From 49fed662e5b71c96fccaecc98721af0bce2ac8ea Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Mon, 16 Jul 2018 17:39:00 +0200
Subject: [PATCH] RobotPool: added possibility to create n robots on RobotPool
creation
---
source/RobotAPI/libraries/core/RobotPool.cpp | 10 ++++++--
source/RobotAPI/libraries/core/RobotPool.h | 2 +-
.../libraries/core/test/RobotTest.cpp | 25 ++++++++++---------
3 files changed, 22 insertions(+), 15 deletions(-)
diff --git a/source/RobotAPI/libraries/core/RobotPool.cpp b/source/RobotAPI/libraries/core/RobotPool.cpp
index 52dc4f8d6..d12f6f2b1 100644
--- a/source/RobotAPI/libraries/core/RobotPool.cpp
+++ b/source/RobotAPI/libraries/core/RobotPool.cpp
@@ -28,10 +28,14 @@
namespace armarx
{
- RobotPool::RobotPool(VirtualRobot::RobotPtr robot) :
+ RobotPool::RobotPool(VirtualRobot::RobotPtr robot, size_t defaultSize) :
baseRobot(robot)
{
-
+ std::vector<VirtualRobot::RobotPtr> tempVec;
+ for (size_t i = 0; i < defaultSize; ++i)
+ {
+ tempVec.push_back(getRobot());
+ }
}
VirtualRobot::RobotPtr RobotPool::getRobot(int inflation)
@@ -94,7 +98,9 @@ namespace armarx
newList.push_back(r);
}
else
+ {
count++;
+ }
}
pair.second = newList;
}
diff --git a/source/RobotAPI/libraries/core/RobotPool.h b/source/RobotAPI/libraries/core/RobotPool.h
index cb205f613..e22c1a898 100644
--- a/source/RobotAPI/libraries/core/RobotPool.h
+++ b/source/RobotAPI/libraries/core/RobotPool.h
@@ -36,7 +36,7 @@ namespace armarx
// VirtualRobot::RobotPtr robot;
// };
- RobotPool(VirtualRobot::RobotPtr robot);
+ RobotPool(VirtualRobot::RobotPtr robot, size_t defaultSize = 1);
/**
* @brief getRobot
* @param inflation inflation of collision model in mm
diff --git a/source/RobotAPI/libraries/core/test/RobotTest.cpp b/source/RobotAPI/libraries/core/test/RobotTest.cpp
index ebc75bb9f..c34a4d38a 100644
--- a/source/RobotAPI/libraries/core/test/RobotTest.cpp
+++ b/source/RobotAPI/libraries/core/test/RobotTest.cpp
@@ -50,25 +50,26 @@ BOOST_AUTO_TEST_CASE(RobotPoolTest)
ArmarXDataPath::getAbsolutePath(fn, fn);
std::string robotFilename = fn;
VirtualRobot::RobotPtr robot = VirtualRobot::RobotIO::loadRobot(robotFilename, VirtualRobot::RobotIO::eCollisionModel);
- RobotPool pool(robot);
+ RobotPool pool(robot, 2);
{
+ BOOST_CHECK_EQUAL(pool.getPoolSize(), 2);
auto clone = pool.getRobot();
- ARMARX_CHECK_EQUAL(pool.getPoolSize(), 1);
- ARMARX_CHECK_EQUAL(pool.getRobotsInUseCount(), 1);
+ BOOST_CHECK_EQUAL(pool.getPoolSize(), 2);
+ BOOST_CHECK_EQUAL(pool.getRobotsInUseCount(), 1);
{
auto clone2 = pool.getRobot();
- ARMARX_CHECK_EQUAL(pool.getPoolSize(), 2);
- ARMARX_CHECK_EQUAL(pool.getRobotsInUseCount(), 2);
+ BOOST_CHECK_EQUAL(pool.getPoolSize(), 2);
+ BOOST_CHECK_EQUAL(pool.getRobotsInUseCount(), 2);
}
- ARMARX_CHECK_EQUAL(pool.getPoolSize(), 2);
- ARMARX_CHECK_EQUAL(pool.getRobotsInUseCount(), 1);
+ BOOST_CHECK_EQUAL(pool.getPoolSize(), 2);
+ BOOST_CHECK_EQUAL(pool.getRobotsInUseCount(), 1);
auto clone2 = pool.getRobot();
- ARMARX_CHECK_EQUAL(pool.getPoolSize(), 2);
- ARMARX_CHECK_EQUAL(pool.getRobotsInUseCount(), 2);
+ BOOST_CHECK_EQUAL(pool.getPoolSize(), 2);
+ BOOST_CHECK_EQUAL(pool.getRobotsInUseCount(), 2);
}
- ARMARX_CHECK_EQUAL(pool.getRobotsInUseCount(), 0);
- ARMARX_CHECK_EQUAL(pool.clean(), 2);
- ARMARX_CHECK_EQUAL(pool.getPoolSize(), 0);
+ BOOST_CHECK_EQUAL(pool.getRobotsInUseCount(), 0);
+ BOOST_CHECK_EQUAL(pool.clean(), 2);
+ BOOST_CHECK_EQUAL(pool.getPoolSize(), 0);
}
--
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