Update more libraries

source/RobotAPI/libraries/armem/server/CMakeLists.txt

@@ -18,7 +18,7 @@ set(LIBS
     ArmarXCore
     RemoteGui
     aron
-    armem
+    RobotAPI::armem
 
     # Needed for LTM
     RobotAPI::aron::converter::json

source/RobotAPI/libraries/armem_motions/CMakeLists.txt

@@ -14,15 +14,15 @@ armarx_add_library(
         RobotAPI::PriorKnowledge::Motions
         
     SOURCES
-        ./server/mdb_conversions.cpp
-        ./server/MotionSegment.cpp
+        armem_motions.cpp
     HEADERS
-        ./server/mdb_conversions.h
-        ./server/MotionSegment.h
+        armem_motions.h
     ARON_FILES
-        ./aron/MDBReference.xml
+        aron/MDBReference.xml
 )
 
 
 add_library(RobotAPI::ArMemMotions ALIAS armem_motions)
 add_library(RobotAPI::armem_motions ALIAS armem_motions)
+
+add_subdirectory(server)

source/RobotAPI/libraries/armem_motions/armem_motions.cpp

+#include "armem_motions.h"
+
+namespace armarx::armem::motions::mdb
+{
+
+}

source/RobotAPI/libraries/armem_motions/armem_motions.h

+#pragma once
+
+
+namespace armarx::armem::motions::mdb
+{
+
+}

source/RobotAPI/libraries/armem_motions/server/CMakeLists.txt

+set(ARMARX_LIB_NAME "" )
+set(ARON_FILES "")
+
+set(LIB_NAME       armem_motions_server)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+armarx_add_library(
+    LIBS
+        ArmarXCoreInterfaces
+        ArmarXCore
+        ArmarXCoreObservers
+
+        RobotAPI::Core
+        RobotAPI::armem_server
+        RobotAPI::PriorKnowledge::Motions
+        RobotAPI::armem_motions
+        
+    SOURCES
+        mdb_conversions.cpp
+        MotionSegment.cpp
+
+    HEADERS
+        mdb_conversions.h
+        MotionSegment.h
+)
+
+
+add_library(RobotAPI::ArMemMotions_server ALIAS armem_motions_server)
+add_library(RobotAPI::armem_motions_server ALIAS armem_motions_server)

source/RobotAPI/libraries/armem_mps/CMakeLists.txt

@@ -2,7 +2,6 @@ set(LIB_NAME       armem_mps)
 
 armarx_component_set_name("${LIB_NAME}")
 armarx_set_target("Library: ${LIB_NAME}")
-find_package(DMP QUIET) # needs to be changed to new MP package
 
 armarx_build_if(DMP_FOUND "DMP not available")
 
@@ -11,31 +10,28 @@ armarx_add_library(
         ArmarXCoreInterfaces
         ArmarXCore
         ArmarXCoreObservers
-        ${DMP_LIBRARIES}
+
         RobotAPI::Core
         RobotAPI::armem
         RobotAPI::PriorKnowledge::Motions
         RobotAPI::armem_motions
+
         VirtualRobot
+        ${DMP_LIBRARIES}
+
     SOURCES  
-        ./aron_conversions.cpp
-        #./traj_conversions.cpp
-        ./server/MotionPrimitives/motionprimitives.cpp
-        ./server/MotionPrimitives/Segment.cpp
-    HEADERS  
-        ./aron_conversions.h
-        #./traj_conversions.h
-        ./server/MotionPrimitives/motionprimitives.h
-        ./server/MotionPrimitives/Segment.h
-)
+        aron_conversions.cpp
+        #traj_conversions.cpp
 
+    HEADERS  
+        aron_conversions.h
+        #traj_conversions.h
 
-armarx_enable_aron_file_generation_for_target(
-    TARGET_NAME
-    "${LIB_NAME}"
     ARON_FILES
-    aron/Trajectory.xml
+        aron/Trajectory.xml
 )
 
 
 add_library(RobotAPI::armem_mps ALIAS armem_mps)
+
+add_subdirectory(server)

source/RobotAPI/libraries/armem_mps/server/CMakeLists.txt

+set(ARMARX_LIB_NAME "" )
+set(ARON_FILES "")
+
+set(LIB_NAME       armem_mps_server)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+armarx_build_if(DMP_FOUND "DMP not available")
+
+armarx_add_library(
+    LIBS     
+        ArmarXCoreInterfaces
+        ArmarXCore
+        ArmarXCoreObservers
+
+        RobotAPI::Core
+        RobotAPI::armem_server
+        RobotAPI::PriorKnowledge::Motions
+        RobotAPI::armem_motions
+        RobotAPI::armem_mps
+
+        VirtualRobot
+        ${DMP_LIBRARIES}
+
+    SOURCES  
+        MotionPrimitives/motionprimitives.cpp
+        MotionPrimitives/Segment.cpp
+
+    HEADERS  
+        MotionPrimitives/motionprimitives.h
+        MotionPrimitives/Segment.h
+)
+
+
+add_library(RobotAPI::armem_mps_server ALIAS armem_mps_server)

source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/motionprimitives.cpp

 #include "motionprimitives.h"
 
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+// #include <iostream>
+// #include <fstream>
 
 #include <SimoxUtility/algorithm/string.h>
 
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
-
-#include <RobotAPI/libraries/armem_mps/aron/Trajectory.aron.generated.h>
+#include <VirtualRobot/MathTools.h>
 
 #include <dmp/representation/trajectory.h>
-#include <ArmarXCore/core/system/ArmarXDataPath.h>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 #include <ArmarXCore/core/logging/Logging.h>
-#include <VirtualRobot/MathTools.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
 
-namespace armarx::armem::mps
-{
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem_mps/aron/Trajectory.aron.generated.h>
 
-std::optional<arondto::Trajectory> createFromFile(const std::filesystem::__cxx11::path &pathToInfoJson, bool taskspace)
+
+namespace armarx::armem::mps
 {
 
-    if (std::filesystem::exists(pathToInfoJson) && std::filesystem::is_regular_file(pathToInfoJson))
+    std::optional<arondto::Trajectory>
+    createFromFile(
+            const std::filesystem::path &pathToInfoJson,
+            bool taskspace)
     {
-        DMP::Vec<DMP::SampledTrajectoryV2 > trajs;
-        DMP::SampledTrajectoryV2 traj;
-        std::string absPath;
-        ArmarXDataPath::getAbsolutePath(pathToInfoJson, absPath);
-        traj.readFromCSVFile(absPath);
-        //traj = DMP::SampledTrajectoryV2::normalizeTimestamps(traj, 0, 1);
-        std::map<double, DMP::DVec> currentTraj = traj.getPositionData();//todo
-        trajs.push_back(traj);
-        arondto::Trajectory trajectory;
-        std::string name = pathToInfoJson.filename();
-        std::string toErase = "taskspace-trajectory-";
-        size_t pos = name.find(toErase);
-        if (pos != std::string::npos)
+        if (std::filesystem::exists(pathToInfoJson) && std::filesystem::is_regular_file(pathToInfoJson))
         {
-            name.erase(pos, toErase.length());
-        }
-        trajectory.name = name;
-        std::map<std::string, std::vector<float>> mapJointSpace;
-        for(DMP::SampledTrajectoryV2 traj: trajs){
-            std::map<double, DMP::DVec> currentTraj = traj.getPositionData(); // todo: add config making data structure clear
+            DMP::Vec<DMP::SampledTrajectoryV2 > trajs;
+            DMP::SampledTrajectoryV2 traj;
+            std::string absPath;
+            ArmarXDataPath::getAbsolutePath(pathToInfoJson, absPath);
+            traj.readFromCSVFile(absPath);
+
+            //traj = DMP::SampledTrajectoryV2::normalizeTimestamps(traj, 0, 1);
+            std::map<double, DMP::DVec> currentTraj = traj.getPositionData();  //todo
+            trajs.push_back(traj);
+
+            arondto::Trajectory trajectory;
+            std::string name = pathToInfoJson.filename();
+            std::string toErase = "taskspace-trajectory-";
+            size_t pos = name.find(toErase);
+            if (pos != std::string::npos)
+            {
+                name.erase(pos, toErase.length());
+            }
+            trajectory.name = name;
 
-            if(taskspace){
-                    for(std::pair<double, DMP::DVec> element: currentTraj){
+            std::map<std::string, std::vector<float>> mapJointSpace;
+            for (const DMP::SampledTrajectoryV2& traj: trajs)
+            {
+                std::map<double, DMP::DVec> currentTraj = traj.getPositionData(); // todo: add config making data structure clear
+
+                if (taskspace)
+                {
+                    for (std::pair<double, DMP::DVec> element: currentTraj)
+                    {
                         Eigen::Vector3f vec(element.second.at(0), element.second.at(1), element.second.at(2));
                         Eigen::Matrix<float, 4, 4> poseMatrix = VirtualRobot::MathTools::quat2eigen4f(element.second.at(4), element.second.at(5), element.second.at(6), element.second.at(3));
                         poseMatrix.block<3, 1>(0, 3) = vec;
@@ -52,33 +63,31 @@ std::optional<arondto::Trajectory> createFromFile(const std::filesystem::__cxx11
                         tselement.timestep = element.first;
                         tselement.pose = poseMatrix;
                         trajectory.taskSpace.steps.push_back(tselement);
-
                     }
-
-
-            }else{
-                for(std::pair<double, DMP::DVec> element: currentTraj){
-                    std::vector<float> configvec;
-                    for(double el: element.second){
-                        configvec.push_back(float(el));
+                }
+                else
+                {
+                    for (auto& [time, pos] : currentTraj)
+                    {
+                        std::vector<float> configvec;
+                        for (double el: pos)
+                        {
+                            configvec.push_back(float(el));
+                        }
+                        arondto::JSElement jselement;
+                        jselement.timestep = time;
+                        jselement.jointValues = configvec;
+                        trajectory.jointSpace.steps.push_back(jselement);
                     }
-                    arondto::JSElement jselement;
-                    jselement.timestep = element.first;
-                    jselement.jointValues = configvec;
-                    trajectory.jointSpace.steps.push_back(jselement);
                 }
             }
 
+            return trajectory;
+        }
+        else
+        {
+            return std::nullopt;
         }
-
-        return trajectory;
-    }
-    else
-    {
-        return std::nullopt;
     }
-}
-
-
 
 }

source/RobotAPI/libraries/armem_mps/server/MotionPrimitives/motionprimitives.h

-#ifndef MOTIONPRIMITIVES_H
-#define MOTIONPRIMITIVES_H
+#pragma once
 
 #include <filesystem>
-#include <iostream>
-#include <fstream>
 #include <optional>
 
 // ArmarX
-#include <RobotAPI/libraries/armem_motions/aron/MDBReference.aron.generated.h>
+// #include <RobotAPI/libraries/armem_motions/aron/MDBReference.aron.generated.h>
 #include <RobotAPI/libraries/armem_mps/aron/Trajectory.aron.generated.h>
 
+
 namespace armarx::armem::mps
 {
 
     std::optional<arondto::Trajectory> createFromFile(const std::filesystem::path& pathToInfoJson, bool taskspace);
 
 }
-#endif // MOTIONPRIMITIVES_H

source/RobotAPI/libraries/armem_objects/CMakeLists.txt

@@ -68,19 +68,6 @@ armarx_add_library(
 )
 
 
-if (FALSE)
-armarx_enable_aron_file_generation_for_target(
-    TARGET_NAME
-        "${LIB_NAME}"
-    ARON_FILES
-        aron/ObjectClass.xml
-        aron/ObjectInstance.xml
-
-        aron/Attachment.xml
-        # aron/Constraint.xml
-)
-endif()
-
 add_library(${PROJECT_NAME}::armem_objects ALIAS armem_objects)
 
 add_subdirectory(server)

source/RobotAPI/libraries/armem_objects/server/CMakeLists.txt

@@ -17,7 +17,7 @@ armarx_add_library(
         RobotAPI::ArViz
         RobotAPI::ComponentPlugins
         RobotAPI::Core
-        RobotAPI::armem
+        RobotAPI::armem_server
         RobotAPI::armem_robot
         RobotAPI::armem_objects
 

source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt

@@ -3,7 +3,6 @@ set(LIB_NAME armem_robot_state)
 armarx_component_set_name("${LIB_NAME}")
 armarx_set_target("Library: ${LIB_NAME}")
 
-find_package(Eigen3 QUIET)
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 
 
@@ -36,26 +35,6 @@ armarx_add_library(
         client/localization/TransformReader.h
         client/localization/TransformWriter.h
 
-        server/forward_declarations.h
-
-        server/common/Visu.h
-        server/common/combine.h
-
-        server/localization/Segment.h
-
-        server/proprioception/Segment.h
-        server/proprioception/aron_conversions.h
-        server/proprioception/RobotStateWriter.h
-        server/proprioception/RobotUnitData.h
-        server/proprioception/RobotUnitReader.h
-
-        server/proprioception/converters/Armar6Converter.h
-        server/proprioception/converters/ConverterTools.h
-        server/proprioception/converters/ConverterRegistry.h
-        server/proprioception/converters/ConverterInterface.h
-
-        server/description/Segment.h
-
         aron_conversions.h
         utils.h
 
@@ -68,24 +47,6 @@ armarx_add_library(
         client/localization/TransformReader.cpp
         client/localization/TransformWriter.cpp
 
-        server/common/Visu.cpp
-        server/common/combine.cpp
-
-        server/localization/Segment.cpp
-
-        server/proprioception/Segment.cpp
-        server/proprioception/aron_conversions.cpp
-        server/proprioception/RobotStateWriter.cpp
-        server/proprioception/RobotUnitData.cpp
-        server/proprioception/RobotUnitReader.cpp
-
-        server/proprioception/converters/Armar6Converter.cpp
-        server/proprioception/converters/ConverterTools.cpp
-        server/proprioception/converters/ConverterRegistry.cpp
-        server/proprioception/converters/ConverterInterface.cpp
-
-        server/description/Segment.cpp
-
         aron_conversions.cpp
         utils.cpp
 )
@@ -104,3 +65,5 @@ armarx_enable_aron_file_generation_for_target(
 
 
 add_library(RobotAPI::armem_robot_state ALIAS armem_robot_state)
+
+add_subdirectory(server)

source/RobotAPI/libraries/armem_robot_state/server/CMakeLists.txt

+set(ARMARX_LIB_NAME "" )
+set(ARON_FILES "")
+
+set(LIB_NAME armem_robot_state_server)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+
+
+armarx_add_library(
+    LIBS 
+        # ArmarX
+        ArmarXCore 
+        ArmarXCoreInterfaces
+        DebugObserverHelper
+        # ArmarXGui
+        ArmarXGuiComponentPlugins
+        # This package
+        RobotAPICore 
+        RobotAPIInterfaces 
+        RobotAPI::armem_server
+        RobotAPI::armem_robot
+        RobotAPI::armem_robot_state
+        aroncommon
+
+        # System / External
+        Eigen3::Eigen
+
+    HEADERS
+        forward_declarations.h
+
+        common/Visu.h
+        common/combine.h
+
+        localization/Segment.h
+
+        proprioception/Segment.h
+        proprioception/aron_conversions.h
+        proprioception/RobotStateWriter.h
+        proprioception/RobotUnitData.h
+        proprioception/RobotUnitReader.h
+
+        proprioception/converters/Armar6Converter.h
+        proprioception/converters/ConverterTools.h
+        proprioception/converters/ConverterRegistry.h
+        proprioception/converters/ConverterInterface.h
+
+        description/Segment.h
+
+    SOURCES
+        common/Visu.cpp
+        common/combine.cpp
+
+        localization/Segment.cpp
+
+        proprioception/Segment.cpp
+        proprioception/aron_conversions.cpp
+        proprioception/RobotStateWriter.cpp
+        proprioception/RobotUnitData.cpp
+        proprioception/RobotUnitReader.cpp
+
+        proprioception/converters/Armar6Converter.cpp
+        proprioception/converters/ConverterTools.cpp
+        proprioception/converters/ConverterRegistry.cpp
+        proprioception/converters/ConverterInterface.cpp
+
+        description/Segment.cpp
+)
+
+
+add_library(RobotAPI::armem_robot_state_server ALIAS armem_robot_state_server)