From d482b53df5835ef97f8b95c51c299b943120dbbf Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 16 Feb 2023 08:44:35 +0100
Subject: [PATCH] ArticulatedObjectWriter: fixing data path
---
.../ArticulatedObjectWriter.cpp | 55 +++++++++++--------
1 file changed, 32 insertions(+), 23 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
index 54049d8bb..0b466d404 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
@@ -3,44 +3,53 @@
#include <Eigen/Core>
#include <Eigen/Geometry>
+#include <VirtualRobot/Robot.h>
+
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
-
-#include <VirtualRobot/Robot.h>
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
namespace armarx::armem::articulated_object
{
- armem::articulated_object::ArticulatedObject convert(
- const VirtualRobot::Robot& obj,
- const armem::Time& timestamp)
+ armem::articulated_object::ArticulatedObject
+ convert(const VirtualRobot::Robot& obj, const armem::Time& timestamp)
{
ARMARX_DEBUG << "Filename is " << obj.getFilename();
- // TODO(fabian.reister): remove "PriorKnowledgeData" below
+ const std::vector<std::string> packages =
+ armarx::CMakePackageFinder::FindAllArmarXSourcePackages();
+ const std::string package = armarx::ArmarXDataPath::getProject(packages, obj.getFilename());
- return armem::articulated_object::ArticulatedObject
+ // make sure that the relative path is without the 'package/' prefix
+ const std::string fileRelPath = [&obj, &package]() -> std::string
{
- .description = {
- .name = obj.getType(),
- .xml = PackagePath(armarx::ArmarXDataPath::getProject(
- {"PriorKnowledgeData"}, obj.getFilename()),
- obj.getFilename())
- },
- .instance = obj.getName(),
- .config = {
- .timestamp = timestamp,
- .globalPose = Eigen::Affine3f(obj.getRootNode()->getGlobalPose()),
- .jointMap = obj.getJointValues()
- },
- .timestamp = timestamp};
+ if (simox::alg::starts_with(obj.getFilename(), package))
+ {
+ // remove "package" + "/"
+ const std::string fixedFilename = obj.getFilename().substr(package.size() + 1, -1);
+ return fixedFilename;
+ }
+
+ return obj.getFilename();
+ }();
+
+ return armem::articulated_object::ArticulatedObject{
+ .description = {.name = obj.getType(),
+ .xml = PackagePath(armarx::ArmarXDataPath::getProject(
+ {package}, fileRelPath),
+ obj.getFilename())},
+ .instance = obj.getName(),
+ .config = {.timestamp = timestamp,
+ .globalPose = Eigen::Affine3f(obj.getRootNode()->getGlobalPose()),
+ .jointMap = obj.getJointValues()},
+ .timestamp = timestamp};
}
bool
- ArticulatedObjectWriter::storeArticulatedObject(
- const VirtualRobot::RobotPtr& articulatedObject,
- const armem::Time& timestamp)
+ ArticulatedObjectWriter::storeArticulatedObject(const VirtualRobot::RobotPtr& articulatedObject,
+ const armem::Time& timestamp)
{
ARMARX_CHECK_NOT_NULL(articulatedObject);
--
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