Move cupboard in ArticulatedObjectLocalizerExample so it does not conflict with the Object example

source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp

@@ -29,6 +29,8 @@
 
 #include <IceUtil/Time.h>
 
+#include <SimoxUtility/math/pose/pose.h>
+
 #include <VirtualRobot/Robot.h>
 #include <VirtualRobot/XML/RobotIO.h>
 #include <VirtualRobot/VirtualRobot.h>
@@ -51,7 +53,9 @@ namespace armarx::articulated_object
 {
     ArticulatedObjectLocalizerExample::ArticulatedObjectLocalizerExample() :
         articulatedObjectWriter(new ::armarx::armem::articulated_object::Writer(memoryNameSystem)),
-        articulatedObjectReader(new ::armarx::armem::articulated_object::Reader(memoryNameSystem)) {}
+        articulatedObjectReader(new ::armarx::armem::articulated_object::Reader(memoryNameSystem))
+    {
+    }
 
     armarx::PropertyDefinitionsPtr ArticulatedObjectLocalizerExample::createPropertyDefinitions()
     {
@@ -83,7 +87,7 @@ namespace armarx::articulated_object
         ARMARX_IMPORTANT << "Running example.";
         start = armem::Time::now();
 
-        task = new PeriodicTask<ArticulatedObjectLocalizerExample>(this, &ArticulatedObjectLocalizerExample::run, 1000 / p.updateFrequency);
+        task = new PeriodicTask<ArticulatedObjectLocalizerExample>(this, &ArticulatedObjectLocalizerExample::run, 1000.f / p.updateFrequency);
         task->start();
     }
 
@@ -152,7 +156,7 @@ namespace armarx::articulated_object
         ARMARX_DEBUG << "Reporting articulated objects";
 
         const IceUtil::Time now = TimeUtil::GetTime();
-        const float t     = float((now - start).toSecondsDouble());
+        const float t = float((now - start).toSecondsDouble());
 
         // move joints at certain frequency
         const float k = (1 + std::sin(t / (M_2_PIf32))) / 2; // in [0,1]
@@ -163,9 +167,11 @@ namespace armarx::articulated_object
             {"drawer_joint", 350 * k}
         };
 
+        dishwasher->setGlobalPose(simox::math::pose(Eigen::Vector3f(1000, 0, 0)));
         dishwasher->setJointValues(jointValues);
 
-        armarx::armem::articulated_object::ArticulatedObject armemDishwasher = convert(*dishwasher, IceUtil::Time::now());
+        armarx::armem::articulated_object::ArticulatedObject armemDishwasher =
+            convert(*dishwasher, IceUtil::Time::now());
         articulatedObjectWriter->store(armemDishwasher);
     }