Revert "Revert "adjustment to simox fixes""

This reverts commit 0e331d7e.

source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp

@@ -30,6 +30,9 @@
 #include <VirtualRobot/Nodes/RobotNodeFixedFactory.h>
 #include <VirtualRobot/Nodes/RobotNodePrismaticFactory.h>
 #include <VirtualRobot/Nodes/RobotNodeRevoluteFactory.h>
+
+
+
 #include <VirtualRobot/CollisionDetection/CollisionChecker.h>
 #include <Eigen/Geometry>
 #include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
@@ -72,13 +75,13 @@ namespace armarx
 
     }
 
-    RobotNodePtr RemoteRobot::getRootNode()
+    RobotNodePtr RemoteRobot::getRootNode() const
     {
+        // lazy initialization needed since shared_from_this() must not be called in constructor
         if (!_root)
         {
             _root = RemoteRobot::createRemoteRobotNode(_robot->getRootNode(), shared_from_this());
         }
-
         return _root;
     }
 
@@ -156,7 +159,7 @@ namespace armarx
         return _robot->hasRobotNodeSet(name);
     }
 
-    RobotNodeSetPtr RemoteRobot::getRobotNodeSet(const string& nodeSetName)
+    RobotNodeSetPtr RemoteRobot::getRobotNodeSet(const string& nodeSetName) const
     {
         vector<RobotNodePtr> storeNodes;
         RobotNodeSetInfoPtr info = _robot->getRobotNodeSet(nodeSetName);
@@ -165,7 +168,7 @@ namespace armarx
     }
 
 
-    void RemoteRobot::getRobotNodeSets(vector<RobotNodeSetPtr>& storeNodeSet)
+    void RemoteRobot::getRobotNodeSets(vector<RobotNodeSetPtr>& storeNodeSet) const
     {
         NameList sets = _robot->getRobotNodeSets();
 
@@ -399,7 +402,7 @@ namespace armarx
         else
         {
             Ice::StringSeq includePaths;
-            for (const std::string & projectName : packages)
+            for (const std::string& projectName : packages)
             {
                 if (projectName.empty())
                 {

source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h

@@ -21,7 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-
+#pragma once
 #ifndef _ARMARX_REMOTE_ROBOT_H__
 #define _ARMARX_REMOTE_ROBOT_H__
 
@@ -41,6 +41,13 @@
 #include <boost/utility/enable_if.hpp>
 #include <boost/type_traits/is_base_of.hpp>
 
+//namespace VirtualRobot
+//{
+//    class RobotNodeRevolute;
+//    class RobotNodePrismatic;
+//    class RobotNodeFixed;
+//}
+
 namespace armarx
 {
     // forward declaration of RemoteRobotNode
@@ -150,7 +157,7 @@ namespace armarx
         RemoteRobot(SharedRobotInterfacePrx robot);
 
 
-        virtual VirtualRobot::RobotNodePtr getRootNode();
+        virtual VirtualRobot::RobotNodePtr getRootNode() const;
 
         virtual bool hasRobotNode(const std::string& robotNodeName);
         virtual bool hasRobotNode(VirtualRobot::RobotNodePtr);
@@ -159,8 +166,8 @@ namespace armarx
         virtual void getRobotNodes(std::vector< VirtualRobot::RobotNodePtr >& storeNodes, bool clearVector = true);
 
         virtual bool hasRobotNodeSet(const std::string& name);
-        virtual VirtualRobot::RobotNodeSetPtr getRobotNodeSet(const std::string& nodeSetName);
-        virtual void getRobotNodeSets(std::vector<VirtualRobot::RobotNodeSetPtr>& storeNodeSet);
+        virtual VirtualRobot::RobotNodeSetPtr getRobotNodeSet(const std::string& nodeSetName) const;
+        virtual void getRobotNodeSets(std::vector<VirtualRobot::RobotNodeSetPtr>& storeNodeSet) const;
 
         /**
          *
@@ -258,7 +265,7 @@ namespace armarx
     protected:
         SharedRobotInterfacePrx _robot;
         std::map<std::string, VirtualRobot::RobotNodePtr> _cachedNodes;
-        VirtualRobot::RobotNodePtr _root;
+        mutable VirtualRobot::RobotNodePtr _root;
 
         static boost::recursive_mutex m;