From 2ea3275a90ec00f916ff0ae3257c1484808b3bfa Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 19 Oct 2023 17:55:16 +0200
Subject: [PATCH] fixing build
---
.../client/KnownGraspCandidateReader.cpp | 37 +++++++++----------
.../client/KnownGraspCandidateReader.h | 20 +++++-----
2 files changed, 27 insertions(+), 30 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp b/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp
index efe2d01c1..6eafef5ed 100644
--- a/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp
+++ b/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp
@@ -3,29 +3,25 @@
#include <mutex>
#include <optional>
-#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/PackagePath.h>
+#include <ArmarXCore/core/logging/Logging.h>
+#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/util/util.h>
-#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
-#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
-#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron/Attachment.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
+#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
-
namespace armarx::armem::grasping::known_grasps
{
- Reader::Reader(armem::client::MemoryNameSystem& memoryNameSystem) :
- memoryNameSystem(memoryNameSystem)
- {}
-
- void Reader::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
+ void
+ Reader::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
{
ARMARX_DEBUG << "Reader: registerPropertyDefinitions";
@@ -38,8 +34,8 @@ namespace armarx::armem::grasping::known_grasps
"Name of the memory core segment to use for object instances.");
}
-
- void Reader::connect()
+ void
+ Reader::connect(armem::client::MemoryNameSystem& memoryNameSystem)
{
// Wait for the memory to become available and add it as dependency.
ARMARX_IMPORTANT << "Reader: Waiting for memory '" << properties.memoryName << "' ...";
@@ -55,7 +51,8 @@ namespace armarx::armem::grasping::known_grasps
}
}
- std::optional<armem::grasping::arondto::KnownGraspInfo> Reader::queryKnownGraspInfo(const armem::wm::Memory& memory, const armem::Time&)
+ std::optional<armem::grasping::arondto::KnownGraspInfo>
+ Reader::queryKnownGraspInfo(const armem::wm::Memory& memory, const armem::Time&)
{
// clang-format off
const armem::wm::CoreSegment& s = memory
@@ -63,8 +60,7 @@ namespace armarx::armem::grasping::known_grasps
// clang-format on
const armem::wm::EntityInstance* instance = nullptr;
- s.forEachInstance([&instance](const wm::EntityInstance& i)
- { instance = &i; });
+ s.forEachInstance([&instance](const wm::EntityInstance& i) { instance = &i; });
if (instance == nullptr)
{
ARMARX_VERBOSE << "No entity snapshots found";
@@ -73,7 +69,9 @@ namespace armarx::armem::grasping::known_grasps
return armem::grasping::arondto::KnownGraspInfo::FromAron(instance->data());
}
- std::optional<armarx::armem::grasping::arondto::KnownGraspInfo> Reader::queryKnownGraspInfoByEntityName(const std::string& entityName, const armem::Time& timestamp)
+ std::optional<armarx::armem::grasping::arondto::KnownGraspInfo>
+ Reader::queryKnownGraspInfoByEntityName(const std::string& entityName,
+ const armem::Time& timestamp)
{
// Query all entities from all provider.
armem::client::query::Builder qb;
@@ -103,7 +101,8 @@ namespace armarx::armem::grasping::known_grasps
auto split = simox::alg::split(entityName, "/");
if (split.size() > 2) // there is more than just dataset/class
{
- ARMARX_INFO << "No grasp found for object entity " << entityName << ". Search for grasp without the index";
+ ARMARX_INFO << "No grasp found for object entity " << entityName
+ << ". Search for grasp without the index";
return queryKnownGraspInfoByEntityName(split[0] + "/" + split[1], timestamp);
}
}
@@ -111,4 +110,4 @@ namespace armarx::armem::grasping::known_grasps
return ret;
}
-} // namespace armarx::armem::attachment
+} // namespace armarx::armem::grasping::known_grasps
diff --git a/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h b/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h
index e421d4ee1..d0057afc8 100644
--- a/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h
+++ b/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h
@@ -28,38 +28,36 @@
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
-
#include <RobotAPI/libraries/armem_grasping/aron/KnownGraspCandidate.aron.generated.h>
-
namespace armarx::armem::grasping::known_grasps
{
class Reader
{
public:
- Reader(armem::client::MemoryNameSystem& memoryNameSystem);
+ Reader() = default;
virtual ~Reader() = default;
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
- void connect();
+ void connect(armem::client::MemoryNameSystem& memoryNameSystem);
- std::optional<armem::grasping::arondto::KnownGraspInfo> queryKnownGraspInfoByEntityName(const std::string&, const armem::Time&);
- std::optional<armem::grasping::arondto::KnownGraspInfo> queryKnownGraspInfo(const armem::wm::Memory& memory, const armem::Time&);
+ std::optional<armem::grasping::arondto::KnownGraspInfo>
+ queryKnownGraspInfoByEntityName(const std::string&, const armem::Time&);
+ std::optional<armem::grasping::arondto::KnownGraspInfo>
+ queryKnownGraspInfo(const armem::wm::Memory& memory, const armem::Time&);
private:
-
struct Properties
{
- std::string memoryName = "Grasp";
- std::string coreSegmentName = "KnownGraspCandidate";
+ std::string memoryName = "Grasp";
+ std::string coreSegmentName = "KnownGraspCandidate";
} properties;
const std::string propertyPrefix = "mem.grasping.knowngrasps.";
- armem::client::MemoryNameSystem& memoryNameSystem;
armem::client::Reader memoryReader;
mutable std::mutex memoryWriterMutex;
};
-} // namespace armarx::armem::attachment
+} // namespace armarx::armem::grasping::known_grasps
--
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