robot state component: using new interface

source/RobotAPI/components/RobotState/RobotStateComponent.cpp

@@ -344,9 +344,7 @@ namespace armarx
 
     void
     RobotStateComponent::reportGlobalRobotPose(
-        const std::string& robotName,
-        const Eigen::Matrix4f& pose,
-        const long timestamp,
+        const TransformStamped& globalRobotPose,
         const Ice::Current&)
     {
         if (_synchronized)
@@ -355,7 +353,7 @@ namespace armarx
             ARMARX_DEBUG << "Comparing " << localRobotName << " and " << robotName << ".";
             if (localRobotName == robotName)
             {
-                const IceUtil::Time time = IceUtil::Time::microSeconds(timestamp);
+                const IceUtil::Time time = IceUtil::Time::microSeconds(globalRobotPose.header.timestampInMicroSeconds);
 
                 insertPose(time, pose);
                 _synchronized->setGlobalPose(pose);
@@ -373,34 +371,6 @@ namespace armarx
     }
 
 
-    void RobotStateComponent::reportPlatformPose(const PoseStamped& platformPose, const Current&)
-    {
-        IceUtil::Time time = IceUtil::Time::microSeconds(platformPose.header.timestampInMicroSeconds);
-        insertPose(time, platformPose.pose.matrix());
-
-        if (_sharedRobotServant)
-        {
-            _sharedRobotServant->setTimestamp(time);
-        }
-    }
-
-
-    void RobotStateComponent::reportNewTargetPose(const PoseStamped&, const Current&)
-    {
-        // Unused.
-    }
-
-    void RobotStateComponent::reportPlatformVelocity(const VelocityStamped&, const Current&)
-    {
-        // Unused.
-    }
-
-    void RobotStateComponent::reportPlatformOdometryPose(const PoseStamped&, const Current&)
-    {
-        // Unused.
-    }
-
-
     std::vector<std::string> RobotStateComponent::getArmarXPackages(const Current&) const
     {
         std::vector<std::string> result;

source/RobotAPI/components/RobotState/RobotStateComponent.h

@@ -122,19 +122,7 @@ namespace armarx
         RobotInfoNodePtr getRobotInfo(const Ice::Current&) const override;
 
         // GlobalRobotPoseLocalizationListener
-        void reportGlobalRobotPose(const std::string& robotName, const Eigen::Matrix4f& pose, long timestamp, const Ice::Current& = Ice::Current()) override;
-
-        // PlatformUnitListener interface
-        // TODO: Remove this interface and use GlobalRobotPoseLocalizationListener instead.
-        /// Stores the platform pose in the pose history.
-        void reportPlatformPose(const PoseStamped& platformPose, const Ice::Current&) override;
-        /// Does nothing.
-        void reportNewTargetPose(const PoseStamped& targetPose, const Ice::Current&) override;
-        /// Does nothing.
-        void reportPlatformVelocity(const VelocityStamped& platformPose, const Ice::Current&) override;
-        /// Does nothing.
-        void reportPlatformOdometryPose(const PoseStamped& odometryPose, const Ice::Current&) override;
-
+        void reportGlobalRobotPose(const TransformStamped& globalRobotPose, const Ice::Current& = Ice::Current()) override;
 
         // Own interface.
         void setRobotStateObserver(RobotStateObserverPtr observer);