diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
index eacd69f2afe16f464dc4486665e7c4e6674a7147..94318354a993c7837eb2fac200c879e26d1c9258 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
@@ -878,7 +878,7 @@ namespace armarx
d.color.b,
d.color.transparency,
16, 30);
- SoNode* circle = boost::dynamic_pointer_cast<CoinVisualizationNode>(node)->getCoinVisualization();
+ SoNode* circle = dynamic_cast<CoinVisualizationNode&>(*node).getCoinVisualization();
circle->setName(SELECTION_NAME(d.layerName, d.name));
sep->addChild(circle);
@@ -1315,7 +1315,7 @@ namespace armarx
nodeMat->setOverride(false);
nodeSep->addChild(nodeMat);
- boost::shared_ptr<CoinVisualization> robNodeVisu = robNode->getVisualization<CoinVisualization>(visuType);
+ CoinVisualizationPtr robNodeVisu = robNode->getVisualization<CoinVisualization>(visuType);
if (robNodeVisu)
{
diff --git a/source/RobotAPI/components/RobotState/SharedRobotServants.cpp b/source/RobotAPI/components/RobotState/SharedRobotServants.cpp
index e49aac6a5abb3f596201cdc23f823805eba10654..da99bba0da26c375c7e1ad0d03936611dd2abae5 100644
--- a/source/RobotAPI/components/RobotState/SharedRobotServants.cpp
+++ b/source/RobotAPI/components/RobotState/SharedRobotServants.cpp
@@ -184,7 +184,7 @@ namespace armarx
Vector3BasePtr SharedRobotNodeServant::getJointTranslationDirection(const Current& current) const
{
ReadLockPtr lock = _node->getRobot()->getReadLock();
- boost::shared_ptr<RobotNodePrismatic> prismatic = boost::dynamic_pointer_cast<RobotNodePrismatic>(_node);
+ RobotNodePrismatic* prismatic = dynamic_cast<RobotNodePrismatic*>(_node.get());
if (prismatic)
{
@@ -199,7 +199,7 @@ namespace armarx
Vector3BasePtr SharedRobotNodeServant::getJointRotationAxis(const Current& current) const
{
ReadLockPtr lock = _node->getRobot()->getReadLock();
- boost::shared_ptr<RobotNodeRevolute> revolute = boost::dynamic_pointer_cast<RobotNodeRevolute>(_node);
+ RobotNodeRevolute* revolute = dynamic_cast<RobotNodeRevolute*>(_node.get());
if (revolute)
{
diff --git a/source/RobotAPI/components/RobotState/SharedRobotServants.h b/source/RobotAPI/components/RobotState/SharedRobotServants.h
index 922588ddbdbf15100fa4a3e358a5abd232de3546..76addb6ea428eacfbf37548067956fe33fd6d1f3 100644
--- a/source/RobotAPI/components/RobotState/SharedRobotServants.h
+++ b/source/RobotAPI/components/RobotState/SharedRobotServants.h
@@ -26,19 +26,11 @@
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <RobotAPI/libraries/core/FramedPose.h>
-
-
#include <RobotAPI/interface/core/RobotState.h>
-#include <boost/thread.hpp>
+#include <VirtualRobot/VirtualRobot.h>
-namespace VirtualRobot
-{
- class Robot;
- using RobotPtr = boost::shared_ptr<Robot>;
- class RobotNode;
- using RobotNodePtr = boost::shared_ptr<RobotNode>;
-}
+#include <boost/thread.hpp>
namespace armarx
{
diff --git a/source/RobotAPI/components/units/HandUnit.h b/source/RobotAPI/components/units/HandUnit.h
index 6f7cc714ab242930d2a2a32d6022b77889a473bc..3816605266f1bc44dce40a752bfe94b14af8177b 100644
--- a/source/RobotAPI/components/units/HandUnit.h
+++ b/source/RobotAPI/components/units/HandUnit.h
@@ -32,15 +32,9 @@
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXCore/observers/variant/SingleTypeVariantList.h>
+#include <VirtualRobot/VirtualRobot.h>
-namespace VirtualRobot
-{
- class Robot;
- using RobotPtr = boost::shared_ptr<Robot>;
- class EndEffector;
- using EndEffectorPtr = boost::shared_ptr<EndEffector>;
-}
namespace armarx
{
/**
diff --git a/source/RobotAPI/components/units/HeadIKUnit.cpp b/source/RobotAPI/components/units/HeadIKUnit.cpp
index d240a3c60d2fa0a382ae4fe69cb33df69a643c9c..df43463d53c642d9953382872fa37c6caa519372 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.cpp
+++ b/source/RobotAPI/components/units/HeadIKUnit.cpp
@@ -31,6 +31,9 @@
#include <VirtualRobot/IK/GazeIK.h>
#include <VirtualRobot/LinkedCoordinate.h>
+#include <boost/shared_ptr.hpp>
+#include <memory>
+
namespace armarx
{
@@ -305,7 +308,9 @@ namespace armarx
VirtualRobot::RobotNodePrismaticPtr virtualPrismaticJoint;
- virtualPrismaticJoint = boost::dynamic_pointer_cast<VirtualRobot::RobotNodePrismatic>(tcpNode);
+ using boost::dynamic_pointer_cast;
+ using std::dynamic_pointer_cast;
+ virtualPrismaticJoint = dynamic_pointer_cast<VirtualRobot::RobotNodePrismatic>(tcpNode);
if (!virtualPrismaticJoint)
{
ARMARX_WARNING << deactivateSpam(10, robotNodeSetName) << "Head IK Kinematic Chain TCP is not a prismatic joint! skipping joint set";
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
index 1f6e157696ee50f33a216cf6665d271b11be7939..1ca9843eb3dd70b97900d04020c286a8c2d27588 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
@@ -53,13 +53,7 @@
#include "../util/JointAndNJointControllers.h"
#include "../util/ControlThreadOutputBuffer.h"
-namespace VirtualRobot
-{
- class Robot;
- class RobotNode;
- using RobotNodePtr = boost::shared_ptr<RobotNode>;
- using RobotPtr = boost::shared_ptr<Robot>;
-}
+#include <VirtualRobot/VirtualRobot.h>
namespace armarx::RobotUnitModule
{
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index 8f4bd0e84990ce14bdc686609e3fdbb317321247..41022170c200a160b5f794da0973d1202600dae6 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -34,6 +34,7 @@
#include <Eigen/Core>
+#include <boost/shared_ptr.hpp>
#include <memory>
using namespace VirtualRobot;
@@ -358,7 +359,9 @@ namespace armarx
localDIKMap[data.nodeSetName] = dIk;
}
- EDifferentialIKPtr dIk = boost::dynamic_pointer_cast<EDifferentialIK>(localDIKMap[data.nodeSetName]);
+ using std::dynamic_pointer_cast;
+ using boost::dynamic_pointer_cast;
+ auto dIk = dynamic_pointer_cast<EDifferentialIK>(localDIKMap[data.nodeSetName]);
dIk->clearGoals();
}
@@ -476,7 +479,9 @@ namespace armarx
{
RobotNodeSetPtr robotNodeSet = localRobot->getRobotNodeSet(itDIK->first);
- EDifferentialIKPtr dIK = boost::dynamic_pointer_cast<EDifferentialIK>(itDIK->second);
+ using std::dynamic_pointer_cast;
+ using boost::dynamic_pointer_cast;
+ auto dIK = dynamic_pointer_cast<EDifferentialIK>(itDIK->second);
// ARMARX_VERBOSE << deactivateSpam(1) << "Old Pos: \n" << robotNodeSet->getTCP()->getGlobalPose();
// dIK->setVerbose(true);
Eigen::VectorXf jointDelta;
@@ -656,7 +661,7 @@ namespace armarx
}
else
{
- VR_ERROR << "Internal error?!" << endl; // Error
+ VR_ERROR << "Internal error?!" << std::endl; // Error
}
@@ -754,7 +759,7 @@ namespace armarx
if (boost::math::isnan(jv[i]) || boost::math::isinf(jv[i]))
{
- ARMARX_WARNING_S << "Aborting, invalid joint value (nan)" << endl;
+ ARMARX_WARNING_S << "Aborting, invalid joint value (nan)" << std::endl;
dofWeights = tempDOFWeights;
return false;
}
@@ -776,7 +781,7 @@ namespace armarx
{
if (verbose)
{
- ARMARX_INFO << deactivateSpam(1) << "Tolerances ok, loop:" << step << endl;
+ ARMARX_INFO << deactivateSpam(1) << "Tolerances ok, loop:" << step << std::endl;
}
break;
@@ -789,14 +794,14 @@ namespace armarx
if (dTheta.norm() < mininumChange)
{
// if (verbose)
- ARMARX_INFO << deactivateSpam(1) << "Could not improve result any more (dTheta.norm()=" << d << "), loop:" << step << " Resulting error: pos " << posDist << " orientation: " << oriErr << endl;
+ ARMARX_INFO << deactivateSpam(1) << "Could not improve result any more (dTheta.norm()=" << d << "), loop:" << step << " Resulting error: pos " << posDist << " orientation: " << oriErr << std::endl;
break;
}
if (checkImprovement && posDist > lastDist)
{
// if (verbose)
- ARMARX_INFO << deactivateSpam(1) << "Could not improve result any more (current position error=" << posDist << ", last loop's error:" << lastDist << "), loop:" << step << endl;
+ ARMARX_INFO << deactivateSpam(1) << "Could not improve result any more (current position error=" << posDist << ", last loop's error:" << lastDist << "), loop:" << step << std::endl;
robot->setJointValues(rns, jvBest);
break;
}
@@ -835,9 +840,9 @@ namespace armarx
if (step >= maxNStep && verbose)
{
- ARMARX_INFO << deactivateSpam(1) << "IK failed, loop:" << step << endl;
- ARMARX_INFO << deactivateSpam(1) << "pos error:" << getMeanErrorPosition() << endl;
- ARMARX_INFO << deactivateSpam(1) << "rot error:" << getErrorRotation(rns->getTCP()) << endl;
+ ARMARX_INFO << deactivateSpam(1) << "IK failed, loop:" << step << std::endl;
+ ARMARX_INFO << deactivateSpam(1) << "pos error:" << getMeanErrorPosition() << std::endl;
+ ARMARX_INFO << deactivateSpam(1) << "rot error:" << getErrorRotation(rns->getTCP()) << std::endl;
return false;
}
@@ -901,7 +906,7 @@ namespace armarx
}
else
{
- VR_ERROR << "Internal error?!" << endl; // Error
+ VR_ERROR << "Internal error?!" << std::endl; // Error
}
@@ -1051,7 +1056,7 @@ namespace armarx
}
else
{
- VR_ERROR << "Internal error?!" << endl; // Error
+ VR_ERROR << "Internal error?!" << std::endl; // Error
}
@@ -1221,7 +1226,7 @@ namespace armarx
}
Vector3f position = targets[tcp].block(0, 3, 3, 1) - tcp->getGlobalPose().block(0, 3, 3, 1);
- //cout << "Error Position <" << tcp->getName() << ">: " << position.norm() << endl;
+ //cout << "Error Position <" << tcp->getName() << ">: " << position.norm() << std::endl;
//cout << boost::format("Error Position < %1% >: %2%") % tcp->getName() % position.norm() << std::endl;
float result = 0.0f;
Eigen::VectorXf tcpWeight(3);
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 76b9edea96974cce02ccb474e0a0e8452a5fe122..2dada5d9cfc755d806b548ae65185a17e63aa8bb 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -668,7 +668,7 @@ VirtualRobot::RobotPtr KinematicUnitWidgetController::loadRobotFile(std::string
return robot;
}
-CoinVisualizationPtr KinematicUnitWidgetController::getCoinVisualization(VirtualRobot::RobotPtr robot)
+VirtualRobot::CoinVisualizationPtr KinematicUnitWidgetController::getCoinVisualization(VirtualRobot::RobotPtr robot)
{
CoinVisualizationPtr coinVisualization;
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 047655ab2555949865fa9cc0b13b9dd4cda48642..41d50d3d08e5f394d2a9df8603656f595bed9f47 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -54,13 +54,10 @@
#include <QStyledItemDelegate>
#include <ArmarXCore/core/util/IceReportSkipper.h>
-#include <boost/shared_ptr.hpp>
-#include <boost/cstdint.hpp>
+#include <VirtualRobot/VirtualRobot.h>
namespace armarx
{
- using CoinVisualizationPtr = boost::shared_ptr<VirtualRobot::CoinVisualization>;
-
class KinematicUnitConfigDialog;
/*!
@@ -245,7 +242,7 @@ namespace armarx
VirtualRobot::RobotNodeSetPtr robotNodeSet;
VirtualRobot::RobotNodePtr currentNode;
- CoinVisualizationPtr kinematicUnitVisualization;
+ VirtualRobot::CoinVisualizationPtr kinematicUnitVisualization;
SoNode* kinematicUnitNode;
SoSeparator* rootVisu;
SoSeparator* robotVisu;
@@ -276,7 +273,7 @@ namespace armarx
boost::recursive_mutex mutexNodeSet;
// init stuff
VirtualRobot::RobotPtr loadRobotFile(std::string fileName);
- CoinVisualizationPtr getCoinVisualization(VirtualRobot::RobotPtr robot);
+ VirtualRobot::CoinVisualizationPtr getCoinVisualization(VirtualRobot::RobotPtr robot);
VirtualRobot::RobotNodeSetPtr getRobotNodeSet(VirtualRobot::RobotPtr robot, std::string nodeSetName);
bool initGUIComboBox(VirtualRobot::RobotNodeSetPtr robotNodeSet);
bool initGUIJointListTable(VirtualRobot::RobotNodeSetPtr robotNodeSet);
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
index 9292a3666978a4741ef8f6a75dd6da4021d8ef8d..70bfba4dd96690a4f7e133d0164de2a3ff87dd05 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
@@ -44,14 +44,10 @@
#include <VirtualRobot/Visualization/VisualizationFactory.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
-#include <boost/shared_ptr.hpp>
-
#include <Inventor/sensors/SoTimerSensor.h>
namespace armarx
{
- using CoinVisualizationPtr = boost::shared_ptr<VirtualRobot::CoinVisualization>;
-
class RobotViewerConfigDialog;
/**
@@ -171,7 +167,7 @@ namespace armarx
// init stuff
VirtualRobot::RobotPtr loadRobotFile(std::string fileName);
- CoinVisualizationPtr getCoinVisualization(VirtualRobot::RobotPtr robot);
+ VirtualRobot::CoinVisualizationPtr getCoinVisualization(VirtualRobot::RobotPtr robot);
QPointer<QWidget> __widget;
QPointer<SimpleConfigDialog> dialog;
diff --git a/source/RobotAPI/libraries/core/FramedPose.h b/source/RobotAPI/libraries/core/FramedPose.h
index e7a796a6eb65e02cb59ac06751278d73912ca8cc..319e542d33664ec0a7d19c54422814369172435f 100644
--- a/source/RobotAPI/libraries/core/FramedPose.h
+++ b/source/RobotAPI/libraries/core/FramedPose.h
@@ -33,6 +33,9 @@
#include <ArmarXCore/observers/AbstractObjectSerializer.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <VirtualRobot/VirtualRobot.h>
+#include <VirtualRobot/LinkedCoordinate.h>
+
#include <Eigen/Core>
#include <Eigen/Geometry>
@@ -40,13 +43,6 @@
#include <sstream>
-namespace VirtualRobot
-{
- class Robot;
- using RobotPtr = boost::shared_ptr<Robot>;
- class LinkedCoordinate;
-}
-
namespace armarx::VariantType
{
// variant types
diff --git a/source/RobotAPI/libraries/core/RobotPool.cpp b/source/RobotAPI/libraries/core/RobotPool.cpp
index 154cfb2890c9fb2f0f5e6a8b2867bf82ea68d775..2b9444a4d594a6483c435638fad3385f9b544f57 100644
--- a/source/RobotAPI/libraries/core/RobotPool.cpp
+++ b/source/RobotAPI/libraries/core/RobotPool.cpp
@@ -43,7 +43,7 @@ namespace armarx
VirtualRobot::RobotPtr RobotPool::getRobot(int inflation)
{
- ScopedLock lock(mutex);
+ std::scoped_lock lock(mutex);
for (auto& r : robots[inflation])
{
if (r.use_count() == 1)
@@ -61,7 +61,7 @@ namespace armarx
size_t RobotPool::getPoolSize() const
{
- ScopedLock lock(mutex);
+ std::scoped_lock lock(mutex);
size_t size = 0;
for (auto& pair : robots)
{
@@ -72,7 +72,7 @@ namespace armarx
size_t RobotPool::getRobotsInUseCount() const
{
- ScopedLock lock(mutex);
+ std::scoped_lock lock(mutex);
size_t count = 0;
for (auto& pair : robots)
{
@@ -89,7 +89,7 @@ namespace armarx
size_t RobotPool::clean()
{
- ScopedLock lock(mutex);
+ std::scoped_lock lock(mutex);
size_t count = 0;
for (auto& pair : robots)
{
diff --git a/source/RobotAPI/libraries/core/RobotPool.h b/source/RobotAPI/libraries/core/RobotPool.h
index 6aa0ccb24c917a6e76c2d2a0e1d06f9cc8ae16be..4d6db6fc1ed2ba14a1f3c9bffe2b7557deaf0508 100644
--- a/source/RobotAPI/libraries/core/RobotPool.h
+++ b/source/RobotAPI/libraries/core/RobotPool.h
@@ -22,8 +22,11 @@
* GNU General Public License
*/
#pragma once
+
#include <VirtualRobot/Robot.h>
-#include <ArmarXCore/core/system/Synchronization.h>
+
+#include <mutex>
+
namespace armarx
{
@@ -53,7 +56,7 @@ namespace armarx
private:
std::map<int, std::vector<VirtualRobot::RobotPtr>> robots;
VirtualRobot::RobotPtr baseRobot;
- mutable Mutex mutex;
+ mutable std::mutex mutex;
};
using RobotPoolPtr = std::shared_ptr<RobotPool>;
}
diff --git a/source/RobotAPI/libraries/core/RobotStatechartContext.cpp b/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
index 6e4988445a86ee0a2e42efc1ddcc4da2600d3609..cb3a549b7d45fdc48d727da8a46db0586512917e 100644
--- a/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
+++ b/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
@@ -28,6 +28,10 @@
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXCore/statechart/Statechart.h>
+#include <boost/algorithm/string/split.hpp>
+#include <boost/algorithm/string/classification.hpp>
+#include <boost/algorithm/string/trim.hpp>
+
namespace armarx
{
// ****************************************************************
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
index dfc84e32aa84f0bba6e323322cd78cab998473be..82b34bed30972c62afb143272525a261f43c1823 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
@@ -22,8 +22,12 @@
* GNU General Public License
*/
#include "RemoteRobot.h"
+
#include <boost/foreach.hpp>
#include <boost/format.hpp>
+#include <boost/algorithm/string/split.hpp>
+#include <boost/algorithm/string/classification.hpp>
+
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/RobotConfig.h>
@@ -38,7 +42,7 @@
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
-//#define DMES(Obj) cout << format("[%1%|%2%|%3%] %4%") % __FILE__ % __LINE__ % __func__ % Obj << endl;
+//#define DMES(Obj) cout << format("[%1%|%2%|%3%] %4%") % __FILE__ % __LINE__ % __func__ % Obj;
#define DMES(Obj) ;
using namespace VirtualRobot;
@@ -47,7 +51,7 @@ using namespace Eigen;
namespace armarx
{
- boost::recursive_mutex RemoteRobot::m;
+ std::recursive_mutex RemoteRobot::m;
RemoteRobot::RemoteRobot(SharedRobotInterfacePrx robot) :
Robot(),
@@ -199,12 +203,12 @@ namespace armarx
VirtualRobot::RobotNodePtr RemoteRobot::createLocalNode(SharedRobotNodeInterfacePrx remoteNode, std::vector<VirtualRobot::RobotNodePtr>& allNodes, std::map< VirtualRobot::RobotNodePtr, std::vector<std::string> >& childrenMap, RobotPtr robo)
{
- boost::recursive_mutex::scoped_lock cloneLock(m);
+ std::scoped_lock cloneLock(m);
static int nonameCounter = 0;
if (!remoteNode || !robo)
{
- ARMARX_ERROR_S << " NULL data " << endl;
+ ARMARX_ERROR_S << " NULL data ";
return VirtualRobot::RobotNodePtr();
}
@@ -217,7 +221,7 @@ namespace armarx
if (name.empty())
{
- ARMARX_LOG_S << "Node without name!!!" << endl;
+ ARMARX_LOG_S << "Node without name!!!";
std::stringstream ss;
ss << "robot_node_" << nonameCounter;
nonameCounter++;
@@ -285,7 +289,7 @@ namespace armarx
break;
default:
- ARMARX_ERROR_S << "JointType nyi..." << endl;
+ ARMARX_ERROR_S << "JointType nyi...";
return VirtualRobot::RobotNodePtr();
break;
}
@@ -308,14 +312,14 @@ namespace armarx
/* boost::shared_ptr< RemoteRobotNode<VirtualRobotNodeType> > rnRemote = boost::dynamic_pointer_cast<RemoteRobotNode>(rnRemoteBase);
if (!rnRemote)
{
- ARMARX_ERROR_S << "RemoteRobot does not know robot node with name " << children[i] << endl;
+ ARMARX_ERROR_S << "RemoteRobot does not know robot node with name " << children[i];
continue;
}*/
if (!localNode)
{
- ARMARX_ERROR_S << "Could not create local node: " << children[i] << endl;
+ ARMARX_ERROR_S << "Could not create local node: " << children[i];
continue;
}
@@ -329,8 +333,7 @@ namespace armarx
VirtualRobot::RobotPtr RemoteRobot::createLocalClone()
{
- //ARMARX_IMPORTANT_S << "RemoteRobot local clone" << flush;
- boost::recursive_mutex::scoped_lock cloneLock(m);
+ std::scoped_lock cloneLock(m);
std::string robotType = getName();
std::string robotName = getName();
VirtualRobot::RobotPtr robo(new VirtualRobot::LocalRobot(robotName, robotType));
@@ -347,7 +350,7 @@ namespace armarx
if (!res)
{
- ARMARX_ERROR_S << "Failed to initialize local robot..." << endl;
+ ARMARX_ERROR_S << "Failed to initialize local robot...";
return VirtualRobot::RobotPtr();
}
@@ -375,24 +378,24 @@ namespace armarx
{
RobotPtr result;
- boost::recursive_mutex::scoped_lock cloneLock(m);
- ARMARX_VERBOSE_S << "Creating local clone of remote robot (filename:" << filename << ")" << endl;
+ std::scoped_lock cloneLock(m);
+ ARMARX_VERBOSE_S << "Creating local clone of remote robot (filename:" << filename << ")";
if (!sharedRobotPrx)
{
- ARMARX_ERROR_S << "NULL sharedRobotPrx. Aborting..." << endl;
+ ARMARX_ERROR_S << "NULL sharedRobotPrx. Aborting...";
return result;
}
if (filename.empty())
{
- RemoteRobotPtr rob(new RemoteRobot(sharedRobotPrx));
+ std::shared_ptr<RemoteRobot> rob(new RemoteRobot(sharedRobotPrx));
result = rob->createLocalClone();
if (!result)
{
- ARMARX_ERROR_S << "Could not create local clone. Aborting..." << endl;
+ ARMARX_ERROR_S << "Could not create local clone. Aborting...";
return result;
}
}
@@ -429,7 +432,7 @@ namespace armarx
if (!result)
{
- ARMARX_ERROR_S << "Could not load robot file " << filename << ". Aborting..." << endl;
+ ARMARX_ERROR_S << "Could not load robot file " << filename << ". Aborting...";
return result;
}
}
@@ -460,12 +463,12 @@ namespace armarx
{
if (!robot)
{
- ARMARX_ERROR << "Robot is NULL! Aborting..." << endl;
+ ARMARX_ERROR << "Robot is NULL! Aborting...";
return false;
}
if (!sharedRobotPrx)
{
- ARMARX_ERROR_S << "shared robot prx is NULL! Aborting..." << endl;
+ ARMARX_ERROR_S << "shared robot prx is NULL! Aborting...";
return false;
}
PoseBasePtr globalPose;
@@ -480,7 +483,7 @@ namespace armarx
if (!c->setConfig(jointName, jointAngle))
{
- ARMARX_WARNING << deactivateSpam(10, jointName) << "Joint not known in local copy:" << jointName << ". Skipping..." << endl;
+ ARMARX_WARNING << deactivateSpam(10, jointName) << "Joint not known in local copy:" << jointName << ". Skipping...";
}
}
@@ -518,7 +521,7 @@ namespace armarx
if (!c->setConfig(jointName, jointAngle))
{
- ARMARX_WARNING << deactivateSpam(10, jointName) << "Joint not known in local copy:" << jointName << ". Skipping..." << endl;
+ ARMARX_WARNING << deactivateSpam(10, jointName) << "Joint not known in local copy:" << jointName << ". Skipping...";
}
}
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
index 815d81841a7b09abb3650da0ce98fcd8b357a700..bdcec086f7caada926363468166bd7ff854346b6 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
@@ -37,17 +37,8 @@
#include <VirtualRobot/Nodes/RobotNodeFixed.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/CollisionDetection/CollisionChecker.h>
-// boost
-#include <boost/thread/mutex.hpp>
-#include <boost/utility/enable_if.hpp>
-#include <boost/type_traits/is_base_of.hpp>
-
-//namespace VirtualRobot
-//{
-// class RobotNodeRevolute;
-// class RobotNodePrismatic;
-// class RobotNodeFixed;
-//}
+
+#include <mutex>
namespace armarx
{
@@ -150,13 +141,10 @@ namespace armarx
*/
class RemoteRobot : public VirtualRobot::Robot
{
- template<class T>
- friend void boost::checked_delete(T*);
- protected:
- ~RemoteRobot() override;
public:
RemoteRobot(SharedRobotInterfacePrx robot);
+ ~RemoteRobot() override;
VirtualRobot::RobotNodePtr getRootNode() const override;
@@ -270,12 +258,12 @@ namespace armarx
mutable std::map<std::string, VirtualRobot::RobotNodePtr> _cachedNodes;
mutable VirtualRobot::RobotNodePtr _root;
- static boost::recursive_mutex m;
+ static std::recursive_mutex m;
static VirtualRobot::RobotNodePtr createRemoteRobotNode(SharedRobotNodeInterfacePrx, VirtualRobot::RobotPtr);
};
- using RemoteRobotPtr = boost::shared_ptr<RemoteRobot>;
+ //using RemoteRobotPtr = boost::shared_ptr<RemoteRobot>;
}
#endif
diff --git a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
index e8c1146821c153ab5767805431e2a8c8a9d53163..b604011aec6843d69bc58a1cd8e0b335345344d0 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
+++ b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
@@ -31,15 +31,9 @@
#include <ArmarXCore/observers/ConditionCheck.h>
#include <ArmarXCore/observers/Observer.h>
-#include <string>
+#include <VirtualRobot/VirtualRobot.h>
-namespace VirtualRobot
-{
- class Robot;
- using RobotPtr = boost::shared_ptr<Robot>;
- class RobotNode;
- using RobotNodePtr = boost::shared_ptr<RobotNode>;
-}
+#include <string>
namespace armarx
{