From a50875e79ed0c73abda38c3c3a2d7812a2447d33 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Tue, 4 Aug 2020 22:41:05 +0200
Subject: [PATCH] Extend RobotNameHelper
---
.../RobotStatechartHelpers/RobotNameHelper.cpp | 18 ++++++++++++++++--
.../RobotStatechartHelpers/RobotNameHelper.h | 10 ++++++++--
2 files changed, 24 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
index a9ecec5e4..6053d0196 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
@@ -25,6 +25,8 @@
#include <ArmarXCore/core/util/StringHelpers.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
#include <ArmarXCore/statechart/xmlstates/profiles/StatechartProfiles.h>
#include <ArmarXCore/util/CPPUtility/trace.h>
@@ -32,7 +34,6 @@
namespace armarx
{
-
void RobotNameHelper::writeRobotInfoNode(
const RobotInfoNodePtr& n,
std::ostream& str,
@@ -225,6 +226,14 @@ namespace armarx
return select("HandModelPath");
}
+ std::string RobotNameHelper::Arm::getAbsoluteHandModelPath() const
+ {
+ ArmarXDataPath::FindPackageAndAddDataPath(getHandModelPackage());
+ auto path = getHandModelPath();
+ return ArmarXDataPath::getAbsolutePath(path, path) ?
+ path : "";
+ }
+
std::string RobotNameHelper::Arm::getHandModelPackage() const
{
ARMARX_TRACE;
@@ -289,7 +298,12 @@ namespace armarx
return tcp->getPoseInRootFrame().inverse() * hand->getPoseInRootFrame();
}
- RobotNameHelper::Arm RobotNameHelper::RobotArm::getArm() const
+ const VirtualRobot::RobotPtr& RobotNameHelper::RobotArm::getRobot() const
+ {
+ return robot;
+ }
+
+ const RobotNameHelper::Arm& RobotNameHelper::RobotArm::getArm() const
{
return arm;
}
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
index 703c0ae83..0a4fdd59a 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
@@ -74,6 +74,7 @@ namespace armarx
std::string getHandControllerName() const;
std::string getHandRootNode() const;
std::string getHandModelPath() const;
+ std::string getAbsoluteHandModelPath() const;
std::string getHandModelPackage() const;
RobotArm addRobot(const VirtualRobot::RobotPtr& robot) const;
@@ -104,7 +105,8 @@ namespace armarx
VirtualRobot::RobotNodePtr getTCP() const;
VirtualRobot::RobotNodePtr getHandRootNode() const;
Eigen::Matrix4f getTcp2HandRootTransform() const;
- Arm getArm() const;
+ const Arm& getArm() const;
+ const VirtualRobot::RobotPtr& getRobot() const;
RobotArm(const Arm& arm, const VirtualRobot::RobotPtr& robot);
RobotArm() = default;
@@ -114,7 +116,7 @@ namespace armarx
RobotArm& operator=(const RobotArm&) = default;
private:
- const Arm arm;
+ Arm arm;
VirtualRobot::RobotPtr robot;
};
@@ -123,6 +125,10 @@ namespace armarx
static RobotNameHelperPtr Create(const RobotInfoNodePtr& robotInfo, const StatechartProfilePtr& profile);
RobotNameHelper(const RobotInfoNodePtr& robotInfo, const StatechartProfilePtr& profile = nullptr);
+ RobotNameHelper(RobotNameHelper&&) = default;
+ RobotNameHelper(const RobotNameHelper&) = default;
+ RobotNameHelper& operator=(RobotNameHelper&&) = default;
+ RobotNameHelper& operator=(const RobotNameHelper&) = default;
Arm getArm(const std::string& side) const;
RobotArm getRobotArm(const std::string& side, const VirtualRobot::RobotPtr& robot) const;
--
GitLab