From 76b3f5ecc7e7d2173041a43ca7fcc44ee2abf536 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Thu, 9 Jul 2020 13:06:02 +0200
Subject: [PATCH] Improve RobotNameHelper
* const correct
* constructors
* add getProfiles()
* add code to test statechart
---
.../RobotNameHelper.cpp | 11 ++++++---
.../RobotStatechartHelpers/RobotNameHelper.h | 23 ++++++++++++++-----
.../RobotNameHelperTestGroup/TestGetNames.cpp | 1 +
3 files changed, 26 insertions(+), 9 deletions(-)
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
index 10cb284d6..1a5afd0c7 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
@@ -65,12 +65,12 @@ namespace armarx
return RobotNameHelperPtr(new RobotNameHelper(robotInfo, profile));
}
- RobotNameHelper::Arm RobotNameHelper::getArm(const std::string& side)
+ RobotNameHelper::Arm RobotNameHelper::getArm(const std::string& side) const
{
return Arm(shared_from_this(), side);
}
- RobotNameHelper::RobotArm RobotNameHelper::getRobotArm(const std::string& side, const VirtualRobot::RobotPtr& robot)
+ RobotNameHelper::RobotArm RobotNameHelper::getRobotArm(const std::string& side, const VirtualRobot::RobotPtr& robot) const
{
return RobotArm(Arm(shared_from_this(), side), robot);
}
@@ -185,7 +185,7 @@ namespace armarx
return RobotArm(*this, robot);
}
- RobotNameHelper::Arm::Arm(const std::shared_ptr<RobotNameHelper>& rnh, const std::string& side)
+ RobotNameHelper::Arm::Arm(const std::shared_ptr<const RobotNameHelper>& rnh, const std::string& side)
: rnh(rnh), side(side)
{
@@ -236,4 +236,9 @@ namespace armarx
{
}
+
+ const std::vector<std::string>& RobotNameHelper::getProfiles() const
+ {
+ return profiles;
+ }
}
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
index eca096cc5..23c773124 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
@@ -71,11 +71,16 @@ namespace armarx
std::string getHandModelPackage() const;
RobotArm addRobot(const VirtualRobot::RobotPtr& robot) const;
+ Arm(const std::shared_ptr<const RobotNameHelper>& rnh, const std::string& side);
+ Arm() = default;
+ Arm(Arm&&) = default;
+ Arm(const Arm&) = default;
+ Arm& operator=(Arm&&) = default;
+ Arm& operator=(const Arm&) = default;
private:
- Arm(const std::shared_ptr<RobotNameHelper>& rnh, const std::string& side);
std::string select(const std::string& path) const;
- std::shared_ptr<RobotNameHelper> rnh;
+ std::shared_ptr<const RobotNameHelper> rnh;
std::string side;
};
@@ -92,8 +97,13 @@ namespace armarx
Eigen::Matrix4f getTcp2HandRootTransform() const;
Arm getArm() const;
- private:
RobotArm(const Arm& arm, const VirtualRobot::RobotPtr& robot);
+ RobotArm() = default;
+ RobotArm(RobotArm&&) = default;
+ RobotArm(const RobotArm&) = default;
+ RobotArm& operator=(RobotArm&&) = default;
+ RobotArm& operator=(const RobotArm&) = default;
+ private:
const Arm arm;
VirtualRobot::RobotPtr robot;
@@ -103,11 +113,12 @@ namespace armarx
static RobotNameHelperPtr Create(const RobotInfoNodePtr& robotInfo, const StatechartProfilePtr& profile);
- Arm getArm(const std::string& side);
- RobotArm getRobotArm(const std::string& side, const VirtualRobot::RobotPtr& robot);
+ RobotNameHelper(const RobotInfoNodePtr& robotInfo, const StatechartProfilePtr& profile = nullptr);
+ Arm getArm(const std::string& side) const;
+ RobotArm getRobotArm(const std::string& side, const VirtualRobot::RobotPtr& robot) const;
+ const std::vector<std::string>& getProfiles() const;
private:
- RobotNameHelper(const RobotInfoNodePtr& robotInfo, const StatechartProfilePtr& profile);
RobotNameHelper& self()
{
return *this;
diff --git a/source/RobotAPI/statecharts/RobotNameHelperTestGroup/TestGetNames.cpp b/source/RobotAPI/statecharts/RobotNameHelperTestGroup/TestGetNames.cpp
index 50740dd9d..ee40934a1 100644
--- a/source/RobotAPI/statecharts/RobotNameHelperTestGroup/TestGetNames.cpp
+++ b/source/RobotAPI/statecharts/RobotNameHelperTestGroup/TestGetNames.cpp
@@ -47,6 +47,7 @@ void TestGetNames::run()
ARMARX_IMPORTANT << "LeftArm: " << arm.getKinematicChain()->getName();
ARMARX_IMPORTANT << "LeftArm TCP: " << arm.getTCP()->getName();
//ARMARX_IMPORTANT << "HandControllerName: " << arm.getHandControllerName();
+ ARMARX_IMPORTANT << "Profiles: " << getRobotNameHelper()->getProfiles();
}
--
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