From 2054804e749101558f46448f382f197009300830 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Thu, 21 May 2020 19:40:49 +0200
Subject: [PATCH] Reduce includes in RemoteRobot.h
---
.../libraries/core/remoterobot/RemoteRobot.cpp | 11 ++++++++---
.../libraries/core/remoterobot/RemoteRobot.h | 12 ++++--------
2 files changed, 12 insertions(+), 11 deletions(-)
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
index 82b34bed3..b6f66d690 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
@@ -34,14 +34,14 @@
#include <VirtualRobot/Nodes/RobotNodeFixedFactory.h>
#include <VirtualRobot/Nodes/RobotNodePrismaticFactory.h>
#include <VirtualRobot/Nodes/RobotNodeRevoluteFactory.h>
+#include <VirtualRobot/CollisionDetection/CollisionChecker.h>
-
-#include <VirtualRobot/CollisionDetection/CollisionChecker.h>
-#include <Eigen/Geometry>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <Eigen/Geometry>
+
//#define DMES(Obj) cout << format("[%1%|%2%|%3%] %4%") % __FILE__ % __LINE__ % __func__ % Obj;
#define DMES(Obj) ;
@@ -562,5 +562,10 @@ namespace armarx
}
}
+ CollisionCheckerPtr RemoteRobotNode_getGlobalCollisionChecker()
+ {
+ return VirtualRobot::CollisionChecker::getGlobalCollisionChecker();
+ }
+
}
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
index bdcec086f..5568f1c2c 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
@@ -22,21 +22,16 @@
* GNU General Public License
*/
#pragma once
-#ifndef _ARMARX_REMOTE_ROBOT_H__
-#define _ARMARX_REMOTE_ROBOT_H__
-
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/Nodes/RobotNode.h>
-#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/interface/core/RobotState.h>
#include <VirtualRobot/Nodes/RobotNodeRevolute.h>
#include <VirtualRobot/Nodes/RobotNodePrismatic.h>
#include <VirtualRobot/Nodes/RobotNodeFixed.h>
#include <VirtualRobot/XML/RobotIO.h>
-#include <VirtualRobot/CollisionDetection/CollisionChecker.h>
#include <mutex>
@@ -64,6 +59,8 @@ namespace armarx
template<>
void RemoteRobotNodeInitializer<VirtualRobot::RobotNodeFixed>::initialize(RemoteRobotNode<VirtualRobot::RobotNodeFixed>* remoteNode);
+ VirtualRobot::CollisionCheckerPtr RemoteRobotNode_getGlobalCollisionChecker();
+
/** @brief Mimics the behaviour of robot nodes while redirecting everything to Ice proxies.
* @tparam VirtualRobotNodeType Must be a descendant of VirtualRobot::RobotNode
@@ -85,7 +82,7 @@ namespace armarx
_node->getJointValueOffest();
setJointLimits(_node->getJointLimitLow(), _node->getJointLimitHigh());
- this->collisionChecker = VirtualRobot::CollisionChecker::getGlobalCollisionChecker();
+ this->collisionChecker = RemoteRobotNode_getGlobalCollisionChecker();
RemoteRobotNodeInitializer<VirtualRobotNodeType>::initialize(this);
}
@@ -263,7 +260,6 @@ namespace armarx
static VirtualRobot::RobotNodePtr createRemoteRobotNode(SharedRobotNodeInterfacePrx, VirtualRobot::RobotPtr);
};
- //using RemoteRobotPtr = boost::shared_ptr<RemoteRobot>;
+ using RemoteRobotPtr = stdmakeal::shared_ptr<RemoteRobot>;
}
-#endif
--
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