diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index d6966d179fa408ca925f63d28b96dca76ea669f7..6fe11f3196b211677110b31dd697a3eb4f055d5d 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -33,20 +33,18 @@
#include <RobotAPI/libraries/armem/core/Prediction.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron/Marker.aron.generated.h>
+#include <RobotAPI/libraries/armem_objects/memory_ids.h>
namespace armarx::armem::server::obj
{
- const std::string ObjectMemory::defaultMemoryName = "Object";
-
-
armarx::PropertyDefinitionsPtr ObjectMemory::createPropertyDefinitions()
{
armarx::PropertyDefinitionsPtr defs(new ComponentPropertyDefinitions(getConfigIdentifier()));
const std::string prefix = "mem.";
- workingMemory().name() = defaultMemoryName;
+ workingMemory().name() = objects::memoryID.memoryName;
classSegment.defineProperties(defs, prefix + "cls.");
instance::SegmentAdapter::defineProperties(defs, prefix + "inst.");
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index 869beea33f6878cc7dde20db9a03bd352e870fd7..566d1fec8a6ea1fe39f12edabbaaaa76b08ea9e0 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
@@ -22,8 +22,8 @@
#pragma once
-#include "RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h"
-#include "RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h"
+#include <RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h>
+#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
#include <RobotAPI/libraries/armem_objects/server/class/Segment.h>
#include <RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h>
#include <RobotAPI/libraries/armem_objects/server/attachments/Segment.h>
@@ -66,11 +66,6 @@ namespace armarx::armem::server::obj
, virtual public armarx::LightweightRemoteGuiComponentPluginUser
, virtual public armarx::ArVizComponentPluginUser
{
- public:
-
- static const std::string defaultMemoryName;
-
-
public:
ObjectMemory();
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index 8233df3d685339da7f43c134e588a21324a8ec79..e3f006eaf4a554d13705868eaf812955b2fcfb12 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -21,13 +21,14 @@
*/
#include "RobotStateMemory.h"
-#include "RobotAPI/libraries/armem/core/forward_declarations.h"
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
#include <RobotAPI/interface/core/PoseBase.h>
#include <RobotAPI/libraries/core/Pose.h>
#include <RobotAPI/libraries/armem/core/Prediction.h>
#include <RobotAPI/libraries/armem_robot_state/server/proprioception/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot_state/server/common/Visu.h>
+#include <RobotAPI/libraries/armem_robot_state/memory_ids.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -82,7 +83,7 @@ namespace armarx::armem::server::robot_state
const std::string prefix = "mem.";
- setMemoryName("RobotState");
+ setMemoryName(armem::robot_state::memoryID.memoryName);
descriptionSegment.defineProperties(defs, prefix + "desc.");
proprioceptionSegment.defineProperties(defs, prefix + "prop.");
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
index 132f0b639df824fe91a3b6bd9f25427f50950d7d..bd0e2d4c957a53562996fad7e7f2b64b1851a2e6 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
@@ -26,6 +26,8 @@
#include <RobotAPI/gui-plugins/PlatformUnitPlugin/ui_PlatformUnitConfigDialog.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <Eigen/Geometry>
+
// Qt headers
#include <Qt>
#include <QtGlobal>
@@ -35,6 +37,8 @@
#include <QHBoxLayout>
//std
+#include <RobotAPI/interface/core/RobotLocalization.h>
+#include <SimoxUtility/math/convert/mat3f_to_rpy.h>
#include <memory>
#include <cmath>
@@ -86,8 +90,8 @@ PlatformUnitWidget::PlatformUnitWidget() :
void PlatformUnitWidget::onInitComponent()
{
usingProxy(platformUnitProxyName);
- usingTopic(platformName + "State");
- ARMARX_INFO << "Listening on Topic: " << platformName + "State";
+ usingTopic(globalRobotPoseLocalizationListenerName);
+ // ARMARX_INFO << "Listening on Topic: " << platformName + "State";
}
@@ -177,7 +181,6 @@ void PlatformUnitWidget::setNewPlatformPoseLabels(float x, float y, float alpha)
ui.labelCurrentPositionX->setText(QString::number(x));
ui.labelCurrentPositionY->setText(QString::number(y));
ui.labelCurrentRotation->setText(QString::number(alpha));
-
}
@@ -203,26 +206,16 @@ void PlatformUnitWidget::stopControlTimer()
}
-void PlatformUnitWidget::reportPlatformPose(PlatformPose const& currentPose, const Ice::Current& c)
+void PlatformUnitWidget::reportGlobalRobotPose(const ::armarx::TransformStamped& transformStamped, const ::Ice::Current&)
{
- // moved to qt thread for thread safety
- QMetaObject::invokeMethod(this, "setNewPlatformPoseLabels", Q_ARG(float, currentPose.x), Q_ARG(float, currentPose.y), Q_ARG(float, currentPose.rotationAroundZ));
- platformRotation = currentPose.rotationAroundZ;
-}
+ const Eigen::Isometry3f global_T_robot(transformStamped.transform);
+ const float x = global_T_robot.translation().x();
+ const float y = global_T_robot.translation().y();
+ const float yaw = simox::math::mat3f_to_rpy(global_T_robot.linear()).z();
-
-void PlatformUnitWidget::reportNewTargetPose(::Ice::Float newPlatformPositionX, ::Ice::Float newPlatformPositionY, ::Ice::Float newPlatformRotation, const Ice::Current& c)
-{
// moved to qt thread for thread safety
- QMetaObject::invokeMethod(this, "setNewTargetPoseLabels",
- Q_ARG(float, newPlatformPositionX),
- Q_ARG(float, newPlatformPositionY),
- Q_ARG(float, newPlatformRotation));
-}
-
-void PlatformUnitWidget::reportPlatformVelocity(::Ice::Float currentPlatformVelocityX, ::Ice::Float currentPlatformVelocityY, ::Ice::Float currentPlatformVelocityRotation, const Ice::Current& c)
-{
-
+ QMetaObject::invokeMethod(this, "setNewPlatformPoseLabels", Q_ARG(float, x), Q_ARG(float, y), Q_ARG(float, yaw));
+ platformRotation = yaw;
}
@@ -396,9 +389,3 @@ void KeyboardPlatformHookWidget::keyReleaseEvent(QKeyEvent* event)
}
QWidget::keyReleaseEvent(event);
}
-
-
-void armarx::PlatformUnitWidget::reportPlatformOdometryPose(Ice::Float, Ice::Float, Ice::Float, const Ice::Current&)
-{
- // ignore for now
-}
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
index aeb8e8ce8f414bac77ec83e9e9237679b76873c8..7587750d212e51f88666dffcf236556370b432c3 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
@@ -30,6 +30,7 @@
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <RobotAPI/interface/core/RobotLocalization.h>
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
/* Qt headers */
@@ -101,7 +102,7 @@ namespace armarx
*/
class PlatformUnitWidget :
public ArmarXComponentWidgetControllerTemplate<PlatformUnitWidget>,
- public PlatformUnitListener
+ public GlobalRobotPoseLocalizationListener
{
Q_OBJECT
public:
@@ -116,11 +117,8 @@ namespace armarx
void onExitComponent() override;
// slice interface implementation
- void reportPlatformPose(PlatformPose const& currentPose, const Ice::Current& c = Ice::emptyCurrent) override;
- void reportNewTargetPose(::Ice::Float newPlatformPositionX, ::Ice::Float newPlatformPositionY, ::Ice::Float newPlatformRotation, const Ice::Current& c = Ice::emptyCurrent) override;
- void reportPlatformVelocity(::Ice::Float currentPlatformVelocityX, ::Ice::Float currentPlatformVelocityY, ::Ice::Float currentPlatformVelocityRotation, const Ice::Current& c = Ice::emptyCurrent) override;
- void reportPlatformOdometryPose(Ice::Float, Ice::Float, Ice::Float, const Ice::Current&) override;
-
+ void reportGlobalRobotPose(const ::armarx::TransformStamped& transformStamped, const ::Ice::Current& = ::Ice::emptyCurrent) override;
+
// inherited of ArmarXWidget
static QString GetWidgetName()
{
@@ -228,4 +226,3 @@ namespace armarx
};
using PlatformUnitGuiPluginPtr = std::shared_ptr<PlatformUnitWidget>;
}
-
diff --git a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
index 7265e46d24e5e046e55a7e01365018d725c167c7..63da8444d40d90e6c4e73a1a4fd755082f4914f9 100644
--- a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
@@ -20,6 +20,9 @@ armarx_add_library(
HEADERS
aron_conversions.h
aron_forward_declarations.h
+ memory_ids.h
+ types.h
+ utils.h
server/class/FloorVis.h
server/class/Segment.h
@@ -48,7 +51,9 @@ armarx_add_library(
SOURCES
aron_conversions.cpp
+ memory_ids.cpp
types.cpp
+ utils.cpp
client/articulated_object/Reader.cpp
client/articulated_object/Writer.cpp
diff --git a/source/RobotAPI/libraries/armem_objects/memory_ids.cpp b/source/RobotAPI/libraries/armem_objects/memory_ids.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ad77419a2e5d3288aefae77a038cca62808e81dd
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/memory_ids.cpp
@@ -0,0 +1,35 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * 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 RobotAPI::ArmarXObjects::armem_objects
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "memory_ids.h"
+
+
+namespace armarx::armem
+{
+
+ const MemoryID objects::memoryID { "Object" };
+
+ const MemoryID objects::attachmentsSegmentID = memoryID.withCoreSegmentName("Attachments");
+ const MemoryID objects::classSegmentID = memoryID.withCoreSegmentName("Class");
+ const MemoryID objects::instaceSegmentID = memoryID.withCoreSegmentName("Instance");
+
+}
diff --git a/source/RobotAPI/libraries/armem_objects/memory_ids.h b/source/RobotAPI/libraries/armem_objects/memory_ids.h
new file mode 100644
index 0000000000000000000000000000000000000000..50408b82f550fe2ecf80b4cc5d4930ee9b69b012
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/memory_ids.h
@@ -0,0 +1,38 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * 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 RobotAPI::ArmarXObjects::armem_objects
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+
+
+namespace armarx::armem::objects
+{
+
+ extern const MemoryID memoryID;
+
+ extern const MemoryID attachmentsSegmentID;
+ extern const MemoryID classSegmentID;
+ extern const MemoryID instaceSegmentID;
+
+
+} // namespace armarx::armem::objects
diff --git a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h
index 4f8cd20ccd9a0ce456bb664f5f5eb8a25f1981e0..9f4636fa9484d8c9d4fdd4d0a825442f06340637 100644
--- a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h
@@ -25,6 +25,7 @@
#include <RobotAPI/libraries/armem/core/forward_declarations.h>
#include <RobotAPI/libraries/armem/server/forward_declarations.h>
#include <RobotAPI/libraries/armem_objects/types.h>
+#include <RobotAPI/libraries/armem_objects/memory_ids.h>
#include <ArmarXCore/core/application/properties/forward_declarations.h>
#include <ArmarXCore/core/logging/Logging.h>
@@ -57,7 +58,7 @@ namespace armarx::armem::server::obj::attachments
struct Properties
{
- std::string coreSegmentName = "Attachments";
+ std::string coreSegmentName = objects::attachmentsSegmentID.coreSegmentName;
int64_t maxHistorySize = -1;
};
Properties p;
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index 3250a1cca34d47df08e4d9218c0bfeda729163b0..a95e98d011e52c7f6251a2119b66b971b9d5a045 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -5,6 +5,7 @@
#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+#include <RobotAPI/libraries/armem_objects/memory_ids.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
@@ -22,7 +23,7 @@ namespace armarx::armem::server::obj::clazz
{
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- SpecializedCoreSegment(memoryToIceAdapter, "Class", arondto::ObjectClass::ToAronType(), -1)
+ SpecializedCoreSegment(memoryToIceAdapter, objects::classSegmentID.coreSegmentName, arondto::ObjectClass::ToAronType(), -1)
{
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 9076cedadf778bb46f64f2c90388ff8d197436e7..7f3aee34f4d6382fd08eb466116b62a803293b80 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -6,6 +6,7 @@
#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+#include <RobotAPI/libraries/armem_objects/memory_ids.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/error.h>
@@ -15,6 +16,7 @@
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <RobotAPI/libraries/armem/util/util.h>
+
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
@@ -51,7 +53,7 @@ namespace armarx::armem::server::obj::instance
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
SpecializedCoreSegment(memoryToIceAdapter,
- "Instance",
+ objects::instaceSegmentID.coreSegmentName,
arondto::ObjectInstance::ToAronType(),
64)
{
diff --git a/source/RobotAPI/libraries/armem_objects/utils.cpp b/source/RobotAPI/libraries/armem_objects/utils.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e3025f5264ebcbc5a50de330cb229f792b6f421f
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/utils.cpp
@@ -0,0 +1,45 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * 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 RobotAPI::ArmarXObjects::armem_objects
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "utils.h"
+
+#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem_objects/memory_ids.h>
+
+
+namespace armarx::armem
+{
+
+ MemoryID
+ objects::reconstructObjectInstanceID(const objpose::ObjectPose& objectPose)
+ {
+ armem::MemoryID id =
+ armem::objects::instaceSegmentID.withProviderSegmentName(objectPose.providerName)
+ .withEntityName(objectPose.objectID.str())
+ .withTimestamp(objectPose.timestamp)
+ .withInstanceIndex(0);
+ return id;
+ }
+
+
+} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem_objects/utils.h b/source/RobotAPI/libraries/armem_objects/utils.h
new file mode 100644
index 0000000000000000000000000000000000000000..bc0068234ac8c55d4985d25ab17fab8040c987d7
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/utils.h
@@ -0,0 +1,36 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * 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 RobotAPI::ArmarXObjects::armem_objects
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
+#include <RobotAPI/libraries/ArmarXObjects/forward_declarations.h>
+
+
+namespace armarx::armem::objects
+{
+
+ armem::MemoryID
+ reconstructObjectInstanceID(const objpose::ObjectPose& objectPose);
+
+
+} // namespace armarx::armem::objects
diff --git a/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt b/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt
index aafe0978d9d41e95b51dfabfe49d33783e2791ea..a9c0ceb1b8cd552915819a052a2ffd73bbfdec29 100644
--- a/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt
@@ -38,6 +38,7 @@ armarx_add_library(
client/localization/TransformWriter.h
aron_conversions.h
+ memory_ids.h
utils.h
SOURCES
@@ -52,6 +53,7 @@ armarx_add_library(
client/localization/TransformWriter.cpp
aron_conversions.cpp
+ memory_ids.cpp
utils.cpp
)
diff --git a/source/RobotAPI/libraries/armem_robot_state/memory_ids.cpp b/source/RobotAPI/libraries/armem_robot_state/memory_ids.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..926c2e843e252efdc9c4711bbe2b03a3a7394bba
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_robot_state/memory_ids.cpp
@@ -0,0 +1,36 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * 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 RobotAPI::ArmarXObjects::armem_robot_state
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "memory_ids.h"
+
+
+namespace armarx::armem
+{
+
+ const MemoryID robot_state::memoryID { "RobotState" };
+
+ const MemoryID robot_state::descriptionSegmentID { memoryID.withCoreSegmentName("Description") };
+ const MemoryID robot_state::proprioceptionSegmentID { memoryID.withCoreSegmentName("Proprioception") };
+ const MemoryID robot_state::localizationSegmentID { memoryID.withCoreSegmentName("Localization") };
+
+
+}
diff --git a/source/RobotAPI/libraries/armem_robot_state/memory_ids.h b/source/RobotAPI/libraries/armem_robot_state/memory_ids.h
new file mode 100644
index 0000000000000000000000000000000000000000..1d8008d4db8d7a71da0a8ca47420040060382ca6
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_robot_state/memory_ids.h
@@ -0,0 +1,37 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * 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 RobotAPI::ArmarXObjects::armem_robot_state
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+
+
+namespace armarx::armem::robot_state
+{
+
+ extern const MemoryID memoryID;
+
+ extern const MemoryID descriptionSegmentID;
+ extern const MemoryID proprioceptionSegmentID;
+ extern const MemoryID localizationSegmentID;
+
+} // namespace armarx::armem::objects
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
index f6cba1d8c22086497f7eb537c6a3e16fa2e2faf4..ec68b26342c527923fc997d94d53796e968e1083 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -20,13 +20,14 @@
#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot_state/memory_ids.h>
namespace armarx::armem::server::robot_state::description
{
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- Base(memoryToIceAdapter, "Description", arondto::RobotDescription::ToAronType())
+ Base(memoryToIceAdapter, armem::robot_state::descriptionSegmentID.coreSegmentName, arondto::RobotDescription::ToAronType())
{
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
index c41908c9ac35ca17519e4c7400eb04903791699b..3cadfeccb0a86bd6672dd1af8fc072086dca4fa4 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
@@ -27,13 +27,14 @@
#include <RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h>
#include <RobotAPI/libraries/armem_robot_state/common/localization/types.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/constants.h>
+#include <RobotAPI/libraries/armem_robot_state/memory_ids.h>
namespace armarx::armem::server::robot_state::localization
{
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- Base(memoryToIceAdapter, "Localization", arondto::Transform::ToAronType(), 1024)
+ Base(memoryToIceAdapter, armem::robot_state::localizationSegmentID.coreSegmentName, arondto::Transform::ToAronType(), 1024)
{
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
index 3351772f3344698e006c06a92b86dcaff0868801..99c330e7661d35c5b161c26e1d18b45af2d91ce9 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
@@ -13,6 +13,7 @@
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/util/prediction_helpers.h>
#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot_state/memory_ids.h>
namespace armarx::armem::server::robot_state::proprioception
@@ -20,7 +21,7 @@ namespace armarx::armem::server::robot_state::proprioception
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
Base(memoryToIceAdapter,
- "Proprioception",
+ armem::robot_state::proprioceptionSegmentID.coreSegmentName,
arondto::Proprioception::ToAronType(),
1024)
{