From 8c5e4c6fd0ff37990cb62a81cca145ccb226fa56 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 31 Jan 2024 18:36:20 +0100
Subject: [PATCH] GraspTrajectory: json reader + const correctness
---
.../GraspingUtility/GraspTrajectory.cpp | 193 ++++++++++++++----
.../GraspingUtility/GraspTrajectory.h | 121 ++++++-----
2 files changed, 219 insertions(+), 95 deletions(-)
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.cpp b/source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.cpp
index 045026b0e..7ab4f089a 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.cpp
@@ -23,10 +23,16 @@
#include "GraspTrajectory.h"
+#include <filesystem>
+#include <fstream>
#include <memory>
+#include <optional>
+#include <SimoxUtility/json/eigen_conversion.h>
+#include <SimoxUtility/json/json.hpp>
#include <VirtualRobot/math/Helpers.h>
+#include "ArmarXCore/core/logging/Logging.h"
#include <ArmarXCore/core/exceptions/Exception.h>
#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlWriter.h>
@@ -105,14 +111,25 @@ namespace armarx
handValues[cell.getKey()] = cell.asFloat();
}
+ // does not work at the moment
+ const auto shapeNode = nav.selectSingleNode("shape");
+ // ARMARX_IMPORTANT << VAROUT(shapeNode.isValid());
+
+ std::optional<std::string> shape;
+ if (shapeNode.isString())
+ {
+ shape = nav.selectSingleNode("shape").asString();
+ // ARMARX_IMPORTANT << "shape: " << shape.value();
+ }
+
if (!traj)
{
- traj = std::make_shared<GraspTrajectory>(pose, handValues);
+ traj = std::make_shared<GraspTrajectory>(pose, handValues, shape);
}
else
{
- traj->addKeypoint(pose, handValues, dt);
+ traj->addKeypoint(pose, handValues, dt, shape);
}
}
return traj;
@@ -122,7 +139,49 @@ namespace armarx
GraspTrajectory::ReadFromFile(const std::string& filename)
{
ARMARX_TRACE;
- return ReadFromReader(RapidXmlReader::FromFile(filename));
+ const auto ext = std::filesystem::path(filename).extension();
+ if (ext == ".xml")
+ {
+ return ReadFromReader(RapidXmlReader::FromFile(filename));
+ }
+ if (ext == ".json")
+ {
+ return ReadFromJSON(filename);
+ }
+
+ ARMARX_WARNING << "Unknown extension `" << ext << "`!";
+ return nullptr;
+ }
+
+ // NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(GraspTrajectory::Keypoint,tcpTarget,handJointsTarget,shape,dt );
+
+
+ inline void
+ from_json(const nlohmann::json& j, GraspTrajectoryKeypoint& kp)
+ {
+ const std::optional<std::string> shape =
+ j.contains("shape") ? std::optional<std::string>(j.at("shape").get<std::string>())
+ : std::nullopt;
+
+ const std::map<std::string, float> targetHandValues =
+ j.contains("HandValues") ? j.at("HandValues").get<std::map<std::string, float>>()
+ : std::map<std::string, float>{};
+
+ kp = GraspTrajectoryKeypoint(j.at("Pose"), targetHandValues, shape);
+ }
+
+ GraspTrajectoryPtr
+ GraspTrajectory::ReadFromJSON(const std::string& filename)
+ {
+ ARMARX_CHECK(std::filesystem::exists(filename));
+ std::ifstream ifs(filename);
+
+ const nlohmann::json j = nlohmann::json::parse(ifs);
+
+ std::vector<GraspTrajectoryKeypoint> traj;
+ traj = j;
+
+ return std::make_shared<GraspTrajectory>(traj);
}
GraspTrajectoryPtr
@@ -133,22 +192,43 @@ namespace armarx
}
GraspTrajectory::GraspTrajectory(const Eigen::Matrix4f& tcpStart,
- const armarx::NameValueMap& handJointsStart)
+ const armarx::NameValueMap& handJointsStart,
+ const std::optional<std::string>& shape)
{
ARMARX_TRACE;
- KeypointPtr keypoint(new Keypoint(tcpStart, handJointsStart));
+ KeypointPtr keypoint(new Keypoint(tcpStart, handJointsStart, shape));
keypointMap[0] = keypoints.size();
keypoints.push_back(keypoint);
}
+ GraspTrajectory::GraspTrajectory(const std::vector<Keypoint>& keypointz)
+ {
+ if (keypointz.empty())
+ {
+ return;
+ }
+
+ // insert first keypoint
+ keypointMap[0] = keypoints.size();
+ keypoints.push_back(std::make_shared<Keypoint>(keypointz.front()));
+
+ // insert remaining keypoints
+ for (std::size_t i = 1; i < keypointz.size(); i++)
+ {
+ const auto& kp = keypointz.at(i);
+ addKeypoint(kp.tcpTarget, kp.handJointsTarget, kp.dt, kp.shape);
+ }
+ }
+
void
GraspTrajectory::addKeypoint(const Eigen::Matrix4f& tcpTarget,
const armarx::NameValueMap& handJointsTarget,
- float dt)
+ float dt,
+ const std::optional<std::string>& shape)
{
ARMARX_TRACE;
KeypointPtr prev = lastKeypoint();
- KeypointPtr keypoint(new Keypoint(tcpTarget, handJointsTarget));
+ KeypointPtr keypoint(new Keypoint(tcpTarget, handJointsTarget, shape));
keypoint->updateVelocities(prev, dt);
float t = getDuration() + dt;
keypointMap[t] = keypoints.size();
@@ -162,11 +242,18 @@ namespace armarx
return keypoints.size();
}
+ const std::vector<GraspTrajectory::KeypointPtr>&
+ GraspTrajectory::getAllKeypoints() const
+ {
+ return keypoints;
+ }
+
void
GraspTrajectory::insertKeypoint(size_t index,
const Eigen::Matrix4f& tcpTarget,
const armarx::NameValueMap& handJointsTarget,
- float dt)
+ float dt,
+ const std::optional<std::string>& shape)
{
ARMARX_TRACE;
if (index <= 0 || index > keypoints.size())
@@ -174,7 +261,7 @@ namespace armarx
throw LocalException("Index out of range" + std::to_string(index));
}
KeypointPtr prev = keypoints.at(index - 1);
- KeypointPtr keypoint(new Keypoint(tcpTarget, handJointsTarget));
+ KeypointPtr keypoint(new Keypoint(tcpTarget, handJointsTarget, shape));
keypoint->updateVelocities(prev, dt);
if (index < keypoints.size())
{
@@ -208,7 +295,8 @@ namespace armarx
GraspTrajectory::replaceKeypoint(size_t index,
const Eigen::Matrix4f& tcpTarget,
const armarx::NameValueMap& handJointsTarget,
- float dt)
+ float dt,
+ const std::optional<std::string>& shape)
{
ARMARX_TRACE;
if (index <= 0 || index >= keypoints.size())
@@ -216,7 +304,7 @@ namespace armarx
throw LocalException("Index out of range" + std::to_string(index));
}
KeypointPtr prev = keypoints.at(index - 1);
- KeypointPtr keypoint(new Keypoint(tcpTarget, handJointsTarget));
+ KeypointPtr keypoint(new Keypoint(tcpTarget, handJointsTarget, shape));
keypoint->updateVelocities(prev, dt);
keypoints.at(index) = keypoint;
updateKeypointMap();
@@ -236,29 +324,29 @@ namespace armarx
updateKeypointMap();
}
- GraspTrajectory::KeypointPtr&
- GraspTrajectory::lastKeypoint()
+ const GraspTrajectory::KeypointPtr&
+ GraspTrajectory::lastKeypoint() const
{
ARMARX_TRACE;
return keypoints.at(keypoints.size() - 1);
}
- GraspTrajectory::KeypointPtr&
- GraspTrajectory::getKeypoint(int i)
+ const GraspTrajectory::KeypointPtr&
+ GraspTrajectory::getKeypoint(int i) const
{
ARMARX_TRACE;
return keypoints.at(i);
}
Eigen::Matrix4f
- GraspTrajectory::getStartPose()
+ GraspTrajectory::getStartPose() const
{
ARMARX_TRACE;
return getKeypoint(0)->getTargetPose();
}
void
- GraspTrajectory::getIndex(float t, int& i1, int& i2, float& f)
+ GraspTrajectory::getIndex(float t, int& i1, int& i2, float& f) const
{
ARMARX_TRACE;
if (t <= 0)
@@ -284,7 +372,7 @@ namespace armarx
}
Eigen::Vector3f
- GraspTrajectory::GetPosition(float t)
+ GraspTrajectory::GetPosition(float t) const
{
ARMARX_TRACE;
int i1, i2;
@@ -295,7 +383,7 @@ namespace armarx
}
Eigen::Matrix3f
- GraspTrajectory::GetOrientation(float t)
+ GraspTrajectory::GetOrientation(float t) const
{
ARMARX_TRACE;
int i1, i2;
@@ -312,14 +400,14 @@ namespace armarx
}
Eigen::Matrix4f
- GraspTrajectory::GetPose(float t)
+ GraspTrajectory::GetPose(float t) const
{
ARMARX_TRACE;
return ::math::Helpers::CreatePose(GetPosition(t), GetOrientation(t));
}
std::vector<Eigen::Matrix4f>
- GraspTrajectory::getAllKeypointPoses()
+ GraspTrajectory::getAllKeypointPoses() const
{
ARMARX_TRACE;
std::vector<Eigen::Matrix4f> res;
@@ -331,7 +419,7 @@ namespace armarx
}
std::vector<Eigen::Vector3f>
- GraspTrajectory::getAllKeypointPositions()
+ GraspTrajectory::getAllKeypointPositions() const
{
ARMARX_TRACE;
std::vector<Eigen::Vector3f> res;
@@ -343,7 +431,7 @@ namespace armarx
}
std::vector<Eigen::Matrix3f>
- GraspTrajectory::getAllKeypointOrientations()
+ GraspTrajectory::getAllKeypointOrientations() const
{
ARMARX_TRACE;
std::vector<Eigen::Matrix3f> res;
@@ -355,7 +443,7 @@ namespace armarx
}
armarx::NameValueMap
- GraspTrajectory::GetHandValues(float t)
+ GraspTrajectory::GetHandValues(float t) const
{
ARMARX_TRACE;
int i1, i2;
@@ -373,8 +461,20 @@ namespace armarx
return handTargetsMap;
}
+ std::optional<std::string>
+ GraspTrajectory::GetShape(float t) const
+ {
+ ARMARX_TRACE;
+ int i1, i2;
+ float f;
+ getIndex(t, i1, i2, f);
+
+ // i1 is the one before or at the timestamp t
+ return getKeypoint(i1)->shape;
+ }
+
Eigen::Vector3f
- GraspTrajectory::GetPositionDerivative(float t)
+ GraspTrajectory::GetPositionDerivative(float t) const
{
ARMARX_TRACE;
int i1, i2;
@@ -384,7 +484,7 @@ namespace armarx
}
Eigen::Vector3f
- GraspTrajectory::GetOrientationDerivative(float t)
+ GraspTrajectory::GetOrientationDerivative(float t) const
{
ARMARX_TRACE;
int i1, i2;
@@ -394,7 +494,7 @@ namespace armarx
}
Eigen::Matrix<float, 6, 1>
- GraspTrajectory::GetTcpDerivative(float t)
+ GraspTrajectory::GetTcpDerivative(float t) const
{
ARMARX_TRACE;
Eigen::Matrix<float, 6, 1> ffVel;
@@ -404,7 +504,7 @@ namespace armarx
}
Eigen::Vector3f
- GraspTrajectory::GetHandJointsDerivative(float t)
+ GraspTrajectory::GetHandJointsDerivative(float t) const
{
ARMARX_TRACE;
int i1, i2;
@@ -444,7 +544,7 @@ namespace armarx
GraspTrajectoryPtr
GraspTrajectory::getTranslatedAndRotated(const Eigen::Vector3f& translation,
- const Eigen::Matrix3f& rotation)
+ const Eigen::Matrix3f& rotation) const
{
ARMARX_TRACE;
GraspTrajectoryPtr traj(
@@ -453,7 +553,7 @@ namespace armarx
getKeypoint(0)->handJointsTarget));
for (size_t i = 1; i < keypoints.size(); i++)
{
- KeypointPtr& kp = keypoints.at(i);
+ const KeypointPtr& kp = keypoints.at(i);
traj->addKeypoint(
::math::Helpers::TranslateAndRotatePose(kp->getTargetPose(), translation, rotation),
kp->handJointsTarget,
@@ -463,21 +563,21 @@ namespace armarx
}
GraspTrajectoryPtr
- GraspTrajectory::getTransformed(const Eigen::Matrix4f& transform)
+ GraspTrajectory::getTransformed(const Eigen::Matrix4f& transform) const
{
ARMARX_TRACE;
GraspTrajectoryPtr traj(
new GraspTrajectory(transform * getStartPose(), getKeypoint(0)->handJointsTarget));
for (size_t i = 1; i < keypoints.size(); i++)
{
- KeypointPtr& kp = keypoints.at(i);
+ const KeypointPtr& kp = keypoints.at(i);
traj->addKeypoint(transform * kp->getTargetPose(), kp->handJointsTarget, kp->dt);
}
return traj;
}
GraspTrajectoryPtr
- GraspTrajectory::getClone()
+ GraspTrajectory::getClone() const
{
ARMARX_TRACE;
return getTransformed(Eigen::Matrix4f::Identity());
@@ -485,7 +585,7 @@ namespace armarx
GraspTrajectoryPtr
GraspTrajectory::getTransformedToGraspPose(const Eigen::Matrix4f& target,
- const Eigen::Vector3f& handForward)
+ const Eigen::Vector3f& handForward) const
{
ARMARX_TRACE;
Eigen::Matrix4f startPose = getStartPose();
@@ -506,7 +606,7 @@ namespace armarx
}
GraspTrajectoryPtr
- GraspTrajectory::getTransformedToOtherHand()
+ GraspTrajectory::getTransformedToOtherHand() const
{
ARMARX_TRACE;
Eigen::Matrix3f flip_yz = Eigen::Matrix3f::Identity();
@@ -517,7 +617,7 @@ namespace armarx
new GraspTrajectory(start_pose, getKeypoint(0)->handJointsTarget));
for (size_t i = 1; i < getKeypointCount(); i++)
{
- GraspTrajectory::KeypointPtr& kp = getKeypoint(i);
+ const GraspTrajectory::KeypointPtr& kp = getKeypoint(i);
Eigen::Matrix4f target_pose = kp->getTargetPose();
target_pose.block<3, 3>(0, 0) = flip_yz * target_pose.block<3, 3>(0, 0) * flip_yz;
output_trajectory->addKeypoint(target_pose, kp->handJointsTarget, kp->dt);
@@ -592,14 +692,17 @@ namespace armarx
return tcpTarget;
}
- GraspTrajectory::Keypoint::Keypoint(const Eigen::Matrix4f& tcpTarget,
- const armarx::NameValueMap& handJointsTarget,
- float dt,
- const Eigen::Vector3f& feedForwardPosVelocity,
- const Eigen::Vector3f& feedForwardOriVelocity,
- const Eigen::VectorXf& feedForwardHandJointsVelocity) :
+ GraspTrajectoryKeypoint::GraspTrajectoryKeypoint(
+ const Eigen::Matrix4f& tcpTarget,
+ const armarx::NameValueMap& handJointsTarget,
+ float dt,
+ const Eigen::Vector3f& feedForwardPosVelocity,
+ const Eigen::Vector3f& feedForwardOriVelocity,
+ const Eigen::VectorXf& feedForwardHandJointsVelocity,
+ const std::optional<std::string>& shape) :
tcpTarget(tcpTarget),
handJointsTarget(handJointsTarget),
+ shape(shape),
dt(dt),
feedForwardPosVelocity(feedForwardPosVelocity),
feedForwardOriVelocity(feedForwardOriVelocity),
@@ -607,10 +710,12 @@ namespace armarx
{
}
- GraspTrajectory::Keypoint::Keypoint(const Eigen::Matrix4f& tcpTarget,
- const armarx::NameValueMap& handJointsTarget) :
+ GraspTrajectoryKeypoint::GraspTrajectoryKeypoint(const Eigen::Matrix4f& tcpTarget,
+ const armarx::NameValueMap& handJointsTarget,
+ const std::optional<std::string>& shape) :
tcpTarget(tcpTarget),
handJointsTarget(handJointsTarget),
+ shape(shape),
dt(0),
feedForwardPosVelocity(0, 0, 0),
feedForwardOriVelocity(0, 0, 0)
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.h b/source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.h
index 697727b22..718642c2a 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.h
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.h
@@ -41,34 +41,44 @@ namespace armarx
class GraspTrajectory;
typedef std::shared_ptr<GraspTrajectory> GraspTrajectoryPtr;
- class GraspTrajectory
+ class GraspTrajectoryKeypoint
{
public:
- class Keypoint;
- typedef std::shared_ptr<Keypoint> KeypointPtr;
+ using GraspTrajectoryKeypointPtr = std::shared_ptr<GraspTrajectoryKeypoint>;
+
+ Eigen::Matrix4f tcpTarget;
+ armarx::NameValueMap handJointsTarget;
+ std::optional<std::string> shape;
+ float dt;
+ Eigen::Vector3f feedForwardPosVelocity;
+ Eigen::Vector3f feedForwardOriVelocity;
+ Eigen::VectorXf feedForwardHandJointsVelocity;
+
+ GraspTrajectoryKeypoint() = default;
+
+ GraspTrajectoryKeypoint(const Eigen::Matrix4f& tcpTarget,
+ const armarx::NameValueMap& handJointsTarget,
+ const std::optional<std::string>& shape = std::nullopt);
+
+ GraspTrajectoryKeypoint(const Eigen::Matrix4f& tcpTarget,
+ const armarx::NameValueMap& handJointsTarget,
+ float dt,
+ const Eigen::Vector3f& feedForwardPosVelocity,
+ const Eigen::Vector3f& feedForwardOriVelocity,
+ const Eigen::VectorXf& feedForwardHandJointsVelocity,
+ const std::optional<std::string>& shape = std::nullopt);
+
+ Eigen::Vector3f getTargetPosition() const;
+ Eigen::Matrix3f getTargetOrientation() const;
+ Eigen::Matrix4f getTargetPose() const;
+ void updateVelocities(const GraspTrajectoryKeypointPtr& prev, float deltat);
+ };
- class Keypoint
- {
- public:
- Eigen::Matrix4f tcpTarget;
- armarx::NameValueMap handJointsTarget;
- float dt;
- Eigen::Vector3f feedForwardPosVelocity;
- Eigen::Vector3f feedForwardOriVelocity;
- Eigen::VectorXf feedForwardHandJointsVelocity;
-
- Keypoint(const Eigen::Matrix4f& tcpTarget, const armarx::NameValueMap& handJointsTarget);
- Keypoint(const Eigen::Matrix4f& tcpTarget,
- const armarx::NameValueMap& handJointsTarget,
- float dt,
- const Eigen::Vector3f& feedForwardPosVelocity,
- const Eigen::Vector3f& feedForwardOriVelocity,
- const Eigen::VectorXf& feedForwardHandJointsVelocity);
- Eigen::Vector3f getTargetPosition() const;
- Eigen::Matrix3f getTargetOrientation() const;
- Eigen::Matrix4f getTargetPose() const;
- void updateVelocities(const KeypointPtr& prev, float deltat);
- };
+ class GraspTrajectory
+ {
+ public:
+ using Keypoint = GraspTrajectoryKeypoint;
+ using KeypointPtr = std::shared_ptr<Keypoint>;
struct Length
{
@@ -79,54 +89,62 @@ namespace armarx
public:
GraspTrajectory() = default;
+ GraspTrajectory(const std::vector<Keypoint>& keypoints);
+
GraspTrajectory(const Eigen::Matrix4f& tcpStart,
- const armarx::NameValueMap& handJointsStart);
+ const armarx::NameValueMap& handJointsStart,
+ const std::optional<std::string>& shape = std::nullopt);
void addKeypoint(const Eigen::Matrix4f& tcpTarget,
const armarx::NameValueMap& handJointsTarget,
- float dt);
+ float dt,
+ const std::optional<std::string>& shape = std::nullopt);
size_t getKeypointCount() const;
+ const std::vector<KeypointPtr>& getAllKeypoints() const;
void insertKeypoint(size_t index,
const Eigen::Matrix4f& tcpTarget,
const armarx::NameValueMap& handJointsTarget,
- float dt);
+ float dt,
+ const std::optional<std::string>& shape = std::nullopt);
void removeKeypoint(size_t index);
void replaceKeypoint(size_t index,
const Eigen::Matrix4f& tcpTarget,
const armarx::NameValueMap& handJointsTarget,
- float dt);
+ float dt,
+ const std::optional<std::string>& shape = std::nullopt);
void setKeypointDt(size_t index, float dt);
- KeypointPtr& lastKeypoint();
- KeypointPtr& getKeypoint(int i);
- Eigen::Matrix4f getStartPose();
+ const KeypointPtr& lastKeypoint() const;
+ const KeypointPtr& getKeypoint(int i) const;
+ Eigen::Matrix4f getStartPose() const;
- void getIndex(float t, int& i1, int& i2, float& f);
+ void getIndex(float t, int& i1, int& i2, float& f) const;
- Eigen::Vector3f GetPosition(float t);
+ Eigen::Vector3f GetPosition(float t) const;
- Eigen::Matrix3f GetOrientation(float t);
+ Eigen::Matrix3f GetOrientation(float t) const;
- Eigen::Matrix4f GetPose(float t);
+ Eigen::Matrix4f GetPose(float t) const;
- std::vector<Eigen::Matrix4f> getAllKeypointPoses();
- std::vector<Eigen::Vector3f> getAllKeypointPositions();
- std::vector<Eigen::Matrix3f> getAllKeypointOrientations();
+ std::vector<Eigen::Matrix4f> getAllKeypointPoses() const;
+ std::vector<Eigen::Vector3f> getAllKeypointPositions() const;
+ std::vector<Eigen::Matrix3f> getAllKeypointOrientations() const;
- armarx::NameValueMap GetHandValues(float t);
+ armarx::NameValueMap GetHandValues(float t) const;
+ std::optional<std::string> GetShape(float t) const;
- Eigen::Vector3f GetPositionDerivative(float t);
+ Eigen::Vector3f GetPositionDerivative(float t) const;
- Eigen::Vector3f GetOrientationDerivative(float t);
+ Eigen::Vector3f GetOrientationDerivative(float t) const;
- Eigen::Matrix<float, 6, 1> GetTcpDerivative(float t);
+ Eigen::Matrix<float, 6, 1> GetTcpDerivative(float t) const;
- Eigen::Vector3f GetHandJointsDerivative(float t);
+ Eigen::Vector3f GetHandJointsDerivative(float t) const;
float getDuration() const;
@@ -134,15 +152,15 @@ namespace armarx
GraspTrajectoryPtr getTranslatedAndRotated(const Eigen::Vector3f& translation,
- const Eigen::Matrix3f& rotation);
- GraspTrajectoryPtr getTransformed(const Eigen::Matrix4f& transform);
- GraspTrajectoryPtr getTransformedToOtherHand();
+ const Eigen::Matrix3f& rotation) const;
+ GraspTrajectoryPtr getTransformed(const Eigen::Matrix4f& transform) const;
+ GraspTrajectoryPtr getTransformedToOtherHand() const;
- GraspTrajectoryPtr getClone();
+ GraspTrajectoryPtr getClone() const;
- GraspTrajectoryPtr
- getTransformedToGraspPose(const Eigen::Matrix4f& target,
- const Eigen::Vector3f& handForward = Eigen::Vector3f::UnitZ());
+ GraspTrajectoryPtr getTransformedToGraspPose(
+ const Eigen::Matrix4f& target,
+ const Eigen::Vector3f& handForward = Eigen::Vector3f::UnitZ()) const;
SimpleDiffIK::Reachability
calculateReachability(VirtualRobot::RobotNodeSetPtr rns,
@@ -154,6 +172,7 @@ namespace armarx
static GraspTrajectoryPtr ReadFromReader(const RapidXmlReaderPtr& reader);
static GraspTrajectoryPtr ReadFromFile(const std::string& filename);
+ static GraspTrajectoryPtr ReadFromJSON(const std::string& filename);
static GraspTrajectoryPtr ReadFromString(const std::string& xml);
private:
--
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