From c396d36017897ce6ed80c79083ce26199f0844a1 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 25 Mar 2021 14:33:28 +0100
Subject: [PATCH] PlatformSubUnit: moving robotstatecomponent to PlatformUnit
---
source/RobotAPI/components/units/PlatformUnit.cpp | 2 ++
source/RobotAPI/components/units/PlatformUnit.h | 4 ++++
.../units/RobotUnit/Units/PlatformSubUnit.cpp | 11 -----------
.../units/RobotUnit/Units/PlatformSubUnit.h | 5 -----
4 files changed, 6 insertions(+), 16 deletions(-)
diff --git a/source/RobotAPI/components/units/PlatformUnit.cpp b/source/RobotAPI/components/units/PlatformUnit.cpp
index 7b01dda6b..6f5c6b074 100644
--- a/source/RobotAPI/components/units/PlatformUnit.cpp
+++ b/source/RobotAPI/components/units/PlatformUnit.cpp
@@ -39,6 +39,8 @@ namespace armarx
def->topic(odometryPrx);
def->topic(globalPosePrx);
+ def->component(robotStateComponent);
+
return def;
}
diff --git a/source/RobotAPI/components/units/PlatformUnit.h b/source/RobotAPI/components/units/PlatformUnit.h
index f8b2335cf..097de6689 100644
--- a/source/RobotAPI/components/units/PlatformUnit.h
+++ b/source/RobotAPI/components/units/PlatformUnit.h
@@ -29,6 +29,7 @@
#include <ArmarXCore/core/application/properties/Properties.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
+#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
#include <vector>
@@ -125,6 +126,9 @@ namespace armarx
GlobalRobotPoseLocalizationListenerPrx globalPosePrx;
OdometryListenerPrx odometryPrx;
+ RobotStateComponentInterfacePrx robotStateComponent;
+
+
};
PlatformPose toPlatformPose(const TransformStamped& transformStamped);
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp
index 81b600f3c..09d1b2a42 100755
--- a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp
@@ -32,17 +32,6 @@
namespace armarx
{
-
- PropertyDefinitionsPtr armarx::PlatformSubUnit::createPropertyDefinitions()
- {
- auto def = PlatformUnit::createPropertyDefinitions();
-
- def->component(robotStateComponent);
-
- return def;
- }
-
-
void armarx::PlatformSubUnit::update(const armarx::SensorAndControl& sc, const JointAndNJointControllers&)
{
if (!getProxy())
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
index df975ed0e..07dfb37a3 100755
--- a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
@@ -61,9 +61,6 @@ namespace armarx
void reportGlobalRobotPose(const TransformStamped& currentPose, const Ice::Current& = Ice::emptyCurrent) override;
- PropertyDefinitionsPtr createPropertyDefinitions() override;
-
-
// PlatformUnit interface
void onInitPlatformUnit() override
{
@@ -97,8 +94,6 @@ namespace armarx
// TODO(fabian.reister): likely remove or adapt
Eigen::Matrix4f positionCorrection = Eigen::Matrix4f::Identity();
- protected:
- RobotStateComponentInterfacePrx robotStateComponent;
private:
--
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