select("ForceTorqueSensorFrame");
}
- std::string RobotNameHelper::Arm::getEndEffector() const
+ std::string Arm::getEndEffector() const
{
ARMARX_TRACE;
return select("EndEffector");
}
- std::string RobotNameHelper::Arm::getMemoryHandName() const
+ std::string Arm::getMemoryHandName() const
{
ARMARX_TRACE;
return select("MemoryHandName");
}
- std::string RobotNameHelper::Arm::getHandControllerName() const
+ std::string Arm::getHandControllerName() const
{
ARMARX_TRACE;
return select("HandControllerName");
}
- std::string RobotNameHelper::Arm::getHandRootNode() const
+ std::string Arm::getHandRootNode() const
{
ARMARX_TRACE;
return select("HandRootNode");
}
- std::string RobotNameHelper::Arm::getHandModelPath() const
+ std::string Arm::getHandModelPath() const
{
ARMARX_TRACE;
return select("HandModelPath");
}
- std::string RobotNameHelper::Arm::getAbsoluteHandModelPath() const
+ std::string Arm::getAbsoluteHandModelPath() const
{
ArmarXDataPath::FindPackageAndAddDataPath(getHandModelPackage());
auto path = getHandModelPath();
return ArmarXDataPath::getAbsolutePath(path, path) ? path : "";
}
- std::string RobotNameHelper::Arm::getHandModelPackage() const
+ std::string Arm::getHandModelPackage() const
{
ARMARX_TRACE;
return select("HandModelPackage");
}
- std::string RobotNameHelper::Arm::getPalmCollisionModel() const
+ std::string Arm::getPalmCollisionModel() const
{
ARMARX_TRACE;
return select("PalmCollisionModel");
}
- std::string RobotNameHelper::Arm::getFullHandCollisionModel() const
+ std::string Arm::getFullHandCollisionModel() const
{
ARMARX_TRACE;
return select("FullHandCollisionModel");
}
- RobotNameHelper::RobotArm
- RobotNameHelper::Arm::addRobot(const VirtualRobot::RobotPtr& robot) const
+ RobotArm
+ Arm::addRobot(const VirtualRobot::RobotPtr& robot) const
{
ARMARX_TRACE;
return RobotArm(*this, robot);
}
- RobotNameHelper::Arm::Arm(const std::shared_ptr<const RobotNameHelper>& rnh,
+ Arm::Arm(const std::shared_ptr<const RobotNameHelper>& rnh,
const std::string& side) :
rnh(rnh), side(side)
{
}
- std::string RobotNameHelper::Arm::select(const std::string& path) const
+ std::string Arm::select(const std::string& path) const
{
ARMARX_TRACE;
return rnh->select(side + "Arm/" + path);
}
- std::string RobotNameHelper::RobotArm::getSide() const
+ std::string RobotArm::getSide() const
{
ARMARX_TRACE;
return arm.getSide();
}
- VirtualRobot::RobotNodeSetPtr RobotNameHelper::RobotArm::getKinematicChain() const
+ VirtualRobot::RobotNodeSetPtr RobotArm::getKinematicChain() const
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(robot);
return robot->getRobotNodeSet(arm.getKinematicChain());
}
- VirtualRobot::RobotNodeSetPtr RobotNameHelper::RobotArm::getTorsoKinematicChain() const
+ VirtualRobot::RobotNodeSetPtr RobotArm::getTorsoKinematicChain() const
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(robot);
return robot->getRobotNodeSet(arm.getTorsoKinematicChain());
}
- VirtualRobot::RobotNodePtr RobotNameHelper::RobotArm::getTCP() const
+ VirtualRobot::RobotNodePtr RobotArm::getTCP() const
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(robot);
return robot->getRobotNode(arm.getTCP());
}
- VirtualRobot::RobotNodePtr RobotNameHelper::RobotArm::getPalmCollisionModel() const
+ VirtualRobot::RobotNodePtr RobotArm::getPalmCollisionModel() const
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(robot);
return robot->getRobotNode(arm.getPalmCollisionModel());
}
- VirtualRobot::TriMeshModelPtr RobotNameHelper::RobotArm::getFullHandCollisionModel() const
+ VirtualRobot::TriMeshModelPtr RobotArm::getFullHandCollisionModel() const
{
ARMARX_TRACE;
std::string abs;
@@ -349,14 +349,14 @@ namespace armarx
return VirtualRobot::TriMeshModel::FromFile(abs);
}
- VirtualRobot::RobotNodePtr RobotNameHelper::RobotArm::getHandRootNode() const
+ VirtualRobot::RobotNodePtr RobotArm::getHandRootNode() const
{
ARMARX_TRACE;
ARMARX_CHECK_NOT_NULL(robot);
return robot->getRobotNode(arm.getHandRootNode());
}
- Eigen::Matrix4f RobotNameHelper::RobotArm::getTcp2HandRootTransform() const
+ Eigen::Matrix4f RobotArm::getTcp2HandRootTransform() const
{
ARMARX_TRACE;
const auto tcp = getTCP();
@@ -366,17 +366,17 @@ namespace armarx
return tcp->getPoseInRootFrame().inverse() * hand->getPoseInRootFrame();
}
- const VirtualRobot::RobotPtr& RobotNameHelper::RobotArm::getRobot() const
+ const VirtualRobot::RobotPtr& RobotArm::getRobot() const
{
return robot;
}
- const RobotNameHelper::Arm& RobotNameHelper::RobotArm::getArm() const
+ const Arm& RobotArm::getArm() const
{
return arm;
}
- RobotNameHelper::RobotArm::RobotArm(const Arm& arm, const VirtualRobot::RobotPtr& robot) :
+ RobotArm::RobotArm(const Arm& arm, const VirtualRobot::RobotPtr& robot) :
arm(arm), robot(robot)
{
ARMARX_CHECK_NOT_NULL(robot);
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
index 92330d05d..76c9b283f 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
@@ -36,23 +36,130 @@ namespace armarx
class RapidXmlReaderNode;
- class RobotNameHelper : public std::enable_shared_from_this<RobotNameHelper>
+ struct RobotArm;
+
+ struct Arm
{
+ friend class RobotNameHelper;
+
public:
- static void writeRobotInfoNode(
- const RobotInfoNodePtr& n,
- std::ostream& str,
- std::size_t indent = 0,
- char indentChar = ' ');
+ std::string getSide() const;
+
+ std::string getKinematicChain() const;
+
+ std::string getTorsoKinematicChain() const;
+
+ std::string getTCP() const;
+
+ std::string getForceTorqueSensor() const;
+
+ std::string getForceTorqueSensorFrame() const;
+
+ std::string getEndEffector() const;
+
+ std::string getMemoryHandName() const;
+
+ std::string getHandControllerName() const;
+
+ std::string getHandRootNode() const;
+
+ std::string getHandModelPath() const;
+
+ std::string getAbsoluteHandModelPath() const;
+
+ std::string getHandModelPackage() const;
+
+ std::string getPalmCollisionModel() const;
+
+ std::string getFullHandCollisionModel() const;
+
+ RobotArm addRobot(const VirtualRobot::RobotPtr& robot) const;
+
+ Arm(const std::shared_ptr<const RobotNameHelper>& rnh, const std::string& side);
+
+ Arm() = default;
+
+ Arm(Arm&&) = default;
+
+ Arm(const Arm&) = default;
+
+ Arm& operator=(Arm&&) = default;
+
+ Arm& operator=(const Arm&) = default;
+
+ std::shared_ptr<const RobotNameHelper> getRobotNameHelper() const;
+
+ std::string select(const std::string& path) const;
+
+ private:
+
+ std::shared_ptr<const RobotNameHelper> rnh;
+ std::string side;
+ };
+
+ struct RobotArm
+ {
+ friend class RobotNameHelper;
+
+ friend struct Arm;
+ public:
+ std::string getSide() const;
+
+ VirtualRobot::RobotNodeSetPtr getKinematicChain() const;
+
+ VirtualRobot::RobotNodeSetPtr getTorsoKinematicChain() const;
+
+ VirtualRobot::RobotNodePtr getTCP() const;
+
+ VirtualRobot::RobotNodePtr getHandRootNode() const;
+
+ VirtualRobot::RobotNodePtr getPalmCollisionModel() const;
+
+ VirtualRobot::TriMeshModelPtr getFullHandCollisionModel() const;
+
+ Eigen::Matrix4f getTcp2HandRootTransform() const;
+
+ const Arm& getArm() const;
+
+ const VirtualRobot::RobotPtr& getRobot() const;
+
+ RobotArm(const Arm& arm, const VirtualRobot::RobotPtr& robot);
+
+ RobotArm() = default;
+
+ RobotArm(RobotArm&&) = default;
+
+ RobotArm(const RobotArm&) = default;
+
+ RobotArm& operator=(RobotArm&&) = default;
+
+ RobotArm& operator=(const RobotArm&) = default;
+
+ private:
+
+ Arm arm;
+ VirtualRobot::RobotPtr robot;
+ };
+
+ class RobotNameHelper : public std::enable_shared_from_this<RobotNameHelper>
+ {
+ public:
+ static void
+ writeRobotInfoNode(const RobotInfoNodePtr& n, std::ostream& str, std::size_t indent = 0, char indentChar = ' ');
+ using Arm = armarx::Arm;
+ using RobotArm = armarx::RobotArm;
class Node
{
public:
Node(const RobotInfoNodePtr& robotInfo);
+
std::string value();
Node select(const std::string& name, const std::vector<std::string>& profiles);
+
bool isValid();
+
void checkValid();
private:
@@ -62,89 +169,31 @@ namespace armarx
static const std::string LocationLeft;
static const std::string LocationRight;
- struct RobotArm;
- struct Arm
- {
- friend class RobotNameHelper;
- public:
-
- std::string getSide() const;
- std::string getKinematicChain() const;
- std::string getTorsoKinematicChain() const;
- std::string getTCP() const;
- std::string getForceTorqueSensor() const;
- std::string getForceTorqueSensorFrame() const;
- std::string getEndEffector() const;
- std::string getMemoryHandName() const;
- std::string getHandControllerName() const;
- std::string getHandRootNode() const;
- std::string getHandModelPath() const;
- std::string getAbsoluteHandModelPath() const;
- std::string getHandModelPackage() const;
- std::string getPalmCollisionModel() const;
- std::string getFullHandCollisionModel() const;
- RobotArm addRobot(const VirtualRobot::RobotPtr& robot) const;
-
- Arm(const std::shared_ptr<const RobotNameHelper>& rnh, const std::string& side);
- Arm() = default;
- Arm(Arm&&) = default;
- Arm(const Arm&) = default;
- Arm& operator=(Arm&&) = default;
- Arm& operator=(const Arm&) = default;
-
- std::shared_ptr<const RobotNameHelper> getRobotNameHelper() const;
-
- std::string select(const std::string& path) const;
- private:
-
- std::shared_ptr<const RobotNameHelper> rnh;
- std::string side;
- };
-
- struct RobotArm
- {
- friend class RobotNameHelper;
- friend struct Arm;
- public:
- std::string getSide() const;
- VirtualRobot::RobotNodeSetPtr getKinematicChain() const;
- VirtualRobot::RobotNodeSetPtr getTorsoKinematicChain() const;
- VirtualRobot::RobotNodePtr getTCP() const;
- VirtualRobot::RobotNodePtr getHandRootNode() const;
- VirtualRobot::RobotNodePtr getPalmCollisionModel() const;
- VirtualRobot::TriMeshModelPtr getFullHandCollisionModel() const;
- Eigen::Matrix4f getTcp2HandRootTransform() const;
- const Arm& getArm() const;
- const VirtualRobot::RobotPtr& getRobot() const;
-
- RobotArm(const Arm& arm, const VirtualRobot::RobotPtr& robot);
- RobotArm() = default;
- RobotArm(RobotArm&&) = default;
- RobotArm(const RobotArm&) = default;
- RobotArm& operator=(RobotArm&&) = default;
- RobotArm& operator=(const RobotArm&) = default;
- private:
-
- Arm arm;
- VirtualRobot::RobotPtr robot;
- };
-
std::string select(const std::string& path) const;
static RobotNameHelperPtr Create(const RobotInfoNodePtr& robotInfo, const StatechartProfilePtr& profile);
- static RobotNameHelperPtr Create(const std::string& robotXmlFilename, const StatechartProfilePtr& profile = nullptr);
+
+ static RobotNameHelperPtr
+ Create(const std::string& robotXmlFilename, const StatechartProfilePtr& profile = nullptr);
RobotNameHelper(const RobotInfoNodePtr& robotInfo, const StatechartProfilePtr& profile = nullptr);
RobotNameHelper(RobotNameHelper&&) = default;
+
RobotNameHelper(const RobotNameHelper&) = default;
+
RobotNameHelper& operator=(RobotNameHelper&&) = default;
+
RobotNameHelper& operator=(const RobotNameHelper&) = default;
Arm getArm(const std::string& side) const;
+
RobotArm getRobotArm(const std::string& side, const VirtualRobot::RobotPtr& robot) const;
+
const std::vector<std::string>& getProfiles() const;
+
const RobotInfoNodePtr& getRobotInfoNodePtr() const;
+
private:
static RobotInfoNodePtr readRobotInfo(const RapidXmlReaderNode& infoNode);
--
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