From 46cf08d41dc284ec4f8438b2dead24e2a2c16cca Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Sat, 21 Apr 2018 20:54:54 +0200
Subject: [PATCH] Add
RobotUnitModule::ControllerManagement::getNJointControllerNames
---
.../RobotUnitModuleControllerManagement.cpp | 13 +++++++++++++
.../RobotUnitModuleControllerManagement.h | 8 ++++++++
2 files changed, 21 insertions(+)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
index 8668d87f8..de6fd4c59 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
@@ -269,6 +269,19 @@ namespace armarx
auto guard = getGuard();
return getMapKeys(nJointControllers);
}
+ std::vector<std::string> ControllerManagement::getNJointControllerNames(const std::vector<NJointControllerPtr> &ctrls) const
+ {
+ std::vector<std::string> result;
+ result.reserve(ctrls.size());
+ for(const auto& ctrl : ctrls)
+ {
+ if(ctrl)
+ {
+ result.emplace_back(ctrl->getInstanceName());
+ }
+ }
+ return result;
+ }
void ControllerManagement::activateNJointControllers(const Ice::StringSeq& names, const Ice::Current&)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
index f48cf5976..914d3c19c 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
@@ -293,6 +293,14 @@ namespace armarx
* @throw If there is no \ref NJointcontroller for \param name
*/
const NJointControllerPtr& getNJointControllerNotNull(const std::string& name) const;
+
+ /**
+ * @brief Returns the names of given \ref NJointController "NJointControllers"
+ * @param ctrls The \ref NJointController "NJointControllers"
+ * @return The names of given \ref NJointController "NJointControllers"
+ */
+ std::vector<std::string> getNJointControllerNames(const std::vector<armarx::NJointControllerPtr>& ctrls) const;
+
// //////////////////////////////////////////////////////////////////////////////////////// //
// //////////////////////////////////// implementation //////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
--
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