Merge branch 'master' of https://i61wiki.itec.uka.de/git/robot-api

source/RobotAPI/interface/robotstate/RobotState.ice

@@ -120,10 +120,16 @@ module armarx
          * @return proxy to the shared robot which constantly updates all joint values
          */
         SharedRobotInterface* getSynchronizedRobot();
+
         /**
          * @return proxy to a copy of the shared robot with non updating joint values
          */
         SharedRobotInterface* getRobotSnapshot(string time);
+        
+        /**
+         * @return the robot xml filename as specified in the configuration
+         */
+        string getRobotFilename();
     };
 };
 

source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp

@@ -151,7 +151,12 @@ namespace armarx
 //        ARMARX_VERBOSE_S << "duration: " << (IceUtil::Time::now() - start).toMilliSeconds() << " ms";
     }
 
-
+    std::string RobotStateComponent::getRobotFilename(const Ice::Current&)
+    {
+		std::string robotFile = getProperty<std::string>("RobotFileName").getValue();
+		return robotFile;
+	}
+	
     void RobotStateComponent::reportControlModeChanged(const NameControlModeMap& jointModes,  bool aValueChanged,const Current& c){}
     void RobotStateComponent::reportJointVelocities(const NameValueMap& jointVelocities,  bool aValueChanged,const Current& c){}
     void RobotStateComponent::reportJointTorques(const NameValueMap& jointTorques,  bool aValueChanged,const Current& c){}

source/RobotAPI/libraries/robotstate/RobotStateComponent.h

@@ -91,7 +91,11 @@ namespace armarx
          * \return clone of the internal synchronized robot
          */
         virtual SharedRobotInterfacePrx getRobotSnapshot(const std::string & time, const Ice::Current&);
-
+        
+        /**
+         * \return the robot xml filename as specified in the configuration
+         */
+        virtual std::string getRobotFilename(const Ice::Current&);
 
         /**
          * Create an instance of RobotStatePropertyDefinitions.