From 3210693dd04349cbb027da7f4db46ba0c73ef568 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 9 Nov 2022 17:21:09 +0100
Subject: [PATCH] Add armem_locations (copy of Locations from navigation).
ToDo: Also migrate other ARON types
---
source/RobotAPI/libraries/CMakeLists.txt | 1 +
.../libraries/armem_locations/CMakeLists.txt | 30 +++++++++++++
.../armem_locations/aron/Location.xml | 44 +++++++++++++++++++
.../armem_locations/aron_conversions.cpp | 6 +++
.../armem_locations/aron_conversions.h | 7 +++
5 files changed, 88 insertions(+)
create mode 100644 source/RobotAPI/libraries/armem_locations/CMakeLists.txt
create mode 100644 source/RobotAPI/libraries/armem_locations/aron/Location.xml
create mode 100644 source/RobotAPI/libraries/armem_locations/aron_conversions.cpp
create mode 100644 source/RobotAPI/libraries/armem_locations/aron_conversions.h
diff --git a/source/RobotAPI/libraries/CMakeLists.txt b/source/RobotAPI/libraries/CMakeLists.txt
index 099ad8b4b..ac58ce8b0 100644
--- a/source/RobotAPI/libraries/CMakeLists.txt
+++ b/source/RobotAPI/libraries/CMakeLists.txt
@@ -20,6 +20,7 @@ add_subdirectory(aron)
add_subdirectory(armem)
add_subdirectory(armem_grasping)
add_subdirectory(armem_gui)
+add_subdirectory(armem_locations)
add_subdirectory(armem_motions)
add_subdirectory(armem_mps)
add_subdirectory(armem_objects)
diff --git a/source/RobotAPI/libraries/armem_locations/CMakeLists.txt b/source/RobotAPI/libraries/armem_locations/CMakeLists.txt
new file mode 100644
index 000000000..22d418142
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_locations/CMakeLists.txt
@@ -0,0 +1,30 @@
+set(LIB_NAME armem_locations)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+armarx_add_library(
+ LIBS
+ ArmarXCoreInterfaces
+ ArmarXCore
+ ArmarXCoreObservers
+
+ RobotAPI::Core
+ RobotAPI::armem
+ # aronjsonconverter
+ SOURCES
+ ./aron_conversions.cpp
+
+ HEADERS
+ ./aron_conversions.h
+)
+
+armarx_enable_aron_file_generation_for_target(
+ TARGET_NAME
+ "${LIB_NAME}"
+ ARON_FILES
+ aron/Location.xml
+)
+
+
+add_library(RobotAPI::armem_locations ALIAS armem_locations)
diff --git a/source/RobotAPI/libraries/armem_locations/aron/Location.xml b/source/RobotAPI/libraries/armem_locations/aron/Location.xml
new file mode 100644
index 000000000..9a0539d5d
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_locations/aron/Location.xml
@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <CodeIncludes>
+ </CodeIncludes>
+ <AronIncludes>
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true"/>
+ </AronIncludes>
+
+ <GenerateTypes>
+
+ <!--
+ ToDo: Model regions. Ideas:
+ - Polygon (convex, non-convex)
+ -
+ -->
+
+
+ <Object name='armarx::navigation::location::arondto::ObjectRelativeLocation'>
+
+ <ObjectChild key='objectInstanceID'>
+ <armarx::armem::arondto::MemoryID />
+ </ObjectChild>
+
+ <ObjectChild key='relativeRobotPose'>
+ <Pose />
+ </ObjectChild>
+
+ </Object>
+
+
+ <Object name='armarx::navigation::location::arondto::Location'>
+
+ <ObjectChild key='globalRobotPose'>
+ <Pose />
+ </ObjectChild>
+
+ <ObjectChild key='relativeToObject'>
+ <armarx::navigation::location::arondto::ObjectRelativeLocation optional="true" />
+ </ObjectChild>
+
+ </Object>
+
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/armem_locations/aron_conversions.cpp b/source/RobotAPI/libraries/armem_locations/aron_conversions.cpp
new file mode 100644
index 000000000..50ef19ce2
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_locations/aron_conversions.cpp
@@ -0,0 +1,6 @@
+#include "aron_conversions.h"
+
+namespace armarx::armem
+{
+
+}
diff --git a/source/RobotAPI/libraries/armem_locations/aron_conversions.h b/source/RobotAPI/libraries/armem_locations/aron_conversions.h
new file mode 100644
index 000000000..93e57fbce
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_locations/aron_conversions.h
@@ -0,0 +1,7 @@
+#pragma once
+
+
+namespace armarx::armem
+{
+
+}
--
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