Add libraries armem_index and armem_index_server with ARON types Spatial and Named

source/RobotAPI/libraries/CMakeLists.txt

@@ -21,6 +21,7 @@ add_subdirectory(aron_component_config)
 add_subdirectory(armem)
 add_subdirectory(armem_grasping)
 add_subdirectory(armem_gui)
+add_subdirectory(armem_index)
 add_subdirectory(armem_motions)
 add_subdirectory(armem_mps)
 add_subdirectory(armem_objects)

source/RobotAPI/libraries/armem_index/CMakeLists.txt

+set(LIB_NAME    armem_index)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+
+armarx_add_library(
+    LIBS
+        # ArmarXCore
+        ArmarXCore
+        # ArmarXGui
+        ArmarXGuiComponentPlugins
+        # RobotAPI
+        RobotAPI::ArViz
+        RobotAPI::armem
+        # RobotAPI::armem_robot
+
+    HEADERS
+        forward_declarations.h
+
+        aron_conversions.h
+        aron_forward_declarations.h
+
+    SOURCES
+        aron_conversions.cpp
+
+    ARON_FILES
+        aron/Named.xml
+        aron/Spatial.xml
+)
+
+
+add_library(${PROJECT_NAME}::armem_index ALIAS armem_index)
+
+add_subdirectory(server)

source/RobotAPI/libraries/armem_index/aron/Named.xml

+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+    <AronIncludes>
+        <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
+        <Include include="<RobotAPI/libraries/aron/common/aron/Names.xml>" />
+    </AronIncludes>
+
+    <GenerateTypes>
+
+        <Object name="armarx::armem::index::arondto::Named"
+                doc-brief="Index of a named entity in the memory.">
+
+            <ObjectChild key="id" doc-brief="Link to the memory element.">
+                <armarx::armem::arondto::MemoryID />
+            </ObjectChild>
+
+            <ObjectChild key="names" doc-brief="The entity's names.">
+                <armarx::arondto::Names />
+            </ObjectChild>
+
+        </Object>
+
+    </GenerateTypes>
+
+</AronTypeDefinition>

source/RobotAPI/libraries/armem_index/aron/Spatial.xml

+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+    <AronIncludes>
+        <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
+        <Include include="<RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.xml>" />
+        <Include include="<RobotAPI/libraries/aron/common/aron/OrientedBox.xml>" />
+    </AronIncludes>
+
+    <GenerateTypes>
+
+        <Object name="armarx::armem::index::arondto::Spatial"
+                doc-brief="Index of a spatial entity in the memory.">
+
+            <ObjectChild key="id" doc-brief="Link to the memory element.">
+                <armarx::armem::arondto::MemoryID />
+            </ObjectChild>
+
+            <ObjectChild key="aabbGlobal" doc-brief="Axis-aligned bounding box in global frame.">
+                <simox::arondto::AxisAlignedBoundingBox />
+            </ObjectChild>
+
+            <ObjectChild key="oobbGlobal" doc-brief="Object-oriented bounding box in global frame.">
+                <simox::arondto::OrientedBox />
+            </ObjectChild>
+
+        </Object>
+
+    </GenerateTypes>
+
+</AronTypeDefinition>

source/RobotAPI/libraries/armem_index/aron_conversions.cpp

+#include "aron_conversions.h"
+
+#include <RobotAPI/libraries/armem_index/aron/Named.aron.generated.h>
+#include <RobotAPI/libraries/armem_index/aron/Spatial.aron.generated.h>
+
+
+namespace armarx::armem::index
+{
+} // namespace armarx::armem::index

source/RobotAPI/libraries/armem_index/aron_conversions.h

+#pragma once
+
+#include "aron_forward_declarations.h"
+
+
+namespace armarx::armem::index
+{
+} // namespace armarx::armem::index

source/RobotAPI/libraries/armem_index/aron_forward_declarations.h

+#pragma once
+
+
+namespace armarx::armem::index::arondto
+{
+    class Named;
+    class Spatial;
+} // namespace armarx::armem::index::arondto

source/RobotAPI/libraries/armem_index/forward_declarations.h

+#pragma once
+
+#include "aron_forward_declarations.h"
+
+
+namespace armarx::armem::index
+{
+}

source/RobotAPI/libraries/armem_index/server/CMakeLists.txt

+set(ARMARX_LIB_NAME "")
+set(ARON_FILES "")
+
+set(LIB_NAME    armem_index_server)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+
+armarx_add_library(
+    LIBS
+        # ArmarXCore
+        ArmarXCore
+        # ArmarXGui
+        ArmarXGuiComponentPlugins
+        # RobotAPI
+        RobotAPI::ArViz
+        RobotAPI::ComponentPlugins
+        RobotAPI::armem_server
+        RobotAPI::armem_index
+
+        # armem_robot_state
+        # armem_robot
+
+    HEADERS
+      server.h
+
+    SOURCES
+      server.cpp
+)
+
+
+add_library(${PROJECT_NAME}::armem_index_server ALIAS armem_index_server)

source/RobotAPI/libraries/armem_index/server/server.cpp

+#include "server.h"
+
+
+namespace armarx::armem::index::server
+{
+} // namespace armarx::armem::index::server

source/RobotAPI/libraries/armem_index/server/server.h

+#pragma once
+
+
+namespace armarx::armem::index::server
+{
+} // namespace armarx::armem::index::server