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

source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.cpp

@@ -302,8 +302,8 @@ namespace armarx
 
 namespace armarx
 {
-    box_to_grasp_candidates::box_to_grasp_candidates(const armarx::RobotNameHelper& rnh, const VirtualRobot::RobotPtr& robot)
-        : _rnh{std::make_shared<armarx::RobotNameHelper>(rnh)}, _robot{robot}
+    box_to_grasp_candidates::box_to_grasp_candidates(armarx::RobotNameHelperPtr rnh, const VirtualRobot::RobotPtr& robot)
+        : _rnh{std::move(rnh)}, _robot{robot}
     {
         ARMARX_CHECK_NOT_NULL(_robot);
     }

source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.h

@@ -102,7 +102,7 @@ namespace armarx
             ) const;
         };
     public:
-        box_to_grasp_candidates(const armarx::RobotNameHelper& rnh,
+        box_to_grasp_candidates(armarx::RobotNameHelperPtr rnh,
                                 const VirtualRobot::RobotPtr& robot);
 
         void add_armar6_defaults();

source/RobotAPI/libraries/GraspingUtility/grasp_candidate_drawer.cpp

@@ -2,14 +2,16 @@
 
 #include <ArmarXCore/util/CPPUtility/trace.h>
 
+#include <utility>
+
 #include "grasp_candidate_drawer.h"
 
 namespace armarx
 {
     grasp_candidate_drawer::grasp_candidate_drawer(
-        const armarx::RobotNameHelper& rnh,
+        armarx::RobotNameHelperPtr rnh,
         const VirtualRobot::RobotPtr& robot)
-        : rnh{std::make_shared<armarx::RobotNameHelper>(rnh)}, robot{robot}
+        : rnh(std::move(rnh)), robot{robot}
     {}
 
     void grasp_candidate_drawer::reset_colors()

source/RobotAPI/libraries/GraspingUtility/grasp_candidate_drawer.h

@@ -22,7 +22,7 @@ namespace armarx
             Eigen::Matrix4f tcp_2_hroot;
         };
     public:
-        grasp_candidate_drawer(const armarx::RobotNameHelper& rnh,
+        grasp_candidate_drawer(armarx::RobotNameHelperPtr rnh,
                                const VirtualRobot::RobotPtr& robot);
         void reset_colors();
     public:

source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp

@@ -30,10 +30,10 @@
 
 namespace armarx::plugins
 {
-    const RobotNameHelper& RobotStateComponentPlugin::getRobotNameHelper() const
+    RobotNameHelperPtr RobotStateComponentPlugin::getRobotNameHelper() const
     {
         ARMARX_CHECK_NOT_NULL(_nameHelper);
-        return *_nameHelper;
+        return _nameHelper;
     }
     void RobotStateComponentPlugin::setRobotStateComponent(const RobotStateComponentInterfacePrx& rsc)
     {
@@ -318,7 +318,7 @@ namespace armarx
     {
         return getRobotStateComponentPlugin().getRobotStateComponent();
     }
-    const RobotNameHelper& RobotStateComponentPluginUser::getRobotNameHelper() const
+    RobotNameHelperPtr RobotStateComponentPluginUser::getRobotNameHelper() const
     {
         return getRobotStateComponentPlugin().getRobotNameHelper();
     }

source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h

@@ -93,7 +93,7 @@ namespace armarx::plugins
         //querry
     public:
         const RobotStateComponentInterfacePrx& getRobotStateComponent() const;
-        const RobotNameHelper& getRobotNameHelper() const;
+        RobotNameHelperPtr getRobotNameHelper() const;
         Eigen::Matrix4f transformFromTo(const std::string& from,
                                         const std::string& to,
                                         const VirtualRobot::RobotPtr& rob);
@@ -178,7 +178,7 @@ namespace armarx
 
         const RobotStateComponentInterfacePrx& getRobotStateComponent() const;
 
-        const RobotNameHelper& getRobotNameHelper() const;
+        RobotNameHelperPtr getRobotNameHelper() const;
         //get / add
     public:
         bool hasRobot(const std::string& id) const;