diff --git a/source/RobotAPI/libraries/core/CMakeLists.txt b/source/RobotAPI/libraries/core/CMakeLists.txt
index 24a754acb477f73020bcf123138ec1bd76d6eca2..f089984659762898e5da278375c627656d8d375f 100644
--- a/source/RobotAPI/libraries/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/core/CMakeLists.txt
@@ -30,6 +30,7 @@ set(LIB_FILES
OrientedPoint.cpp
FramedOrientedPoint.cpp
RobotStatechartContext.cpp
+ RobotPool.cpp
checks/ConditionCheckMagnitudeChecks.cpp
observerfilters/PoseAverageFilter.cpp
observerfilters/PoseMedianOffsetFilter.cpp
@@ -61,6 +62,7 @@ set(LIB_HEADERS
OrientedPoint.h
FramedOrientedPoint.h
RobotStatechartContext.h
+ RobotPool.h
observerfilters/PoseMedianFilter.h
observerfilters/PoseAverageFilter.h
observerfilters/PoseMedianOffsetFilter.h
diff --git a/source/RobotAPI/libraries/core/RobotPool.cpp b/source/RobotAPI/libraries/core/RobotPool.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..52dc4f8d6b7e4caaca4f3f3915e0218c240be8ea
--- /dev/null
+++ b/source/RobotAPI/libraries/core/RobotPool.cpp
@@ -0,0 +1,104 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2017, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package ArmarX
+ * @author Mirko Waechter( mirko.waechter at kit dot edu)
+ * @date 2018
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#include "RobotPool.h"
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+namespace armarx
+{
+
+ RobotPool::RobotPool(VirtualRobot::RobotPtr robot) :
+ baseRobot(robot)
+ {
+
+ }
+
+ VirtualRobot::RobotPtr RobotPool::getRobot(int inflation)
+ {
+ ScopedLock lock(mutex);
+ for (auto& r : robots[inflation])
+ {
+ if (r.use_count() == 1)
+ {
+ return r;
+ }
+ }
+ auto newRobot = baseRobot->clone("", VirtualRobot::CollisionCheckerPtr(new VirtualRobot::CollisionChecker()));
+ newRobot->inflateCollisionModel(inflation);
+ ARMARX_CHECK_EQUAL(newRobot.use_count(), 1);
+ ARMARX_DEBUG << "created new robot clone n with inflation " << inflation;
+ robots[inflation].push_back(newRobot);
+ return newRobot;
+ }
+
+ size_t RobotPool::getPoolSize() const
+ {
+ ScopedLock lock(mutex);
+ size_t size = 0;
+ for (auto& pair : robots)
+ {
+ size += pair.second.size();
+ }
+ return size;
+ }
+
+ size_t RobotPool::getRobotsInUseCount() const
+ {
+ ScopedLock lock(mutex);
+ size_t count = 0;
+ for (auto& pair : robots)
+ {
+ for (auto& r : pair.second)
+ {
+ if (r.use_count() > 1)
+ {
+ count++;
+ }
+ }
+ }
+ return count;
+ }
+
+ size_t RobotPool::clean()
+ {
+ ScopedLock lock(mutex);
+ size_t count = 0;
+ for (auto& pair : robots)
+ {
+ std::vector<VirtualRobot::RobotPtr> newList;
+ for (auto& r : pair.second)
+ {
+ if (r.use_count() > 1)
+ {
+ newList.push_back(r);
+ }
+ else
+ count++;
+ }
+ pair.second = newList;
+ }
+ return count;
+ }
+
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/core/RobotPool.h b/source/RobotAPI/libraries/core/RobotPool.h
new file mode 100644
index 0000000000000000000000000000000000000000..cb205f61393f76bf8c058e6d10349d30f8fec783
--- /dev/null
+++ b/source/RobotAPI/libraries/core/RobotPool.h
@@ -0,0 +1,61 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2017, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package ArmarX
+ * @author Mirko Waechter( mirko.waechter at kit dot edu)
+ * @date 2018
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+#include <VirtualRobot/Robot.h>
+#include <ArmarXCore/core/system/Synchronization.h>
+namespace armarx
+{
+
+ class RobotPool
+ {
+ public:
+ // struct RobotWrapper
+ // {
+ // ScopedLockPtr lock;
+ // VirtualRobot::RobotPtr robot;
+ // };
+
+ RobotPool(VirtualRobot::RobotPtr robot);
+ /**
+ * @brief getRobot
+ * @param inflation inflation of collision model in mm
+ * @return
+ */
+ VirtualRobot::RobotPtr getRobot(int inflation = 0);
+ size_t getPoolSize() const;
+ size_t getRobotsInUseCount() const;
+ /**
+ * @brief Removes unused robots from the pool.
+ * @return number of cleaned up robots
+ */
+ size_t clean();
+ private:
+ std::map<int, std::vector<VirtualRobot::RobotPtr>> robots;
+ VirtualRobot::RobotPtr baseRobot;
+ mutable Mutex mutex;
+ };
+ typedef std::shared_ptr<RobotPool> RobotPoolPtr;
+} // namespace armarx
+
+
diff --git a/source/RobotAPI/libraries/core/test/RobotTest.cpp b/source/RobotAPI/libraries/core/test/RobotTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ebc75bb9fc9517c109d3af14cbbc499436803133
--- /dev/null
+++ b/source/RobotAPI/libraries/core/test/RobotTest.cpp
@@ -0,0 +1,74 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2017, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package ArmarX
+ * @author Mirko Waechter( mirko.waechter at kit dot edu)
+ * @date 2018
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::RobotTest::Test
+#define ARMARX_BOOST_TEST
+#include <RobotAPI/Test.h>
+#include <ArmarXCore/core/test/IceTestHelper.h>
+#include <ArmarXCore/util/json/JSONObject.h>
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <VirtualRobot/XML/RobotIO.h>
+#include "../RobotPool.h"
+
+using namespace armarx;
+
+
+BOOST_AUTO_TEST_CASE(RobotPoolTest)
+{
+ const std::string project = "RobotAPI";
+ armarx::CMakePackageFinder finder(project);
+
+ ARMARX_CHECK_EXPRESSION_W_HINT(finder.packageFound(), project);
+
+
+ armarx::ArmarXDataPath::addDataPaths(finder.getDataDir());
+
+ std::string fn = "RobotAPI/robots/Armar3/ArmarIII.xml";
+ ArmarXDataPath::getAbsolutePath(fn, fn);
+ std::string robotFilename = fn;
+ VirtualRobot::RobotPtr robot = VirtualRobot::RobotIO::loadRobot(robotFilename, VirtualRobot::RobotIO::eCollisionModel);
+ RobotPool pool(robot);
+ {
+ auto clone = pool.getRobot();
+ ARMARX_CHECK_EQUAL(pool.getPoolSize(), 1);
+ ARMARX_CHECK_EQUAL(pool.getRobotsInUseCount(), 1);
+ {
+ auto clone2 = pool.getRobot();
+ ARMARX_CHECK_EQUAL(pool.getPoolSize(), 2);
+ ARMARX_CHECK_EQUAL(pool.getRobotsInUseCount(), 2);
+ }
+ ARMARX_CHECK_EQUAL(pool.getPoolSize(), 2);
+ ARMARX_CHECK_EQUAL(pool.getRobotsInUseCount(), 1);
+ auto clone2 = pool.getRobot();
+ ARMARX_CHECK_EQUAL(pool.getPoolSize(), 2);
+ ARMARX_CHECK_EQUAL(pool.getRobotsInUseCount(), 2);
+ }
+ ARMARX_CHECK_EQUAL(pool.getRobotsInUseCount(), 0);
+ ARMARX_CHECK_EQUAL(pool.clean(), 2);
+ ARMARX_CHECK_EQUAL(pool.getPoolSize(), 0);
+
+}
+