From 6e3f0731cde7e26eb32250f1638f3fefd3b230ae Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 22 Mar 2022 14:17:54 +0100
Subject: [PATCH] Update usage of time in armem_objects
---
.../ArticulatedObjectReader.cpp | 11 +++---
.../ArticulatedObjectReader.h | 3 +-
.../ArticulatedObjectWriter.cpp | 8 +++--
.../client/articulated_object/Writer.cpp | 2 +-
.../client/instance/ObjectWriter.cpp | 2 +-
.../armem_objects/server/class/Segment.cpp | 2 +-
.../armem_objects/server/instance/Decay.cpp | 7 ++--
.../armem_objects/server/instance/Decay.h | 9 +++--
.../server/instance/RobotHeadMovement.cpp | 18 +++++-----
.../server/instance/RobotHeadMovement.h | 11 +++---
.../armem_objects/server/instance/Segment.cpp | 35 ++++++++-----------
.../armem_objects/server/instance/Segment.h | 15 ++++----
.../server/instance/SegmentAdapter.cpp | 6 ++--
13 files changed, 62 insertions(+), 67 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp
index f26a62736..c16ff2576 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.cpp
@@ -24,10 +24,11 @@
namespace armarx::armem::articulated_object
{
- VirtualRobot::RobotPtr ArticulatedObjectReader::getArticulatedObject(const std::string& name,
+ VirtualRobot::RobotPtr ArticulatedObjectReader::getArticulatedObject(
+ const std::string& name,
const armem::Time& timestamp)
{
- const auto descriptions = queryDescriptions(IceUtil::Time::now());
+ const auto descriptions = queryDescriptions(armem::Time::Now());
ARMARX_INFO << "Found " << descriptions.size() << " articulated object descriptions";
@@ -45,9 +46,9 @@ namespace armarx::armem::articulated_object
ARMARX_DEBUG << "Object " << name << " available";
- auto obj =
- VirtualRobot::RobotIO::loadRobot(ArmarXDataPath::resolvePath(it->xml.serialize().path),
- VirtualRobot::RobotIO::eStructure);
+ auto obj = VirtualRobot::RobotIO::loadRobot(
+ ArmarXDataPath::resolvePath(it->xml.serialize().path),
+ VirtualRobot::RobotIO::eStructure);
if (not obj)
{
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h
index 5d918ddf4..65e8f2fba 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h
@@ -10,7 +10,8 @@ namespace armarx::armem::articulated_object
public:
using Reader::Reader;
- VirtualRobot::RobotPtr getArticulatedObject(const std::string& name,
+ VirtualRobot::RobotPtr getArticulatedObject(
+ const std::string& name,
const armem::Time& timestamp);
};
} // namespace armarx::armem::articulated_object
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
index 8caad31be..6cbb3ecdc 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
@@ -12,7 +12,8 @@
namespace armarx::armem::articulated_object
{
- armem::articulated_object::ArticulatedObject convert(const VirtualRobot::Robot& obj,
+ armem::articulated_object::ArticulatedObject convert(
+ const VirtualRobot::Robot& obj,
const armem::Time& timestamp)
{
ARMARX_DEBUG << "Filename is " << obj.getFilename();
@@ -37,14 +38,15 @@ namespace armarx::armem::articulated_object
}
bool
- ArticulatedObjectWriter::storeArticulatedObject(const VirtualRobot::RobotPtr& articulatedObject,
+ ArticulatedObjectWriter::storeArticulatedObject(
+ const VirtualRobot::RobotPtr& articulatedObject,
const armem::Time& timestamp)
{
ARMARX_CHECK_NOT_NULL(articulatedObject);
armarx::armem::articulated_object::ArticulatedObject armemArticulatedObject =
- convert(*articulatedObject, IceUtil::Time::now());
+ convert(*articulatedObject, Time::Now());
return store(armemArticulatedObject);
}
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
index 055061520..fbce08b63 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
@@ -97,7 +97,7 @@ namespace armarx::armem::articulated_object
void Writer::updateKnownObjects()
{
- knownObjects = queryDescriptions(IceUtil::Time::now());
+ knownObjects = queryDescriptions(Time::Now());
ARMARX_INFO << "Known articulated objects " << simox::alg::get_keys(knownObjects);
}
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
index ad9c8c83f..84b1e4613 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.cpp
@@ -65,7 +65,7 @@ namespace armarx::armem::obj::instance
e.entityID.providerSegmentName = provider;
e.entityID.entityName = inst.pose.objectID.dataset + "/" + inst.pose.objectID.className + "/" + inst.pose.objectID.instanceName;
e.timeCreated = t;
- e.timeSent = IceUtil::Time::now();
+ e.timeSent = armem::Time::Now();
e.instancesData = { inst.toAron() };
auto res = memoryWriter.commit(c);
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index a0e9bce51..3250a1cca 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -79,7 +79,7 @@ namespace armarx::armem::server::obj::clazz
void Segment::loadByObjectFinder()
{
- const Time now = TimeUtil::GetTime();
+ const Time now = Time::Now();
const bool checkPaths = false;
std::vector<ObjectInfo> infos = objectFinder.findAllObjects(checkPaths);
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Decay.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Decay.cpp
index df3728fb3..ac072e196 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Decay.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Decay.cpp
@@ -3,6 +3,7 @@
#include <SimoxUtility/math/scale_value.h>
#include <ArmarXCore/core/time/TimeUtil.h>
+#include <ArmarXCore/core/time/DateTime.h>
namespace armarx::armem::server::obj::instance
@@ -24,7 +25,7 @@ namespace armarx::armem::server::obj::instance
"Remove objects whose confidence is lower than this value.");
}
- void Decay::updateConfidence(objpose::ObjectPose& pose, IceUtil::Time now) const
+ void Decay::updateConfidence(objpose::ObjectPose& pose, const DateTime& now) const
{
if (pose.attachment or pose.isStatic)
{
@@ -36,7 +37,7 @@ namespace armarx::armem::server::obj::instance
}
}
- void Decay::updateConfidences(objpose::ObjectPoseSeq& objectPoses, IceUtil::Time now) const
+ void Decay::updateConfidences(objpose::ObjectPoseSeq& objectPoses, const DateTime& now) const
{
for (objpose::ObjectPose& pose : objectPoses)
{
@@ -44,7 +45,7 @@ namespace armarx::armem::server::obj::instance
}
}
- float Decay::calculateConfidence(IceUtil::Time localization, IceUtil::Time now) const
+ float Decay::calculateConfidence(const DateTime& localization, const DateTime& now) const
{
const float duration = static_cast<float>((now - localization).toSecondsDouble());
if (duration < delaySeconds)
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Decay.h b/source/RobotAPI/libraries/armem_objects/server/instance/Decay.h
index a44652d55..4adf757da 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Decay.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Decay.h
@@ -1,9 +1,8 @@
#pragma once
-#include <IceUtil/Time.h>
-
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
+#include <ArmarXCore/core/time/forward_declarations.h>
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
@@ -23,12 +22,12 @@ namespace armarx::armem::server::obj::instance
void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "decay.");
- void updateConfidence(objpose::ObjectPose& pose, IceUtil::Time now) const;
- void updateConfidences(objpose::ObjectPoseSeq& objectPoses, IceUtil::Time now) const;
+ void updateConfidence(objpose::ObjectPose& pose, const DateTime& now) const;
+ void updateConfidences(objpose::ObjectPoseSeq& objectPoses, const DateTime& now) const;
private:
- float calculateConfidence(IceUtil::Time localization, IceUtil::Time now) const;
+ float calculateConfidence(const DateTime& localization, const DateTime& now) const;
public:
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.cpp
index 973cf5a55..d1a6c9167 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.cpp
@@ -74,27 +74,27 @@ namespace armarx::armem::server::obj::instance
void RobotHeadMovement::movementStarts(long discardIntervalMs)
{
- return movementStarts(IceUtil::Time::milliSeconds(discardIntervalMs));
+ return movementStarts(Duration::MilliSeconds(discardIntervalMs));
}
- void RobotHeadMovement::movementStarts(IceUtil::Time discardInterval)
+ void RobotHeadMovement::movementStarts(const Duration& discardInterval)
{
- discardUpdatesUntil = TimeUtil::GetTime() + discardInterval;
+ discardUpdatesUntil = DateTime::Now() + discardInterval;
}
void RobotHeadMovement::movementStops(long discardIntervalMs)
{
- return movementStops(IceUtil::Time::milliSeconds(discardIntervalMs));
+ return movementStops(Duration::MilliSeconds(discardIntervalMs));
}
- void RobotHeadMovement::movementStops(IceUtil::Time discardInterval)
+ void RobotHeadMovement::movementStops(const Duration& discardInterval)
{
if (discardInterval.toMilliSeconds() < 0)
{
// Stop discarding.
- discardUpdatesUntil = IceUtil::Time::milliSeconds(-1);
+ discardUpdatesUntil = DateTime::Invalid();
}
else
{
// Basically the same as starting.
- discardUpdatesUntil = TimeUtil::GetTime() + discardInterval;
+ discardUpdatesUntil = DateTime::Now() + discardInterval;
}
}
@@ -115,7 +115,7 @@ namespace armarx::armem::server::obj::instance
ARMARX_UNEXPECTED_ENUM_VALUE(objpose::HeadMovementAction, input.action);
break;
}
- output.discardUpdatesUntilMilliSeconds = this->discardUpdatesUntil.toMilliSeconds();
+ output.discardUpdatesUntilMilliSeconds = this->discardUpdatesUntil.toMilliSecondsSinceEpoch();
return output;
}
@@ -131,7 +131,7 @@ namespace armarx::armem::server::obj::instance
// ARMARX_IMPORTANT << "Ignoring pose update because robot head is moving! until " << discardUpdatesUntil;
discard.all = true;
}
- else if (TimeUtil::GetTime() < discardUpdatesUntil)
+ else if (DateTime::Now() < discardUpdatesUntil)
{
discard.all = true;
// ARMARX_IMPORTANT << "Ignoring pose update because robot head has moved until: " << discardUpdatesUntil;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.h b/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.h
index b6b0acb6d..b4da82e82 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.h
@@ -4,10 +4,9 @@
#include <vector>
#include <optional>
-#include <IceUtil/Time.h>
-
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/time/DateTime.h>
#include <ArmarXCore/observers/variant/DatafieldRef.h>
#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
@@ -34,16 +33,16 @@ namespace armarx::armem::server::obj::instance
bool isMoving() const;
void movementStarts(long discardIntervalMs);
- void movementStarts(IceUtil::Time discardInterval);
+ void movementStarts(const Duration& discardInterval);
void movementStops(long discardIntervalMs);
- void movementStops(IceUtil::Time discardInterval);
+ void movementStops(const Duration& discardInterval);
objpose::SignalHeadMovementOutput signalHeadMovement(const objpose::SignalHeadMovementInput& input);
struct Discard
{
- std::optional<IceUtil::Time> updatesUntil;
+ std::optional<DateTime> updatesUntil;
bool all = false;
};
Discard getDiscard();
@@ -60,7 +59,7 @@ namespace armarx::armem::server::obj::instance
KinematicUnitObserverInterfacePrx kinematicUnitObserver;
std::vector<DatafieldRefPtr> jointVelocitiesDatafields;
- IceUtil::Time discardUpdatesUntil = IceUtil::Time::seconds(-1);
+ DateTime discardUpdatesUntil = DateTime::Invalid();
DebugObserverInterfacePrx debugObserver;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 351d0f5ac..4d0218e58 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -29,21 +29,19 @@
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
-#include <ArmarXCore/core/time/TimeUtil.h>
+#include <ArmarXCore/core/time/DateTime.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
#include <SimoxUtility/algorithm/get_map_keys_values.h>
#include <SimoxUtility/algorithm/string.h>
#include <SimoxUtility/json.h>
#include <SimoxUtility/math/pose/pose.h>
-
#include <Eigen/Geometry>
-#include <IceUtil/Time.h>
#include <sstream>
-
namespace armarx::armem::server::obj::instance
{
@@ -148,7 +146,7 @@ namespace armarx::armem::server::obj::instance
stats.numUpdated = 0;
for (const objpose::data::ProvidedObjectPose& provided : providedPoses)
{
- const Time timestamp = Time::microSeconds(provided.timestampMicroSeconds);
+ const Time timestamp = fromIce<Time>(provided.timestamp);
// Check whether we have an old snapshot for this object.
std::optional<objpose::ObjectPose> previousPose;
@@ -230,7 +228,7 @@ namespace armarx::armem::server::obj::instance
void Segment::commitObjectPoses(const ObjectPoseSeq& objectPoses, const std::string& providerName)
{
- Time now = TimeUtil::GetTime();
+ Time now = Time::Now();
ARMARX_CHECK_NOT_NULL(segmentPtr);
const MemoryID coreSegmentID = segmentPtr->id();
@@ -269,7 +267,7 @@ namespace armarx::armem::server::obj::instance
objpose::ObjectPoseMap
- Segment::getObjectPoses(IceUtil::Time now)
+ Segment::getObjectPoses(const DateTime& now)
{
ObjectPoseMap objectPoses = getLatestObjectPoses();
updateObjectPoses(objectPoses, now);
@@ -281,7 +279,7 @@ namespace armarx::armem::server::obj::instance
objpose::ObjectPoseMap
Segment::getObjectPosesByProvider(
const std::string& providerName,
- IceUtil::Time now)
+ const DateTime& now)
{
ARMARX_CHECK_NOT_NULL(segmentPtr);
ObjectPoseMap objectPoses = getLatestObjectPoses(segmentPtr->getProviderSegment(providerName));
@@ -325,7 +323,7 @@ namespace armarx::armem::server::obj::instance
}
- void Segment::updateObjectPoses(ObjectPoseMap& objectPoses, IceUtil::Time now)
+ void Segment::updateObjectPoses(ObjectPoseMap& objectPoses, const DateTime& now)
{
bool agentSynchronized = false;
@@ -338,7 +336,7 @@ namespace armarx::armem::server::obj::instance
void Segment::updateObjectPoses(
ObjectPoseMap& objectPoses,
- IceUtil::Time now,
+ const DateTime& now,
VirtualRobot::RobotPtr agent,
bool& agentSynchronized) const
{
@@ -351,7 +349,7 @@ namespace armarx::armem::server::obj::instance
void Segment::updateObjectPose(
ObjectPose& objectPose,
- IceUtil::Time now,
+ const DateTime& now,
VirtualRobot::RobotPtr agent,
bool& agentSynchronized) const
{
@@ -493,7 +491,7 @@ namespace armarx::armem::server::obj::instance
::armarx::armem::articulated_object::ArticulatedObjects
Segment::getArticulatedObjects()
{
- objpose::ObjectPoseMap objectPoses = getObjectPoses(IceUtil::Time::now());
+ objpose::ObjectPoseMap objectPoses = getObjectPoses(Time::Now());
ARMARX_INFO << "Found " << objectPoses.size() << " object poses";
@@ -507,7 +505,6 @@ namespace armarx::armem::server::obj::instance
articulatedObject.instance = objectPose.objectID.instanceName();
articulatedObject.timestamp = objectPose.timestamp;
-
ARMARX_INFO << "Object id is " << objectId.str();
ARMARX_INFO << "Object id for objectPose is " << objectPose.objectID.str();
@@ -537,8 +534,6 @@ namespace armarx::armem::server::obj::instance
continue;
}
-
-
if (not articulatedObject.config.jointMap.empty())
{
objects.push_back(articulatedObject);
@@ -578,7 +573,7 @@ namespace armarx::armem::server::obj::instance
objpose::AttachObjectToRobotNodeOutput
Segment::attachObjectToRobotNode(const objpose::AttachObjectToRobotNodeInput& input)
{
- const armem::Time now = armem::Time::now();
+ const armem::Time now = armem::Time::Now();
objpose::AttachObjectToRobotNodeOutput output;
output.success = false; // We are not successful until proven otherwise.
@@ -670,7 +665,7 @@ namespace armarx::armem::server::obj::instance
Segment::detachObjectFromRobotNode(
const objpose::DetachObjectFromRobotNodeInput& input)
{
- const armem::Time now = armem::Time::now();
+ const armem::Time now = armem::Time::Now();
ObjectID objectID = armarx::fromIce(input.objectID);
std::string providerName = input.providerName;
@@ -720,7 +715,7 @@ namespace armarx::armem::server::obj::instance
{
ARMARX_CHECK_NOT_NULL(segmentPtr);
- const armem::Time now = armem::Time::now();
+ const armem::Time now = armem::Time::Now();
objpose::DetachAllObjectsFromRobotNodesOutput output;
output.numDetached = 0;
@@ -867,7 +862,7 @@ namespace armarx::armem::server::obj::instance
std::string filename = _filename;
filename = simox::alg::replace_all(filename, timestampPlaceholder,
- Time::now().toString("%Y-%m-%d_%H-%M-%S"));
+ Time::Now().toString("%Y-%m-%d_%H-%M-%S"));
if (not simox::alg::ends_with(filename, ".json"))
{
filename += ".json";
@@ -925,7 +920,7 @@ namespace armarx::armem::server::obj::instance
void Segment::commitSceneSnapshot(const armarx::objects::Scene& scene, const std::string& sceneName)
{
- const Time now = TimeUtil::GetTime();
+ const Time now = Time::Now();
std::map<ObjectID, int> idCounters;
objpose::ObjectPoseSeq objectPoses;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index 24f80704f..da97aac84 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -16,6 +16,7 @@
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
+#include <RobotAPI/libraries/ArmarXObjects/forward_declarations.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
@@ -24,10 +25,6 @@
#include "Decay.h"
-namespace armarx::objects
-{
- struct Scene;
-}
namespace armarx::armem::arondto
{
class ObjectInstance;
@@ -68,8 +65,8 @@ namespace armarx::armem::server::obj::instance
void commitObjectPoses(const ObjectPoseSeq& objectPoses, const std::string& providerName = "");
- objpose::ObjectPoseMap getObjectPoses(IceUtil::Time now);
- objpose::ObjectPoseMap getObjectPosesByProvider(const std::string& providerName, IceUtil::Time now);
+ objpose::ObjectPoseMap getObjectPoses(const DateTime& now);
+ objpose::ObjectPoseMap getObjectPosesByProvider(const std::string& providerName, const DateTime& now);
wm::Entity* findObjectEntity(const ObjectID& objectID, const std::string& providerName = "");
std::optional<simox::OrientedBoxf> getObjectOOBB(const ObjectID& id);
@@ -115,16 +112,16 @@ namespace armarx::armem::server::obj::instance
void updateObjectPoses(
ObjectPoseMap& objectPoses,
- IceUtil::Time now);
+ const DateTime& now);
void updateObjectPoses(
ObjectPoseMap& objectPoses,
- IceUtil::Time now,
+ const DateTime& now,
VirtualRobot::RobotPtr agent,
bool& agentSynchronized
) const;
void updateObjectPose(
ObjectPose& objectPose,
- IceUtil::Time now,
+ const DateTime& now,
VirtualRobot::RobotPtr agent,
bool& agentSynchronized
) const;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
index ef00638e9..b7f7a6308 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
@@ -218,7 +218,7 @@ namespace armarx::armem::server::obj::instance
{
TIMING_START(tGetObjectPoses);
- const IceUtil::Time now = TimeUtil::GetTime();
+ const Time now = Time::Now();
const objpose::ObjectPoseSeq objectPoses = segment.doLocked([this, &now]()
{
return simox::alg::get_values(segment.getObjectPoses(now));
@@ -242,7 +242,7 @@ namespace armarx::armem::server::obj::instance
{
TIMING_START(GetObjectPoses);
- const IceUtil::Time now = TimeUtil::GetTime();
+ const Time now = Time::Now();
const objpose::ObjectPoseSeq objectPoses = segment.doLocked([this, &now, &providerName]()
{
return simox::alg::get_values(segment.getObjectPosesByProvider(providerName, now));
@@ -451,7 +451,7 @@ namespace armarx::armem::server::obj::instance
segment.doLocked([this, &objectPoses, &objectFinder]()
{
- const IceUtil::Time now = TimeUtil::GetTime();
+ const Time now = Time::Now();
// Also include decayed objects in result
// Store original setting.
--
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