Merge branch 'armem/dev' of https://gitlab.com/ArmarX/RobotAPI into armem/dev

source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml

@@ -6,7 +6,7 @@
     </CodeIncludes>
     <GenerateTypes>
 
-        <IntEnum name="armarx::objpose::aron::ObjectTypeEnum">
+        <IntEnum name="armarx::objpose::aron::ObjectTypes">
             <EnumValue key="ANY_OBJECT" value="0" />
             <EnumValue key="KNOWN_OBJECT" value="1" />
             <EnumValue key="UNKNOWN_OBJECT" value="2" />
@@ -52,7 +52,7 @@
             </ObjectChild>
 
             <ObjectChild key='objectType'>
-                <armarx::objpose::aron::ObjectTypeEnum />
+                <armarx::objpose::aron::ObjectTypes />
             </ObjectChild>
 
             <ObjectChild key='objectID'>

source/RobotAPI/libraries/ArmarXObjects/aron_conversions.cpp

@@ -11,7 +11,9 @@
 #include <SimoxUtility/shapes/OrientedBox.h>
 
 // RobotAPI
+// TODO: ice dependency! header should be removed.
 #include <RobotAPI/interface/objectpose/object_pose_types.h>
+
 #include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
 #include <RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.aron.generated.h>
 
@@ -24,19 +26,20 @@ namespace armarx::objpose
         return ObjectID(id.dataset, id.className, id.instanceName);
     }
 
-    ObjectTypeEnum fromAron(const aron::ObjectTypeEnum& objectType)
+    ObjectTypeEnum fromAron(const aron::ObjectTypes& objectType)
     {
+        using AronObjectType = aron::ObjectTypes::__ImplEnum;
+
         switch (objectType.value)
         {
-            case aron::ObjectTypeEnum::ANY_OBJECT:
+            case AronObjectType::ANY_OBJECT:
                 return ObjectTypeEnum::AnyObject;
-            case aron::ObjectTypeEnum::KNOWN_OBJECT:
+            case AronObjectType::KNOWN_OBJECT:
                 return ObjectTypeEnum::KnownObject;
-            case aron::ObjectTypeEnum::UNKNOWN_OBJECT:
+            case AronObjectType::UNKNOWN_OBJECT:
                 return ObjectTypeEnum::UnknownObject;
             default:
-                // TODO(fabian.reister): do it the ARMARX way ...
-                throw std::invalid_argument("Invalid ObjectTypeEnum value: " + std::to_string(objectType.value));
+                throw std::invalid_argument("Invalid aron::ObjectTypes value: " + std::to_string(objectType));
         }
     }
 
@@ -76,7 +79,6 @@ namespace armarx::objpose
 
         objectPose.confidence = aronObjectPose.confidence;
 
-        // TODO(fabian.reister): check if micro seconds is correct
         objectPose.timestamp = IceUtil::Time::microSeconds(aronObjectPose.timestamp);
 
         objectPose.localOOBB = fromAron(aronObjectPose.localOOBB);
@@ -93,16 +95,16 @@ namespace armarx::objpose
         return aronId;
     }
 
-    decltype(aron::ObjectTypeEnum::value) toAronValue(const ObjectTypeEnum& objectType)
+    aron::ObjectTypes toAron(const ObjectTypeEnum& objectType)
     {
         switch (objectType)
         {
             case ObjectTypeEnum::AnyObject:
-                return aron::ObjectTypeEnum::ANY_OBJECT;
+                return aron::ObjectTypes::ANY_OBJECT;
             case ObjectTypeEnum::KnownObject:
-                return aron::ObjectTypeEnum::KNOWN_OBJECT;
+                return aron::ObjectTypes::KNOWN_OBJECT;
             case ObjectTypeEnum::UnknownObject:
-                return aron::ObjectTypeEnum::UNKNOWN_OBJECT;
+                return aron::ObjectTypes::UNKNOWN_OBJECT;
             default:
                 // TODO(fabian.reister): do it the ARMARX way ...
                 throw std::invalid_argument("Invalid ObjectTypeEnum value: " + std::to_string(objectType));
@@ -144,7 +146,8 @@ namespace armarx::objpose
     {
         aronObjectPose.providerName = objectPose.providerName;
 
-        aronObjectPose.objectType.value = toAronValue(objectPose.objectType);
+        // TODO(fabian.reister): remove .value
+        aronObjectPose.objectType.value = toAron(objectPose.objectType).value;
 
         aronObjectPose.objectID = toAron(objectPose.objectID);