Reduce includes in RemoteRobot.h

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();
+    }
+
 
 }

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