From 9fcb3bd9318db8343b5bd77c4cb585d23a428f88 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 23 Apr 2021 17:04:39 +0200
Subject: [PATCH] Move non-object related aron types to aron/common
---
.../libraries/ArmarXObjects/CMakeLists.txt | 6 +-
.../ArmarXObjects/aron/ObjectPose.xml | 4 +-
.../ArmarXObjects/aron_conversions.h | 1 -
.../ArmarXObjects/aron_conversions/armarx.cpp | 11 -
.../ArmarXObjects/aron_conversions/armarx.h | 8 +-
.../aron_conversions/objpose.cpp | 1 +
.../ArmarXObjects/aron_conversions/objpose.h | 3 +-
.../libraries/armem_objects/CMakeLists.txt | 2 -
.../armem_objects/aron/ObjectClass.xml | 12 +-
.../armem_objects/server/class/Segment.cpp | 4 +
.../server/class/SegmentAdapter.cpp | 501 ------------------
.../server/class/SegmentAdapter.h | 171 ------
source/RobotAPI/libraries/aron/CMakeLists.txt | 1 +
.../libraries/aron/common/CMakeLists.txt | 36 ++
.../common}/aron/AxisAlignedBoundingBox.xml | 0
.../common}/aron/OrientedBox.xml | 0
.../common}/aron/PackagePath.xml | 0
.../libraries/aron/common/aron_conversions.h | 4 +
.../aron/common/aron_conversions/armarx.cpp | 14 +
.../aron/common/aron_conversions/armarx.h | 11 +
.../aron/common/aron_conversions/objpose.cpp | 137 +++++
.../aron/common/aron_conversions/objpose.h | 19 +
.../common}/aron_conversions/simox.cpp | 0
.../common}/aron_conversions/simox.h | 6 +-
24 files changed, 243 insertions(+), 709 deletions(-)
delete mode 100644 source/RobotAPI/libraries/armem_objects/server/class/SegmentAdapter.cpp
delete mode 100644 source/RobotAPI/libraries/armem_objects/server/class/SegmentAdapter.h
create mode 100644 source/RobotAPI/libraries/aron/common/CMakeLists.txt
rename source/RobotAPI/libraries/{ArmarXObjects => aron/common}/aron/AxisAlignedBoundingBox.xml (100%)
rename source/RobotAPI/libraries/{ArmarXObjects => aron/common}/aron/OrientedBox.xml (100%)
rename source/RobotAPI/libraries/{ArmarXObjects => aron/common}/aron/PackagePath.xml (100%)
create mode 100644 source/RobotAPI/libraries/aron/common/aron_conversions.h
create mode 100644 source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
create mode 100644 source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
create mode 100644 source/RobotAPI/libraries/aron/common/aron_conversions/objpose.cpp
create mode 100644 source/RobotAPI/libraries/aron/common/aron_conversions/objpose.h
rename source/RobotAPI/libraries/{ArmarXObjects => aron/common}/aron_conversions/simox.cpp (100%)
rename source/RobotAPI/libraries/{ArmarXObjects => aron/common}/aron_conversions/simox.h (73%)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
index 61a8e3c90..31fd00c7e 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
@@ -8,6 +8,7 @@ set(LIBS
RemoteGui
# RobotAPI
RobotAPI::Core
+ aroncommon
)
set(LIB_FILES
@@ -20,7 +21,6 @@ set(LIB_FILES
ice_conversions.cpp
aron_conversions/armarx.cpp
aron_conversions/objpose.cpp
- aron_conversions/simox.cpp
plugins/ObjectPoseProviderPlugin.cpp
plugins/ObjectPoseClientPlugin.cpp
@@ -40,7 +40,6 @@ set(LIB_HEADERS
aron_conversions.h
aron_conversions/armarx.h
aron_conversions/objpose.h
- aron_conversions/simox.h
plugins/ObjectPoseProviderPlugin.h
plugins/ObjectPoseClientPlugin.h
@@ -56,13 +55,10 @@ armarx_enable_aron_file_generation_for_target(
TARGET_NAME
"${LIB_NAME}"
ARON_FILES
- aron/AxisAlignedBoundingBox.xml
aron/ObjectID.xml
aron/ObjectNames.xml
aron/ObjectPose.xml
aron/ObjectType.xml
- aron/OrientedBox.xml
- aron/PackagePath.xml
)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml b/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
index 32c794cbc..e9701dc24 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.xml
@@ -7,12 +7,12 @@ ARON DTO of armarx::objpose::ObjectPose.
<Include include="<Eigen/Core>" />
<Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectID.aron.generated.h>" />
<Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectType.aron.generated.h>" />
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/OrientedBox.aron.generated.h>" />
+ <Include include="<RobotAPI/libraries/aron/common/aron/OrientedBox.aron.generated.h>" />
</CodeIncludes>
<AronIncludes>
<Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectID.xml>" />
<Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectType.xml>" />
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/OrientedBox.xml>" />
+ <Include include="<RobotAPI/libraries/aron/common/aron/OrientedBox.xml>" />
</AronIncludes>
<GenerateTypes>
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions.h b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions.h
index ff33149c1..f9862b6bb 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions.h
@@ -2,4 +2,3 @@
#include "aron_conversions/armarx.h"
#include "aron_conversions/objpose.h"
-#include "aron_conversions/simox.h"
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/armarx.cpp b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/armarx.cpp
index 5bbe2856e..fd081a063 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/armarx.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/armarx.cpp
@@ -13,17 +13,6 @@ void armarx::toAron(arondto::ObjectID& dto, const ObjectID& bo)
}
-void armarx::fromAron(const armarx::arondto::PackagePath& dto, armarx::PackagePath& bo)
-{
- bo = { dto.package, dto.path };
-}
-void armarx::toAron(armarx::arondto::PackagePath& dto, const armarx::PackagePath& bo)
-{
- const armarx::data::PackagePath icedto = bo.serialize();
- dto.package = icedto.package;
- dto.path = icedto.path;
-}
-
void armarx::fromAron(const armarx::arondto::PackagePath& dto, armarx::PackageFileLocation& bo)
{
bo.package = dto.package;
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/armarx.h b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/armarx.h
index a611b948f..08c60f45a 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/armarx.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/armarx.h
@@ -1,18 +1,14 @@
#pragma once
-#include <ArmarXCore/core/PackagePath.h>
-#include <RobotAPI/libraries/ArmarXObjects/aron/PackagePath.aron.generated.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectInfo.h> // For PackageFileLocation
+#include <RobotAPI/libraries/aron/common/aron/PackagePath.aron.generated.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
-#include <RobotAPI/libraries/ArmarXObjects/ObjectInfo.h>
#include <RobotAPI/libraries/ArmarXObjects/aron/ObjectID.aron.generated.h>
namespace armarx
{
- void fromAron(const arondto::PackagePath& dto, PackagePath& bo);
- void toAron(arondto::PackagePath& dto, const PackagePath& bo);
-
void fromAron(const arondto::PackagePath& dto, PackageFileLocation& bo);
void toAron(arondto::PackagePath& dto, const PackageFileLocation& bo);
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
index 2e96fdbd8..2de8a3da0 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
@@ -2,6 +2,7 @@
#include <ArmarXCore/core/exceptions/local/UnexpectedEnumValueException.h>
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.h b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.h
index 87239deff..afe31e500 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.h
@@ -1,8 +1,9 @@
#pragma once
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
-
#include <RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.aron.generated.h>
+
+#include <RobotAPI/interface/objectpose/object_pose_types.h>
#include <RobotAPI/libraries/ArmarXObjects/aron/ObjectType.aron.generated.h>
diff --git a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
index 887faff06..114f2b794 100644
--- a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
@@ -19,7 +19,6 @@ armarx_add_library(
aron_conversions.h
server/class/Segment.h
- server/class/SegmentAdapter.h
server/instance/Segment.h
server/instance/SegmentAdapter.h
@@ -30,7 +29,6 @@ armarx_add_library(
aron_conversions.cpp
server/class/Segment.cpp
- server/class/SegmentAdapter.cpp
server/instance/Segment.cpp
server/instance/SegmentAdapter.cpp
diff --git a/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml b/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
index eb98a430a..650082eb4 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
@@ -4,19 +4,19 @@ Core segment type of Object/Class.
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<CodeIncludes>
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/AxisAlignedBoundingBox.aron.generated.h>" />
+ <Include include="<RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.aron.generated.h>" />
+ <Include include="<RobotAPI/libraries/aron/common/aron/OrientedBox.aron.generated.h>" />
+ <Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.aron.generated.h>" />
<Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectID.aron.generated.h>" />
<Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectNames.aron.generated.h>" />
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/OrientedBox.aron.generated.h>" />
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/PackagePath.aron.generated.h>" />
<Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
</CodeIncludes>
<AronIncludes>
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/AxisAlignedBoundingBox.xml>" />
+ <Include include="<RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.xml>" />
+ <Include include="<RobotAPI/libraries/aron/common/aron/OrientedBox.xml>" />
+ <Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.xml>" />
<Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectID.xml>" />
<Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectNames.xml>" />
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/OrientedBox.xml>" />
- <Include include="<RobotAPI/libraries/ArmarXObjects/aron/PackagePath.xml>" />
<Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
</AronIncludes>
<GenerateTypes>
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index b7f292795..f4fa5e8d1 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -1,11 +1,15 @@
#include "Segment.h"
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/time/TimeUtil.h>
+#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
+#include <SimoxUtility/shapes/OrientedBox.h>
+
#include <filesystem>
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/SegmentAdapter.cpp b/source/RobotAPI/libraries/armem_objects/server/class/SegmentAdapter.cpp
deleted file mode 100644
index a72bd7cda..000000000
--- a/source/RobotAPI/libraries/armem_objects/server/class/SegmentAdapter.cpp
+++ /dev/null
@@ -1,501 +0,0 @@
-/*
- * 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::armem_objects::SegmentAdapter
- * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
- * @date 2021
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#if 0
-
-#include "SegmentAdapter.h"
-
-#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
-#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
-#include <RobotAPI/libraries/ArmarXObjects/ice_conversions.h>
-
-#include <ArmarXCore/core/time/CycleUtil.h>
-#include <ArmarXCore/observers/variant/Variant.h>
-
-#include <VirtualRobot/Robot.h>
-
-#include <SimoxUtility/algorithm/get_map_keys_values.h>
-
-
-namespace armarx::armem::server::obj::clazz
-{
-
- SegmentAdapter::SegmentAdapter(MemoryToIceAdapter& iceMemory, std::mutex& memoryMutex) :
- segment(iceMemory),
- memoryMutex(memoryMutex)
- {
- }
-
- std::string SegmentAdapter::getName() const
- {
- return Logging::tag.tagName;
- }
-
- void SegmentAdapter::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
- {
- calibration.defineProperties(defs, prefix + "calibration.");
- segment.defineProperties(defs, prefix);
- robotHead.defineProperties(defs, prefix + "head.");
- visu.defineProperties(defs, prefix + "visu.");
- }
-
- void SegmentAdapter::init()
- {
- segment.setTag(getName());
- segment.decay.setTag(getName());
- robotHead.setTag(getName());
- visu.setTag(getName());
-
- segment.init();
- }
-
- void SegmentAdapter::connect(
- RobotStateComponentInterfacePrx robotStateComponent,
- VirtualRobot::RobotPtr robot,
- KinematicUnitObserverInterfacePrx kinematicUnitObserver,
- viz::Client arviz,
- DebugObserverInterfacePrx debugObserver
- )
- {
- this->debugObserver = debugObserver;
- this->arviz = arviz;
-
- segment.robot = robot;
- segment.robotStateComponent = robotStateComponent;
-
- robotHead.kinematicUnitObserver = kinematicUnitObserver;
- robotHead.debugObserver = debugObserver;
- robotHead.fetchDatafields();
-
- visu.arviz = arviz;
- if (!visu.updateTask)
- {
- visu.updateTask = new SimpleRunningTask<>([this]()
- {
- this->visualizeRun();
- });
- visu.updateTask->start();
- }
- }
-
- void SegmentAdapter::reportProviderAvailable(const std::string& providerName, const objpose::ProviderInfo& info, const Ice::Current&)
- {
- updateProviderInfo(providerName, info);
- }
-
-
- void SegmentAdapter::reportObjectPoses(
- const std::string& providerName, const objpose::data::ProvidedObjectPoseSeq& providedPoses, const Ice::Current&)
- {
- ARMARX_VERBOSE << "Received object " << providedPoses.size() << " poses from provider '" << providerName << "'.";
- updateObjectPoses(providerName, providedPoses);
- }
-
-
- void SegmentAdapter::updateProviderInfo(const std::string& providerName, const objpose::ProviderInfo& info)
- {
- if (!info.proxy)
- {
- ARMARX_WARNING << "Received availability signal by provider '" << providerName << "' "
- << "with invalid provider proxy.\nIgnoring provider '" << providerName << "'.";
- return;
- }
- {
- std::scoped_lock lock(memoryMutex);
- std::stringstream ss;
- for (const auto& id : info.supportedObjects)
- {
- ss << "- " << id << "\n";
- }
- ARMARX_VERBOSE << "Provider '" << providerName << "' available.\n"
- << "Supported objects: \n" << ss.str();
- segment.providers[providerName] = info;
- }
- }
-
-
- void SegmentAdapter::updateObjectPoses(
- const std::string& providerName,
- const objpose::data::ProvidedObjectPoseSeq& providedPoses)
- {
- TIMING_START(tReportObjectPoses);
-
- RobotHeadMovement::Discard discard;
- {
- std::scoped_lock lock(robotHeadMutex);
- discard = robotHead.getDiscard();
- }
- if (debugObserver)
- {
- StringVariantBaseMap map;
- map["Discarding All Updates"] = new Variant(discard.all ? 1.f : 0.f);
- if (discard.all)
- {
- map["Proportion Updated Poses"] = new Variant(0.f);
- }
- debugObserver->setDebugChannel(getName(), map);
- }
-
- if (discard.all)
- {
- return;
- }
-
- {
- std::scoped_lock lock(memoryMutex);
- RemoteRobot::synchronizeLocalClone(segment.robot, segment.robotStateComponent);
-
- if (segment.robot->hasRobotNode(calibration.robotNode))
- {
- VirtualRobot::RobotNodePtr robotNode = segment.robot->getRobotNode(calibration.robotNode);
- float value = robotNode->getJointValue();
- robotNode->setJointValue(value + calibration.offset);
- }
-
- TIMING_START(tCommitObjectPoses);
- Segment::CommitStats stats =
- segment.commitObjectPoses(providerName, providedPoses, discard.updatesUntil);
- TIMING_END_STREAM(tCommitObjectPoses, ARMARX_VERBOSE);
-
- if (debugObserver)
- {
- debugObserver->setDebugChannel(getName(),
- {
- { "Discarding All Updates", new Variant(discard.all ? 1 : 0) },
- { "Proportion Updated Poses", new Variant(static_cast<float>(stats.numUpdated) / providedPoses.size()) }
- });
- }
-
- handleProviderUpdate(providerName);
-
- TIMING_END_STREAM(tReportObjectPoses, ARMARX_VERBOSE);
- if (debugObserver)
- {
- debugObserver->setDebugChannel(getName(),
- {
- { "t ReportObjectPoses [ms]", new Variant(tReportObjectPoses.toMilliSecondsDouble()) },
- { "t MemorySetObjectPoses [ms]", new Variant(tCommitObjectPoses.toMilliSecondsDouble()) },
- });
- }
- }
- }
-
-
- void SegmentAdapter::handleProviderUpdate(const std::string& providerName)
- {
- // Initialized to 0 on first access.
- if (segment.providers.count(providerName) == 0)
- {
- segment.providers[providerName] = objpose::ProviderInfo();
- }
- }
-
-
- objpose::data::ObjectPoseSeq SegmentAdapter::getObjectPoses(const Ice::Current&)
- {
- TIMING_START(tGetObjectPoses);
-
- TIMING_START(tGetObjectPosesLock);
- std::scoped_lock lock(memoryMutex);
- TIMING_END_STREAM(tGetObjectPosesLock, ARMARX_VERBOSE);
-
- const IceUtil::Time now = TimeUtil::GetTime();
- const objpose::data::ObjectPoseSeq result = objpose::toIce(segment.getObjectPoses(now));
-
- TIMING_END_STREAM(tGetObjectPoses, ARMARX_VERBOSE);
-
- if (debugObserver)
- {
- debugObserver->setDebugChannel(getName(),
- {
- { "t GetObjectPoses() [ms]", new Variant(tGetObjectPoses.toMilliSecondsDouble()) },
- { "t GetObjectPoses() lock [ms]", new Variant(tGetObjectPosesLock.toMilliSecondsDouble()) }
- });
- }
-
- return result;
- }
-
- objpose::data::ObjectPoseSeq SegmentAdapter::getObjectPosesByProvider(const std::string& providerName, const Ice::Current&)
- {
- TIMING_START(GetObjectPoses);
-
- TIMING_START(GetObjectPosesLock);
- std::scoped_lock lock(memoryMutex);
- TIMING_END_STREAM(GetObjectPosesLock, ARMARX_VERBOSE);
-
- const IceUtil::Time now = TimeUtil::GetTime();
- const objpose::data::ObjectPoseSeq result = objpose::toIce(segment.getObjectPosesByProvider(providerName, now));
-
- TIMING_END_STREAM(GetObjectPoses, ARMARX_VERBOSE);
-
- if (debugObserver)
- {
- debugObserver->setDebugChannel(getName(),
- {
- { "t GetObjectPosesByProvider() [ms]", new Variant(GetObjectPoses.toMilliSecondsDouble()) },
- { "t GetObjectPosesByProvider() lock [ms]", new Variant(GetObjectPosesLock.toMilliSecondsDouble()) }
- });
- }
-
- return result;
- }
-
-
- objpose::observer::RequestObjectsOutput SegmentAdapter::requestObjects(
- const objpose::observer::RequestObjectsInput& input, const Ice::Current&)
- {
- std::map<std::string, objpose::provider::RequestObjectsInput> providerRequests;
- std::map<std::string, objpose::ObjectPoseProviderPrx> proxies;
-
- objpose::observer::RequestObjectsOutput output;
-
- auto updateProxy = [&](const std::string & providerName)
- {
- if (proxies.count(providerName) == 0)
- {
- if (auto it = segment.providers.find(providerName); it != segment.providers.end())
- {
- proxies[providerName] = it->second.proxy;
- }
- else
- {
- ARMARX_ERROR << "No proxy for provider ' " << providerName << "'.";
- proxies[providerName] = nullptr;
- }
- }
- };
-
- if (input.provider.size() > 0)
- {
- providerRequests[input.provider] = input.request;
- updateProxy(input.provider);
- }
- else
- {
- std::scoped_lock lock(memoryMutex);
- for (const auto& objectID : input.request.objectIDs)
- {
- bool found = true;
- for (const auto& [providerName, info] : segment.providers)
- {
- // ToDo: optimize look up.
- if (std::find(info.supportedObjects.begin(), info.supportedObjects.end(), objectID) != info.supportedObjects.end())
- {
- providerRequests[providerName].objectIDs.push_back(objectID);
- updateProxy(providerName);
- break;
- }
- }
- if (!found)
- {
- ARMARX_ERROR << "Did not find a provider for " << objectID << ".";
- output.results[objectID].providerName = "";
- }
- }
- }
-
- for (const auto& [providerName, request] : providerRequests)
- {
- if (objpose::ObjectPoseProviderPrx proxy = proxies.at(providerName); proxy)
- {
- ARMARX_INFO << "Requesting " << request.objectIDs.size() << " objects by provider '"
- << providerName << "' for " << request.relativeTimeoutMS << " ms.";
- objpose::provider::RequestObjectsOutput providerOutput = proxy->requestObjects(request);
-
- int successful = 0;
- for (const auto& [objectID, result] : providerOutput.results)
- {
- objpose::observer::ObjectRequestResult& res = output.results[objectID];
- res.providerName = providerName;
- res.result = result;
- successful += int(result.success);
- }
- ARMARX_INFO << successful << " of " << request.objectIDs.size() << " object requests successful.";
- }
- }
- return output;
- }
-
- objpose::ProviderInfoMap SegmentAdapter::getAvailableProvidersInfo(const Ice::Current&)
- {
- std::scoped_lock lock(memoryMutex);
- return segment.providers;
- }
-
- Ice::StringSeq SegmentAdapter::getAvailableProviderNames(const Ice::Current&)
- {
- std::scoped_lock lock(memoryMutex);
- return simox::alg::get_keys(segment.providers);
- }
-
- objpose::ProviderInfo SegmentAdapter::getProviderInfo(const std::string& providerName, const Ice::Current&)
- {
- std::scoped_lock lock(memoryMutex);
- return segment.getProviderInfo(providerName);
- }
-
- bool SegmentAdapter::hasProvider(const std::string& providerName, const Ice::Current&)
- {
- std::scoped_lock lock(memoryMutex);
- return segment.providers.count(providerName) > 0;
- }
-
-
- objpose::AttachObjectToRobotNodeOutput SegmentAdapter::attachObjectToRobotNode(
- const objpose::AttachObjectToRobotNodeInput& input, const Ice::Current&)
- {
- std::scoped_lock lock(memoryMutex);
- return segment.attachObjectToRobotNode(input);
- }
-
- objpose::DetachObjectFromRobotNodeOutput SegmentAdapter::detachObjectFromRobotNode(
- const objpose::DetachObjectFromRobotNodeInput& input, const Ice::Current&)
- {
- std::scoped_lock lock(memoryMutex);
- return segment.detachObjectFromRobotNode(input);
- }
-
- objpose::DetachAllObjectsFromRobotNodesOutput SegmentAdapter::detachAllObjectsFromRobotNodes(
- const objpose::DetachAllObjectsFromRobotNodesInput& input, const Ice::Current&)
- {
- std::scoped_lock lock(memoryMutex);
- return segment.detachAllObjectsFromRobotNodes(input);
- }
-
-
- objpose::AgentFramesSeq SegmentAdapter::getAttachableFrames(const Ice::Current&)
- {
- std::scoped_lock lock(memoryMutex);
-
- objpose::AgentFramesSeq output;
- std::vector<VirtualRobot::RobotPtr> agents = { segment.robot };
- for (VirtualRobot::RobotPtr agent : agents)
- {
- objpose::AgentFrames& frames = output.emplace_back();
- frames.agent = agent->getName();
- frames.frames = agent->getRobotNodeNames();
- }
- return output;
- }
-
- objpose::SignalHeadMovementOutput
- SegmentAdapter::signalHeadMovement(const objpose::SignalHeadMovementInput& input, const Ice::Current&)
- {
- std::scoped_lock lock(robotHeadMutex);
- return robotHead.signalHeadMovement(input);
- }
-
-
- void SegmentAdapter::visualizeRun()
- {
- CycleUtil cycle(static_cast<int>(1000 / visu.frequencyHz));
- while (visu.updateTask && !visu.updateTask->isStopped())
- {
- {
- std::scoped_lock lock(visuMutex);
-
- if (visu.enabled)
- {
- TIMING_START(Visu);
-
- objpose::ObjectPoseSeq objectPoses;
- ObjectFinder objectFinder;
- visu.minConfidence = -1;
- {
- std::scoped_lock lock(memoryMutex);
-
- const IceUtil::Time now = TimeUtil::GetTime();
- objectPoses = segment.getObjectPoses(now);
- objectFinder = segment.objectFinder;
- if (segment.decay.enabled)
- {
- visu.minConfidence = segment.decay.removeObjectsBelowConfidence;
- }
- }
- const std::vector<viz::Layer> layers = visu.visualizeCommit(objectPoses, objectFinder);
- arviz.commit(layers);
-
- TIMING_END_STREAM(Visu, ARMARX_VERBOSE);
-
- if (debugObserver)
- {
- debugObserver->setDebugChannel(getName(),
- {
- { "t Visualize [ms]", new Variant(Visu.toMilliSecondsDouble()) },
- });
- }
- }
- }
- cycle.waitForCycleDuration();
- }
- }
-
-
- void SegmentAdapter::Calibration::defineProperties(PropertyDefinitionsPtr defs, const std::string& prefix)
- {
- defs->optional(robotNode, prefix + "robotNode", "Robot node which can be calibrated.");
- defs->optional(offset, prefix + "offset", "Offset for the node to be calibrated.");
- }
-
-
-
- void SegmentAdapter::RemoteGui::setup(const SegmentAdapter& adapter)
- {
- using namespace armarx::RemoteGui::Client;
-
- this->visu.setup(adapter.visu);
- this->segment.setup(adapter.segment);
- this->decay.setup(adapter.segment.decay);
- this->robotHead.setup(adapter.robotHead);
-
- layout = VBoxLayout
- {
- this->visu.group, this->segment.group, this->decay.group, this->robotHead.group,
- VSpacer()
- };
-
- group.setLabel("clazz");
- group.addChild(layout);
- }
-
- void SegmentAdapter::RemoteGui::update(SegmentAdapter& adapter)
- {
- // Non-atomic variables need to be guarded by a mutex if accessed by multiple threads
- {
- std::scoped_lock lock(adapter.visuMutex);
- this->visu.update(adapter.visu);
- }
- {
- std::scoped_lock lock(adapter.memoryMutex);
- this->segment.update(adapter.segment);
- this->decay.update(adapter.segment.decay);
- }
- {
- std::scoped_lock lock(adapter.robotHeadMutex);
- this->robotHead.update(adapter.robotHead);
- }
- }
-
-}
-
-#endif
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/SegmentAdapter.h b/source/RobotAPI/libraries/armem_objects/server/class/SegmentAdapter.h
deleted file mode 100644
index fcb50d7c0..000000000
--- a/source/RobotAPI/libraries/armem_objects/server/class/SegmentAdapter.h
+++ /dev/null
@@ -1,171 +0,0 @@
-/*
- * 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::armem_objects::Adapter
- * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
- * @date 2021
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#pragma once
-
-#if 0
-#include <mutex>
-
-#include <VirtualRobot/VirtualRobot.h>
-
-#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
-
-#include <RobotAPI/interface/armem/server/ObjectMemoryInterface.h>
-#include <RobotAPI/interface/core/RobotState.h>
-
-#include <RobotAPI/components/ArViz/Client/Client.h>
-
-#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
-#include <RobotAPI/libraries/armem_objects/server/clazz/Segment.h>
-#include <RobotAPI/libraries/armem_objects/server/clazz/Decay.h>
-#include <RobotAPI/libraries/armem_objects/server/clazz/Visu.h>
-#include <RobotAPI/libraries/armem_objects/server/clazz/RobotHeadMovement.h>
-
-
-#define ICE_CURRENT_ARG const Ice::Current& = Ice::emptyCurrent
-
-
-namespace armarx::armem::server::obj::clazz
-{
-
- /**
- * @brief Helps implementing the `armarx::armem::server::ObjectclazzSegmentInterface`.
- */
- class SegmentAdapter :
- virtual public armarx::Logging
- , virtual public armarx::armem::server::ObjectclazzSegmentInterface
- {
- public:
-
- SegmentAdapter(MemoryToIceAdapter& iceMemory, std::mutex& memoryMutex);
-
- std::string getName() const;
- void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
-
- void init();
- void connect(
- RobotStateComponentInterfacePrx robotStateComponent,
- VirtualRobot::RobotPtr robot,
- KinematicUnitObserverInterfacePrx kinematicUnitObserver,
- viz::Client arviz,
- DebugObserverInterfacePrx debugObserver
- );
-
-
- // ObjectPoseTopic interface
- public:
- virtual void reportProviderAvailable(const std::string& providerName, const objpose::ProviderInfo& info, ICE_CURRENT_ARG) override;
- virtual void reportObjectPoses(const std::string& providerName, const objpose::data::ProvidedObjectPoseSeq& objectPoses, ICE_CURRENT_ARG) override;
-
- // ObjectclazzSegmentInterface interface
- public:
-
- // OBJECT POSES
-
- virtual objpose::data::ObjectPoseSeq getObjectPoses(ICE_CURRENT_ARG) override;
- virtual objpose::data::ObjectPoseSeq getObjectPosesByProvider(const std::string& providerName, ICE_CURRENT_ARG) override;
-
- // PROVIDER INFORMATION
-
- virtual bool hasProvider(const std::string& providerName, ICE_CURRENT_ARG) override;
- virtual objpose::ProviderInfo getProviderInfo(const std::string& providerName, ICE_CURRENT_ARG) override;
- virtual Ice::StringSeq getAvailableProviderNames(ICE_CURRENT_ARG) override;
- virtual objpose::ProviderInfoMap getAvailableProvidersInfo(ICE_CURRENT_ARG) override;
-
-
- // REQUESTING
-
- virtual objpose::observer::RequestObjectsOutput requestObjects(const objpose::observer::RequestObjectsInput& input, ICE_CURRENT_ARG) override;
-
- // ATTACHING
-
- virtual objpose::AttachObjectToRobotNodeOutput attachObjectToRobotNode(const objpose::AttachObjectToRobotNodeInput& input, ICE_CURRENT_ARG) override;
- virtual objpose::DetachObjectFromRobotNodeOutput detachObjectFromRobotNode(const objpose::DetachObjectFromRobotNodeInput& input, ICE_CURRENT_ARG) override;
- virtual objpose::DetachAllObjectsFromRobotNodesOutput detachAllObjectsFromRobotNodes(const objpose::DetachAllObjectsFromRobotNodesInput& input, ICE_CURRENT_ARG) override;
-
- virtual objpose::AgentFramesSeq getAttachableFrames(ICE_CURRENT_ARG) override;
-
- // HEAD MOVEMENT SIGNALS
-
- virtual objpose::SignalHeadMovementOutput signalHeadMovement(const objpose::SignalHeadMovementInput& input, ICE_CURRENT_ARG) override;
-
-
- private:
-
- void updateProviderInfo(const std::string& providerName, const objpose::ProviderInfo& info);
-
- void updateObjectPoses(const std::string& providerName, const objpose::data::ProvidedObjectPoseSeq& providedPoses);
- void handleProviderUpdate(const std::string& providerName);
-
-
- // Visualization
-
- void visualizeRun();
-
-
- private:
-
- viz::Client arviz;
- DebugObserverInterfacePrx debugObserver;
-
- clazz::Segment segment;
- std::mutex& memoryMutex;
-
- clazz::RobotHeadMovement robotHead;
- std::mutex robotHeadMutex;
-
- clazz::Visu visu;
- std::mutex visuMutex;
-
-
- struct Calibration
- {
- std::string robotNode = "Neck_2_Pitch";
- float offset = 0.0f;
-
- void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "calibration.");
- };
- Calibration calibration;
-
-
- public:
-
- struct RemoteGui
- {
- armarx::RemoteGui::Client::GroupBox group;
- armarx::RemoteGui::Client::VBoxLayout layout;
-
- clazz::Visu::RemoteGui visu;
- clazz::Segment::RemoteGui segment;
- clazz::Decay::RemoteGui decay;
- clazz::RobotHeadMovement::RemoteGui robotHead;
-
- void setup(const SegmentAdapter& adapter);
- void update(SegmentAdapter& adapter);
- };
-
- };
-
-}
-
-#undef ICE_CURRENT_ARG
-#endif
diff --git a/source/RobotAPI/libraries/aron/CMakeLists.txt b/source/RobotAPI/libraries/aron/CMakeLists.txt
index 124be827d..c45ff0856 100644
--- a/source/RobotAPI/libraries/aron/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/CMakeLists.txt
@@ -1,3 +1,4 @@
add_subdirectory(core)
add_subdirectory(converter)
add_subdirectory(codegenerationhelper)
+add_subdirectory(common)
diff --git a/source/RobotAPI/libraries/aron/common/CMakeLists.txt b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
new file mode 100644
index 000000000..292095e5d
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
@@ -0,0 +1,36 @@
+set(LIB_NAME aroncommon)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+
+armarx_add_library(
+ LIBS
+ # ArmarXCore
+ ArmarXCore
+ # RobotAPI
+ aron
+
+ HEADERS
+ aron_conversions.h
+ aron_conversions/armarx.h
+ aron_conversions/simox.h
+
+ SOURCES
+ aron_conversions/armarx.cpp
+ aron_conversions/simox.cpp
+)
+
+
+armarx_enable_aron_file_generation_for_target(
+ TARGET_NAME
+ "${LIB_NAME}"
+ ARON_FILES
+ aron/AxisAlignedBoundingBox.xml
+ aron/OrientedBox.xml
+ aron/PackagePath.xml
+)
+
+
+# add unit tests
+# add_subdirectory(test)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron/AxisAlignedBoundingBox.xml b/source/RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.xml
similarity index 100%
rename from source/RobotAPI/libraries/ArmarXObjects/aron/AxisAlignedBoundingBox.xml
rename to source/RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.xml
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron/OrientedBox.xml b/source/RobotAPI/libraries/aron/common/aron/OrientedBox.xml
similarity index 100%
rename from source/RobotAPI/libraries/ArmarXObjects/aron/OrientedBox.xml
rename to source/RobotAPI/libraries/aron/common/aron/OrientedBox.xml
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron/PackagePath.xml b/source/RobotAPI/libraries/aron/common/aron/PackagePath.xml
similarity index 100%
rename from source/RobotAPI/libraries/ArmarXObjects/aron/PackagePath.xml
rename to source/RobotAPI/libraries/aron/common/aron/PackagePath.xml
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions.h b/source/RobotAPI/libraries/aron/common/aron_conversions.h
new file mode 100644
index 000000000..17f784d13
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions.h
@@ -0,0 +1,4 @@
+#pragma once
+
+#include "aron_conversions/armarx.h"
+#include "aron_conversions/simox.h"
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
new file mode 100644
index 000000000..da205a523
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
@@ -0,0 +1,14 @@
+#include "armarx.h"
+
+
+void armarx::fromAron(const armarx::arondto::PackagePath& dto, armarx::PackagePath& bo)
+{
+ bo = { dto.package, dto.path };
+}
+void armarx::toAron(armarx::arondto::PackagePath& dto, const armarx::PackagePath& bo)
+{
+ const armarx::data::PackagePath icedto = bo.serialize();
+ dto.package = icedto.package;
+ dto.path = icedto.path;
+}
+
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
new file mode 100644
index 000000000..241067b7b
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
@@ -0,0 +1,11 @@
+#pragma once
+
+#include <ArmarXCore/core/PackagePath.h>
+#include <RobotAPI/libraries/aron/common/aron/PackagePath.aron.generated.h>
+
+
+namespace armarx
+{
+ void fromAron(const arondto::PackagePath& dto, PackagePath& bo);
+ void toAron(arondto::PackagePath& dto, const PackagePath& bo);
+}
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/objpose.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/objpose.cpp
new file mode 100644
index 000000000..2e96fdbd8
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/objpose.cpp
@@ -0,0 +1,137 @@
+#include "objpose.h"
+
+#include <ArmarXCore/core/exceptions/local/UnexpectedEnumValueException.h>
+
+#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
+
+
+void armarx::objpose::fromAron(const arondto::ObjectAttachmentInfo& dto, ObjectAttachmentInfo& bo)
+{
+ bo.frameName = dto.frameName;
+ bo.agentName = dto.agentName;
+ bo.poseInFrame = dto.poseInFrame;
+}
+void armarx::objpose::toAron(arondto::ObjectAttachmentInfo& dto, const ObjectAttachmentInfo& bo)
+{
+ dto.frameName = bo.frameName;
+ dto.agentName = bo.agentName;
+ dto.poseInFrame = bo.poseInFrame;
+}
+
+void armarx::objpose::fromAron(const arondto::ObjectType& dto, ObjectTypeEnum& bo)
+{
+ switch (dto.value)
+ {
+ case arondto::ObjectType::AnyObject:
+ bo = ObjectTypeEnum::AnyObject;
+ return;
+ case arondto::ObjectType::KnownObject:
+ bo = ObjectTypeEnum::KnownObject;
+ return;
+ case arondto::ObjectType::UnknownObject:
+ bo = ObjectTypeEnum::UnknownObject;
+ return;
+ }
+ ARMARX_UNEXPECTED_ENUM_VALUE(arondto::ObjectType, dto.value);
+}
+void armarx::objpose::toAron(arondto::ObjectType& dto, const ObjectTypeEnum& bo)
+{
+ switch (bo)
+ {
+ case ObjectTypeEnum::AnyObject:
+ dto.value = arondto::ObjectType::AnyObject;
+ return;
+ case ObjectTypeEnum::KnownObject:
+ dto.value = arondto::ObjectType::KnownObject;
+ return;
+ case ObjectTypeEnum::UnknownObject:
+ dto.value = arondto::ObjectType::UnknownObject;
+ return;
+ }
+ ARMARX_UNEXPECTED_ENUM_VALUE(ObjectTypeEnum, bo);
+}
+
+
+void armarx::objpose::fromAron(const arondto::ObjectPose& dto, ObjectPose& bo)
+{
+ bo.providerName = dto.providerName;
+
+ fromAron(dto.objectType, bo.objectType);
+ fromAron(dto.objectID, bo.objectID);
+
+ bo.objectPoseRobot = dto.objectPoseRobot;
+ bo.objectPoseGlobal = dto.objectPoseGlobal;
+ bo.objectPoseOriginal = dto.objectPoseOriginal;
+ bo.objectPoseOriginalFrame = dto.objectPoseOriginalFrame;
+
+ bo.robotConfig = dto.robotConfig;
+ bo.robotPose = dto.robotPose;
+
+ if (dto.attachmentValid)
+ {
+ bo.attachment = ObjectAttachmentInfo();
+ fromAron(dto.attachment, *bo.attachment);
+ }
+ else
+ {
+ bo.attachment = std::nullopt;
+ }
+
+ bo.confidence = dto.confidence;
+
+ bo.timestamp = IceUtil::Time::microSeconds(dto.timestamp);
+
+ if (dto.localOOBBValid)
+ {
+ bo.localOOBB = simox::OrientedBoxf();
+ fromAron(dto.localOOBB, *bo.localOOBB);
+ }
+ else
+ {
+ bo.localOOBB = std::nullopt;
+ }
+}
+
+
+void armarx::objpose::toAron(arondto::ObjectPose& dto, const ObjectPose& bo)
+{
+ dto.providerName = bo.providerName;
+
+ toAron(dto.objectType, bo.objectType);
+ toAron(dto.objectID, bo.objectID);
+
+ dto.objectPoseRobot = bo.objectPoseRobot;
+ dto.objectPoseGlobal = bo.objectPoseGlobal;
+ dto.objectPoseOriginal = bo.objectPoseOriginal;
+ dto.objectPoseOriginalFrame = bo.objectPoseOriginalFrame;
+
+ dto.robotConfig = bo.robotConfig;
+ dto.robotPose = bo.robotPose;
+
+ if (bo.attachment)
+ {
+ dto.attachmentValid = true;
+ toAron(dto.attachment, *bo.attachment);
+ }
+ else
+ {
+ dto.attachmentValid = false;
+ toAron(dto.attachment, ObjectAttachmentInfo());
+ }
+
+ dto.confidence = bo.confidence;
+
+ dto.timestamp = bo.timestamp.toMicroSeconds();
+
+ if (bo.localOOBB)
+ {
+ dto.localOOBBValid = true;
+ toAron(dto.localOOBB, *bo.localOOBB);
+ }
+ else
+ {
+ dto.localOOBBValid = false;
+ toAron(dto.localOOBB, simox::OrientedBoxf());
+ }
+}
+
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/objpose.h b/source/RobotAPI/libraries/aron/common/aron_conversions/objpose.h
new file mode 100644
index 000000000..87239deff
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/objpose.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
+
+#include <RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.aron.generated.h>
+#include <RobotAPI/libraries/ArmarXObjects/aron/ObjectType.aron.generated.h>
+
+
+namespace armarx::objpose
+{
+ void fromAron(const arondto::ObjectAttachmentInfo& dto, ObjectAttachmentInfo& bo);
+ void toAron(arondto::ObjectAttachmentInfo& dto, const ObjectAttachmentInfo& bo);
+
+ void fromAron(const arondto::ObjectType& dto, ObjectTypeEnum& bo);
+ void toAron(arondto::ObjectType& dto, const ObjectTypeEnum& bo);
+
+ void fromAron(const arondto::ObjectPose& dto, ObjectPose& bo);
+ void toAron(arondto::ObjectPose& dto, const ObjectPose& bo);
+}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/simox.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/simox.cpp
similarity index 100%
rename from source/RobotAPI/libraries/ArmarXObjects/aron_conversions/simox.cpp
rename to source/RobotAPI/libraries/aron/common/aron_conversions/simox.cpp
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/simox.h b/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h
similarity index 73%
rename from source/RobotAPI/libraries/ArmarXObjects/aron_conversions/simox.h
rename to source/RobotAPI/libraries/aron/common/aron_conversions/simox.h
index 1d7b91492..64e847afb 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/simox.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h
@@ -1,10 +1,10 @@
#pragma once
#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
-#include <SimoxUtility/shapes/OrientedBox.h>
+#include <RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.aron.generated.h>
-#include <RobotAPI/libraries/ArmarXObjects/aron/AxisAlignedBoundingBox.aron.generated.h>
-#include <RobotAPI/libraries/ArmarXObjects/aron/OrientedBox.aron.generated.h>
+#include <SimoxUtility/shapes/OrientedBox.h>
+#include <RobotAPI/libraries/aron/common/aron/OrientedBox.aron.generated.h>
namespace simox
--
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