From 652d33891e6bd722a5c4bee4c528fdcc69f7133f Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Wed, 6 Mar 2019 16:53:20 +0100
Subject: [PATCH] Use Ice::emptyCurrent instead of Ice::Current() or
GlobalIceCurrent
---
.../DebugDrawer/DebugDrawerComponent.h | 198 +++++++++---------
.../KITProstheticHandUnit.h | 4 +-
.../RobotState/RobotStateComponent.h | 14 +-
.../RobotState/SharedRobotServants.h | 74 +++----
.../components/ViewSelection/ViewSelection.h | 22 +-
.../components/units/ForceTorqueObserver.cpp | 4 +-
.../units/ForceTorqueUnitSimulation.h | 4 +-
source/RobotAPI/components/units/HandUnit.h | 10 +-
.../components/units/HandUnitSimulation.h | 4 +-
.../components/units/HapticObserver.h | 2 +-
source/RobotAPI/components/units/HeadIKUnit.h | 16 +-
.../units/InertialMeasurementUnitObserver.h | 2 +-
.../RobotAPI/components/units/KinematicUnit.h | 20 +-
.../components/units/KinematicUnitObserver.h | 14 +-
.../units/KinematicUnitSimulation.h | 20 +-
.../components/units/OptoForceUnitObserver.h | 2 +-
.../RobotAPI/components/units/PlatformUnit.h | 4 +-
.../components/units/PlatformUnitObserver.cpp | 2 +-
.../components/units/PlatformUnitObserver.h | 6 +-
.../components/units/PlatformUnitSimulation.h | 10 +-
.../RobotAPI/components/units/RobotPoseUnit.h | 4 +-
...JointCartesianVelocityControllerWithRamp.h | 2 +-
.../NJointControllers/NJointController.h | 42 ++--
.../NJointControllers/NJointController.ipp | 2 +-
...onomicPlatformRelativePositionController.h | 2 +-
...latformUnitVelocityPassThroughController.h | 2 +-
...NJointKinematicUnitPassThroughController.h | 2 +-
.../RobotUnitModuleControlThread.h | 6 +-
.../RobotUnitModuleControllerManagement.cpp | 2 +-
.../RobotUnitModuleControllerManagement.h | 52 ++---
.../RobotUnitModules/RobotUnitModuleDevices.h | 20 +-
.../RobotUnitModuleLogging.cpp | 2 +-
.../RobotUnitModules/RobotUnitModuleLogging.h | 12 +-
.../RobotUnitModuleManagement.h | 2 +-
.../RobotUnitModulePublisher.h | 12 +-
.../RobotUnitModuleSelfCollisionChecker.h | 10 +-
.../RobotUnitModules/RobotUnitModuleUnits.cpp | 4 +-
.../RobotUnitModules/RobotUnitModuleUnits.ipp | 2 +-
.../RobotUnit/Units/ForceTorqueSubUnit.h | 4 +-
.../units/RobotUnit/Units/PlatformSubUnit.h | 14 +-
.../RobotUnit/Units/TCPControllerSubUnit.cpp | 2 +-
.../RobotUnit/Units/TCPControllerSubUnit.h | 6 +-
.../Units/TrajectoryControllerSubUnit.h | 32 +--
.../components/units/SensorActorUnit.h | 12 +-
.../components/units/SpeechObserver.h | 12 +-
.../components/units/TCPControlUnit.h | 18 +-
.../components/units/TCPControlUnitObserver.h | 4 +-
.../relays/ForceTorqueUnitListenerRelay.h | 2 +-
.../InertialMeasurementUnitListenerRelay.h | 2 +-
.../units/relays/KinematicUnitListenerRelay.h | 16 +-
.../units/relays/RobotStateListenerRelay.h | 4 +-
.../PlatformUnitGuiPlugin.h | 6 +-
.../ViewSelectionWidgetController.h | 6 +-
.../libraries/core/FramedOrientedPoint.h | 12 +-
source/RobotAPI/libraries/core/FramedPose.h | 48 ++---
source/RobotAPI/libraries/core/LinkedPose.h | 28 +--
.../RobotAPI/libraries/core/OrientedPoint.h | 12 +-
source/RobotAPI/libraries/core/Pose.h | 48 ++---
source/RobotAPI/libraries/core/Trajectory.h | 12 +-
.../core/observerfilters/OffsetFilter.h | 2 +-
.../statecharts/operations/RobotControl.h | 2 +-
61 files changed, 458 insertions(+), 458 deletions(-)
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
index 6ed54f045..dd9290c10 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
@@ -143,81 +143,81 @@ namespace armarx
}
/* Inherited from DebugDrawerInterface. */
- void exportScene(const std::string& filename, const ::Ice::Current& = ::Ice::Current()) override;
- void exportLayer(const std::string& filename, const std::string& layerName, const ::Ice::Current& = ::Ice::Current()) override;
-
- void setPoseVisu(const std::string& layerName, const std::string& poseName, const ::armarx::PoseBasePtr& globalPose, const ::Ice::Current& = ::Ice::Current()) override;
- void setScaledPoseVisu(const std::string& layerName, const std::string& poseName, const ::armarx::PoseBasePtr& globalPose, const ::Ice::Float scale, const ::Ice::Current& = ::Ice::Current()) override;
- void setPoseDebugLayerVisu(const std::string& poseName, const ::armarx::PoseBasePtr& globalPose, const ::Ice::Current& = ::Ice::Current()) override;
- void setScaledPoseDebugLayerVisu(const std::string& poseName, const ::armarx::PoseBasePtr& globalPose, const ::Ice::Float scale, const ::Ice::Current& = ::Ice::Current()) override;
- void removePoseVisu(const std::string& layerName, const std::string& poseName, const ::Ice::Current& = ::Ice::Current()) override;
- void removePoseDebugLayerVisu(const std::string& poseName, const ::Ice::Current& = ::Ice::Current()) override;
-
- void setLineVisu(const std::string& layerName, const std::string& lineName, const ::armarx::Vector3BasePtr& globalPosition1, const ::armarx::Vector3BasePtr& globalPosition2, float lineWidth, const ::armarx::DrawColor& color, const ::Ice::Current& = ::Ice::Current()) override;
- void setLineDebugLayerVisu(const std::string& lineName, const ::armarx::Vector3BasePtr& globalPosition1, const ::armarx::Vector3BasePtr& globalPosition2, float lineWidth, const ::armarx::DrawColor& color, const ::Ice::Current& = ::Ice::Current()) override;
- void removeLineVisu(const std::string& layerName, const std::string& lineName, const ::Ice::Current& = ::Ice::Current()) override;
- void removeLineDebugLayerVisu(const std::string& lineName, const ::Ice::Current& = ::Ice::Current()) override;
-
- void setLineSetVisu(const std::string& layerName, const std::string& lineSetName, const DebugDrawerLineSet& lineSet, const ::Ice::Current& = ::Ice::Current()) override;
- void setLineSetDebugLayerVisu(const std::string& lineSetName, const DebugDrawerLineSet& lineSet, const ::Ice::Current& = ::Ice::Current()) override;
- void removeLineSetVisu(const std::string& layerName, const std::string& lineSetName, const ::Ice::Current& = ::Ice::Current()) override;
- void removeLineSetDebugLayerVisu(const std::string& lineSetName, const ::Ice::Current& = ::Ice::Current()) override;
-
- void setBoxVisu(const std::string& layerName, const std::string& boxName, const ::armarx::PoseBasePtr& globalPose, const ::armarx::Vector3BasePtr& dimensions, const DrawColor& color, const ::Ice::Current& = ::Ice::Current()) override;
- void setBoxDebugLayerVisu(const std::string& boxName, const ::armarx::PoseBasePtr& globalPose, const ::armarx::Vector3BasePtr& dimensions, const DrawColor& color, const ::Ice::Current& = ::Ice::Current()) override;
- void removeBoxVisu(const std::string& layerName, const std::string& boxName, const ::Ice::Current& = ::Ice::Current()) override;
- void removeBoxDebugLayerVisu(const std::string& boxName, const ::Ice::Current& = ::Ice::Current()) override;
-
- void setTextVisu(const std::string& layerName, const std::string& textName, const std::string& text, const ::armarx::Vector3BasePtr& globalPosition, const DrawColor& color, int size, const ::Ice::Current& = ::Ice::Current()) override;
- void setTextDebugLayerVisu(const std::string& textName, const std::string& text, const ::armarx::Vector3BasePtr& globalPosition, const DrawColor& color, int size, const ::Ice::Current& = ::Ice::Current()) override;
- void removeTextVisu(const std::string& layerName, const std::string& textName, const ::Ice::Current& = ::Ice::Current()) override;
- void removeTextDebugLayerVisu(const std::string& textName, const ::Ice::Current& = ::Ice::Current()) override;
-
- void setSphereVisu(const std::string& layerName, const std::string& sphereName, const ::armarx::Vector3BasePtr& globalPosition, const DrawColor& color, float radius, const ::Ice::Current& = ::Ice::Current()) override;
- void setSphereDebugLayerVisu(const std::string& sphereName, const ::armarx::Vector3BasePtr& globalPosition, const DrawColor& color, float radius, const ::Ice::Current& = ::Ice::Current()) override;
- void removeSphereVisu(const std::string& layerName, const std::string& sphereName, const ::Ice::Current& = ::Ice::Current()) override;
- void removeSphereDebugLayerVisu(const std::string& sphereName, const ::Ice::Current& = ::Ice::Current()) override;
-
- void setCylinderVisu(const std::string& layerName, const std::string& cylinderName, const ::armarx::Vector3BasePtr& globalPosition, const ::armarx::Vector3BasePtr& direction, float length, float radius, const DrawColor& color, const ::Ice::Current& = ::Ice::Current()) override;
- void setCylinderDebugLayerVisu(const std::string& cylinderName, const ::armarx::Vector3BasePtr& globalPosition, const ::armarx::Vector3BasePtr& direction, float length, float radius, const DrawColor& color, const ::Ice::Current& = ::Ice::Current()) override;
- void removeCylinderVisu(const std::string& layerName, const std::string& cylinderName, const ::Ice::Current& = ::Ice::Current()) override;
- void removeCylinderDebugLayerVisu(const std::string& cylinderName, const ::Ice::Current& = ::Ice::Current()) override;
-
- void setPointCloudVisu(const std::string& layerName, const std::string& pointCloudName, const DebugDrawerPointCloud& pointCloud, const ::Ice::Current& = ::Ice::Current()) override;
- void setPointCloudDebugLayerVisu(const std::string& pointCloudName, const DebugDrawerPointCloud& pointCloud, const ::Ice::Current& = ::Ice::Current()) override;
- void removePointCloudVisu(const std::string& layerName, const std::string& pointCloudName, const ::Ice::Current& = ::Ice::Current()) override;
- void removePointCloudDebugLayerVisu(const std::string& pointCloudName, const ::Ice::Current& = ::Ice::Current()) override;
-
- virtual void setColoredPointCloudDebugLayerVisu(const std::string& pointCloudName, const DebugDrawerColoredPointCloud& pointCloud, const ::Ice::Current& = ::Ice::Current());
- void setColoredPointCloudVisu(const std::string& layerName, const std::string& pointCloudName, const DebugDrawerColoredPointCloud& pointCloud, const ::Ice::Current& = ::Ice::Current()) override;
- void removeColoredPointCloudVisu(const std::string& layerName, const std::string& pointCloudName, const ::Ice::Current& = ::Ice::Current()) override;
- void removeColoredPointCloudDebugLayerVisu(const std::string& pointCloudName, const ::Ice::Current& = ::Ice::Current()) override;
-
- void set24BitColoredPointCloudDebugLayerVisu(const std::string& pointCloudName, const DebugDrawer24BitColoredPointCloud& pointCloud, const ::Ice::Current& = ::Ice::Current()) override;
- void set24BitColoredPointCloudVisu(const std::string& layerName, const std::string& pointCloudName, const DebugDrawer24BitColoredPointCloud& pointCloud, const ::Ice::Current& = ::Ice::Current()) override;
- void remove24BitColoredPointCloudVisu(const std::string& layerName, const std::string& pointCloudName, const ::Ice::Current& = ::Ice::Current()) override;
- void remove24BitColoredPointCloudDebugLayerVisu(const std::string& pointCloudName, const ::Ice::Current& = ::Ice::Current()) override;
-
-
- void setPolygonVisu(const std::string& layerName, const std::string& polygonName, const std::vector< ::armarx::Vector3BasePtr >& polygonPoints, const DrawColor& colorInner, const DrawColor& colorBorder, float lineWidth, const ::Ice::Current& = ::Ice::Current()) override;
- void setPolygonDebugLayerVisu(const std::string& polygonName, const std::vector< ::armarx::Vector3BasePtr >& polygonPoints, const DrawColor& colorInner, const DrawColor& colorBorder, float lineWidth, const ::Ice::Current& = ::Ice::Current()) override;
- void removePolygonVisu(const std::string& layerName, const std::string& polygonName, const ::Ice::Current& = ::Ice::Current()) override;
- void removePolygonDebugLayerVisu(const std::string& polygonName, const ::Ice::Current& = ::Ice::Current()) override;
-
- void setTriMeshVisu(const std::string& layerName, const std::string& triMeshName, const DebugDrawerTriMesh& triMesh, const ::Ice::Current& = ::Ice::Current()) override;
- void setTriMeshDebugLayerVisu(const std::string& triMeshName, const DebugDrawerTriMesh& triMesh, const ::Ice::Current& = ::Ice::Current()) override;
- void removeTriMeshVisu(const std::string& layerName, const std::string& triMeshName, const ::Ice::Current& = ::Ice::Current()) override;
- void removeTriMeshDebugLayerVisu(const std::string& triMeshName, const ::Ice::Current& = ::Ice::Current()) override;
-
- void setArrowVisu(const std::string& layerName, const std::string& arrowName, const ::armarx::Vector3BasePtr& position, const ::armarx::Vector3BasePtr& direction, const DrawColor& color, float length, float width, const ::Ice::Current& = ::Ice::Current()) override;
- void setArrowDebugLayerVisu(const std::string& arrowName, const ::armarx::Vector3BasePtr& position, const ::armarx::Vector3BasePtr& direction, const DrawColor& color, float length, float width, const ::Ice::Current& = ::Ice::Current()) override;
- void removeArrowVisu(const std::string& layerName, const std::string& arrowName, const ::Ice::Current& = ::Ice::Current()) override;
- void removeArrowDebugLayerVisu(const std::string& arrowName, const ::Ice::Current& = ::Ice::Current()) override;
-
- void setCircleArrowVisu(const std::string& layerName, const std::string& circleName, const Vector3BasePtr& globalPosition, const Vector3BasePtr& directionVec, Ice::Float radius, Ice::Float circleCompletion, Ice::Float width, const DrawColor& color, const Ice::Current& = ::Ice::Current()) override;
- void setCircleDebugLayerVisu(const std::string& circleName, const Vector3BasePtr& globalPosition, const Vector3BasePtr& directionVec, Ice::Float radius, Ice::Float circleCompletion, Ice::Float width, const DrawColor& color, const Ice::Current& = ::Ice::Current()) override;
- void removeCircleVisu(const std::string& layerName, const std::string& circleName, const Ice::Current& = ::Ice::Current()) override;
- void removeCircleDebugLayerVisu(const std::string& circleName, const Ice::Current& = ::Ice::Current()) override;
+ void exportScene(const std::string& filename, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void exportLayer(const std::string& filename, const std::string& layerName, const ::Ice::Current& = Ice::emptyCurrent) override;
+
+ void setPoseVisu(const std::string& layerName, const std::string& poseName, const ::armarx::PoseBasePtr& globalPose, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void setScaledPoseVisu(const std::string& layerName, const std::string& poseName, const ::armarx::PoseBasePtr& globalPose, const ::Ice::Float scale, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void setPoseDebugLayerVisu(const std::string& poseName, const ::armarx::PoseBasePtr& globalPose, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void setScaledPoseDebugLayerVisu(const std::string& poseName, const ::armarx::PoseBasePtr& globalPose, const ::Ice::Float scale, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removePoseVisu(const std::string& layerName, const std::string& poseName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removePoseDebugLayerVisu(const std::string& poseName, const ::Ice::Current& = Ice::emptyCurrent) override;
+
+ void setLineVisu(const std::string& layerName, const std::string& lineName, const ::armarx::Vector3BasePtr& globalPosition1, const ::armarx::Vector3BasePtr& globalPosition2, float lineWidth, const ::armarx::DrawColor& color, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void setLineDebugLayerVisu(const std::string& lineName, const ::armarx::Vector3BasePtr& globalPosition1, const ::armarx::Vector3BasePtr& globalPosition2, float lineWidth, const ::armarx::DrawColor& color, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeLineVisu(const std::string& layerName, const std::string& lineName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeLineDebugLayerVisu(const std::string& lineName, const ::Ice::Current& = Ice::emptyCurrent) override;
+
+ void setLineSetVisu(const std::string& layerName, const std::string& lineSetName, const DebugDrawerLineSet& lineSet, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void setLineSetDebugLayerVisu(const std::string& lineSetName, const DebugDrawerLineSet& lineSet, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeLineSetVisu(const std::string& layerName, const std::string& lineSetName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeLineSetDebugLayerVisu(const std::string& lineSetName, const ::Ice::Current& = Ice::emptyCurrent) override;
+
+ void setBoxVisu(const std::string& layerName, const std::string& boxName, const ::armarx::PoseBasePtr& globalPose, const ::armarx::Vector3BasePtr& dimensions, const DrawColor& color, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void setBoxDebugLayerVisu(const std::string& boxName, const ::armarx::PoseBasePtr& globalPose, const ::armarx::Vector3BasePtr& dimensions, const DrawColor& color, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeBoxVisu(const std::string& layerName, const std::string& boxName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeBoxDebugLayerVisu(const std::string& boxName, const ::Ice::Current& = Ice::emptyCurrent) override;
+
+ void setTextVisu(const std::string& layerName, const std::string& textName, const std::string& text, const ::armarx::Vector3BasePtr& globalPosition, const DrawColor& color, int size, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void setTextDebugLayerVisu(const std::string& textName, const std::string& text, const ::armarx::Vector3BasePtr& globalPosition, const DrawColor& color, int size, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeTextVisu(const std::string& layerName, const std::string& textName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeTextDebugLayerVisu(const std::string& textName, const ::Ice::Current& = Ice::emptyCurrent) override;
+
+ void setSphereVisu(const std::string& layerName, const std::string& sphereName, const ::armarx::Vector3BasePtr& globalPosition, const DrawColor& color, float radius, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void setSphereDebugLayerVisu(const std::string& sphereName, const ::armarx::Vector3BasePtr& globalPosition, const DrawColor& color, float radius, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeSphereVisu(const std::string& layerName, const std::string& sphereName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeSphereDebugLayerVisu(const std::string& sphereName, const ::Ice::Current& = Ice::emptyCurrent) override;
+
+ void setCylinderVisu(const std::string& layerName, const std::string& cylinderName, const ::armarx::Vector3BasePtr& globalPosition, const ::armarx::Vector3BasePtr& direction, float length, float radius, const DrawColor& color, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void setCylinderDebugLayerVisu(const std::string& cylinderName, const ::armarx::Vector3BasePtr& globalPosition, const ::armarx::Vector3BasePtr& direction, float length, float radius, const DrawColor& color, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeCylinderVisu(const std::string& layerName, const std::string& cylinderName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeCylinderDebugLayerVisu(const std::string& cylinderName, const ::Ice::Current& = Ice::emptyCurrent) override;
+
+ void setPointCloudVisu(const std::string& layerName, const std::string& pointCloudName, const DebugDrawerPointCloud& pointCloud, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void setPointCloudDebugLayerVisu(const std::string& pointCloudName, const DebugDrawerPointCloud& pointCloud, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removePointCloudVisu(const std::string& layerName, const std::string& pointCloudName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removePointCloudDebugLayerVisu(const std::string& pointCloudName, const ::Ice::Current& = Ice::emptyCurrent) override;
+
+ virtual void setColoredPointCloudDebugLayerVisu(const std::string& pointCloudName, const DebugDrawerColoredPointCloud& pointCloud, const ::Ice::Current& = Ice::emptyCurrent);
+ void setColoredPointCloudVisu(const std::string& layerName, const std::string& pointCloudName, const DebugDrawerColoredPointCloud& pointCloud, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeColoredPointCloudVisu(const std::string& layerName, const std::string& pointCloudName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeColoredPointCloudDebugLayerVisu(const std::string& pointCloudName, const ::Ice::Current& = Ice::emptyCurrent) override;
+
+ void set24BitColoredPointCloudDebugLayerVisu(const std::string& pointCloudName, const DebugDrawer24BitColoredPointCloud& pointCloud, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void set24BitColoredPointCloudVisu(const std::string& layerName, const std::string& pointCloudName, const DebugDrawer24BitColoredPointCloud& pointCloud, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void remove24BitColoredPointCloudVisu(const std::string& layerName, const std::string& pointCloudName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void remove24BitColoredPointCloudDebugLayerVisu(const std::string& pointCloudName, const ::Ice::Current& = Ice::emptyCurrent) override;
+
+
+ void setPolygonVisu(const std::string& layerName, const std::string& polygonName, const std::vector< ::armarx::Vector3BasePtr >& polygonPoints, const DrawColor& colorInner, const DrawColor& colorBorder, float lineWidth, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void setPolygonDebugLayerVisu(const std::string& polygonName, const std::vector< ::armarx::Vector3BasePtr >& polygonPoints, const DrawColor& colorInner, const DrawColor& colorBorder, float lineWidth, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removePolygonVisu(const std::string& layerName, const std::string& polygonName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removePolygonDebugLayerVisu(const std::string& polygonName, const ::Ice::Current& = Ice::emptyCurrent) override;
+
+ void setTriMeshVisu(const std::string& layerName, const std::string& triMeshName, const DebugDrawerTriMesh& triMesh, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void setTriMeshDebugLayerVisu(const std::string& triMeshName, const DebugDrawerTriMesh& triMesh, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeTriMeshVisu(const std::string& layerName, const std::string& triMeshName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeTriMeshDebugLayerVisu(const std::string& triMeshName, const ::Ice::Current& = Ice::emptyCurrent) override;
+
+ void setArrowVisu(const std::string& layerName, const std::string& arrowName, const ::armarx::Vector3BasePtr& position, const ::armarx::Vector3BasePtr& direction, const DrawColor& color, float length, float width, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void setArrowDebugLayerVisu(const std::string& arrowName, const ::armarx::Vector3BasePtr& position, const ::armarx::Vector3BasePtr& direction, const DrawColor& color, float length, float width, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeArrowVisu(const std::string& layerName, const std::string& arrowName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeArrowDebugLayerVisu(const std::string& arrowName, const ::Ice::Current& = Ice::emptyCurrent) override;
+
+ void setCircleArrowVisu(const std::string& layerName, const std::string& circleName, const Vector3BasePtr& globalPosition, const Vector3BasePtr& directionVec, Ice::Float radius, Ice::Float circleCompletion, Ice::Float width, const DrawColor& color, const Ice::Current& = Ice::emptyCurrent) override;
+ void setCircleDebugLayerVisu(const std::string& circleName, const Vector3BasePtr& globalPosition, const Vector3BasePtr& directionVec, Ice::Float radius, Ice::Float circleCompletion, Ice::Float width, const DrawColor& color, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeCircleVisu(const std::string& layerName, const std::string& circleName, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeCircleDebugLayerVisu(const std::string& circleName, const Ice::Current& = Ice::emptyCurrent) override;
/*!
@@ -228,50 +228,50 @@ namespace armarx
* \param DrawStyle Either FullModel ior CollisionModel.
* \param armarxProject Additional armarx project that should be used to search the robot. Must be locally available and accessible through the armarx cmake search procedure.
*/
- void setRobotVisu(const std::string& layerName, const std::string& robotName, const std::string& robotFile, const std::string& armarxProject, DrawStyle drawStyle, const ::Ice::Current& = ::Ice::Current()) override;
- void updateRobotPose(const std::string& layerName, const std::string& robotName, const ::armarx::PoseBasePtr& globalPose, const ::Ice::Current& = ::Ice::Current()) override;
- void updateRobotConfig(const std::string& layerName, const std::string& robotName, const std::map< std::string, float>& configuration, const ::Ice::Current& = ::Ice::Current()) override;
+ void setRobotVisu(const std::string& layerName, const std::string& robotName, const std::string& robotFile, const std::string& armarxProject, DrawStyle drawStyle, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void updateRobotPose(const std::string& layerName, const std::string& robotName, const ::armarx::PoseBasePtr& globalPose, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void updateRobotConfig(const std::string& layerName, const std::string& robotName, const std::map< std::string, float>& configuration, const ::Ice::Current& = Ice::emptyCurrent) override;
/*!
* \brief updateRobotColor Colorizes the robot visualization
* \param layerName The layer
* \param robotName The robot identifyer
* \param c The draw color, if all is set to 0, the colorization is disabled (i.e. the original vizaulization shows up)
*/
- void updateRobotColor(const std::string& layerName, const std::string& robotName, const armarx::DrawColor& c, const ::Ice::Current& = ::Ice::Current()) override;
- void updateRobotNodeColor(const std::string& layerName, const std::string& robotName, const std::string& robotNodeName, const armarx::DrawColor& c, const ::Ice::Current& = ::Ice::Current()) override;
- void removeRobotVisu(const std::string& layerName, const std::string& robotName, const ::Ice::Current& = ::Ice::Current()) override;
+ void updateRobotColor(const std::string& layerName, const std::string& robotName, const armarx::DrawColor& c, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void updateRobotNodeColor(const std::string& layerName, const std::string& robotName, const std::string& robotNodeName, const armarx::DrawColor& c, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeRobotVisu(const std::string& layerName, const std::string& robotName, const ::Ice::Current& = Ice::emptyCurrent) override;
- void clearAll(const ::Ice::Current& = ::Ice::Current()) override;
- void clearLayer(const std::string& layerName, const ::Ice::Current& = ::Ice::Current()) override;
- void clearDebugLayer(const ::Ice::Current& = ::Ice::Current()) override;
+ void clearAll(const ::Ice::Current& = Ice::emptyCurrent) override;
+ void clearLayer(const std::string& layerName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void clearDebugLayer(const ::Ice::Current& = Ice::emptyCurrent) override;
- bool hasLayer(const std::string& layerName, const ::Ice::Current& = ::Ice::Current()) override;
- void removeLayer(const std::string& layerName, const ::Ice::Current& = ::Ice::Current()) override;
+ bool hasLayer(const std::string& layerName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void removeLayer(const std::string& layerName, const ::Ice::Current& = Ice::emptyCurrent) override;
- void enableLayerVisu(const std::string& layerName, bool visible, const ::Ice::Current& = ::Ice::Current()) override;
- void enableDebugLayerVisu(bool visible, const ::Ice::Current& = ::Ice::Current()) override;
+ void enableLayerVisu(const std::string& layerName, bool visible, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void enableDebugLayerVisu(bool visible, const ::Ice::Current& = Ice::emptyCurrent) override;
- ::Ice::StringSeq layerNames(const ::Ice::Current& = ::Ice::Current()) override;
- ::armarx::LayerInformationSequence layerInformation(const ::Ice::Current& = ::Ice::Current()) override;
+ ::Ice::StringSeq layerNames(const ::Ice::Current& = Ice::emptyCurrent) override;
+ ::armarx::LayerInformationSequence layerInformation(const ::Ice::Current& = Ice::emptyCurrent) override;
- void disableAllLayers(const ::Ice::Current& = ::Ice::Current()) override;
- void enableAllLayers(const ::Ice::Current& = ::Ice::Current()) override;
+ void disableAllLayers(const ::Ice::Current& = Ice::emptyCurrent) override;
+ void enableAllLayers(const ::Ice::Current& = Ice::emptyCurrent) override;
// Methods for selection management
- void enableSelections(const std::string& layerName, const ::Ice::Current& = ::Ice::Current()) override;
- void disableSelections(const std::string& layerName, const ::Ice::Current& = ::Ice::Current()) override;
- void clearSelections(const std::string& layerName, const ::Ice::Current& = ::Ice::Current()) override;
- void select(const std::string& layerName, const std::string& elementName, const ::Ice::Current& = ::Ice::Current()) override;
- void deselect(const std::string& layerName, const std::string& elementName, const ::Ice::Current& = ::Ice::Current()) override;
+ void enableSelections(const std::string& layerName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void disableSelections(const std::string& layerName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void clearSelections(const std::string& layerName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void select(const std::string& layerName, const std::string& elementName, const ::Ice::Current& = Ice::emptyCurrent) override;
+ void deselect(const std::string& layerName, const std::string& elementName, const ::Ice::Current& = Ice::emptyCurrent) override;
- DebugDrawerSelectionList getSelections(const ::Ice::Current& = ::Ice::Current()) override;
+ DebugDrawerSelectionList getSelections(const ::Ice::Current& = Ice::emptyCurrent) override;
void selectionCallback();
void deselectionCallback();
void installSelectionCallbacks();
void removeSelectionCallbacks();
- void reportSelectionChanged(const DebugDrawerSelectionList& selectedElements, const ::Ice::Current& = ::Ice::Current()) override;
+ void reportSelectionChanged(const DebugDrawerSelectionList& selectedElements, const ::Ice::Current& = Ice::emptyCurrent) override;
/*!
* \brief getScopedLock If using the coin visualization it must be ensured that all rendering calls are protected with this mutex
diff --git a/source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.h b/source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.h
index f4e13d0cc..1cba8b8eb 100644
--- a/source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.h
+++ b/source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.h
@@ -77,14 +77,14 @@ namespace armarx
void onInitHandUnit() override;
void onStartHandUnit() override;
void onExitHandUnit() override;
- void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current& = GlobalIceCurrent) override;
+ void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current& = Ice::emptyCurrent) override;
NameValueMap getCurrentJointValues(const Ice::Current&) override;
void addShape(const std::string& name, const std::map<std::string, float>& shape);
void addShapeName(const std::string& name);
- void setShape(const std::string& shapeName, const Ice::Current& c = GlobalIceCurrent) override;
+ void setShape(const std::string& shapeName, const Ice::Current& c = Ice::emptyCurrent) override;
protected:
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.h b/source/RobotAPI/components/RobotState/RobotStateComponent.h
index 817743c6d..10f5224dc 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.h
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.h
@@ -164,14 +164,14 @@ namespace armarx
~RobotStateComponent() override;
// inherited from KinematicUnitInterface
- void reportControlModeChanged(const NameControlModeMap& jointModes, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = ::Ice::Current()) override;
- void reportJointAngles(const NameValueMap& jointAngles, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = ::Ice::Current()) override;
- void reportJointVelocities(const NameValueMap& jointVelocities, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = ::Ice::Current()) override;
- void reportJointTorques(const NameValueMap& jointTorques, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = ::Ice::Current()) override;
+ void reportControlModeChanged(const NameControlModeMap& jointModes, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+ void reportJointAngles(const NameValueMap& jointAngles, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+ void reportJointVelocities(const NameValueMap& jointVelocities, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+ void reportJointTorques(const NameValueMap& jointTorques, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
void reportJointAccelerations(const NameValueMap& jointAccelerations, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c) override;
- void reportJointCurrents(const NameValueMap& jointCurrents, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = ::Ice::Current()) override;
- void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = ::Ice::Current()) override;
- void reportJointStatuses(const NameStatusMap& jointStatuses, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = ::Ice::Current()) override;
+ void reportJointCurrents(const NameValueMap& jointCurrents, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+ void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+ void reportJointStatuses(const NameStatusMap& jointStatuses, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
private:
void readRobotInfo(const std::string& robotFile);
diff --git a/source/RobotAPI/components/RobotState/SharedRobotServants.h b/source/RobotAPI/components/RobotState/SharedRobotServants.h
index 9d4d60cf2..922588ddb 100644
--- a/source/RobotAPI/components/RobotState/SharedRobotServants.h
+++ b/source/RobotAPI/components/RobotState/SharedRobotServants.h
@@ -53,9 +53,9 @@ namespace armarx
virtual public SharedObjectInterface
{
public:
- void ref(const Ice::Current& c = Ice::Current()) override;
- void unref(const Ice::Current& c = Ice::Current()) override;
- void destroy(const Ice::Current& c = Ice::Current()) override;
+ void ref(const Ice::Current& c = Ice::emptyCurrent) override;
+ void unref(const Ice::Current& c = Ice::emptyCurrent) override;
+ void destroy(const Ice::Current& c = Ice::emptyCurrent) override;
SharedObjectBase();
private:
unsigned int _referenceCount;
@@ -74,32 +74,32 @@ namespace armarx
public SharedObjectBase
{
public:
- SharedRobotNodeServant(VirtualRobot::RobotNodePtr node /*,const Ice::Current & current = Ice::Current()*/);
+ SharedRobotNodeServant(VirtualRobot::RobotNodePtr node /*,const Ice::Current & current = Ice::emptyCurrent*/);
~SharedRobotNodeServant() override;
- float getJointValue(const Ice::Current& current = Ice::Current()) const override;
- std::string getName(const Ice::Current& current = Ice::Current()) const override;
+ float getJointValue(const Ice::Current& current = Ice::emptyCurrent) const override;
+ std::string getName(const Ice::Current& current = Ice::emptyCurrent) const override;
- PoseBasePtr getLocalTransformation(const Ice::Current& current = Ice::Current()) const override;
- FramedPoseBasePtr getGlobalPose(const Ice::Current& current = Ice::Current()) const override;
- FramedPoseBasePtr getPoseInRootFrame(const Ice::Current& current = Ice::Current()) const override;
+ PoseBasePtr getLocalTransformation(const Ice::Current& current = Ice::emptyCurrent) const override;
+ FramedPoseBasePtr getGlobalPose(const Ice::Current& current = Ice::emptyCurrent) const override;
+ FramedPoseBasePtr getPoseInRootFrame(const Ice::Current& current = Ice::emptyCurrent) const override;
- JointType getType(const Ice::Current& current = Ice::Current()) const override;
- Vector3BasePtr getJointTranslationDirection(const Ice::Current& current = Ice::Current()) const override;
- Vector3BasePtr getJointRotationAxis(const Ice::Current& current = Ice::Current()) const override;
+ JointType getType(const Ice::Current& current = Ice::emptyCurrent) const override;
+ Vector3BasePtr getJointTranslationDirection(const Ice::Current& current = Ice::emptyCurrent) const override;
+ Vector3BasePtr getJointRotationAxis(const Ice::Current& current = Ice::emptyCurrent) const override;
- bool hasChild(const std::string& name, bool recursive, const Ice::Current& current = Ice::Current()) const override;
- std::string getParent(const Ice::Current& current = Ice::Current()) const override;
- NameList getChildren(const Ice::Current& current = Ice::Current()) const override;
- NameList getAllParents(const std::string& name, const Ice::Current& current = Ice::Current()) const override;
+ bool hasChild(const std::string& name, bool recursive, const Ice::Current& current = Ice::emptyCurrent) const override;
+ std::string getParent(const Ice::Current& current = Ice::emptyCurrent) const override;
+ NameList getChildren(const Ice::Current& current = Ice::emptyCurrent) const override;
+ NameList getAllParents(const std::string& name, const Ice::Current& current = Ice::emptyCurrent) const override;
- float getJointValueOffest(const Ice::Current& current = Ice::Current()) const override;
- float getJointLimitHigh(const Ice::Current& current = Ice::Current()) const override;
- float getJointLimitLow(const Ice::Current& current = Ice::Current()) const override;
+ float getJointValueOffest(const Ice::Current& current = Ice::emptyCurrent) const override;
+ float getJointLimitHigh(const Ice::Current& current = Ice::emptyCurrent) const override;
+ float getJointLimitLow(const Ice::Current& current = Ice::emptyCurrent) const override;
- Vector3BasePtr getCoM(const Ice::Current& current = Ice::Current()) const override;
- Ice::FloatSeq getInertia(const Ice::Current& current = Ice::Current()) const override;
- float getMass(const Ice::Current& current = Ice::Current()) const override;
+ Vector3BasePtr getCoM(const Ice::Current& current = Ice::emptyCurrent) const override;
+ Ice::FloatSeq getInertia(const Ice::Current& current = Ice::emptyCurrent) const override;
+ float getMass(const Ice::Current& current = Ice::emptyCurrent) const override;
@@ -123,29 +123,29 @@ namespace armarx
SharedRobotServant(VirtualRobot::RobotPtr robot, RobotStateComponentInterfacePrx robotStateComponent, RobotStateListenerInterfacePrx robotStateListenerPrx);
~SharedRobotServant() override;
void setRobotStateComponent(RobotStateComponentInterfacePrx robotStateComponent);
- SharedRobotNodeInterfacePrx getRobotNode(const std::string& name, const Ice::Current& current = Ice::Current()) override;
- SharedRobotNodeInterfacePrx getRootNode(const Ice::Current& current = Ice::Current()) override;
- bool hasRobotNode(const std::string& name, const Ice::Current& current = Ice::Current()) override;
+ SharedRobotNodeInterfacePrx getRobotNode(const std::string& name, const Ice::Current& current = Ice::emptyCurrent) override;
+ SharedRobotNodeInterfacePrx getRootNode(const Ice::Current& current = Ice::emptyCurrent) override;
+ bool hasRobotNode(const std::string& name, const Ice::Current& current = Ice::emptyCurrent) override;
- NameList getRobotNodes(const Ice::Current& current = Ice::Current()) override;
- RobotNodeSetInfoPtr getRobotNodeSet(const std::string& name, const Ice::Current& current = Ice::Current()) override;
- NameList getRobotNodeSets(const Ice::Current& current = Ice::Current()) override;
- bool hasRobotNodeSet(const std::string& name, const Ice::Current& current = Ice::Current()) override;
+ NameList getRobotNodes(const Ice::Current& current = Ice::emptyCurrent) override;
+ RobotNodeSetInfoPtr getRobotNodeSet(const std::string& name, const Ice::Current& current = Ice::emptyCurrent) override;
+ NameList getRobotNodeSets(const Ice::Current& current = Ice::emptyCurrent) override;
+ bool hasRobotNodeSet(const std::string& name, const Ice::Current& current = Ice::emptyCurrent) override;
- std::string getName(const Ice::Current& current = Ice::Current()) override;
- std::string getType(const Ice::Current& current = Ice::Current()) override;
+ std::string getName(const Ice::Current& current = Ice::emptyCurrent) override;
+ std::string getType(const Ice::Current& current = Ice::emptyCurrent) override;
- PoseBasePtr getGlobalPose(const Ice::Current& current = Ice::Current()) override;
- NameValueMap getConfig(const Ice::Current& current = Ice::Current()) override;
- NameValueMap getConfigAndPose(PoseBasePtr& globalPose, const Ice::Current& current = Ice::Current()) override;
- void setGlobalPose(const PoseBasePtr& pose, const Ice::Current& current = Ice::Current()) override;
+ PoseBasePtr getGlobalPose(const Ice::Current& current = Ice::emptyCurrent) override;
+ NameValueMap getConfig(const Ice::Current& current = Ice::emptyCurrent) override;
+ NameValueMap getConfigAndPose(PoseBasePtr& globalPose, const Ice::Current& current = Ice::emptyCurrent) override;
+ void setGlobalPose(const PoseBasePtr& pose, const Ice::Current& current = Ice::emptyCurrent) override;
- float getScaling(const Ice::Current& = Ice::Current()) override;
+ float getScaling(const Ice::Current& = Ice::emptyCurrent) override;
VirtualRobot::RobotPtr getRobot() const;
void setTimestamp(const IceUtil::Time& updateTime);
- TimestampBasePtr getTimestamp(const Ice::Current& = Ice::Current()) const override;
+ TimestampBasePtr getTimestamp(const Ice::Current& = Ice::emptyCurrent) const override;
RobotStateComponentInterfacePrx getRobotStateComponent(const Ice::Current&) const override;
protected:
VirtualRobot::RobotPtr _robot;
diff --git a/source/RobotAPI/components/ViewSelection/ViewSelection.h b/source/RobotAPI/components/ViewSelection/ViewSelection.h
index 414f566f4..f8e6cbdc9 100644
--- a/source/RobotAPI/components/ViewSelection/ViewSelection.h
+++ b/source/RobotAPI/components/ViewSelection/ViewSelection.h
@@ -143,13 +143,13 @@ namespace armarx
*/
PropertyDefinitionsPtr createPropertyDefinitions() override;
- void addManualViewTarget(const FramedPositionBasePtr& target, const Ice::Current& c = Ice::Current()) override;
+ void addManualViewTarget(const FramedPositionBasePtr& target, const Ice::Current& c = Ice::emptyCurrent) override;
- void clearManualViewTargets(const Ice::Current& c = Ice::Current()) override;
+ void clearManualViewTargets(const Ice::Current& c = Ice::emptyCurrent) override;
- ViewTargetList getManualViewTargets(const Ice::Current& c = Ice::Current()) override;
+ ViewTargetList getManualViewTargets(const Ice::Current& c = Ice::emptyCurrent) override;
- void activateAutomaticViewSelection(const Ice::Current& c = Ice::Current()) override
+ void activateAutomaticViewSelection(const Ice::Current& c = Ice::emptyCurrent) override
{
boost::mutex::scoped_lock lock(manualViewTargetsMutex);
@@ -159,7 +159,7 @@ namespace armarx
viewSelectionObserver->onActivateAutomaticViewSelection();
}
- void deactivateAutomaticViewSelection(const Ice::Current& c = Ice::Current()) override
+ void deactivateAutomaticViewSelection(const Ice::Current& c = Ice::emptyCurrent) override
{
boost::mutex::scoped_lock lock(manualViewTargetsMutex);
@@ -169,22 +169,22 @@ namespace armarx
viewSelectionObserver->onDeactivateAutomaticViewSelection();
}
- bool isEnabledAutomaticViewSelection(const Ice::Current& c = Ice::Current()) override
+ bool isEnabledAutomaticViewSelection(const Ice::Current& c = Ice::emptyCurrent) override
{
boost::mutex::scoped_lock lock(manualViewTargetsMutex);
return doAutomaticViewSelection;
}
- void updateSaliencyMap(const SaliencyMapBasePtr& map, const Ice::Current& c = ::Ice::Current()) override;
+ void updateSaliencyMap(const SaliencyMapBasePtr& map, const Ice::Current& c = Ice::emptyCurrent) override;
- void removeSaliencyMap(const std::string& name, const Ice::Current& c = ::Ice::Current()) override;
+ void removeSaliencyMap(const std::string& name, const Ice::Current& c = Ice::emptyCurrent) override;
- ::Ice::StringSeq getSaliencyMapNames(const Ice::Current& c = ::Ice::Current()) override;
+ ::Ice::StringSeq getSaliencyMapNames(const Ice::Current& c = Ice::emptyCurrent) override;
- void drawSaliencySphere(const ::Ice::StringSeq& names, const Ice::Current& c = ::Ice::Current()) override;
+ void drawSaliencySphere(const ::Ice::StringSeq& names, const Ice::Current& c = Ice::emptyCurrent) override;
- void clearSaliencySphere(const Ice::Current& c = ::Ice::Current()) override;
+ void clearSaliencySphere(const Ice::Current& c = Ice::emptyCurrent) override;
private:
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.cpp b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
index fe4074bbb..e896c60c2 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.cpp
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
@@ -131,7 +131,7 @@ void ForceTorqueObserver::visualizerFunction()
{
// if (localRobot->hasRobotNode(channel.first))
{
- DatafieldRefPtr field = DatafieldRefPtr::dynamicCast(getForceDatafield(channel.first, Ice::Current()));
+ DatafieldRefPtr field = DatafieldRefPtr::dynamicCast(getForceDatafield(channel.first, Ice::emptyCurrent));
FramedDirectionPtr value = field->getDataField()->get<FramedDirection>();
if (frameAlreadyReported.count(value->frame) > 0 || (value->frame != GlobalFrame && !value->frame.empty() && !localRobot->hasRobotNode(value->frame)))
@@ -153,7 +153,7 @@ void ForceTorqueObserver::visualizerFunction()
std::max(arrowLength * forceMag, 10.f),
3);
- field = DatafieldRefPtr::dynamicCast(getTorqueDatafield(channel.first, Ice::Current()));
+ field = DatafieldRefPtr::dynamicCast(getTorqueDatafield(channel.first, Ice::emptyCurrent));
value = field->getDataField()->get<FramedDirection>();
auto torque = value;
// ARMARX_INFO << deactivateSpam(1, torque->frame) << "Reporting for " << channel.first << " in frame " << torque->frame;
diff --git a/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h b/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
index a52d64e37..cc3115aa4 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
+++ b/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
@@ -79,12 +79,12 @@ namespace armarx
/**
* \warning Not implemented yet
*/
- void setOffset(const FramedDirectionBasePtr& forceOffsets, const FramedDirectionBasePtr& torqueOffsets, const Ice::Current& c = ::Ice::Current()) override;
+ void setOffset(const FramedDirectionBasePtr& forceOffsets, const FramedDirectionBasePtr& torqueOffsets, const Ice::Current& c = Ice::emptyCurrent) override;
/**
* \warning Not implemented yet
*/
- void setToNull(const Ice::Current& c = ::Ice::Current()) override;
+ void setToNull(const Ice::Current& c = Ice::emptyCurrent) override;
/**
* \see PropertyUser::createPropertyDefinitions()
diff --git a/source/RobotAPI/components/units/HandUnit.h b/source/RobotAPI/components/units/HandUnit.h
index 12d79c41b..6f7cc714a 100644
--- a/source/RobotAPI/components/units/HandUnit.h
+++ b/source/RobotAPI/components/units/HandUnit.h
@@ -118,7 +118,7 @@ namespace armarx
/**
* Send command to the hand to form a specific shape position. The shapes are defined in the robot.xml file.
*/
- void setShape(const std::string& shapeName, const Ice::Current& c = ::Ice::Current()) override;
+ void setShape(const std::string& shapeName, const Ice::Current& c = Ice::emptyCurrent) override;
/**
* @brief setShapeWithObjectInstance Send command to the hand to form a specific shape position.
@@ -128,15 +128,15 @@ namespace armarx
* @param shapeName Name of the well known shape that the hand should form
* @param graspedObjectInstanceName name of the object instance which is used to check for collisions while setting the shape
*/
- void setShapeWithObjectInstance(const std::string& shapeName, const std::string& objectInstanceName, const Ice::Current& c = ::Ice::Current()) override;
+ void setShapeWithObjectInstance(const std::string& shapeName, const std::string& objectInstanceName, const Ice::Current& c = Ice::emptyCurrent) override;
/**
* \return a list of strings for shape positions which can be used together with HandUnit::shape().
*/
- SingleTypeVariantListBasePtr getShapeNames(const Ice::Current& c = ::Ice::Current()) override;
+ SingleTypeVariantListBasePtr getShapeNames(const Ice::Current& c = Ice::emptyCurrent) override;
- NameValueMap getShapeJointValues(const std::string& shapeName, const Ice::Current& c = ::Ice::Current()) override;
- NameValueMap getCurrentJointValues(const Ice::Current& c = ::Ice::Current()) override;
+ NameValueMap getShapeJointValues(const std::string& shapeName, const Ice::Current& c = Ice::emptyCurrent) override;
+ NameValueMap getCurrentJointValues(const Ice::Current& c = Ice::emptyCurrent) override;
void setObjectGrasped(const std::string& objectName, const Ice::Current&) override;
void setObjectReleased(const std::string& objectName, const Ice::Current&) override;
diff --git a/source/RobotAPI/components/units/HandUnitSimulation.h b/source/RobotAPI/components/units/HandUnitSimulation.h
index 1c02fd686..d5fff658f 100644
--- a/source/RobotAPI/components/units/HandUnitSimulation.h
+++ b/source/RobotAPI/components/units/HandUnitSimulation.h
@@ -72,12 +72,12 @@ namespace armarx
*
* \warning Not implemented yet!
*/
- void setShape(const std::string& shapeName, const Ice::Current& c = ::Ice::Current()) override;
+ void setShape(const std::string& shapeName, const Ice::Current& c = Ice::emptyCurrent) override;
/**
* \warning Not implemented yet!
*/
- void setJointAngles(const NameValueMap& jointAngles, const Ice::Current& c = ::Ice::Current()) override;
+ void setJointAngles(const NameValueMap& jointAngles, const Ice::Current& c = Ice::emptyCurrent) override;
/**
* \see armarx::PropertyUser::createPropertyDefinitions()
diff --git a/source/RobotAPI/components/units/HapticObserver.h b/source/RobotAPI/components/units/HapticObserver.h
index e6b31b334..5e75db5b0 100644
--- a/source/RobotAPI/components/units/HapticObserver.h
+++ b/source/RobotAPI/components/units/HapticObserver.h
@@ -139,7 +139,7 @@ namespace armarx
void onConnectObserver() override;
void onExitObserver() override;
- void reportSensorValues(const ::std::string& device, const ::std::string& name, const ::armarx::MatrixFloatBasePtr& values, const ::armarx::TimestampBasePtr& timestamp, const ::Ice::Current& = ::Ice::Current()) override;
+ void reportSensorValues(const ::std::string& device, const ::std::string& name, const ::armarx::MatrixFloatBasePtr& values, const ::armarx::TimestampBasePtr& timestamp, const ::Ice::Current& = Ice::emptyCurrent) override;
/**
* \see PropertyUser::createPropertyDefinitions()
diff --git a/source/RobotAPI/components/units/HeadIKUnit.h b/source/RobotAPI/components/units/HeadIKUnit.h
index bbdd75e22..6783a2b2e 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.h
+++ b/source/RobotAPI/components/units/HeadIKUnit.h
@@ -77,18 +77,18 @@ namespace armarx
}
// HeadIKUnitInterface interface
- void setCycleTime(Ice::Int milliseconds, const Ice::Current& c = Ice::Current()) override;
- void setHeadTarget(const std::string& robotNodeSetName, const FramedPositionBasePtr& targetPosition, const Ice::Current& c = Ice::Current()) override;
+ void setCycleTime(Ice::Int milliseconds, const Ice::Current& c = Ice::emptyCurrent) override;
+ void setHeadTarget(const std::string& robotNodeSetName, const FramedPositionBasePtr& targetPosition, const Ice::Current& c = Ice::emptyCurrent) override;
// UnitExecutionManagementInterface interface
- void init(const Ice::Current& c = Ice::Current()) override;
- void start(const Ice::Current& c = Ice::Current()) override;
- void stop(const Ice::Current& c = Ice::Current()) override;
- UnitExecutionState getExecutionState(const Ice::Current& c = Ice::Current()) override;
+ void init(const Ice::Current& c = Ice::emptyCurrent) override;
+ void start(const Ice::Current& c = Ice::emptyCurrent) override;
+ void stop(const Ice::Current& c = Ice::emptyCurrent) override;
+ UnitExecutionState getExecutionState(const Ice::Current& c = Ice::emptyCurrent) override;
// UnitResourceManagementInterface interface
- void request(const Ice::Current& c = Ice::Current()) override;
- void release(const Ice::Current& c = Ice::Current()) override;
+ void request(const Ice::Current& c = Ice::emptyCurrent) override;
+ void release(const Ice::Current& c = Ice::emptyCurrent) override;
// PropertyUser interface
PropertyDefinitionsPtr createPropertyDefinitions() override;
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
index 1ceba2cf5..4591228d9 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
+++ b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
@@ -73,7 +73,7 @@ namespace armarx
void onConnectObserver() override;
void onExitObserver() override;
- void reportSensorValues(const std::string& device, const std::string& name, const IMUData& values, const TimestampBasePtr& timestamp, const Ice::Current& c = ::Ice::Current()) override;
+ void reportSensorValues(const std::string& device, const std::string& name, const IMUData& values, const TimestampBasePtr& timestamp, const Ice::Current& c = Ice::emptyCurrent) override;
/**
* @see PropertyUser::createPropertyDefinitions()
diff --git a/source/RobotAPI/components/units/KinematicUnit.h b/source/RobotAPI/components/units/KinematicUnit.h
index 64b65dd2b..40be0bf28 100644
--- a/source/RobotAPI/components/units/KinematicUnit.h
+++ b/source/RobotAPI/components/units/KinematicUnit.h
@@ -89,41 +89,41 @@ namespace armarx
/**
* \return the robot xml filename as specified in the configuration
*/
- std::string getRobotFilename(const Ice::Current& = GlobalIceCurrent) const override;
+ std::string getRobotFilename(const Ice::Current& = Ice::emptyCurrent) const override;
/*!
* \brief getArmarXPackages
* \return All dependent packages, which might contain a robot file.
*/
- std::vector< std::string > getArmarXPackages(const Ice::Current& = GlobalIceCurrent) const override;
+ std::vector< std::string > getArmarXPackages(const Ice::Current& = Ice::emptyCurrent) const override;
/**
*
* \return The name of this robot instance.
*/
- std::string getRobotName(const Ice::Current& = GlobalIceCurrent) const override;
+ std::string getRobotName(const Ice::Current& = Ice::emptyCurrent) const override;
/**
*
* \return The name of this robot instance.
*/
- std::string getRobotNodeSetName(const Ice::Current& = GlobalIceCurrent) const override;
+ std::string getRobotNodeSetName(const Ice::Current& = Ice::emptyCurrent) const override;
/**
*
* \return The name of the report topic
*/
- std::string getReportTopicName(const Ice::Current& = GlobalIceCurrent) const override;
+ std::string getReportTopicName(const Ice::Current& = Ice::emptyCurrent) const override;
virtual void onInitKinematicUnit() = 0;
virtual void onStartKinematicUnit() = 0;
virtual void onExitKinematicUnit() = 0;
// proxy implementation
- virtual void requestKinematicUnit(const Ice::StringSeq& nodes, const Ice::Current& c = GlobalIceCurrent);
- virtual void releaseKinematicUnit(const Ice::StringSeq& nodes, const Ice::Current& c = GlobalIceCurrent);
- void switchControlMode(const NameControlModeMap& targetJointModes, const Ice::Current& c = GlobalIceCurrent) override;
- void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current& c = GlobalIceCurrent) override;
- void setJointVelocities(const NameValueMap& targetJointVelocities, const Ice::Current& c = GlobalIceCurrent) override;
+ virtual void requestKinematicUnit(const Ice::StringSeq& nodes, const Ice::Current& c = Ice::emptyCurrent);
+ virtual void releaseKinematicUnit(const Ice::StringSeq& nodes, const Ice::Current& c = Ice::emptyCurrent);
+ void switchControlMode(const NameControlModeMap& targetJointModes, const Ice::Current& c = Ice::emptyCurrent) override;
+ void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current& c = Ice::emptyCurrent) override;
+ void setJointVelocities(const NameValueMap& targetJointVelocities, const Ice::Current& c = Ice::emptyCurrent) override;
/**
diff --git a/source/RobotAPI/components/units/KinematicUnitObserver.h b/source/RobotAPI/components/units/KinematicUnitObserver.h
index 1f306d686..a0f366755 100644
--- a/source/RobotAPI/components/units/KinematicUnitObserver.h
+++ b/source/RobotAPI/components/units/KinematicUnitObserver.h
@@ -75,14 +75,14 @@ namespace armarx
// slice interface implementation
- void reportControlModeChanged(const NameControlModeMap& jointModes, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = ::Ice::Current()) override;
- void reportJointAngles(const NameValueMap& jointAngles, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = ::Ice::Current()) override;
- void reportJointVelocities(const NameValueMap& jointVelocities, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = ::Ice::Current()) override;
- void reportJointTorques(const NameValueMap& jointTorques, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = ::Ice::Current()) override;
+ void reportControlModeChanged(const NameControlModeMap& jointModes, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+ void reportJointAngles(const NameValueMap& jointAngles, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+ void reportJointVelocities(const NameValueMap& jointVelocities, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+ void reportJointTorques(const NameValueMap& jointTorques, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
void reportJointAccelerations(const NameValueMap& jointAccelerations, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c) override;
- void reportJointCurrents(const NameValueMap& jointCurrents, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = ::Ice::Current()) override;
- void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = ::Ice::Current()) override;
- void reportJointStatuses(const NameStatusMap& jointStatuses, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = ::Ice::Current()) override;
+ void reportJointCurrents(const NameValueMap& jointCurrents, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+ void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
+ void reportJointStatuses(const NameStatusMap& jointStatuses, Ice::Long timestamp, bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
std::string getDefaultName() const override
{
diff --git a/source/RobotAPI/components/units/KinematicUnitSimulation.h b/source/RobotAPI/components/units/KinematicUnitSimulation.h
index 7a04769c7..cc3dae20a 100644
--- a/source/RobotAPI/components/units/KinematicUnitSimulation.h
+++ b/source/RobotAPI/components/units/KinematicUnitSimulation.h
@@ -148,26 +148,26 @@ namespace armarx
void simulationFunction();
// proxy implementation
- void requestJoints(const Ice::StringSeq& joints, const Ice::Current& c = ::Ice::Current()) override;
- void releaseJoints(const Ice::StringSeq& joints, const Ice::Current& c = ::Ice::Current()) override;
- void switchControlMode(const NameControlModeMap& targetJointModes, const Ice::Current& c = ::Ice::Current()) override;
- void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current& c = ::Ice::Current()) override;
- void setJointVelocities(const NameValueMap& targetJointVelocities, const Ice::Current& c = ::Ice::Current()) override;
- void setJointTorques(const NameValueMap& targetJointTorques, const Ice::Current& c = ::Ice::Current()) override;
+ void requestJoints(const Ice::StringSeq& joints, const Ice::Current& c = Ice::emptyCurrent) override;
+ void releaseJoints(const Ice::StringSeq& joints, const Ice::Current& c = Ice::emptyCurrent) override;
+ void switchControlMode(const NameControlModeMap& targetJointModes, const Ice::Current& c = Ice::emptyCurrent) override;
+ void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current& c = Ice::emptyCurrent) override;
+ void setJointVelocities(const NameValueMap& targetJointVelocities, const Ice::Current& c = Ice::emptyCurrent) override;
+ void setJointTorques(const NameValueMap& targetJointTorques, const Ice::Current& c = Ice::emptyCurrent) override;
- NameControlModeMap getControlModes(const Ice::Current& c = ::Ice::Current()) override;
+ NameControlModeMap getControlModes(const Ice::Current& c = Ice::emptyCurrent) override;
/**
* \warning Not implemented yet!
*/
- void setJointAccelerations(const NameValueMap& targetJointAccelerations, const Ice::Current& c = ::Ice::Current()) override;
+ void setJointAccelerations(const NameValueMap& targetJointAccelerations, const Ice::Current& c = Ice::emptyCurrent) override;
/**
* \warning Not implemented yet!
*/
- void setJointDecelerations(const NameValueMap& targetJointDecelerations, const Ice::Current& c = ::Ice::Current()) override;
+ void setJointDecelerations(const NameValueMap& targetJointDecelerations, const Ice::Current& c = Ice::emptyCurrent) override;
- void stop(const Ice::Current& c = Ice::Current()) override;
+ void stop(const Ice::Current& c = Ice::emptyCurrent) override;
/**
* \see PropertyUser::createPropertyDefinitions()
diff --git a/source/RobotAPI/components/units/OptoForceUnitObserver.h b/source/RobotAPI/components/units/OptoForceUnitObserver.h
index 1fcdb2669..3bdc63e1a 100644
--- a/source/RobotAPI/components/units/OptoForceUnitObserver.h
+++ b/source/RobotAPI/components/units/OptoForceUnitObserver.h
@@ -72,7 +72,7 @@ namespace armarx
void onConnectObserver() override;
void onExitObserver() override;
- void reportSensorValues(const std::string& device, const std::string& name, float fx, float fy, float fz, const TimestampBasePtr& timestamp, const Ice::Current& c = ::Ice::Current()) override;
+ void reportSensorValues(const std::string& device, const std::string& name, float fx, float fy, float fz, const TimestampBasePtr& timestamp, const Ice::Current& c = Ice::emptyCurrent) override;
/**
* @see PropertyUser::createPropertyDefinitions()
diff --git a/source/RobotAPI/components/units/PlatformUnit.h b/source/RobotAPI/components/units/PlatformUnit.h
index 119f4a224..5bedf16ac 100644
--- a/source/RobotAPI/components/units/PlatformUnit.h
+++ b/source/RobotAPI/components/units/PlatformUnit.h
@@ -105,9 +105,9 @@ namespace armarx
* The platform will move until it reaches the specified target with the specified accuracy.
*/
void moveTo(Ice::Float targetPlatformPositionX, Ice::Float targetPlatformPositionY, Ice::Float targetPlatformRotation,
- Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current& c = ::Ice::Current()) override;
+ Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current& c = Ice::emptyCurrent) override;
- void stopPlatform(const Ice::Current& c = Ice::Current()) override {}
+ void stopPlatform(const Ice::Current& c = Ice::emptyCurrent) override {}
/**
* \see armarx::PropertyUser::createPropertyDefinitions()
*/
diff --git a/source/RobotAPI/components/units/PlatformUnitObserver.cpp b/source/RobotAPI/components/units/PlatformUnitObserver.cpp
index a604fd002..9194408d3 100644
--- a/source/RobotAPI/components/units/PlatformUnitObserver.cpp
+++ b/source/RobotAPI/components/units/PlatformUnitObserver.cpp
@@ -82,7 +82,7 @@ void PlatformUnitObserver::onConnectObserver()
offerDataField("platformOdometryPose", "rotation", VariantType::Float, "Current Odometry Rotation of " + platformNodeName + " in radian");
// odometry pose is always zero in the beginning - set it so that it can be queried
- reportPlatformOdometryPose(0, 0, 0, armarx::GlobalIceCurrent);
+ reportPlatformOdometryPose(0, 0, 0, Ice::emptyCurrent);
}
diff --git a/source/RobotAPI/components/units/PlatformUnitObserver.h b/source/RobotAPI/components/units/PlatformUnitObserver.h
index 47d86bbef..412b9c57f 100644
--- a/source/RobotAPI/components/units/PlatformUnitObserver.h
+++ b/source/RobotAPI/components/units/PlatformUnitObserver.h
@@ -78,9 +78,9 @@ namespace armarx
void onConnectObserver() override;
// slice interface implementation
- void reportPlatformPose(::Ice::Float currentPlatformPositionX, ::Ice::Float currentPlatformPositionY, ::Ice::Float currentPlatformRotation, const Ice::Current& c = ::Ice::Current()) override;
- void reportNewTargetPose(::Ice::Float newPlatformPositionX, ::Ice::Float newPlatformPositionY, ::Ice::Float newPlatformRotation, const Ice::Current& c = ::Ice::Current()) override;
- void reportPlatformVelocity(::Ice::Float currentPlatformVelocityX, ::Ice::Float currentPlatformVelocityY, ::Ice::Float currentPlatformVelocityRotation, const Ice::Current& c = ::Ice::Current()) override;
+ void reportPlatformPose(::Ice::Float currentPlatformPositionX, ::Ice::Float currentPlatformPositionY, ::Ice::Float currentPlatformRotation, const Ice::Current& c = Ice::emptyCurrent) override;
+ void reportNewTargetPose(::Ice::Float newPlatformPositionX, ::Ice::Float newPlatformPositionY, ::Ice::Float newPlatformRotation, const Ice::Current& c = Ice::emptyCurrent) override;
+ void reportPlatformVelocity(::Ice::Float currentPlatformVelocityX, ::Ice::Float currentPlatformVelocityY, ::Ice::Float currentPlatformVelocityRotation, const Ice::Current& c = Ice::emptyCurrent) override;
void reportPlatformOdometryPose(Ice::Float x, Ice::Float y, Ice::Float angle, const Ice::Current&) override;
std::string getDefaultName() const override
diff --git a/source/RobotAPI/components/units/PlatformUnitSimulation.h b/source/RobotAPI/components/units/PlatformUnitSimulation.h
index a4ba66acb..8c7743a7f 100644
--- a/source/RobotAPI/components/units/PlatformUnitSimulation.h
+++ b/source/RobotAPI/components/units/PlatformUnitSimulation.h
@@ -83,16 +83,16 @@ namespace armarx
void simulationFunction();
// proxy implementation
- void moveTo(Ice::Float targetPlatformPositionX, Ice::Float targetPlatformPositionY, Ice::Float targetPlatformRotation, Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current& c = ::Ice::Current()) override;
+ void moveTo(Ice::Float targetPlatformPositionX, Ice::Float targetPlatformPositionY, Ice::Float targetPlatformRotation, Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current& c = Ice::emptyCurrent) override;
/**
* \warning Not yet implemented!
*/
- void move(float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation, const Ice::Current& c = Ice::Current()) override;
+ void move(float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation, const Ice::Current& c = Ice::emptyCurrent) override;
- void moveRelative(float targetPlatformOffsetX, float targetPlatformOffsetY, float targetPlatformOffsetRotation, float positionalAccuracy, float orientationalAccuracy, const Ice::Current& c = Ice::Current()) override;
- void setMaxVelocities(float positionalVelocity, float orientaionalVelocity, const Ice::Current& c = Ice::Current()) override;
- void stopPlatform(const Ice::Current& c = Ice::Current()) override;
+ void moveRelative(float targetPlatformOffsetX, float targetPlatformOffsetY, float targetPlatformOffsetRotation, float positionalAccuracy, float orientationalAccuracy, const Ice::Current& c = Ice::emptyCurrent) override;
+ void setMaxVelocities(float positionalVelocity, float orientaionalVelocity, const Ice::Current& c = Ice::emptyCurrent) override;
+ void stopPlatform(const Ice::Current& c = Ice::emptyCurrent) override;
/**
* \see PropertyUser::createPropertyDefinitions()
*/
diff --git a/source/RobotAPI/components/units/RobotPoseUnit.h b/source/RobotAPI/components/units/RobotPoseUnit.h
index d62076592..fb8e12eaf 100644
--- a/source/RobotAPI/components/units/RobotPoseUnit.h
+++ b/source/RobotAPI/components/units/RobotPoseUnit.h
@@ -107,9 +107,9 @@ namespace armarx
* @param postionalAccuracy Robot stops translating if distance to target position gets lower than this threshhold.
* @param orientationalAccuracy Robot stops rotating if distance from current to target orientation gets lower than this threshhold.
**/
- virtual void moveTo(PoseBasePtr targetPose, Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current& c = ::Ice::Current());
+ virtual void moveTo(PoseBasePtr targetPose, Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current& c = Ice::emptyCurrent);
- void stopMovement(const Ice::Current& c = Ice::Current()) override {}
+ void stopMovement(const Ice::Current& c = Ice::emptyCurrent) override {}
/**
* \see armarx::PropertyUser::createPropertyDefinitions()
*/
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.h
index d23148c61..7b9994929 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.h
@@ -138,7 +138,7 @@ namespace armarx
// NJointCartesianVelocityControllerWithRampInterface interface
public:
- void setMaxAccelerations(float maxPositionAcceleration, float maxOrientationAcceleration, float maxNullspaceAcceleration, const Ice::Current& = Ice::Current()) override;
+ void setMaxAccelerations(float maxPositionAcceleration, float maxOrientationAcceleration, float maxNullspaceAcceleration, const Ice::Current& = Ice::emptyCurrent) override;
void setTargetVelocity(float vx, float vy, float vz, float vrx, float vry, float vrz, const Ice::Current&) override;
void setJointLimitAvoidanceScale(float jointLimitAvoidanceScale, const Ice::Current&) override;
void setKpJointLimitAvoidance(float KpJointLimitAvoidance, const Ice::Current&) override;
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
index ce9a64b4e..40284b1c8 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
@@ -708,26 +708,26 @@ namespace armarx
// ///////////////////////////////////// ice interface //////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
public:
- bool isControllerActive(const Ice::Current& = GlobalIceCurrent) const final override;
- bool isControllerRequested(const Ice::Current& = GlobalIceCurrent) const final override;
- bool isDeletable(const Ice::Current& = GlobalIceCurrent) const final override;
- bool hasControllerError(const Ice::Current& = GlobalIceCurrent) const final override;
-
- std::string getClassName(const Ice::Current& = GlobalIceCurrent) const override = 0;
- std::string getInstanceName(const Ice::Current& = GlobalIceCurrent) const final override;
-
- NJointControllerDescription getControllerDescription(const Ice::Current& = GlobalIceCurrent) const final override;
- NJointControllerStatus getControllerStatus(const Ice::Current& = GlobalIceCurrent) const final override;
- NJointControllerDescriptionWithStatus getControllerDescriptionWithStatus(const Ice::Current& = GlobalIceCurrent) const final override;
- RobotUnitInterfacePrx getRobotUnit(const Ice::Current& = GlobalIceCurrent) const final override;
-
- void activateController(const Ice::Current& = GlobalIceCurrent) final override;
- void deactivateController(const Ice::Current& = GlobalIceCurrent) final override;
- void deleteController(const Ice::Current& = GlobalIceCurrent) final override;
- void deactivateAndDeleteController(const Ice::Current& = GlobalIceCurrent) final override;
-
- WidgetDescription::StringWidgetDictionary getFunctionDescriptions(const Ice::Current& = GlobalIceCurrent) const override;
- void callDescribedFunction(const std::string&, const StringVariantBaseMap&, const Ice::Current& = GlobalIceCurrent) override;
+ bool isControllerActive(const Ice::Current& = Ice::emptyCurrent) const final override;
+ bool isControllerRequested(const Ice::Current& = Ice::emptyCurrent) const final override;
+ bool isDeletable(const Ice::Current& = Ice::emptyCurrent) const final override;
+ bool hasControllerError(const Ice::Current& = Ice::emptyCurrent) const final override;
+
+ std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override = 0;
+ std::string getInstanceName(const Ice::Current& = Ice::emptyCurrent) const final override;
+
+ NJointControllerDescription getControllerDescription(const Ice::Current& = Ice::emptyCurrent) const final override;
+ NJointControllerStatus getControllerStatus(const Ice::Current& = Ice::emptyCurrent) const final override;
+ NJointControllerDescriptionWithStatus getControllerDescriptionWithStatus(const Ice::Current& = Ice::emptyCurrent) const final override;
+ RobotUnitInterfacePrx getRobotUnit(const Ice::Current& = Ice::emptyCurrent) const final override;
+
+ void activateController(const Ice::Current& = Ice::emptyCurrent) final override;
+ void deactivateController(const Ice::Current& = Ice::emptyCurrent) final override;
+ void deleteController(const Ice::Current& = Ice::emptyCurrent) final override;
+ void deactivateAndDeleteController(const Ice::Current& = Ice::emptyCurrent) final override;
+
+ WidgetDescription::StringWidgetDictionary getFunctionDescriptions(const Ice::Current& = Ice::emptyCurrent) const override;
+ void callDescribedFunction(const std::string&, const StringVariantBaseMap&, const Ice::Current& = Ice::emptyCurrent) override;
// //////////////////////////////////////////////////////////////////////////////////////// //
// ///////////////////////////////////// rt interface ///////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
@@ -857,7 +857,7 @@ namespace armarx
// //////////////////////////////////////////////////////////////////////////////////////// //
public:
//used control devices
- StringStringDictionary getControlDeviceUsedControlModeMap(const Ice::Current& = GlobalIceCurrent) const final override;
+ StringStringDictionary getControlDeviceUsedControlModeMap(const Ice::Current& = Ice::emptyCurrent) const final override;
const std::vector<char>& getControlDeviceUsedBitmap() const;
const std::vector<std::size_t>& getControlDeviceUsedIndices() const;
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp
index e71fd985c..c00425e6a 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.ipp
@@ -325,7 +325,7 @@ namespace armarx
}
ptr->deletable = deletable;
ptr->internal = internal;
- ptr->rtClassName_ = ptr->getClassName(::armarx::GlobalIceCurrent);
+ ptr->rtClassName_ = ptr->getClassName(Ice::emptyCurrent);
ptr->instanceName_ = instanceName;
return ptr;
}
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h
index 2e5c60cd4..30805e93e 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h
@@ -88,7 +88,7 @@ namespace armarx
inline virtual void rtPreActivateController() override;
//ice interface
- inline virtual std::string getClassName(const Ice::Current& = GlobalIceCurrent) const override
+ inline virtual std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override
{
return "NJointHolonomicPlatformRelativePositionController";
}
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h
index 2f1bfe26e..89cb892d3 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h
@@ -72,7 +72,7 @@ namespace armarx
void setVelocites(float velocityX, float velocityY, float velocityRotation);
//ice interface
- std::string getClassName(const Ice::Current& = GlobalIceCurrent) const override
+ std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override
{
return "NJointHolonomicPlatformUnitVelocityPassThroughController";
}
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h
index d8f0b321d..2985febdc 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h
@@ -80,7 +80,7 @@ namespace armarx
}
//ice interface
- inline std::string getClassName(const Ice::Current& = GlobalIceCurrent) const override
+ inline std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override
{
return "NJointKinematicUnitPassThroughController";
}
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h
index 009c950b4..33e8a906f 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h
@@ -96,17 +96,17 @@ namespace armarx
* @brief Sets the \ref EmergencyStopState
* @param state The \ref EmergencyStopState to set
*/
- void setEmergencyStopState(EmergencyStopState state, const Ice::Current& = GlobalIceCurrent) override;
+ void setEmergencyStopState(EmergencyStopState state, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Returns the \ref ControlThread's target \ref EmergencyStopState
* @return The \ref EmergencyStopState
*/
- EmergencyStopState getEmergencyStopState(const Ice::Current& = GlobalIceCurrent) const override;
+ EmergencyStopState getEmergencyStopState(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the \ref ControlThread's \ref EmergencyStopState
* @return The \ref EmergencyStopState
*/
- EmergencyStopState getRtEmergencyStopState(const Ice::Current& = GlobalIceCurrent) const override;
+ EmergencyStopState getRtEmergencyStopState(const Ice::Current& = Ice::emptyCurrent) const override;
// //////////////////////////////////////////////////////////////////////////////////////// //
// /////////////////////////////////// Module interface /////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
index 73de76424..d528147fd 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
@@ -183,7 +183,7 @@ namespace armarx
return createNJointController(
className, instanceName,
NJointControllerRegistry::get(className)->GenerateConfigFromVariants(variants),
- GlobalIceCurrent/*to select ice overload*/);
+ Ice::emptyCurrent/*to select ice overload*/);
}
const NJointControllerPtr& ControllerManagement::createNJointController(
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
index 1175d350c..421e03796 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
@@ -70,13 +70,13 @@ namespace armarx
* @return A proxy to the \ref NJointController.
* @see getAllNJointControllers
*/
- NJointControllerInterfacePrx getNJointController(const std::string& name, const Ice::Current& = GlobalIceCurrent) const override;
+ NJointControllerInterfacePrx getNJointController(const std::string& name, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns proxies to all \ref NJointController "NJointControllers"
* @return Proxies to all \ref NJointController "NJointControllers"
* @see getNJointController
*/
- StringNJointControllerPrxDictionary getAllNJointControllers(const Ice::Current& = GlobalIceCurrent) const override;
+ StringNJointControllerPrxDictionary getAllNJointControllers(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the status of the \ref NJointController.
@@ -87,7 +87,7 @@ namespace armarx
* @see getNJointControllerDescriptionWithStatus
* @see getNJointControllerDescriptionsWithStatuses
*/
- NJointControllerStatus getNJointControllerStatus(const std::string& name, const Ice::Current& = GlobalIceCurrent) const override;
+ NJointControllerStatus getNJointControllerStatus(const std::string& name, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the status of all \ref NJointController "NJointControllers".
* @return The status of all \ref NJointController "NJointControllers".
@@ -96,7 +96,7 @@ namespace armarx
* @see getNJointControllerDescriptionWithStatus
* @see getNJointControllerDescriptionsWithStatuses
*/
- NJointControllerStatusSeq getNJointControllerStatuses(const Ice::Current& = GlobalIceCurrent) const override;
+ NJointControllerStatusSeq getNJointControllerStatuses(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the description of the \ref NJointController.
@@ -107,7 +107,7 @@ namespace armarx
* @see getNJointControllerDescriptionWithStatus
* @see getNJointControllerDescriptionsWithStatuses
*/
- NJointControllerDescription getNJointControllerDescription(const std::string& name, const Ice::Current& = GlobalIceCurrent) const override;
+ NJointControllerDescription getNJointControllerDescription(const std::string& name, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the description of all \ref NJointController "NJointControllers".
* @return The description of all \ref NJointController "NJointControllers".
@@ -117,7 +117,7 @@ namespace armarx
* @see getNJointControllerDescriptionsWithStatuses
*/
- NJointControllerDescriptionSeq getNJointControllerDescriptions(const Ice::Current& = GlobalIceCurrent) const override;
+ NJointControllerDescriptionSeq getNJointControllerDescriptions(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the status and description of the \ref NJointController.
@@ -132,7 +132,7 @@ namespace armarx
* @see getNJointControllerDescriptions
*/
NJointControllerDescriptionWithStatus getNJointControllerDescriptionWithStatus(
- const std::string& name, const Ice::Current& = GlobalIceCurrent) const override;
+ const std::string& name, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the status and description of all \ref NJointController "NJointControllers".
* @return The status and description of all \ref NJointController "NJointControllers".
@@ -144,7 +144,7 @@ namespace armarx
* @see getNJointControllerDescription
* @see getNJointControllerDescriptions
*/
- NJointControllerDescriptionWithStatusSeq getNJointControllerDescriptionsWithStatuses(const Ice::Current& = GlobalIceCurrent) const override;
+ NJointControllerDescriptionWithStatusSeq getNJointControllerDescriptionsWithStatuses(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief getNJointControllerClassDescription
@@ -152,19 +152,19 @@ namespace armarx
* @return
*/
NJointControllerClassDescription getNJointControllerClassDescription(
- const std::string& className, const Ice::Current& = GlobalIceCurrent) const override;
+ const std::string& className, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief getNJointControllerClassDescriptions
* @return
*/
- NJointControllerClassDescriptionSeq getNJointControllerClassDescriptions(const Ice::Current& = GlobalIceCurrent) const override;
+ NJointControllerClassDescriptionSeq getNJointControllerClassDescriptions(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Loads the given lib. (calls `getArmarXManager()->loadLibFromPath(path)`)
* @param path Path to the lib to load.
* @return Whether loading the lib was successful.
* @see ArmarXManager::loadLibFromPath
*/
- bool loadLibFromPath(const std::string& path, const Ice::Current& = GlobalIceCurrent) override;
+ bool loadLibFromPath(const std::string& path, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Loads the given lib. (calls `getArmarXManager()->loadLibFromPath(package, lib)`)
* @param package The armarx package containing the lib
@@ -172,27 +172,27 @@ namespace armarx
* @return Whether loading the lib was successful.
* @see ArmarXManager::loadLibFromPackage
*/
- bool loadLibFromPackage(const std::string& package, const std::string& lib, const Ice::Current& = GlobalIceCurrent) override;
+ bool loadLibFromPackage(const std::string& package, const std::string& lib, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Returns the names of all available classes of \ref NJointController.
* @return The names of all available classes of \ref NJointController.
*/
- Ice::StringSeq getNJointControllerClassNames(const Ice::Current& = GlobalIceCurrent) const override;
+ Ice::StringSeq getNJointControllerClassNames(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the names of all \ref NJointController "NJointControllers"
* @return The names of all \ref NJointController "NJointControllers"
*/
- Ice::StringSeq getNJointControllerNames(const Ice::Current& = GlobalIceCurrent) const override;
+ Ice::StringSeq getNJointControllerNames(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the names of all requested \ref NJointController "NJointControllers"
* @return The names of all requested \ref NJointController "NJointControllers"
*/
- Ice::StringSeq getRequestedNJointControllerNames(const Ice::Current& = GlobalIceCurrent) const override;
+ Ice::StringSeq getRequestedNJointControllerNames(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the names of all activated \ref NJointController "NJointControllers"
* @return The names of all activated \ref NJointController "NJointControllers"
*/
- Ice::StringSeq getActivatedNJointControllerNames(const Ice::Current& = GlobalIceCurrent) const override;
+ Ice::StringSeq getActivatedNJointControllerNames(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Queues the given \ref NJointController for deletion.
@@ -201,7 +201,7 @@ namespace armarx
* @see nJointControllersToBeDeleted
* @see deleteNJointControllers
*/
- void deleteNJointController(const std::string& name, const Ice::Current& = GlobalIceCurrent) override;
+ void deleteNJointController(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Queues the given \ref NJointController "NJointControllers" for deletion.
* @param names The \ref NJointController "NJointControllers" to delete.
@@ -209,7 +209,7 @@ namespace armarx
* @see nJointControllersToBeDeleted
* @see deleteNJointController
*/
- void deleteNJointControllers(const Ice::StringSeq& names, const Ice::Current& = GlobalIceCurrent) override;
+ void deleteNJointControllers(const Ice::StringSeq& names, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Queues the given \ref NJointController for deletion and deactivates it if necessary.
* @param name The \ref NJointController to delete.
@@ -219,7 +219,7 @@ namespace armarx
* @see deleteNJointControllers
* @see deactivateAnddeleteNJointControllers
*/
- void deactivateAndDeleteNJointController(const std::string& name, const Ice::Current& = GlobalIceCurrent) override;
+ void deactivateAndDeleteNJointController(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Queues the given \ref NJointController "NJointControllers" for deletion and deactivates them if necessary.
* @param names The \ref NJointController "NJointControllers" to delete.
@@ -236,26 +236,26 @@ namespace armarx
* @param name The requested \ref NJointController.
* @see activateNJointControllers
*/
- void activateNJointController(const std::string& name, const Ice::Current& = GlobalIceCurrent) override;
+ void activateNJointController(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Requests activation for the given \ref NJointController "NJointControllers".
* @param names The requested \ref NJointController "NJointControllers".
* @see activateNJointController
*/
- void activateNJointControllers(const Ice::StringSeq& names, const Ice::Current& = GlobalIceCurrent) override;
+ void activateNJointControllers(const Ice::StringSeq& names, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Requests deactivation for the given \ref NJointController.
* @param name The \ref NJointController to be deactivated.
* @see deactivateNJointControllers
*/
- void deactivateNJointController(const std::string& name, const Ice::Current& = GlobalIceCurrent) override;
+ void deactivateNJointController(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Requests deactivation for the given \ref NJointController "NJointControllers".
* @param names The \ref NJointController "NJointControllers" to be deactivated.
* @see deactivateNJointController
*/
- void deactivateNJointControllers(const Ice::StringSeq& names, const Ice::Current& = GlobalIceCurrent) override;
+ void deactivateNJointControllers(const Ice::StringSeq& names, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Cretes a \ref NJointController.
@@ -266,7 +266,7 @@ namespace armarx
*/
NJointControllerInterfacePrx createNJointController(
const std::string& className, const std::string& instanceName,
- const NJointControllerConfigPtr& config, const Ice::Current& = GlobalIceCurrent) override;
+ const NJointControllerConfigPtr& config, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Cretes a \ref NJointController.
* @param className The \ref NJointController's class.
@@ -276,13 +276,13 @@ namespace armarx
*/
NJointControllerInterfacePrx createNJointControllerFromVariantConfig(
const std::string& className, const std::string& instanceName,
- const StringVariantBaseMap& variants, const Ice::Current& = GlobalIceCurrent) override;
+ const StringVariantBaseMap& variants, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Changes the set of requested \ref NJointController "NJointControllers" to the given set.
* @param newSetup The new set of requested \ref NJointController "NJointControllers"
*/
- void switchNJointControllerSetup(const Ice::StringSeq& newSetup, const Ice::Current& = GlobalIceCurrent) override;
+ void switchNJointControllerSetup(const Ice::StringSeq& newSetup, const Ice::Current& = Ice::emptyCurrent) override;
// //////////////////////////////////////////////////////////////////////////////////////// //
// /////////////////////////////////// Module interface /////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.h
index f8fae7385..490059fa6 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.h
@@ -97,7 +97,7 @@ namespace armarx
* @brief Returns the names of all \ref ControlDevice "ControlDevices" for the robot.
* @return The names of all \ref ControlDevice "ControlDevices" for the robot.
*/
- Ice::StringSeq getControlDeviceNames(const Ice::Current& = GlobalIceCurrent) const override;
+ Ice::StringSeq getControlDeviceNames(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Return the \ref ControlDeviceDescription for the given \ref ControlDevice
@@ -106,14 +106,14 @@ namespace armarx
* @see ControlDeviceDescription
* @see getControlDeviceDescriptions
*/
- ControlDeviceDescription getControlDeviceDescription(const std::string& name, const Ice::Current& = GlobalIceCurrent) const override;
+ ControlDeviceDescription getControlDeviceDescription(const std::string& name, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Return the \ref ControlDeviceDescription "ControlDeviceDescriptions" for all \ref ControlDevice "ControlDevices"
* @return The \ref ControlDeviceDescription "ControlDeviceDescriptions"
* @see ControlDeviceDescription
* @see getControlDeviceDescription
*/
- ControlDeviceDescriptionSeq getControlDeviceDescriptions(const Ice::Current& = GlobalIceCurrent) const override;
+ ControlDeviceDescriptionSeq getControlDeviceDescriptions(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Return the \ref ControlDeviceStatus for the given \ref ControlDevice
@@ -122,20 +122,20 @@ namespace armarx
* @see ControlDeviceStatus
* @see getControlDeviceStatuses
*/
- ControlDeviceStatus getControlDeviceStatus(const std::string& name, const Ice::Current& = GlobalIceCurrent) const override;
+ ControlDeviceStatus getControlDeviceStatus(const std::string& name, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Return the \ref ControlDeviceStatus "ControlDeviceStatuses" for all \ref ControlDevice "ControlDevices"
* @return The \ref ControlDeviceStatus "ControlDeviceStatuses"
* @see ControlDeviceStatus
* @see getControlDeviceStatus
*/
- ControlDeviceStatusSeq getControlDeviceStatuses(const Ice::Current& = GlobalIceCurrent) const override;
+ ControlDeviceStatusSeq getControlDeviceStatuses(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the names of all \ref SensorDevice "SensorDevices" for the robot.
* @return The names of all \ref SensorDevice "ControlDevices" for the robot.
*/
- Ice::StringSeq getSensorDeviceNames(const Ice::Current& = GlobalIceCurrent) const override;
+ Ice::StringSeq getSensorDeviceNames(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Return the \ref SensorDeviceDescription for the given \ref SensorDevice
@@ -144,14 +144,14 @@ namespace armarx
* @see SensorDeviceDescription
* @see getSensorDeviceDescriptions
*/
- SensorDeviceDescription getSensorDeviceDescription(const std::string& name, const Ice::Current& = GlobalIceCurrent) const override;
+ SensorDeviceDescription getSensorDeviceDescription(const std::string& name, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Return the \ref SensorDeviceDescription "SensorDeviceDescriptions" for all \ref SensorDevice "SensorDevices"
* @return The \ref SensorDeviceDescription "SensorDeviceDescriptions"
* @see SensorDeviceDescription
* @see getSensorDeviceDescription
*/
- SensorDeviceDescriptionSeq getSensorDeviceDescriptions(const Ice::Current& = GlobalIceCurrent) const override;
+ SensorDeviceDescriptionSeq getSensorDeviceDescriptions(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Return the \ref SensorDeviceStatus for the given \ref SensorDevice
@@ -160,14 +160,14 @@ namespace armarx
* @see SensorDeviceStatus
* @see getSensorDeviceStatuses
*/
- SensorDeviceStatus getSensorDeviceStatus(const std::string& name, const Ice::Current& = GlobalIceCurrent) const override;
+ SensorDeviceStatus getSensorDeviceStatus(const std::string& name, const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Return the \ref SensorDeviceStatus "SensorDeviceStatuses" for all \ref SensorDevice "SensorDevices"
* @return The \ref SensorDeviceStatus "SensorDeviceStatuses"
* @see SensorDeviceStatus
* @see getSensorDeviceStatus
*/
- SensorDeviceStatusSeq getSensorDeviceStatuses(const Ice::Current& = GlobalIceCurrent) const override;
+ SensorDeviceStatusSeq getSensorDeviceStatuses(const Ice::Current& = Ice::emptyCurrent) const override;
// //////////////////////////////////////////////////////////////////////////////////////// //
// /////////////////////////////////// Module interface /////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
index d5db6382a..2906c1342 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
@@ -53,7 +53,7 @@ namespace armarx
{
alias.emplace(name, "");
}
- return startRtLoggingWithAliasNames(formatString, alias, GlobalIceCurrent);
+ return startRtLoggingWithAliasNames(formatString, alias, Ice::emptyCurrent);
}
void Logging::stopRtLogging(const RemoteReferenceCounterBasePtr& token, const Ice::Current&)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h
index c583a459c..4207da6dd 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h
@@ -118,7 +118,7 @@ namespace armarx
* @param loggingNames The data fields to log.
* @return A handle to the log. If it's last copy is deleted, logging is stopped.
*/
- RemoteReferenceCounterBasePtr startRtLogging(const std::string& formatString, const Ice::StringSeq& loggingNames, const Ice::Current& = GlobalIceCurrent) override;
+ RemoteReferenceCounterBasePtr startRtLogging(const std::string& formatString, const Ice::StringSeq& loggingNames, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Starts logging to a CSV file
* @param formatString The file to log to.
@@ -126,31 +126,31 @@ namespace armarx
* If value is empty, key is used as heading.
* @return A handle to the log. If it's last copy is deleted, logging is stopped.
*/
- RemoteReferenceCounterBasePtr startRtLoggingWithAliasNames(const std::string& formatString, const StringStringDictionary& aliasNames, const Ice::Current& = GlobalIceCurrent) override;
+ RemoteReferenceCounterBasePtr startRtLoggingWithAliasNames(const std::string& formatString, const StringStringDictionary& aliasNames, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Stops logging to the given log.
* @param token The log to close.
*/
- void stopRtLogging(const armarx::RemoteReferenceCounterBasePtr& token, const Ice::Current& = GlobalIceCurrent) override;
+ void stopRtLogging(const armarx::RemoteReferenceCounterBasePtr& token, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Adds a string to the log (it is added in a special column).
* @param token The log.
* @param marker The string to add.
*/
- void addMarkerToRtLog(const RemoteReferenceCounterBasePtr& token, const std::string& marker, const Ice::Current& = GlobalIceCurrent) override;
+ void addMarkerToRtLog(const RemoteReferenceCounterBasePtr& token, const std::string& marker, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Returns the names of all loggable data fields.
* @return The names of all loggable data fields.
*/
- Ice::StringSeq getLoggingNames(const Ice::Current& = GlobalIceCurrent) const override;
+ Ice::StringSeq getLoggingNames(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Dumps the backlog of all recent iterations to the given file.
* This helps debugging.
* @param formatString The file.
*/
- void writeRecentIterationsToFile(const std::string& formatString, const Ice::Current& = GlobalIceCurrent) const override;
+ void writeRecentIterationsToFile(const std::string& formatString, const Ice::Current& = Ice::emptyCurrent) const override;
// //////////////////////////////////////////////////////////////////////////////////////// //
// //////////////////////////////////// implementation //////////////////////////////////// //
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleManagement.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleManagement.h
index 5f42dee92..a6653bacf 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleManagement.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleManagement.h
@@ -87,7 +87,7 @@ namespace armarx
* @brief Returns whether the RobotUnit is running.
* @return Whether the RobotUnit is running.
*/
- bool isRunning(const Ice::Current& = GlobalIceCurrent) const override
+ bool isRunning(const Ice::Current& = Ice::emptyCurrent) const override
{
throwIfInControlThread(BOOST_CURRENT_FUNCTION);
return getRobotUnitState() == RobotUnitState::Running;
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
index 1e1b3f489..a10ed61e2 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
@@ -116,33 +116,33 @@ namespace armarx
* @brief Returns the name of the used DebugDrawerTopic
* @return The name of the used DebugDrawerTopic
*/
- std::string getDebugDrawerTopicName(const Ice::Current& = GlobalIceCurrent) const override;
+ std::string getDebugDrawerTopicName(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the name of the used DebugObserverTopic
* @return The name of the used DebugObserverTopic
*/
- std::string getDebugObserverTopicName(const Ice::Current& = GlobalIceCurrent) const override;
+ std::string getDebugObserverTopicName(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the name of the used RobotUnitListenerTopic
* @return The name of the used RobotUnitListenerTopic
*/
- std::string getRobotUnitListenerTopicName(const Ice::Current& = GlobalIceCurrent) const override;
+ std::string getRobotUnitListenerTopicName(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the used DebugDrawerProxy
* @return The used DebugDrawerProxy
*/
- DebugDrawerInterfacePrx getDebugDrawerProxy(const Ice::Current& = GlobalIceCurrent) const override;
+ DebugDrawerInterfacePrx getDebugDrawerProxy(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the used RobotUnitListenerProxy
* @return The used RobotUnitListenerProxy
*/
- RobotUnitListenerPrx getRobotUnitListenerProxy(const Ice::Current& = GlobalIceCurrent) const override;
+ RobotUnitListenerPrx getRobotUnitListenerProxy(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the used DebugObserverProxy
* @return The used DebugObserverProxy
*/
- DebugObserverInterfacePrx getDebugObserverProxy(const Ice::Current& = GlobalIceCurrent) const override;
+ DebugObserverInterfacePrx getDebugObserverProxy(const Ice::Current& = Ice::emptyCurrent) const override;
// //////////////////////////////////////////////////////////////////////////////////////// //
// /////////////////////////////////// Module interface /////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h
index 001b5a8ba..e2a9d9c3e 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h
@@ -97,28 +97,28 @@ namespace armarx
* @brief Sets the minimal distance (mm) between a configured pair of bodies to 'distance'.
* @param distance The minimal distance (mm) between a pair of bodies.
*/
- void setSelfCollisionAvoidanceDistance(Ice::Float distance, const Ice::Current& = GlobalIceCurrent) override;
+ void setSelfCollisionAvoidanceDistance(Ice::Float distance, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Sets the frequency of self collision checks.
* @param freq The frequency of self collision checks.
*/
- void setSelfCollisionAvoidanceFrequency(Ice::Float freq, const Ice::Current& = GlobalIceCurrent) override;
+ void setSelfCollisionAvoidanceFrequency(Ice::Float freq, const Ice::Current& = Ice::emptyCurrent) override;
/**
* @brief Returns whether the frequency of self collision checks is above 0.
* @return Whether the frequency of self collision checks is above 0.
*/
- bool isSelfCollisionCheckEnabled(const Ice::Current& = GlobalIceCurrent) const override;
+ bool isSelfCollisionCheckEnabled(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the frequency of self collision checks.
* @return The frequency of self collision checks.
*/
- float getSelfCollisionAvoidanceFrequency(const Ice::Current& = GlobalIceCurrent) const override;
+ float getSelfCollisionAvoidanceFrequency(const Ice::Current& = Ice::emptyCurrent) const override;
/**
* @brief Returns the minimal distance (mm) between a pair of bodies.
* @return The minimal distance (mm) between a pair of bodies.
*/
- float getSelfCollisionAvoidanceDistance(const Ice::Current& = GlobalIceCurrent) const override;
+ float getSelfCollisionAvoidanceDistance(const Ice::Current& = Ice::emptyCurrent) const override;
// //////////////////////////////////////////////////////////////////////////////////////// //
// //////////////////////////////////// implementation //////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
index 3e06a5d25..be1150801 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
@@ -73,7 +73,7 @@ namespace armarx
ARMARX_CHECK_EXPRESSION(!emergencyStopTopicName.empty());
}
- void setEmergencyStopState(EmergencyStopState state, const Ice::Current& = GlobalIceCurrent) final override
+ void setEmergencyStopState(EmergencyStopState state, const Ice::Current& = Ice::emptyCurrent) final override
{
if (getEmergencyStopState() == state)
{
@@ -82,7 +82,7 @@ namespace armarx
ControlThreadAttorneyForRobotUnitEmergencyStopMaster::SetEmergencyStopStateNoReportToTopic(controlThreadModule, state);
emergencyStopTopic->reportEmergencyStopState(state);
}
- EmergencyStopState getEmergencyStopState(const Ice::Current& = GlobalIceCurrent) const final override
+ EmergencyStopState getEmergencyStopState(const Ice::Current& = Ice::emptyCurrent) const final override
{
return controlThreadModule->getEmergencyStopState();
}
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.ipp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.ipp
index c9e6e111e..a25217408 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.ipp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.ipp
@@ -75,7 +75,7 @@ namespace armarx
inline typename T::ProxyType Units::getUnitPrx() const
{
throwIfInControlThread(BOOST_CURRENT_FUNCTION);
- return T::ProxyType::uncheckedCast(getUnit(T::ice_staticId(), GlobalIceCurrent));
+ return T::ProxyType::uncheckedCast(getUnit(T::ice_staticId(), Ice::emptyCurrent));
}
inline KinematicUnitInterfacePtr Units::getKinematicUnit() const
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/ForceTorqueSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/ForceTorqueSubUnit.h
index 8c7ebd655..eb11819df 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/ForceTorqueSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/ForceTorqueSubUnit.h
@@ -39,8 +39,8 @@ namespace armarx
void update(const SensorAndControl& sc, const JointAndNJointControllers& c) override;
// ForceTorqueUnitInterface interface
- void setOffset(const FramedDirectionBasePtr&, const FramedDirectionBasePtr&, const Ice::Current& = GlobalIceCurrent) override;
- void setToNull(const Ice::Current& = GlobalIceCurrent) override;
+ void setOffset(const FramedDirectionBasePtr&, const FramedDirectionBasePtr&, const Ice::Current& = Ice::emptyCurrent) override;
+ void setToNull(const Ice::Current& = Ice::emptyCurrent) override;
// ForceTorqueUnit interface
void onInitForceTorqueUnit() override;
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
index a6826e2ba..bac5190ed 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
@@ -49,20 +49,20 @@ namespace armarx
void update(const SensorAndControl& sc, const JointAndNJointControllers& c) override;
// PlatformUnitInterface interface
- void move(Ice::Float vx, Ice::Float vy, Ice::Float vr, const Ice::Current& = GlobalIceCurrent) override;
- void moveTo(Ice::Float rx, Ice::Float ry, Ice::Float rr, Ice::Float lac, Ice::Float rac, const Ice::Current& = GlobalIceCurrent) override;
- void moveRelative(Ice::Float rx, Ice::Float ry, Ice::Float rr, Ice::Float lac, Ice::Float rac, const Ice::Current& = GlobalIceCurrent) override;
+ void move(Ice::Float vx, Ice::Float vy, Ice::Float vr, const Ice::Current& = Ice::emptyCurrent) override;
+ void moveTo(Ice::Float rx, Ice::Float ry, Ice::Float rr, Ice::Float lac, Ice::Float rac, const Ice::Current& = Ice::emptyCurrent) override;
+ void moveRelative(Ice::Float rx, Ice::Float ry, Ice::Float rr, Ice::Float lac, Ice::Float rac, const Ice::Current& = Ice::emptyCurrent) override;
- void setMaxVelocities(Ice::Float mxVLin, Ice::Float mxVAng, const Ice::Current& = GlobalIceCurrent) override;
+ void setMaxVelocities(Ice::Float mxVLin, Ice::Float mxVAng, const Ice::Current& = Ice::emptyCurrent) override;
- virtual void setGlobalPose(PoseBasePtr globalPose, const Ice::Current& = GlobalIceCurrent) /*override*/;
- virtual PoseBasePtr getGlobalPose(const Ice::Current& = GlobalIceCurrent) /*override*/;
+ virtual void setGlobalPose(PoseBasePtr globalPose, const Ice::Current& = Ice::emptyCurrent) /*override*/;
+ virtual PoseBasePtr getGlobalPose(const Ice::Current& = Ice::emptyCurrent) /*override*/;
// PlatformUnit interface
void onInitPlatformUnit() override {}
void onStartPlatformUnit() override {}
void onExitPlatformUnit() override {}
- void stopPlatform(const Ice::Current& c = GlobalIceCurrent) override;
+ void stopPlatform(const Ice::Current& c = Ice::emptyCurrent) override;
NJointHolonomicPlatformUnitVelocityPassThroughControllerPtr pt;
NJointHolonomicPlatformRelativePositionControllerPtr relativePosCtrl;
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.cpp b/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.cpp
index ef3cb1009..b65d6f298 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.cpp
@@ -208,7 +208,7 @@ void armarx::TCPControllerSubUnit::componentPropertiesUpdated(const std::set<std
auto tcpController = NJointCartesianVelocityControllerWithRampPtr::dynamicCast(controller);
if (tcpController)
{
- tcpController->setKpJointLimitAvoidance(avoidJointLimitsKp, GlobalIceCurrent);
+ tcpController->setKpJointLimitAvoidance(avoidJointLimitsKp, Ice::emptyCurrent);
}
}
}
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h
index 812578179..b834d2b8a 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h
@@ -50,9 +50,9 @@ namespace armarx
void setup(RobotUnit* rUnit, VirtualRobot::RobotPtr robot);
// TCPControlUnitInterface interface
- void setCycleTime(Ice::Int milliseconds, const Ice::Current& c = GlobalIceCurrent) override;
- void setTCPVelocity(const std::string& nodeSetName, const std::string& tcpName, const::armarx::FramedDirectionBasePtr& translationVelocity, const::armarx::FramedDirectionBasePtr& orientationVelocityRPY, const Ice::Current& c = GlobalIceCurrent) override;
- bool isRequested(const Ice::Current& = GlobalIceCurrent) override;
+ void setCycleTime(Ice::Int milliseconds, const Ice::Current& c = Ice::emptyCurrent) override;
+ void setTCPVelocity(const std::string& nodeSetName, const std::string& tcpName, const::armarx::FramedDirectionBasePtr& translationVelocity, const::armarx::FramedDirectionBasePtr& orientationVelocityRPY, const Ice::Current& c = Ice::emptyCurrent) override;
+ bool isRequested(const Ice::Current& = Ice::emptyCurrent) override;
// RobotUnitSubUnit interface
void update(const SensorAndControl& sc, const JointAndNJointControllers& c) override;
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h
index c672c6ce8..8ebe1925e 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h
@@ -67,28 +67,28 @@ namespace armarx
{
// TrajectoryControllerSubUnitInterface interface
public:
- bool startTrajectoryPlayer(const Ice::Current& = GlobalIceCurrent) override;
- bool pauseTrajectoryPlayer(const Ice::Current& = GlobalIceCurrent) override;
- bool stopTrajectoryPlayer(const Ice::Current& = GlobalIceCurrent) override;
- bool resetTrajectoryPlayer(bool moveToFrameZeroPose, const Ice::Current& = GlobalIceCurrent) override;
+ bool startTrajectoryPlayer(const Ice::Current& = Ice::emptyCurrent) override;
+ bool pauseTrajectoryPlayer(const Ice::Current& = Ice::emptyCurrent) override;
+ bool stopTrajectoryPlayer(const Ice::Current& = Ice::emptyCurrent) override;
+ bool resetTrajectoryPlayer(bool moveToFrameZeroPose, const Ice::Current& = Ice::emptyCurrent) override;
- void loadJointTraj(const TrajectoryBasePtr& jointTraj, const Ice::Current& = GlobalIceCurrent) override;
- void loadBasePoseTraj(const TrajectoryBasePtr& basePoseTraj, const Ice::Current& = GlobalIceCurrent) override;
+ void loadJointTraj(const TrajectoryBasePtr& jointTraj, const Ice::Current& = Ice::emptyCurrent) override;
+ void loadBasePoseTraj(const TrajectoryBasePtr& basePoseTraj, const Ice::Current& = Ice::emptyCurrent) override;
- void setLoopPlayback(bool loop, const Ice::Current& = GlobalIceCurrent) override;
- Ice::Double getEndTime(const Ice::Current& = GlobalIceCurrent) override;
- Ice::Double getTrajEndTime(const Ice::Current& = GlobalIceCurrent) override;
- Ice::Double getCurrentTime(const Ice::Current& = GlobalIceCurrent) override;
- void setEndTime(Ice::Double, const Ice::Current& = GlobalIceCurrent) override;
+ void setLoopPlayback(bool loop, const Ice::Current& = Ice::emptyCurrent) override;
+ Ice::Double getEndTime(const Ice::Current& = Ice::emptyCurrent) override;
+ Ice::Double getTrajEndTime(const Ice::Current& = Ice::emptyCurrent) override;
+ Ice::Double getCurrentTime(const Ice::Current& = Ice::emptyCurrent) override;
+ void setEndTime(Ice::Double, const Ice::Current& = Ice::emptyCurrent) override;
// Within the RobotUnit the NJointTrajectoryController is always in VelocityControl
- void setIsVelocityControl(bool, const Ice::Current& = GlobalIceCurrent) override {}
+ void setIsVelocityControl(bool, const Ice::Current& = Ice::emptyCurrent) override {}
- void setIsPreview(bool, const Ice::Current& = GlobalIceCurrent) override;
- bool setJointsInUse(const std::string&, bool, const Ice::Current& = GlobalIceCurrent) override;
- void enableRobotPoseUnit(bool, const Ice::Current& = GlobalIceCurrent) override;
+ void setIsPreview(bool, const Ice::Current& = Ice::emptyCurrent) override;
+ bool setJointsInUse(const std::string&, bool, const Ice::Current& = Ice::emptyCurrent) override;
+ void enableRobotPoseUnit(bool, const Ice::Current& = Ice::emptyCurrent) override;
- void considerConstraints(bool, const Ice::Current& = GlobalIceCurrent) override;
+ void considerConstraints(bool, const Ice::Current& = Ice::emptyCurrent) override;
// RobotUnitSubUnit interface
void update(const SensorAndControl& sc, const JointAndNJointControllers& c) override;
diff --git a/source/RobotAPI/components/units/SensorActorUnit.h b/source/RobotAPI/components/units/SensorActorUnit.h
index e41418d70..bd6485fc6 100644
--- a/source/RobotAPI/components/units/SensorActorUnit.h
+++ b/source/RobotAPI/components/units/SensorActorUnit.h
@@ -59,7 +59,7 @@ namespace armarx
*
* \param c Ice context provided by the Ice framework
*/
- void init(const Ice::Current& c = ::Ice::Current()) override;
+ void init(const Ice::Current& c = Ice::emptyCurrent) override;
/**
* Set execution state to eStarted
@@ -71,7 +71,7 @@ namespace armarx
*
* \param c Ice context provided by the Ice framework
*/
- void start(const Ice::Current& c = ::Ice::Current()) override;
+ void start(const Ice::Current& c = Ice::emptyCurrent) override;
/**
* Set execution state to eStopped
@@ -83,7 +83,7 @@ namespace armarx
*
* \param c Ice context provided by the Ice framework
*/
- void stop(const Ice::Current& c = ::Ice::Current()) override;
+ void stop(const Ice::Current& c = Ice::emptyCurrent) override;
/**
* Retrieve current execution state
@@ -91,21 +91,21 @@ namespace armarx
* \param c Ice context provided by the Ice framework
* \return current execution state
*/
- UnitExecutionState getExecutionState(const Ice::Current& c = ::Ice::Current()) override;
+ UnitExecutionState getExecutionState(const Ice::Current& c = Ice::emptyCurrent) override;
/**
* Request exclusive access to current unit. Throws ResourceUnavailableException on error.
*
* \param c Ice context provided by the Ice framework
*/
- void request(const Ice::Current& c = ::Ice::Current()) override;
+ void request(const Ice::Current& c = Ice::emptyCurrent) override;
/**
* Release exclusive access to current unit. Throws ResourceUnavailableException on error.
*
* \param c Ice context provided by the Ice framework
*/
- void release(const Ice::Current& c = ::Ice::Current()) override;
+ void release(const Ice::Current& c = Ice::emptyCurrent) override;
protected:
void onExitComponent() override;
diff --git a/source/RobotAPI/components/units/SpeechObserver.h b/source/RobotAPI/components/units/SpeechObserver.h
index 769677e27..8d2cfda58 100644
--- a/source/RobotAPI/components/units/SpeechObserver.h
+++ b/source/RobotAPI/components/units/SpeechObserver.h
@@ -1,6 +1,6 @@
/*
* This file is part of ArmarX.
- *
+ *
* Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
* Karlsruhe Institute of Technology (KIT), all rights reserved.
*
@@ -41,8 +41,8 @@ namespace armarx
};
class SpeechObserver :
- virtual public Observer,
- virtual public SpeechObserverInterface
+ virtual public Observer,
+ virtual public SpeechObserverInterface
{
public:
SpeechObserver();
@@ -58,9 +58,9 @@ namespace armarx
void onInitObserver() override;
void onConnectObserver() override;
- virtual void reportState(armarx::TextToSpeechStateType state, const Ice::Current& = Ice::Current()) override;
- virtual void reportText(const std::string& text, const Ice::Current& = Ice::Current()) override;
- virtual void reportTextWithParams(const std::string& text, const Ice::StringSeq& params, const Ice::Current& = Ice::Current()) override;
+ virtual void reportState(armarx::TextToSpeechStateType state, const Ice::Current& = Ice::emptyCurrent) override;
+ virtual void reportText(const std::string& text, const Ice::Current& = Ice::emptyCurrent) override;
+ virtual void reportTextWithParams(const std::string& text, const Ice::StringSeq& params, const Ice::Current& = Ice::emptyCurrent) override;
static std::string SpeechStateToString(TextToSpeechStateType state);
private:
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index ea2482ace..6d254bba5 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -93,7 +93,7 @@ namespace armarx
* \param milliseconds New cycle time.
* \param c Ice Context, leave blank.
*/
- void setCycleTime(Ice::Int milliseconds, const Ice::Current& c = Ice::Current()) override;
+ void setCycleTime(Ice::Int milliseconds, const Ice::Current& c = Ice::emptyCurrent) override;
/**
* \brief Sets the cartesian velocity of a node in a nodeset for translation and/or orientation.
@@ -110,32 +110,32 @@ namespace armarx
*
* \see request(), release()
*/
- void setTCPVelocity(const std::string& nodeSetName, const std::string& tcpName, const::armarx::FramedDirectionBasePtr& translationVelocity, const::armarx::FramedDirectionBasePtr& orientationVelocityRPY, const Ice::Current& c = Ice::Current()) override;
+ void setTCPVelocity(const std::string& nodeSetName, const std::string& tcpName, const::armarx::FramedDirectionBasePtr& translationVelocity, const::armarx::FramedDirectionBasePtr& orientationVelocityRPY, const Ice::Current& c = Ice::emptyCurrent) override;
// UnitExecutionManagementInterface interface
/**
* \brief Does not do anything at the moment.
* \param c
*/
- void init(const Ice::Current& c = Ice::Current()) override;
+ void init(const Ice::Current& c = Ice::emptyCurrent) override;
/**
* \brief Does not do anything at the moment.
* \param c
*/
- void start(const Ice::Current& c = Ice::Current()) override;
+ void start(const Ice::Current& c = Ice::emptyCurrent) override;
/**
* \brief Does not do anything at the moment.
* \param c
*/
- void stop(const Ice::Current& c = Ice::Current()) override;
- UnitExecutionState getExecutionState(const Ice::Current& c = Ice::Current()) override;
+ void stop(const Ice::Current& c = Ice::emptyCurrent) override;
+ UnitExecutionState getExecutionState(const Ice::Current& c = Ice::emptyCurrent) override;
// UnitResourceManagementInterface interface
/**
* \brief Triggers the calculation loop for using cartesian velocity. Call once before/after setting a tcp velocity with SetTCPVelocity.
* \param c Ice Context, leave blank.
*/
- void request(const Ice::Current& c = Ice::Current()) override;
+ void request(const Ice::Current& c = Ice::emptyCurrent) override;
/**
* \brief Releases and stops the recalculation and updating of joint velocities.
@@ -143,9 +143,9 @@ namespace armarx
* all node set will be deleted in this function.
* \param c Ice Context, leave blank.
*/
- void release(const Ice::Current& c = Ice::Current()) override;
+ void release(const Ice::Current& c = Ice::emptyCurrent) override;
- bool isRequested(const Ice::Current& c = Ice::Current()) override;
+ bool isRequested(const Ice::Current& c = Ice::emptyCurrent) override;
protected:
diff --git a/source/RobotAPI/components/units/TCPControlUnitObserver.h b/source/RobotAPI/components/units/TCPControlUnitObserver.h
index e62e4377e..88cdf43c3 100644
--- a/source/RobotAPI/components/units/TCPControlUnitObserver.h
+++ b/source/RobotAPI/components/units/TCPControlUnitObserver.h
@@ -73,8 +73,8 @@ namespace armarx
public:
// TCPControlUnitListener interface
- void reportTCPPose(const FramedPoseBaseMap& poseMap, const Ice::Current& c = Ice::Current()) override;
- void reportTCPVelocities(const FramedDirectionMap& tcpTranslationVelocities, const FramedDirectionMap& tcpOrientationVelocities, const Ice::Current& c = Ice::Current()) override;
+ void reportTCPPose(const FramedPoseBaseMap& poseMap, const Ice::Current& c = Ice::emptyCurrent) override;
+ void reportTCPVelocities(const FramedDirectionMap& tcpTranslationVelocities, const FramedDirectionMap& tcpOrientationVelocities, const Ice::Current& c = Ice::emptyCurrent) override;
Mutex dataMutex;
};
diff --git a/source/RobotAPI/components/units/relays/ForceTorqueUnitListenerRelay.h b/source/RobotAPI/components/units/relays/ForceTorqueUnitListenerRelay.h
index 13d21373f..22497a711 100644
--- a/source/RobotAPI/components/units/relays/ForceTorqueUnitListenerRelay.h
+++ b/source/RobotAPI/components/units/relays/ForceTorqueUnitListenerRelay.h
@@ -33,7 +33,7 @@ namespace armarx
using CallbackFunctionSensorValues = std::function<void(const std::string&, const FramedDirectionBasePtr&, const FramedDirectionBasePtr&)>;
// ForceTorqueUnitListener interface
- void reportSensorValues(const std::string& sensorNodeName, const FramedDirectionBasePtr& forces, const FramedDirectionBasePtr& torques, const Ice::Current& = GlobalIceCurrent) override
+ void reportSensorValues(const std::string& sensorNodeName, const FramedDirectionBasePtr& forces, const FramedDirectionBasePtr& torques, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportSensorValues(sensorNodeName, forces, torques);
}
diff --git a/source/RobotAPI/components/units/relays/InertialMeasurementUnitListenerRelay.h b/source/RobotAPI/components/units/relays/InertialMeasurementUnitListenerRelay.h
index 3443d1f1d..8a305eb62 100644
--- a/source/RobotAPI/components/units/relays/InertialMeasurementUnitListenerRelay.h
+++ b/source/RobotAPI/components/units/relays/InertialMeasurementUnitListenerRelay.h
@@ -33,7 +33,7 @@ namespace armarx
using CallbackFunctionSensorValues = std::function<void(const std::string&, const std::string&, const IMUData&, const TimestampBasePtr&)>;
// InertialMeasurementUnitListener interface
- void reportSensorValues(const std::string& device, const std::string& name, const IMUData& values, const TimestampBasePtr& timestamp, const Ice::Current& = GlobalIceCurrent) override
+ void reportSensorValues(const std::string& device, const std::string& name, const IMUData& values, const TimestampBasePtr& timestamp, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportSensorValues(device, name, values, timestamp);
}
diff --git a/source/RobotAPI/components/units/relays/KinematicUnitListenerRelay.h b/source/RobotAPI/components/units/relays/KinematicUnitListenerRelay.h
index 91e2d5189..c653ba682 100644
--- a/source/RobotAPI/components/units/relays/KinematicUnitListenerRelay.h
+++ b/source/RobotAPI/components/units/relays/KinematicUnitListenerRelay.h
@@ -35,35 +35,35 @@ namespace armarx
using CallbackFunctionValue = std::function<void(const NameValueMap&, Ice::Long, bool)>;
// KinematicUnitListener interface
- void reportControlModeChanged(const NameControlModeMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent) override
+ void reportControlModeChanged(const NameControlModeMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportControlModeChanged(map, time, changes);
}
- void reportJointAngles(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent) override
+ void reportJointAngles(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportJointAngles(map, time, changes);
}
- void reportJointVelocities(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent) override
+ void reportJointVelocities(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportJointVelocities(map, time, changes);
}
- void reportJointTorques(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent) override
+ void reportJointTorques(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportJointTorques(map, time, changes);
}
- void reportJointAccelerations(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent) override
+ void reportJointAccelerations(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportJointAccelerations(map, time, changes);
}
- void reportJointCurrents(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent) override
+ void reportJointCurrents(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportJointCurrents(map, time, changes);
}
- void reportJointMotorTemperatures(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent) override
+ void reportJointMotorTemperatures(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportJointMotorTemperatures(map, time, changes);
}
- void reportJointStatuses(const NameStatusMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent) override
+ void reportJointStatuses(const NameStatusMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
{
callbackReportJointStatuses(map, time, changes);
}
diff --git a/source/RobotAPI/components/units/relays/RobotStateListenerRelay.h b/source/RobotAPI/components/units/relays/RobotStateListenerRelay.h
index daf3cacd9..ab4bf2ac5 100644
--- a/source/RobotAPI/components/units/relays/RobotStateListenerRelay.h
+++ b/source/RobotAPI/components/units/relays/RobotStateListenerRelay.h
@@ -33,11 +33,11 @@ namespace armarx
using CallbackFunctionValue = std::function<void(const NameValueMap&, Ice::Long, bool)>;
using CallbackFunctionPose = std::function<void(const FramedPoseBasePtr&, Ice::Long, bool)>;
- virtual void reportJointValues(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ virtual void reportJointValues(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent)
{
callbackReportJointValues(map, time, changes);
}
- void reportGlobalRobotRootPose(const FramedPoseBasePtr& pose, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ void reportGlobalRobotRootPose(const FramedPoseBasePtr& pose, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent)
{
callbackReportGlobalRobotRootPose(pose, time, changes);
}
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
index 9e63f997a..d20f2116b 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
@@ -118,9 +118,9 @@ namespace armarx
void onExitComponent() override;
// slice interface implementation
- void reportPlatformPose(::Ice::Float currentPlatformPositionX, ::Ice::Float currentPlatformPositionY, ::Ice::Float currentPlatformRotation, const Ice::Current& c = ::Ice::Current()) override;
- void reportNewTargetPose(::Ice::Float newPlatformPositionX, ::Ice::Float newPlatformPositionY, ::Ice::Float newPlatformRotation, const Ice::Current& c = ::Ice::Current()) override;
- void reportPlatformVelocity(::Ice::Float currentPlatformVelocityX, ::Ice::Float currentPlatformVelocityY, ::Ice::Float currentPlatformVelocityRotation, const Ice::Current& c = ::Ice::Current()) override;
+ void reportPlatformPose(::Ice::Float currentPlatformPositionX, ::Ice::Float currentPlatformPositionY, ::Ice::Float currentPlatformRotation, const Ice::Current& c = Ice::emptyCurrent) override;
+ void reportNewTargetPose(::Ice::Float newPlatformPositionX, ::Ice::Float newPlatformPositionY, ::Ice::Float newPlatformRotation, const Ice::Current& c = Ice::emptyCurrent) override;
+ void reportPlatformVelocity(::Ice::Float currentPlatformVelocityX, ::Ice::Float currentPlatformVelocityY, ::Ice::Float currentPlatformVelocityRotation, const Ice::Current& c = Ice::emptyCurrent) override;
void reportPlatformOdometryPose(Ice::Float, Ice::Float, Ice::Float, const Ice::Current&) override;
// inherited of ArmarXWidget
diff --git a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.h b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.h
index 1b5f87d8b..67a6f2942 100644
--- a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.h
+++ b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.h
@@ -87,9 +87,9 @@ namespace armarx
void configured() override;
- void onActivateAutomaticViewSelection(const Ice::Current& c = Ice::Current()) override;
- void onDeactivateAutomaticViewSelection(const Ice::Current& c = Ice::Current()) override;
- void nextViewTarget(Ice::Long, const Ice::Current& c = Ice::Current()) override;
+ void onActivateAutomaticViewSelection(const Ice::Current& c = Ice::emptyCurrent) override;
+ void onDeactivateAutomaticViewSelection(const Ice::Current& c = Ice::emptyCurrent) override;
+ void nextViewTarget(Ice::Long, const Ice::Current& c = Ice::emptyCurrent) override;
/**
* Returns the Widget name displayed in the ArmarXGui to create an
diff --git a/source/RobotAPI/libraries/core/FramedOrientedPoint.h b/source/RobotAPI/libraries/core/FramedOrientedPoint.h
index 387ab6f4c..7f2231c17 100644
--- a/source/RobotAPI/libraries/core/FramedOrientedPoint.h
+++ b/source/RobotAPI/libraries/core/FramedOrientedPoint.h
@@ -79,16 +79,16 @@ namespace armarx
{
return this->clone();
}
- VariantDataClassPtr clone(const Ice::Current& c = ::Ice::Current()) const override
+ VariantDataClassPtr clone(const Ice::Current& c = Ice::emptyCurrent) const override
{
return new FramedOrientedPoint(*this);
}
- std::string output(const Ice::Current& c = ::Ice::Current()) const override;
- VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const override
+ std::string output(const Ice::Current& c = Ice::emptyCurrent) const override;
+ VariantTypeId getType(const Ice::Current& c = Ice::emptyCurrent) const override
{
return VariantType::FramedOrientedPoint;
}
- bool validate(const Ice::Current& c = ::Ice::Current()) override
+ bool validate(const Ice::Current& c = Ice::emptyCurrent) override
{
return true;
}
@@ -100,8 +100,8 @@ namespace armarx
}
public: // serialization
- void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const override;
- void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) override;
+ void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) const override;
+ void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) override;
};
}
diff --git a/source/RobotAPI/libraries/core/FramedPose.h b/source/RobotAPI/libraries/core/FramedPose.h
index e847e6349..390396d22 100644
--- a/source/RobotAPI/libraries/core/FramedPose.h
+++ b/source/RobotAPI/libraries/core/FramedPose.h
@@ -110,16 +110,16 @@ namespace armarx
{
return this->clone();
}
- VariantDataClassPtr clone(const Ice::Current& c = ::Ice::Current()) const override
+ VariantDataClassPtr clone(const Ice::Current& c = Ice::emptyCurrent) const override
{
return new FramedDirection(*this);
}
- std::string output(const Ice::Current& c = ::Ice::Current()) const override;
- VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const override
+ std::string output(const Ice::Current& c = Ice::emptyCurrent) const override;
+ VariantTypeId getType(const Ice::Current& c = Ice::emptyCurrent) const override
{
return VariantType::FramedDirection;
}
- bool validate(const Ice::Current& c = ::Ice::Current()) override
+ bool validate(const Ice::Current& c = Ice::emptyCurrent) override
{
return true;
}
@@ -131,8 +131,8 @@ namespace armarx
}
public: // serialization
- void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const override;
- void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) override;
+ void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) const override;
+ void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) override;
private:
static Eigen::Matrix4f __GetRotationBetweenFrames(const std::string& oldFrame, const std::string& newFrame, VirtualRobot::RobotPtr robotState);
@@ -194,16 +194,16 @@ namespace armarx
{
return this->clone();
}
- VariantDataClassPtr clone(const Ice::Current& c = ::Ice::Current()) const override
+ VariantDataClassPtr clone(const Ice::Current& c = Ice::emptyCurrent) const override
{
return new FramedPosition(*this);
}
- std::string output(const Ice::Current& c = ::Ice::Current()) const override;
- VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const override
+ std::string output(const Ice::Current& c = Ice::emptyCurrent) const override;
+ VariantTypeId getType(const Ice::Current& c = Ice::emptyCurrent) const override
{
return VariantType::FramedPosition;
}
- bool validate(const Ice::Current& c = ::Ice::Current()) override
+ bool validate(const Ice::Current& c = Ice::emptyCurrent) override
{
return true;
}
@@ -215,8 +215,8 @@ namespace armarx
};
public: // serialization
- void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const override;
- void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) override;
+ void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) const override;
+ void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) override;
};
class FramedOrientation;
@@ -246,16 +246,16 @@ namespace armarx
{
return this->clone();
}
- VariantDataClassPtr clone(const Ice::Current& c = ::Ice::Current()) const override
+ VariantDataClassPtr clone(const Ice::Current& c = Ice::emptyCurrent) const override
{
return new FramedOrientation(*this);
}
- std::string output(const Ice::Current& c = ::Ice::Current()) const override;
- VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const override
+ std::string output(const Ice::Current& c = Ice::emptyCurrent) const override;
+ VariantTypeId getType(const Ice::Current& c = Ice::emptyCurrent) const override
{
return VariantType::FramedOrientation;
}
- bool validate(const Ice::Current& c = ::Ice::Current()) override
+ bool validate(const Ice::Current& c = Ice::emptyCurrent) override
{
return true;
}
@@ -280,8 +280,8 @@ namespace armarx
};
public: // serialization
- void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const override;
- void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) override;
+ void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) const override;
+ void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) override;
};
@@ -314,19 +314,19 @@ namespace armarx
return this->clone();
}
- VariantDataClassPtr clone(const Ice::Current& c = ::Ice::Current()) const override
+ VariantDataClassPtr clone(const Ice::Current& c = Ice::emptyCurrent) const override
{
return new FramedPose(*this);
}
- std::string output(const Ice::Current& c = ::Ice::Current()) const override;
+ std::string output(const Ice::Current& c = Ice::emptyCurrent) const override;
- VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const override
+ VariantTypeId getType(const Ice::Current& c = Ice::emptyCurrent) const override
{
return VariantType::FramedPose;
}
- bool validate(const Ice::Current& c = ::Ice::Current()) override
+ bool validate(const Ice::Current& c = Ice::emptyCurrent) override
{
return true;
}
@@ -355,8 +355,8 @@ namespace armarx
static VirtualRobot::LinkedCoordinate createLinkedCoordinate(const VirtualRobot::RobotPtr& virtualRobot, const FramedPositionPtr& position, const FramedOrientationPtr& orientation);
public:
- void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const override;
- void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) override;
+ void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) const override;
+ void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) override;
};
diff --git a/source/RobotAPI/libraries/core/LinkedPose.h b/source/RobotAPI/libraries/core/LinkedPose.h
index d6cb56ea4..414309200 100644
--- a/source/RobotAPI/libraries/core/LinkedPose.h
+++ b/source/RobotAPI/libraries/core/LinkedPose.h
@@ -81,15 +81,15 @@ namespace armarx
// inherited from VariantDataClass
Ice::ObjectPtr ice_clone() const override;
- VariantDataClassPtr clone(const Ice::Current& c = ::Ice::Current()) const override;
+ VariantDataClassPtr clone(const Ice::Current& c = Ice::emptyCurrent) const override;
- std::string output(const Ice::Current& c = ::Ice::Current()) const override;
+ std::string output(const Ice::Current& c = Ice::emptyCurrent) const override;
- VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const override;
+ VariantTypeId getType(const Ice::Current& c = Ice::emptyCurrent) const override;
- bool validate(const Ice::Current& c = ::Ice::Current()) override;
+ bool validate(const Ice::Current& c = Ice::emptyCurrent) override;
- void changeFrame(const std::string& newFrame, const Ice::Current& c = ::Ice::Current()) override;
+ void changeFrame(const std::string& newFrame, const Ice::Current& c = Ice::emptyCurrent) override;
void changeToGlobal();
LinkedPosePtr toGlobal() const;
@@ -99,8 +99,8 @@ namespace armarx
return stream;
};
- void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const override;
- void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) override;
+ void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) const override;
+ void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) override;
protected:
void ice_postUnmarshal() override;
@@ -126,7 +126,7 @@ namespace armarx
~LinkedDirection() override;
- void changeFrame(const std::string& newFrame, const Ice::Current& c = Ice::Current()) override;
+ void changeFrame(const std::string& newFrame, const Ice::Current& c = Ice::emptyCurrent) override;
// inherited from VariantDataClass
Ice::ObjectPtr ice_clone() const override
@@ -134,24 +134,24 @@ namespace armarx
return this->clone();
}
- VariantDataClassPtr clone(const Ice::Current& c = ::Ice::Current()) const override
+ VariantDataClassPtr clone(const Ice::Current& c = Ice::emptyCurrent) const override
{
return new LinkedDirection(*this);
}
- std::string output(const Ice::Current& c = ::Ice::Current()) const override
+ std::string output(const Ice::Current& c = Ice::emptyCurrent) const override
{
std::stringstream s;
s << FramedDirection::toEigen() << std::endl << "reference robot: " << referenceRobot;
return s.str();
}
- VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const override
+ VariantTypeId getType(const Ice::Current& c = Ice::emptyCurrent) const override
{
return VariantType::LinkedDirection;
}
- bool validate(const Ice::Current& c = ::Ice::Current()) override
+ bool validate(const Ice::Current& c = Ice::emptyCurrent) override
{
return true;
}
@@ -163,8 +163,8 @@ namespace armarx
return stream;
};
- void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const override;
- void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) override;
+ void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) const override;
+ void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) override;
protected:
diff --git a/source/RobotAPI/libraries/core/OrientedPoint.h b/source/RobotAPI/libraries/core/OrientedPoint.h
index 6d1ed992b..4bb8955e8 100644
--- a/source/RobotAPI/libraries/core/OrientedPoint.h
+++ b/source/RobotAPI/libraries/core/OrientedPoint.h
@@ -55,16 +55,16 @@ namespace armarx
{
return this->clone();
}
- VariantDataClassPtr clone(const Ice::Current& c = ::Ice::Current()) const override
+ VariantDataClassPtr clone(const Ice::Current& c = Ice::emptyCurrent) const override
{
return new OrientedPoint(*this);
}
- std::string output(const Ice::Current& c = ::Ice::Current()) const override;
- VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const override
+ std::string output(const Ice::Current& c = Ice::emptyCurrent) const override;
+ VariantTypeId getType(const Ice::Current& c = Ice::emptyCurrent) const override
{
return VariantType::OrientedPoint;
}
- bool validate(const Ice::Current& c = ::Ice::Current()) override
+ bool validate(const Ice::Current& c = Ice::emptyCurrent) override
{
return true;
}
@@ -76,8 +76,8 @@ namespace armarx
}
public: // serialization
- void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const override;
- void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) override;
+ void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) const override;
+ void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) override;
};
using OrientedPointPtr = IceInternal::Handle<OrientedPoint>;
diff --git a/source/RobotAPI/libraries/core/Pose.h b/source/RobotAPI/libraries/core/Pose.h
index 3478c2384..acd23ad09 100644
--- a/source/RobotAPI/libraries/core/Pose.h
+++ b/source/RobotAPI/libraries/core/Pose.h
@@ -69,16 +69,16 @@ namespace armarx
{
return this->clone();
}
- VariantDataClassPtr clone(const Ice::Current& = ::Ice::Current()) const override
+ VariantDataClassPtr clone(const Ice::Current& = Ice::emptyCurrent) const override
{
return new Vector2(*this);
}
- std::string output(const Ice::Current& c = ::Ice::Current()) const override;
- VariantTypeId getType(const Ice::Current& = ::Ice::Current()) const override
+ std::string output(const Ice::Current& c = Ice::emptyCurrent) const override;
+ VariantTypeId getType(const Ice::Current& = Ice::emptyCurrent) const override
{
return VariantType::Vector2;
}
- bool validate(const Ice::Current& = ::Ice::Current()) override
+ bool validate(const Ice::Current& = Ice::emptyCurrent) override
{
return true;
}
@@ -90,8 +90,8 @@ namespace armarx
}
public: // serialization
- void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const override;
- void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) override;
+ void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) const override;
+ void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) override;
};
@@ -121,16 +121,16 @@ namespace armarx
{
return this->clone();
}
- VariantDataClassPtr clone(const Ice::Current& c = ::Ice::Current()) const override
+ VariantDataClassPtr clone(const Ice::Current& c = Ice::emptyCurrent) const override
{
return new Vector3(*this);
}
- std::string output(const Ice::Current& c = ::Ice::Current()) const override;
- VariantTypeId getType(const Ice::Current& = ::Ice::Current()) const override
+ std::string output(const Ice::Current& c = Ice::emptyCurrent) const override;
+ VariantTypeId getType(const Ice::Current& = Ice::emptyCurrent) const override
{
return VariantType::Vector3;
}
- bool validate(const Ice::Current& = ::Ice::Current()) override
+ bool validate(const Ice::Current& = Ice::emptyCurrent) override
{
return true;
}
@@ -143,8 +143,8 @@ namespace armarx
}
public: // serialization
- void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const override;
- void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) override;
+ void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) const override;
+ void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) override;
};
using Vector3Ptr = IceInternal::Handle<Vector3>;
@@ -179,16 +179,16 @@ namespace armarx
{
return this->clone();
}
- VariantDataClassPtr clone(const Ice::Current& = ::Ice::Current()) const override
+ VariantDataClassPtr clone(const Ice::Current& = Ice::emptyCurrent) const override
{
return new Quaternion(*this);
}
- std::string output(const Ice::Current& c = ::Ice::Current()) const override;
- VariantTypeId getType(const Ice::Current& = ::Ice::Current()) const override
+ std::string output(const Ice::Current& c = Ice::emptyCurrent) const override;
+ VariantTypeId getType(const Ice::Current& = Ice::emptyCurrent) const override
{
return VariantType::Quaternion;
}
- bool validate(const Ice::Current& = ::Ice::Current()) override
+ bool validate(const Ice::Current& = Ice::emptyCurrent) override
{
return true;
}
@@ -201,8 +201,8 @@ namespace armarx
}
public: // serialization
- void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const override;
- void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) override;
+ void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) const override;
+ void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) override;
private:
void init(const Eigen::Matrix3f&);
@@ -236,16 +236,16 @@ namespace armarx
{
return this->clone();
}
- VariantDataClassPtr clone(const Ice::Current& = ::Ice::Current()) const override
+ VariantDataClassPtr clone(const Ice::Current& = Ice::emptyCurrent) const override
{
return new Pose(*this);
}
- std::string output(const Ice::Current& = ::Ice::Current()) const override;
- VariantTypeId getType(const Ice::Current& = ::Ice::Current()) const override
+ std::string output(const Ice::Current& = Ice::emptyCurrent) const override;
+ VariantTypeId getType(const Ice::Current& = Ice::emptyCurrent) const override
{
return VariantType::Pose;
}
- bool validate(const Ice::Current& = ::Ice::Current()) override
+ bool validate(const Ice::Current& = Ice::emptyCurrent) override
{
return true;
}
@@ -257,8 +257,8 @@ namespace armarx
}
public: // serialization
- void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const override;
- void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) override;
+ void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) const override;
+ void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent) override;
protected:
void init();
diff --git a/source/RobotAPI/libraries/core/Trajectory.h b/source/RobotAPI/libraries/core/Trajectory.h
index 10099dac8..f4e02ebe1 100644
--- a/source/RobotAPI/libraries/core/Trajectory.h
+++ b/source/RobotAPI/libraries/core/Trajectory.h
@@ -411,15 +411,15 @@ namespace armarx
void ice_postUnmarshal() override;
// Serializable interface
- void serialize(const ObjectSerializerBasePtr& obj, const Ice::Current& = Ice::Current()) const override;
- void deserialize(const ObjectSerializerBasePtr&, const Ice::Current& = Ice::Current()) override;
+ void serialize(const ObjectSerializerBasePtr& obj, const Ice::Current& = Ice::emptyCurrent) const override;
+ void deserialize(const ObjectSerializerBasePtr&, const Ice::Current& = Ice::emptyCurrent) override;
// VariantDataClass interface
- VariantDataClassPtr clone(const Ice::Current& c = Ice::Current()) const override;
+ VariantDataClassPtr clone(const Ice::Current& c = Ice::emptyCurrent) const override;
TrajectoryPtr cloneMetaData() const;
- std::string output(const Ice::Current& c = Ice::Current()) const override;
- Ice::Int getType(const Ice::Current& c = Ice::Current()) const override;
- bool validate(const Ice::Current& c = Ice::Current()) override;
+ std::string output(const Ice::Current& c = Ice::emptyCurrent) const override;
+ Ice::Int getType(const Ice::Current& c = Ice::emptyCurrent) const override;
+ bool validate(const Ice::Current& c = Ice::emptyCurrent) override;
Ice::ObjectPtr ice_clone() const override;
diff --git a/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
index de3c5eea8..b5f668bae 100644
--- a/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
+++ b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
@@ -54,7 +54,7 @@ namespace armarx
// DatafieldFilterBase interface
public:
- VariantBasePtr calculate(const Ice::Current& c = Ice::Current()) const override
+ VariantBasePtr calculate(const Ice::Current& c = Ice::emptyCurrent) const override
{
ScopedLock lock(historyMutex);
diff --git a/source/RobotAPI/statecharts/operations/RobotControl.h b/source/RobotAPI/statecharts/operations/RobotControl.h
index 78f9a394c..7aca952c7 100644
--- a/source/RobotAPI/statecharts/operations/RobotControl.h
+++ b/source/RobotAPI/statecharts/operations/RobotControl.h
@@ -76,7 +76,7 @@ namespace armarx
void onExitRemoteStateOfferer() override;
void startRobotStatechart();
- void hardReset(const Ice::Current& = ::Ice::Current()) override;
+ void hardReset(const Ice::Current& = Ice::emptyCurrent) override;
PropertyDefinitionsPtr createPropertyDefinitions() override;
--
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