From ae94188218a73f929481f822dbcd0b2c779f1a78 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 20 May 2021 10:40:06 +0200
Subject: [PATCH] aron attachment structs
---
.../libraries/armem_objects/CMakeLists.txt | 4 +-
.../armem_objects/aron/Attachment.xml | 44 +++++++++++++++----
2 files changed, 38 insertions(+), 10 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
index ed02a9adf..30a1f2ef6 100644
--- a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
@@ -70,8 +70,8 @@ armarx_enable_aron_file_generation_for_target(
aron/ObjectClass.xml
aron/ObjectInstance.xml
- # aron/Attachment.xml
- aron/Constraint.xml
+ aron/Attachment.xml
+ # aron/Constraint.xml
)
add_library(${PROJECT_NAME}::armem_objects ALIAS armem_objects)
diff --git a/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml b/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml
index 6b0227772..530e1df92 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml
@@ -1,27 +1,55 @@
<!--This class contains the data structure for ObjectPose -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<Eigen/Core>" />
+ <CodeIncludes>
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
</CodeIncludes>
+ <AronIncludes>
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
+ </AronIncludes>
<GenerateTypes>
- <Object name="armarx::armem::arondto::Attachment">
+ <Object name="armarx::armem::arondto::attachment::AgentDescription">
- <ObjectChild key="constraintType">
+ <!-- Memory link pointing to arondto::Robot or arondto::ArticulatedObject -->
+ <ObjectChild key="id">
+ <armarx::armem::arondto::MemoryID />
+ </ObjectChild>
+
+ <!-- one of the robot's frames -->
+ <ObjectChild key="frame">
+ <string/>
+ </ObjectChild>
+ </Object>
+ <!-- Fixed transformation between agent and object -->
+ <Object name="armarx::armem::arondto::attachment::ObjectAttachment">
+ <ObjectChild key="agent">
+ <armarx::armem::arondto::attachment::AgentDescription />
</ObjectChild>
<ObjectChild key="transformation">
<Pose/>
</ObjectChild>
- <ObjectChild key="objectName">
- <string/>
+ <ObjectChild key="object">
+ <armarx::armem::arondto::MemoryID />
</ObjectChild>
+ </Object>
- <ObjectChild key="objectNode">
- <string/>
+ <!-- Fixed transformation between agent and articulated object -->
+ <Object name="armarx::armem::arondto::attachment::ArticulatedObjectAttachment">
+
+ <ObjectChild key="agent">
+ <armarx::armem::arondto::attachment::AgentDescription />
+ </ObjectChild>
+
+ <ObjectChild key="transformation">
+ <Pose/>
+ </ObjectChild>
+
+ <ObjectChild key="object">
+ <armarx::armem::arondto::attachment::AgentDescription />
</ObjectChild>
</Object>
--
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