From 5a778d9ed66259f252ae8578b85b408ec8974ebb Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 16 Aug 2021 09:52:11 +0200
Subject: [PATCH] Fix includes
---
.../client/localization/TransformReader.cpp | 23 +++++++++++--------
1 file changed, 13 insertions(+), 10 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp
index 32da2d645..d46c7dfa1 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.cpp
@@ -20,8 +20,6 @@
*/
#include "TransformReader.h"
-#include "RobotAPI/libraries/armem/core/Time.h"
-#include "RobotAPI/libraries/armem_robot_state/common/localization/types.h"
#include <algorithm>
#include <iterator>
@@ -45,20 +43,23 @@
#include <ArmarXCore/core/time/CycleUtil.h>
// this package
+#include <RobotAPI/libraries/core/FramedPose.h>
+
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
+#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/aron/core/navigator/type/NavigatorFactory.h>
-#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/libraries/armem_robot_state/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot_state/aron/Transform.aron.generated.h>
-
+#include <RobotAPI/libraries/armem_robot_state/common/localization/types.h>
#include <RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h>
+
namespace armarx::armem::client::robot_state::localization
{
@@ -135,11 +136,11 @@ namespace armarx::armem::client::robot_state::localization
TransformResult TransformReader::lookupTransform(const TransformQuery& query) const
{
const auto& timestamp = query.header.timestamp;
-
- const auto durationEpsilon = IceUtil::Time::milliSeconds(-1);
-
ARMARX_DEBUG << "Looking up transform at timestamp " << timestamp;
+ const IceUtil::Time durationEpsilon = IceUtil::Time::milliSeconds(-1);
+ (void) durationEpsilon;
+
// Query all entities from provider.
armem::client::query::Builder qb;
@@ -152,18 +153,20 @@ namespace armarx::armem::client::robot_state::localization
// clang-format on
const armem::client::QueryResult qResult = memoryReader.query(qb.buildQueryInput());
-
ARMARX_DEBUG << "Lookup result in reader: " << qResult;
if (not qResult.success)
{
- return {.transform =
+ return
+ {
+ .transform =
{
.header = query.header,
},
.status = TransformResult::Status::ErrorFrameNotAvailable,
.errorMessage = "Error in tf lookup '" + query.header.parentFrame + " -> " +
- query.header.frame + "' : " + qResult.errorMessage};
+ query.header.frame + "' : " + qResult.errorMessage
+ };
}
const auto& localizationCoreSegment = qResult.memory.getCoreSegment(properties.localizationSegment);
--
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