From e1976421e7673c61268a61d83a009098a98ddf26 Mon Sep 17 00:00:00 2001
From: "fabian.peller-konrad@kit.edu" <fabian.peller-konrad@kit.edu>
Date: Wed, 5 May 2021 09:20:08 +0200
Subject: [PATCH] optional updates
---
.../components/armem/server/CMakeLists.txt | 2 +-
source/RobotAPI/interface/aron/Aron.ice | 4 +-
.../cpp/serializer/ndarray/EigenMatrix.cpp | 16 +--
.../serializer/ndarray/EigenQuaternion.cpp | 12 +--
.../cpp/serializer/ndarray/Orientation.cpp | 2 +-
.../cpp/serializer/ndarray/Pose.cpp | 4 +-
.../cpp/serializer/ndarray/Position.cpp | 4 +-
.../cpp/serializer/primitive/Primitive.cpp | 7 +-
.../typeReader/xml/ReaderFactory.cpp | 25 ++---
.../libraries/aron/core/io/typeIO/Reader.h | 28 +++---
.../libraries/aron/core/io/typeIO/Writer.h | 28 +++---
.../core/io/typeIO/converter/Converter.cpp | 38 ++++----
.../aron/core/io/typeIO/visitor/Visitor.cpp | 41 ++++----
.../writer/navigator/NavigatorWriter.cpp | 40 ++++----
.../nlohmannJSON/NlohmannJSONWriter.cpp | 40 ++++----
.../core/navigator/type/container/Dict.cpp | 4 +-
.../core/navigator/type/container/List.cpp | 4 +-
.../core/navigator/type/container/Object.cpp | 4 +-
.../core/navigator/type/container/Pair.cpp | 4 +-
.../core/navigator/type/container/Tuple.cpp | 4 +-
.../aron/core/navigator/type/enum/IntEnum.cpp | 4 +-
.../navigator/type/ndarray/EigenMatrix.cpp | 97 ++++++++++++-------
.../core/navigator/type/ndarray/EigenMatrix.h | 9 +-
.../type/ndarray/EigenQuaternion.cpp | 21 ++--
.../navigator/type/ndarray/IVTCByteImage.cpp | 13 ++-
.../core/navigator/type/ndarray/NDArray.cpp | 6 +-
.../core/navigator/type/ndarray/OpenCVMat.cpp | 6 +-
.../navigator/type/ndarray/Orientation.cpp | 6 +-
.../navigator/type/ndarray/PCLPointCloud.cpp | 6 +-
.../aron/core/navigator/type/ndarray/Pose.cpp | 6 +-
.../core/navigator/type/ndarray/Position.cpp | 6 +-
.../navigator/type/primitive/Primitive.cpp | 4 +-
32 files changed, 268 insertions(+), 227 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/CMakeLists.txt b/source/RobotAPI/components/armem/server/CMakeLists.txt
index 83fd40e2d..48313a312 100644
--- a/source/RobotAPI/components/armem/server/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/server/CMakeLists.txt
@@ -1,5 +1,5 @@
add_subdirectory(ExampleMemory)
add_subdirectory(GeneralPurposeMemory)
add_subdirectory(ObjectMemory)
-add_subdirectory(RobotSensorMemory)
+add_subdirectory(RobotStateMemory)
add_subdirectory(SkillsMemory)
diff --git a/source/RobotAPI/interface/aron/Aron.ice b/source/RobotAPI/interface/aron/Aron.ice
index 9b5e96712..2e7053efc 100644
--- a/source/RobotAPI/interface/aron/Aron.ice
+++ b/source/RobotAPI/interface/aron/Aron.ice
@@ -44,7 +44,7 @@ module armarx
module type
{
class AronType {
- bool is_optional = false; // Every type can be optional or not
+ bool isOptional = true; // Every type can be optional or not
}
sequence<AronType> AronTypeList;
dictionary<string, AronType> AronTypeDict;
@@ -58,7 +58,7 @@ module armarx
// Complex Types (serialize to ndarray)
class AronNDArray extends AronType { AronIntSequence dimensions; string typeName; }
- class AronEigenMatrix extends AronType { AronIntSequence dimensions; string typeName; }
+ class AronEigenMatrix extends AronType { int rows; int cols; AronIntSequence otherDimensions; string typeName; }
class AronEigenQuaternion extends AronType { string typeName; }
class AronIVTCByteImage extends AronType { int width; int height; string typeName; }
class AronOpenCVMat extends AronType { AronIntSequence dimensions; string typeName; }
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
index b2bd6844f..e6c93e450 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
@@ -65,31 +65,31 @@ namespace armarx::aron::cppcodegenerator::serializer
return b;
}
- CppBlockPtr EigenMatrixSerializer::getResetBlock(const std::string& accessor) const
+ CppBlockPtr EigenMatrixSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = {};");
+ b->addLine(accessor + " = " + getFullCppTypename() + "();");
return b;
}
- CppBlockPtr EigenMatrixSerializer::getWriteInitialTypeBlock(const std::string&) const
+ CppBlockPtr EigenMatrixSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeEigenMatrix({{" + simox::alg::to_string<int>(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
+ b->addLine(accessor + " = " + getFullCppTypename() + "();");
return b;
}
- CppBlockPtr EigenMatrixSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
+ CppBlockPtr EigenMatrixSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeEigenMatrix({{" + accessor + nextEl() + "rows(), " + accessor + nextEl() + "cols()}, \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
+ b->addLine("w.writeEigenMatrix({{" + simox::alg::to_string<int>(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
- CppBlockPtr EigenMatrixSerializer::getInitializeBlock(const std::string& accessor) const
+ CppBlockPtr EigenMatrixSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = {};");
+ b->addLine("w.writeEigenMatrix({{" + accessor + nextEl() + "rows(), " + accessor + nextEl() + "cols()}, \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
index b9e1d3ced..20c0cbeaa 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
@@ -63,28 +63,28 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr EigenQuaternionSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = {};");
+ b->addLine(accessor + " = " + getFullCppTypename() + "();");
return b;
}
- CppBlockPtr EigenQuaternionSerializer::getWriteInitialTypeBlock(const std::string&) const
+ CppBlockPtr EigenQuaternionSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeEigenQuaternion({\"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
+ b->addLine(accessor + " = " + getFullCppTypename() + "();");
return b;
}
- CppBlockPtr EigenQuaternionSerializer::getWriteCurrentTypeBlock(const std::string&) const
+ CppBlockPtr EigenQuaternionSerializer::getWriteInitialTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("w.writeEigenQuaternion({\"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
- CppBlockPtr EigenQuaternionSerializer::getInitializeBlock(const std::string& accessor) const
+ CppBlockPtr EigenQuaternionSerializer::getWriteCurrentTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getFullCppTypename() + "();");
+ b->addLine("w.writeEigenQuaternion({\"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
index 9aaddd388..992d169ce 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
@@ -56,7 +56,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr OrientationSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = {};");
+ b->addLine(accessor + " = " + getFullCppTypename() + "();");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
index 135379e92..3cc08abf3 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
@@ -56,14 +56,14 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PoseSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = {};");
+ b->addLine(accessor + " = " + getFullCppTypename() + "();");
return b;
}
CppBlockPtr PoseSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = {};");
+ b->addLine(accessor + " = " + getFullCppTypename() + "();");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
index c87defd2c..9369718a0 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
@@ -56,14 +56,14 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PositionSerializer::getResetBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = {};");
+ b->addLine(accessor + " = " + getFullCppTypename() + "();");
return b;
}
CppBlockPtr PositionSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = {};");
+ b->addLine(accessor + " = " + getFullCppTypename() + "();");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.cpp
index 323414fbb..a7f8b33b4 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.cpp
@@ -104,7 +104,8 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr upperType##Serializer::getWriteBlock(const std::string& accessor) const \
{ \
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock()); \
- block_if_data->addLine("w.writePrimitive(" + accessor + ");"); \
+ std::string resolved_accessor = ResolveOptionalAccessor(accessor, typenavigator); \
+ block_if_data->addLine("w.writePrimitive(" + resolved_accessor + ");"); \
\
return ResolveOptionalBlock(accessor, block_if_data, typenavigator); \
} \
@@ -112,8 +113,8 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr upperType##Serializer::getReadBlock(const std::string& accessor) const \
{ \
CppBlockPtr b = CppBlockPtr(new CppBlock()); \
- \
- b->addLine("r.readPrimitive(" + accessor + ");"); \
+ std::string resolved_accessor = ResolveOptionalAccessor(accessor, typenavigator); \
+ b->addLine("r.readPrimitive(" + resolved_accessor + ");"); \
return b; \
} \
\
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
index 4d65cf804..ac53b26da 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
@@ -135,11 +135,11 @@ namespace armarx::aron::xmltypereader
Data::EnforceAttribute(objectChild, Data::KEY_ATTRIBUTE_NAME);
const std::string key = objectChild.attribute_value(Data::KEY_ATTRIBUTE_NAME);
- bool is_optional = Data::AttributeIsTrue(objectChild, Data::OPTIONAL_NAME);
+ bool isOptional = Data::AttributeIsTrue(objectChild, Data::OPTIONAL_NAME);
std::vector<RapidXmlReaderNode> children = objectChild.nodes();
typenavigator::NavigatorPtr childNavigator = create(children[0], Path(path, key));
- childNavigator->setOptional(is_optional);
+ childNavigator->setOptional(isOptional);
aronObjectType->addMemberType(key, childNavigator);
}
ObjectGenerationStack.pop();
@@ -154,6 +154,7 @@ namespace armarx::aron::xmltypereader
{
// We are a public top level class. Add to AllPublicObjects
AllPublicObjects.insert(std::make_pair(simox::alg::to_lower(newObject->typeName), newObject));
+ aronObjectType = typenavigator::ObjectNavigator::DynamicCastAndCheck(ResolveTypename(simox::alg::to_lower(newObject->typeName))); // make a copy
}
return aronObjectType;
@@ -168,9 +169,9 @@ namespace armarx::aron::xmltypereader
Data::EnforceChildSize(node, 1);
std::vector<RapidXmlReaderNode> listTypeNodeChildren = node.nodes();
const RapidXmlReaderNode typeNode = listTypeNodeChildren[0];
- bool is_optional = Data::AttributeIsTrue(typeNode, Data::OPTIONAL_NAME);
+ bool isOptional = Data::AttributeIsTrue(typeNode, Data::OPTIONAL_NAME);
typenavigator::NavigatorPtr type = create(typeNode, Path(path, "type"));
- type->setOptional(is_optional);
+ type->setOptional(isOptional);
list->setAcceptedType(type);
return list;
@@ -185,9 +186,9 @@ namespace armarx::aron::xmltypereader
Data::EnforceChildSize(node, 1);
std::vector<RapidXmlReaderNode> dictTypeNodeChildren = node.nodes();
const RapidXmlReaderNode typeNode = dictTypeNodeChildren[0];
- bool is_optional = Data::AttributeIsTrue(typeNode, Data::OPTIONAL_NAME);
+ bool isOptional = Data::AttributeIsTrue(typeNode, Data::OPTIONAL_NAME);
typenavigator::NavigatorPtr type = create(typeNode, Path(path, "type"));
- type->setOptional(is_optional);
+ type->setOptional(isOptional);
dict->setAcceptedType(type);
return dict;
@@ -212,10 +213,10 @@ namespace armarx::aron::xmltypereader
std::vector<RapidXmlReaderNode> typeNodeChildren = tupleTypeDeclarationNode.nodes();
const RapidXmlReaderNode typeNode = typeNodeChildren[0];
- bool is_optional = Data::AttributeIsTrue(typeNode, Data::OPTIONAL_NAME);
+ bool isOptional = Data::AttributeIsTrue(typeNode, Data::OPTIONAL_NAME);
typenavigator::NavigatorPtr type = create(typeNode, Path(path, "<" + std::to_string(i++) + ">"));
- type->setOptional(is_optional);
+ type->setOptional(isOptional);
tuple->addAcceptedType(type);
}
@@ -239,20 +240,20 @@ namespace armarx::aron::xmltypereader
std::vector<RapidXmlReaderNode> type1NodeChildren = nodeChildren[0].nodes();
const RapidXmlReaderNode type1Node = type1NodeChildren[0];
- bool is_optional1 = Data::AttributeIsTrue(type1Node, Data::OPTIONAL_NAME);
+ bool isOptional1 = Data::AttributeIsTrue(type1Node, Data::OPTIONAL_NAME);
typenavigator::NavigatorPtr type1 = create(type1Node, Path(path, std::to_string(0)));
- type1->setOptional(is_optional1);
+ type1->setOptional(isOptional1);
pair->setFirstAcceptedType(type1);
Data::EnforceChildSize(nodeChildren[1], 1);
std::vector<RapidXmlReaderNode> type2NodeChildren = nodeChildren[1].nodes();
const RapidXmlReaderNode type2Node = type2NodeChildren[0];
- bool is_optional2 = Data::AttributeIsTrue(type2Node, Data::OPTIONAL_NAME);
+ bool isOptional2 = Data::AttributeIsTrue(type2Node, Data::OPTIONAL_NAME);
typenavigator::NavigatorPtr type2 = create(type2Node, Path(path, std::to_string(1)));
- type2->setOptional(is_optional2);
+ type2->setOptional(isOptional2);
pair->setSecondAcceptedType(type2);
return pair;
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.h b/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.h
index d3ea62010..52a707936 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.h
@@ -42,7 +42,7 @@ namespace armarx::aron::typeIO
{
std::string name;
unsigned int elements;
- bool is_optional;
+ bool isOptional;
};
virtual ReadStartObjectReturnType readStartObject() = 0;
virtual bool readEndObject() = 0;
@@ -50,7 +50,7 @@ namespace armarx::aron::typeIO
struct ReadStartListReturnType
{
unsigned int elements;
- bool is_optional;
+ bool isOptional;
};
virtual ReadStartListReturnType readStartList() = 0;
virtual bool readEndList() = 0;
@@ -58,7 +58,7 @@ namespace armarx::aron::typeIO
struct ReadStartDictReturnType
{
unsigned int elements;
- bool is_optional;
+ bool isOptional;
};
virtual ReadStartDictReturnType readStartDict() = 0;
virtual bool readEndDict() = 0;
@@ -66,7 +66,7 @@ namespace armarx::aron::typeIO
struct ReadStartTupleReturnType
{
unsigned int elements;
- bool is_optional;
+ bool isOptional;
};
virtual ReadStartTupleReturnType readStartTuple() = 0;
virtual bool readEndTuple() = 0;
@@ -74,7 +74,7 @@ namespace armarx::aron::typeIO
struct ReadStartPairReturnType
{
unsigned int elements;
- bool is_optional;
+ bool isOptional;
};
virtual ReadStartPairReturnType readStartPair() = 0;
virtual bool readEndPair() = 0;
@@ -83,14 +83,14 @@ namespace armarx::aron::typeIO
{
std::vector<int> dimensions;
std::string type;
- bool is_optional;
+ bool isOptional;
};
virtual ReadEigenMatrixReturnType readEigenMatrix() = 0;
struct ReadEigenQuaternionReturnType
{
std::string type;
- bool is_optional;
+ bool isOptional;
};
virtual ReadEigenQuaternionReturnType readEigenQuaternion() = 0;
@@ -99,7 +99,7 @@ namespace armarx::aron::typeIO
unsigned int width;
unsigned int height;
std::string type;
- bool is_optional;
+ bool isOptional;
};
virtual ReadIVTCbyteImageReturnType readIVTCByteImage() = 0;
@@ -107,7 +107,7 @@ namespace armarx::aron::typeIO
{
std::vector<int> dimensions;
std::string type;
- bool is_optional;
+ bool isOptional;
};
virtual ReadOpenCVMatReturnType readOpenCVMat() = 0;
@@ -116,31 +116,31 @@ namespace armarx::aron::typeIO
unsigned int width;
unsigned int height;
std::string type;
- bool is_optional;
+ bool isOptional;
};
virtual ReadPCLPointCloudReturnType readPCLPointCloud() = 0;
struct ReadPositionReturnType
{
- bool is_optional;
+ bool isOptional;
};
virtual ReadPositionReturnType readPosition() = 0;
struct ReadOrientationReturnType
{
- bool is_optional;
+ bool isOptional;
};
virtual ReadOrientationReturnType readOrientation() = 0;
struct ReadPoseReturnType
{
- bool is_optional;
+ bool isOptional;
};
virtual ReadPoseReturnType readPose() = 0;
struct ReadPrimitiveReturnType
{
- bool is_optional;
+ bool isOptional;
};
virtual ReadPrimitiveReturnType readInt() = 0;
virtual ReadPrimitiveReturnType readLong() = 0;
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h b/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
index 58f5bcc32..761d2d964 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
@@ -42,35 +42,35 @@ namespace armarx::aron::typeIO
struct WriteStartObjectInput
{
std::string name;
- bool is_optional;
+ bool isOptional;
};
virtual void writeStartObject(const WriteStartObjectInput&) = 0;
virtual void writeEndObject() = 0;
struct WriteStartListInput
{
- bool is_optional;
+ bool isOptional;
};
virtual void writeStartList(const WriteStartListInput&) = 0;
virtual void writeEndList() = 0;
struct WriteStartDictInput
{
- bool is_optional;
+ bool isOptional;
};
virtual void writeStartDict(const WriteStartDictInput&) = 0;
virtual void writeEndDict() = 0;
struct WriteStartTupleInput
{
- bool is_optional;
+ bool isOptional;
};
virtual void writeStartTuple(const WriteStartTupleInput&) = 0;
virtual void writeEndTuple() = 0;
struct WriteStartPairInput
{
- bool is_optional;
+ bool isOptional;
};
virtual void writeStartPair(const WriteStartPairInput&) = 0;
virtual void writeEndPair() = 0;
@@ -79,14 +79,14 @@ namespace armarx::aron::typeIO
{
std::vector<int> dimensions;
std::string type;
- bool is_optional;
+ bool isOptional;
};
virtual void writeEigenMatrix(const WriteEigenMatrixInput&) = 0;
struct WriteEigenQuaternionInput
{
std::string type;
- bool is_optional;
+ bool isOptional;
};
virtual void writeEigenQuaternion(const WriteEigenQuaternionInput&) = 0;
@@ -95,7 +95,7 @@ namespace armarx::aron::typeIO
unsigned int width;
unsigned int height;
std::string type;
- bool is_optional;
+ bool isOptional;
};
virtual void writeIVTCByteImage(const WriteIVTCByteImageInput&) = 0;
@@ -103,7 +103,7 @@ namespace armarx::aron::typeIO
{
std::vector<int> dimensions;
std::string type;
- bool is_optional;
+ bool isOptional;
};
virtual void writeOpenCVMat(const WriteOpenCVMatInput&) = 0;
@@ -112,31 +112,31 @@ namespace armarx::aron::typeIO
unsigned int width;
unsigned int height;
std::string type;
- bool is_optional;
+ bool isOptional;
};
virtual void writePCLPointCloud(const WritePCLPointCloudInput&) = 0;
struct WritePositionInput
{
- bool is_optional;
+ bool isOptional;
};
virtual void writePosition(const WritePositionInput&) = 0;
struct WriteOrientationInput
{
- bool is_optional;
+ bool isOptional;
};
virtual void writeOrientation(const WriteOrientationInput&) = 0;
struct WritePoseInput
{
- bool is_optional;
+ bool isOptional;
};
virtual void writePose(const WritePoseInput&) = 0;
struct WritePrimitiveInput
{
- bool is_optional;
+ bool isOptional;
};
virtual void writeInt(const WritePrimitiveInput&) = 0;
virtual void writeLong(const WritePrimitiveInput&) = 0;
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp
index 9750bfc93..742a4063e 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp
@@ -35,7 +35,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eObject:
{
const auto readStartObject = reader.readStartObject();
- writer.writeStartObject({readStartObject.name, readStartObject.is_optional});
+ writer.writeStartObject({readStartObject.name, readStartObject.isOptional});
for (unsigned int i = 0; i < readStartObject.elements; ++i)
{
@@ -51,7 +51,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eDict:
{
const auto readStartDict = reader.readStartDict();
- writer.writeStartDict({readStartDict.is_optional});
+ writer.writeStartDict({readStartDict.isOptional});
Converter::ReadAndConvert(reader, writer);
@@ -62,7 +62,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eTuple:
{
const auto readStartTuple = reader.readStartTuple();
- writer.writeStartTuple({readStartTuple.is_optional});
+ writer.writeStartTuple({readStartTuple.isOptional});
for (unsigned int i = 0; i < readStartTuple.elements; ++i)
{
@@ -76,7 +76,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eList:
{
const auto readStartList = reader.readStartList();
- writer.writeStartList({readStartList.is_optional});
+ writer.writeStartList({readStartList.isOptional});
Converter::ReadAndConvert(reader, writer);
@@ -87,91 +87,91 @@ namespace armarx::aron::typeIO
case type::Descriptor::eEigenMatrix:
{
const auto readEigenMatrix = reader.readEigenMatrix();
- writer.writeEigenMatrix({readEigenMatrix.dimensions, readEigenMatrix.type, readEigenMatrix.is_optional});
+ writer.writeEigenMatrix({readEigenMatrix.dimensions, readEigenMatrix.type, readEigenMatrix.isOptional});
break;
}
case type::Descriptor::eEigenQuaternion:
{
const auto readEigenQuaternion = reader.readEigenQuaternion();
- writer.writeEigenQuaternion({readEigenQuaternion.type, readEigenQuaternion.is_optional});
+ writer.writeEigenQuaternion({readEigenQuaternion.type, readEigenQuaternion.isOptional});
break;
}
case type::Descriptor::eIVTCByteImage:
{
const auto readIVTCByteImage = reader.readIVTCByteImage();
- writer.writeIVTCByteImage({readIVTCByteImage.width, readIVTCByteImage.height, readIVTCByteImage.type, readIVTCByteImage.is_optional});
+ writer.writeIVTCByteImage({readIVTCByteImage.width, readIVTCByteImage.height, readIVTCByteImage.type, readIVTCByteImage.isOptional});
break;
}
case type::Descriptor::eOpenCVMat:
{
const auto readOpenCVMat = reader.readOpenCVMat();
- writer.writeOpenCVMat({readOpenCVMat.dimensions, readOpenCVMat.type, readOpenCVMat.is_optional});
+ writer.writeOpenCVMat({readOpenCVMat.dimensions, readOpenCVMat.type, readOpenCVMat.isOptional});
break;
}
case type::Descriptor::ePCLPointCloud:
{
const auto readPCLPointCloud = reader.readPCLPointCloud();
- writer.writePCLPointCloud({readPCLPointCloud.width, readPCLPointCloud.height, readPCLPointCloud.type, readPCLPointCloud.is_optional});
+ writer.writePCLPointCloud({readPCLPointCloud.width, readPCLPointCloud.height, readPCLPointCloud.type, readPCLPointCloud.isOptional});
break;
}
case type::Descriptor::ePosition:
{
const auto readPosition = reader.readPosition();
- writer.writePosition({readPosition.is_optional});
+ writer.writePosition({readPosition.isOptional});
break;
}
case type::Descriptor::eOrientation:
{
const auto readOrientation = reader.readOrientation();
- writer.writeOrientation({readOrientation.is_optional});
+ writer.writeOrientation({readOrientation.isOptional});
break;
}
case type::Descriptor::ePose:
{
const auto readPose = reader.readPose();
- writer.writePose({readPose.is_optional});
+ writer.writePose({readPose.isOptional});
break;
}
case type::Descriptor::eInt:
{
const auto readInt = reader.readInt();
- writer.writeInt({readInt.is_optional});
+ writer.writeInt({readInt.isOptional});
break;
}
case type::Descriptor::eLong:
{
const auto readLong = reader.readLong();
- writer.writeLong({readLong.is_optional});
+ writer.writeLong({readLong.isOptional});
break;
}
case type::Descriptor::eFloat:
{
const auto readFloat = reader.readFloat();
- writer.writeFloat({readFloat.is_optional});
+ writer.writeFloat({readFloat.isOptional});
break;
}
case type::Descriptor::eDouble:
{
const auto readDouble = reader.readDouble();
- writer.writeDouble({readDouble.is_optional});
+ writer.writeDouble({readDouble.isOptional});
break;
}
case type::Descriptor::eString:
{
const auto readString = reader.readString();
- writer.writeString({readString.is_optional});
+ writer.writeString({readString.isOptional});
break;
}
case type::Descriptor::eBool:
{
const auto readBool = reader.readBool();
- writer.writeBool({readBool.is_optional});
+ writer.writeBool({readBool.isOptional});
break;
}
case type::Descriptor::eTime:
{
const auto readTime = reader.readTime();
- writer.writeTime({readTime.is_optional});
+ writer.writeTime({readTime.isOptional});
break;
}
default:
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp
index a18cc2daa..942db9a9f 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp
@@ -22,6 +22,9 @@
#include <memory>
#include <numeric>
+// Simox
+#include <SimoxUtility/algorithm/vector.hpp>
+
// Header
#include "Visitor.h"
@@ -46,7 +49,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eObject:
{
auto casted = type::AronObjectPtr::dynamicCast(aron);
- writer.writeStartObject({casted->objectName, casted->is_optional});
+ writer.writeStartObject({casted->objectName, casted->isOptional});
for (const auto& [key, value] : casted->elementTypes)
{
writer.writeKey(key);
@@ -58,7 +61,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eDict:
{
auto casted = type::AronDictPtr::dynamicCast(aron);
- writer.writeStartDict({casted->is_optional});
+ writer.writeStartDict({casted->isOptional});
Visitor::VisitAndSetup(writer, casted->acceptedType);
writer.writeEndDict();
break;
@@ -66,7 +69,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eTuple:
{
auto casted = type::AronTuplePtr::dynamicCast(aron);
- writer.writeStartTuple({casted->is_optional});
+ writer.writeStartTuple({casted->isOptional});
for (const auto& value : casted->elementTypes)
{
Visitor::VisitAndSetup(writer, value);
@@ -77,7 +80,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eList:
{
auto casted = type::AronListPtr::dynamicCast(aron);
- writer.writeStartList({casted->is_optional});
+ writer.writeStartList({casted->isOptional});
Visitor::VisitAndSetup(writer, casted->acceptedType);
writer.writeEndList();
break;
@@ -85,91 +88,91 @@ namespace armarx::aron::typeIO
case type::Descriptor::eEigenMatrix:
{
auto casted = type::AronEigenMatrixPtr::dynamicCast(aron);
- writer.writeEigenMatrix({casted->dimensions, casted->typeName, casted->is_optional});
+ writer.writeEigenMatrix({simox::alg::appended({casted->rows, casted->cols}, casted->otherDimensions), casted->typeName, casted->isOptional});
break;
}
case type::Descriptor::eEigenQuaternion:
{
auto casted = type::AronEigenQuaternionPtr::dynamicCast(aron);
- writer.writeEigenQuaternion({casted->typeName, casted->is_optional});
+ writer.writeEigenQuaternion({casted->typeName, casted->isOptional});
break;
}
case type::Descriptor::eIVTCByteImage:
{
auto casted = type::AronIVTCByteImagePtr::dynamicCast(aron);
- writer.writeIVTCByteImage({(unsigned int) casted->width, (unsigned int) casted->height, casted->typeName, casted->is_optional});
+ writer.writeIVTCByteImage({(unsigned int) casted->width, (unsigned int) casted->height, casted->typeName, casted->isOptional});
break;
}
case type::Descriptor::eOpenCVMat:
{
auto casted = type::AronOpenCVMatPtr::dynamicCast(aron);
- writer.writeOpenCVMat({casted->dimensions, casted->typeName, casted->is_optional});
+ writer.writeOpenCVMat({casted->dimensions, casted->typeName, casted->isOptional});
break;
}
case type::Descriptor::ePCLPointCloud:
{
auto casted = type::AronPCLPointCloudPtr::dynamicCast(aron);
- writer.writePCLPointCloud({(unsigned int) casted->width, (unsigned int) casted->height, casted->typeName, casted->is_optional});
+ writer.writePCLPointCloud({(unsigned int) casted->width, (unsigned int) casted->height, casted->typeName, casted->isOptional});
break;
}
case type::Descriptor::ePosition:
{
auto casted = type::AronPositionPtr::dynamicCast(aron);
- writer.writePosition({casted->is_optional});
+ writer.writePosition({casted->isOptional});
break;
}
case type::Descriptor::eOrientation:
{
auto casted = type::AronOrientationPtr::dynamicCast(aron);
- writer.writeOrientation({casted->is_optional});
+ writer.writeOrientation({casted->isOptional});
break;
}
case type::Descriptor::ePose:
{
auto casted = type::AronPosePtr::dynamicCast(aron);
- writer.writePose({casted->is_optional});
+ writer.writePose({casted->isOptional});
break;
}
case type::Descriptor::eInt:
{
auto casted = type::AronIntPtr::dynamicCast(aron);
- writer.writeInt({casted->is_optional});
+ writer.writeInt({casted->isOptional});
break;
}
case type::Descriptor::eLong:
{
auto casted = type::AronLongPtr::dynamicCast(aron);
- writer.writeLong({casted->is_optional});
+ writer.writeLong({casted->isOptional});
break;
}
case type::Descriptor::eFloat:
{
auto casted = type::AronFloatPtr::dynamicCast(aron);
- writer.writeFloat({casted->is_optional});
+ writer.writeFloat({casted->isOptional});
break;
}
case type::Descriptor::eDouble:
{
auto casted = type::AronDoublePtr::dynamicCast(aron);
- writer.writeDouble({casted->is_optional});
+ writer.writeDouble({casted->isOptional});
break;
}
case type::Descriptor::eString:
{
auto casted = type::AronStringPtr::dynamicCast(aron);
- writer.writeString({casted->is_optional});
+ writer.writeString({casted->isOptional});
break;
}
case type::Descriptor::eBool:
{
auto casted = type::AronBoolPtr::dynamicCast(aron);
- writer.writeBool({casted->is_optional});
+ writer.writeBool({casted->isOptional});
break;
}
case type::Descriptor::eTime:
{
auto casted = type::AronTimePtr::dynamicCast(aron);
- writer.writeTime({casted->is_optional});
+ writer.writeTime({casted->isOptional});
break;
}
default:
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
index e50169c74..163ec2609 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
@@ -58,7 +58,7 @@ namespace armarx::aron::typeIO::writer
Path path = generatePath();
auto type = std::make_shared<typenavigator::ObjectNavigator>(path);
type->setObjectName(o.name);
- type->setOptional(o.is_optional);
+ type->setOptional(o.isOptional);
auto new_token = std::make_shared<NavigatorWriterToken>(type->getDescriptor(), type);
stack.push(new_token);
}
@@ -79,7 +79,7 @@ namespace armarx::aron::typeIO::writer
{
Path path = generatePath();
auto type = std::make_shared<typenavigator::DictNavigator>(path);
- type->setOptional(o.is_optional);
+ type->setOptional(o.isOptional);
auto new_token = std::make_shared<NavigatorWriterToken>(type->getDescriptor(), type);
stack.push(new_token);
}
@@ -100,7 +100,7 @@ namespace armarx::aron::typeIO::writer
{
Path path = generatePath();
auto type = std::make_shared<typenavigator::ListNavigator>(path);
- type->setOptional(o.is_optional);
+ type->setOptional(o.isOptional);
auto new_token = std::make_shared<NavigatorWriterToken>(type->getDescriptor(), type);
stack.push(new_token);
}
@@ -121,7 +121,7 @@ namespace armarx::aron::typeIO::writer
{
Path path = generatePath();
auto type = std::make_shared<typenavigator::TupleNavigator>(path);
- type->setOptional(o.is_optional);
+ type->setOptional(o.isOptional);
auto new_token = std::make_shared<NavigatorWriterToken>(type->getDescriptor(), type);
stack.push(new_token);
}
@@ -142,7 +142,7 @@ namespace armarx::aron::typeIO::writer
{
Path path = generatePath();
auto type = std::make_shared<typenavigator::PairNavigator>(path);
- type->setOptional(o.is_optional);
+ type->setOptional(o.isOptional);
auto new_token = std::make_shared<NavigatorWriterToken>(type->getDescriptor(), type);
stack.push(new_token);
}
@@ -166,7 +166,7 @@ namespace armarx::aron::typeIO::writer
typenavigator::EigenMatrixNavigatorPtr aron(new typenavigator::EigenMatrixNavigator(path));
aron->setTypename(o.type);
aron->setDimensions(o.dimensions);
- aron->setOptional(o.is_optional);
+ aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -176,7 +176,7 @@ namespace armarx::aron::typeIO::writer
NavigatorWriterTokenPtr token = stack.top();
typenavigator::EigenQuaternionNavigatorPtr aron(new typenavigator::EigenQuaternionNavigator(path));
aron->setTypename(o.type);
- aron->setOptional(o.is_optional);
+ aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -188,7 +188,7 @@ namespace armarx::aron::typeIO::writer
aron->setTypename(o.type);
aron->setWidth(o.width);
aron->setHeight(o.height);
- aron->setOptional(o.is_optional);
+ aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -199,7 +199,7 @@ namespace armarx::aron::typeIO::writer
typenavigator::OpenCVMatNavigatorPtr aron(new typenavigator::OpenCVMatNavigator(path));
aron->setTypename(o.type);
aron->setDimensions(o.dimensions);
- aron->setOptional(o.is_optional);
+ aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -211,7 +211,7 @@ namespace armarx::aron::typeIO::writer
aron->setTypename(o.type);
aron->setWidth(o.width);
aron->setHeight(o.height);
- aron->setOptional(o.is_optional);
+ aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -220,7 +220,7 @@ namespace armarx::aron::typeIO::writer
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::PositionNavigatorPtr aron(new typenavigator::PositionNavigator(path));
- aron->setOptional(o.is_optional);
+ aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -229,7 +229,7 @@ namespace armarx::aron::typeIO::writer
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::OrientationNavigatorPtr aron(new typenavigator::OrientationNavigator(path));
- aron->setOptional(o.is_optional);
+ aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -238,7 +238,7 @@ namespace armarx::aron::typeIO::writer
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::PoseNavigatorPtr aron(new typenavigator::PoseNavigator(path));
- aron->setOptional(o.is_optional);
+ aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -247,7 +247,7 @@ namespace armarx::aron::typeIO::writer
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::IntNavigatorPtr aron(new typenavigator::IntNavigator(path));
- aron->setOptional(o.is_optional);
+ aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -256,7 +256,7 @@ namespace armarx::aron::typeIO::writer
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::LongNavigatorPtr aron(new typenavigator::LongNavigator(path));
- aron->setOptional(o.is_optional);
+ aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -265,7 +265,7 @@ namespace armarx::aron::typeIO::writer
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::FloatNavigatorPtr aron(new typenavigator::FloatNavigator(path));
- aron->setOptional(o.is_optional);
+ aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -274,7 +274,7 @@ namespace armarx::aron::typeIO::writer
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::DoubleNavigatorPtr aron(new typenavigator::DoubleNavigator(path));
- aron->setOptional(o.is_optional);
+ aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -283,7 +283,7 @@ namespace armarx::aron::typeIO::writer
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::StringNavigatorPtr aron(new typenavigator::StringNavigator(path));
- aron->setOptional(o.is_optional);
+ aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -292,7 +292,7 @@ namespace armarx::aron::typeIO::writer
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::BoolNavigatorPtr aron(new typenavigator::BoolNavigator(path));
- aron->setOptional(o.is_optional);
+ aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -301,7 +301,7 @@ namespace armarx::aron::typeIO::writer
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::TimeNavigatorPtr aron(new typenavigator::TimeNavigator(path));
- aron->setOptional(o.is_optional);
+ aron->setOptional(o.isOptional);
token->addElement(aron);
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
index af8b31837..5ca58566d 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::typeIO::writer
{
nlohmann::json data;
data[io::Data::READER_WRITER_NAME_SLUG] = o.name;
- data[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ data[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
auto new_token = std::make_shared<NlohmannJSONWriterToken>(type::Descriptor::eObject, data);
stack.push(new_token);
}
@@ -50,7 +50,7 @@ namespace armarx::aron::typeIO::writer
void NlohmannJSONWriter::writeStartList(const WriteStartListInput& o)
{
nlohmann::json data;
- data[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ data[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
auto new_token = std::make_shared<NlohmannJSONWriterToken>(type::Descriptor::eList, data);
stack.push(new_token);
}
@@ -70,7 +70,7 @@ namespace armarx::aron::typeIO::writer
void NlohmannJSONWriter::writeStartDict(const WriteStartDictInput& o)
{
nlohmann::json data;
- data[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ data[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
auto new_token = std::make_shared<NlohmannJSONWriterToken>(type::Descriptor::eDict, data);
stack.push(new_token);
}
@@ -90,7 +90,7 @@ namespace armarx::aron::typeIO::writer
void NlohmannJSONWriter::writeStartTuple(const WriteStartTupleInput& o)
{
nlohmann::json data;
- data[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ data[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
auto new_token = std::make_shared<NlohmannJSONWriterToken>(type::Descriptor::eTuple, data);
stack.push(new_token);
}
@@ -110,7 +110,7 @@ namespace armarx::aron::typeIO::writer
void NlohmannJSONWriter::writeStartPair(const WriteStartPairInput& o)
{
nlohmann::json data;
- data[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ data[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
auto new_token = std::make_shared<NlohmannJSONWriterToken>(type::Descriptor::ePair, data);
stack.push(new_token);
}
@@ -131,7 +131,7 @@ namespace armarx::aron::typeIO::writer
{
auto token = stack.top();
nlohmann::json j;
- j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "EigenMatrix";
j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = o.dimensions;
j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = o.type;
@@ -142,7 +142,7 @@ namespace armarx::aron::typeIO::writer
{
auto token = stack.top();
nlohmann::json j;
- j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "EigenQuaternion";
j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = o.type;
token->addElement(j);
@@ -152,7 +152,7 @@ namespace armarx::aron::typeIO::writer
{
auto token = stack.top();
nlohmann::json j;
- j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "IVTCByteImage";
j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = {o.width, o.height};
j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = o.type;
@@ -163,7 +163,7 @@ namespace armarx::aron::typeIO::writer
{
auto token = stack.top();
nlohmann::json j;
- j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "OpenCVMat";
j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = o.dimensions;
j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = o.type;
@@ -174,7 +174,7 @@ namespace armarx::aron::typeIO::writer
{
auto token = stack.top();
nlohmann::json j;
- j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "PCLPointCloud";
j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = {o.width, o.height};
j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = o.type;
@@ -185,7 +185,7 @@ namespace armarx::aron::typeIO::writer
{
auto token = stack.top();
nlohmann::json j;
- j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "Position";
token->addElement(j);
}
@@ -194,7 +194,7 @@ namespace armarx::aron::typeIO::writer
{
auto token = stack.top();
nlohmann::json j;
- j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "Orientation";
token->addElement(j);
}
@@ -203,7 +203,7 @@ namespace armarx::aron::typeIO::writer
{
auto token = stack.top();
nlohmann::json j;
- j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "Pose";
token->addElement(j);
}
@@ -213,7 +213,7 @@ namespace armarx::aron::typeIO::writer
auto token = stack.top();
nlohmann::json j;
j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_INT_TYPENAME_SLUG;
- j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
token->addElement(j);
}
@@ -222,7 +222,7 @@ namespace armarx::aron::typeIO::writer
auto token = stack.top();
nlohmann::json j;
j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_LONG_TYPENAME_SLUG;
- j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
token->addElement(j);
}
@@ -231,7 +231,7 @@ namespace armarx::aron::typeIO::writer
auto token = stack.top();
nlohmann::json j;
j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_FLOAT_TYPENAME_SLUG;
- j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
token->addElement(j);
}
@@ -240,7 +240,7 @@ namespace armarx::aron::typeIO::writer
auto token = stack.top();
nlohmann::json j;
j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_DOUBLE_TYPENAME_SLUG;
- j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
token->addElement(j);
}
@@ -249,7 +249,7 @@ namespace armarx::aron::typeIO::writer
auto token = stack.top();
nlohmann::json j;
j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_STRING_TYPENAME_SLUG;
- j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
token->addElement(j);
}
@@ -258,7 +258,7 @@ namespace armarx::aron::typeIO::writer
auto token = stack.top();
nlohmann::json j;
j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_BOOL_TYPENAME_SLUG;
- j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
token->addElement(j);
}
@@ -267,7 +267,7 @@ namespace armarx::aron::typeIO::writer
auto token = stack.top();
nlohmann::json j;
j[io::Data::READER_WRITER_PRIMITIVE_NAME_SLUG] = io::Data::READER_WRITER_TIME_TYPENAME_SLUG;
- j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.is_optional;
+ j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
token->addElement(j);
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/container/Dict.cpp
index 386b276aa..e3ccd105f 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Dict.cpp
@@ -99,12 +99,12 @@ namespace armarx::aron::typenavigator
void DictNavigator::setOptional(bool v)
{
- type->is_optional = v;
+ type->isOptional = v;
}
bool DictNavigator::isOptional() const
{
- return type->is_optional;
+ return type->isOptional;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/List.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/container/List.cpp
index 690d50557..400ccdf22 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/List.cpp
@@ -98,11 +98,11 @@ namespace armarx::aron::typenavigator
void ListNavigator::setOptional(bool v)
{
- type->is_optional = v;
+ type->isOptional = v;
}
bool ListNavigator::isOptional() const
{
- return type->is_optional;
+ return type->isOptional;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.cpp
index 32e8b09e0..4fda595bb 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Object.cpp
@@ -181,12 +181,12 @@ namespace armarx::aron::typenavigator
void ObjectNavigator::setOptional(bool v)
{
- type->is_optional = v;
+ type->isOptional = v;
}
bool ObjectNavigator::isOptional() const
{
- return type->is_optional;
+ return type->isOptional;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.cpp
index 95c4edca4..10c34bf24 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Pair.cpp
@@ -132,12 +132,12 @@ namespace armarx::aron::typenavigator
void PairNavigator::setOptional(bool v)
{
- type->is_optional = v;
+ type->isOptional = v;
}
bool PairNavigator::isOptional() const
{
- return type->is_optional;
+ return type->isOptional;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/container/Tuple.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/container/Tuple.cpp
index cf76c0afa..336058d2b 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/container/Tuple.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/container/Tuple.cpp
@@ -115,12 +115,12 @@ namespace armarx::aron::typenavigator
void TupleNavigator::setOptional(bool v)
{
- type->is_optional = v;
+ type->isOptional = v;
}
bool TupleNavigator::isOptional() const
{
- return type->is_optional;
+ return type->isOptional;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/enum/IntEnum.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/enum/IntEnum.cpp
index 26791f2d6..825988af0 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/enum/IntEnum.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/enum/IntEnum.cpp
@@ -120,12 +120,12 @@ namespace armarx::aron::typenavigator
void IntEnumNavigator::setOptional(bool v)
{
- type->is_optional = v;
+ type->isOptional = v;
}
bool IntEnumNavigator::isOptional() const
{
- return type->is_optional;
+ return type->isOptional;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.cpp
index 064e71c77..2ced1ba21 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.cpp
@@ -24,16 +24,16 @@
// Header
#include "EigenMatrix.h"
+// Simox
+#include <SimoxUtility/algorithm/vector.hpp>
+
namespace armarx::aron::typenavigator
{
// constructors
EigenMatrixNavigator::EigenMatrixNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eEigenMatrix, path),
Navigator(type::Descriptor::eEigenMatrix, path),
- type(new type::AronEigenMatrix(false,
- {
- 1, 1
- }, ""))
+ type(new type::AronEigenMatrix(true, -1, -1, {}, ""))
{
}
@@ -42,75 +42,88 @@ namespace armarx::aron::typenavigator
Navigator(type::Descriptor::eEigenMatrix, path),
type(new type::AronEigenMatrix(*o))
{
- checkDimensions(type->dimensions);
+ checkDimensions(simox::alg::appended({type->rows, type->cols}, type->otherDimensions));
checkTypename(type->typeName);
}
bool EigenMatrixNavigator::checkDimensions(const std::vector<int>& d) const
{
- if (d.size() < ACCEPTED_DIMENSION_MIN_SIZE)
+ if (isOptional() && d == std::vector<int> {-1, -1})
+ {
+ return true;
+ }
+
+ if (d.size() < 2)
{
throw error::AronException("AronEigenMatrixNavigator", "checkDimensions", "The dimension size is wrong. Got size: " + std::to_string(d.size()), getPath());
}
- if (std::any_of(d.begin(), d.end(), [](int i)
- {
- return i < -1 || i == 0;
- }))
+ for (const auto& i : d)
{
- throw error::AronException("AronEigenMatrixNavigator", "checkDimensions", "The dimension size is wrong. At least one empty is < -1 or 0. Got as dimension: " + simox::alg::to_string(d, ", "), getPath());
+ if (i == 0 || i < -1)
+ {
+ throw error::AronException("AronEigenMatrixNavigator", "checkDimensions", "The dimension size is wrong. Got as dimension: " + simox::alg::to_string(d, ", "), getPath());
+ }
}
return true;
}
- bool EigenMatrixNavigator::checkTypename(const std::string& s) const
+ std::string EigenMatrixNavigator::checkTypename(const std::string& s) const
{
- if (s.empty())
+ if (isOptional() && s == "")
{
- throw error::AronException("AronEigenMatrixNavigator", "checkTypename", "The typename is empty.", getPath());
+ return s;
}
- if (!std::any_of(ACCEPTED_TYPES.begin(), ACCEPTED_TYPES.end(), [s](const auto & el)
- {
- return s == el.first || std::find(el.second.begin(), el.second.end(), s) != el.second.end();
- }))
+ for (const auto& [key, list] : ACCEPTED_TYPES)
{
- throw error::AronException("AronEigenMatrixNavigator", "checkTypename", "The typename is wrong. Got " + s, getPath());
+ if (s == key)
+ {
+ return key;
+ }
+
+ for (const auto& el : list)
+ {
+ if (s == el)
+ {
+ return key;
+ }
+ }
}
- return true;
+ throw error::StringNotValidException("EigenMatrixNavigator", "checkTypename", "The typename is wrong.", s, getPath());
}
unsigned int EigenMatrixNavigator::getRows() const
{
- return type->dimensions[0];
+ return type->rows;
}
unsigned int EigenMatrixNavigator::getCols() const
{
- return type->dimensions[1];
+ return type->cols;
}
- void EigenMatrixNavigator::setRows(const unsigned int& w)
+ void EigenMatrixNavigator::setRows(int w)
{
- if (w == 0)
+ if (w == 0 || w < -1)
{
- throw error::AronException("AronEigenMatrixNavigator", "setRows", "The rows cannot be 0", getPath());
+ throw error::AronException("AronEigenMatrixNavigator", "setRows", "The rows cannot be 0 or < -1", getPath());
}
- type->dimensions[0] = w;
+ type->rows = w;
}
- void EigenMatrixNavigator::setCols(const unsigned int& h)
+ void EigenMatrixNavigator::setCols(int h)
{
- if (h == 0)
+ if (h == 0 || h < -1)
{
- throw error::AronException("AronEigenMatrixNavigator", "setCols", "The cols cannot be 0", getPath());
+ throw error::AronException("AronEigenMatrixNavigator", "setCols", "The cols cannot be 0 or < -1", getPath());
}
- type->dimensions[1] = h;
+ type->cols = h;
}
type::AronEigenMatrixPtr EigenMatrixNavigator::toAronEigenMatrixPtr() const
{
- checkDimensions(type->dimensions);
+ checkDimensions(simox::alg::appended({type->rows, type->cols}, type->otherDimensions));
checkTypename(type->typeName);
return type;
}
@@ -122,7 +135,7 @@ namespace armarx::aron::typenavigator
std::vector<int> EigenMatrixNavigator::getDimensions() const
{
- return type->dimensions;
+ return simox::alg::appended({type->rows, type->cols}, type->otherDimensions);
}
void EigenMatrixNavigator::setTypename(const std::string& u)
@@ -134,7 +147,9 @@ namespace armarx::aron::typenavigator
void EigenMatrixNavigator::setDimensions(const std::vector<int>& d)
{
checkDimensions(d);
- type->dimensions = d;
+ type->rows = d[0];
+ type->cols = d[1];
+ type->otherDimensions = simox::alg::subvector(d, 3);
}
// static methods
@@ -143,6 +158,16 @@ namespace armarx::aron::typenavigator
return std::dynamic_pointer_cast<EigenMatrixNavigator>(n);
}
+ EigenMatrixNavigator& EigenMatrixNavigator::DynamicCast(Navigator& n)
+ {
+ return dynamic_cast<EigenMatrixNavigator&>(n);
+ }
+
+ const EigenMatrixNavigator& EigenMatrixNavigator::DynamicCast(const Navigator& n)
+ {
+ return dynamic_cast<const EigenMatrixNavigator&>(n);
+ }
+
EigenMatrixNavigatorPtr EigenMatrixNavigator::DynamicCastAndCheck(const NavigatorPtr& n)
{
CheckTypeNavigatorPtrForNull("AronEigenMatrixNavigator", "DynamicCast[Before]", n);
@@ -169,17 +194,17 @@ namespace armarx::aron::typenavigator
std::string EigenMatrixNavigator::getName() const
{
- return "AronEigenMatrix<" + simox::alg::to_string(type->dimensions, ", ") + ", " + type->typeName + ">";
+ return "AronEigenMatrix<" + simox::alg::to_string(getDimensions(), ", ") + ", " + type->typeName + ">";
}
void EigenMatrixNavigator::setOptional(bool v)
{
- type->is_optional = v;
+ type->isOptional = v;
}
bool EigenMatrixNavigator::isOptional() const
{
- return type->is_optional;
+ return type->isOptional;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.h
index 4cf1839f0..e366ef37f 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.h
@@ -48,15 +48,15 @@ namespace armarx::aron::typenavigator
EigenMatrixNavigator(const type::AronEigenMatrixPtr&, const Path& path);
bool checkDimensions(const std::vector<int>&) const;
- bool checkTypename(const std::string&) const;
+ std::string checkTypename(const std::string&) const;
unsigned int getRows() const;
unsigned int getCols() const;
std::string getTypename() const;
std::vector<int> getDimensions() const;
- void setRows(const unsigned int&);
- void setCols(const unsigned int&);
+ void setRows(int);
+ void setCols(int);
void setTypename(const std::string&);
void setDimensions(const std::vector<int>&);
@@ -64,6 +64,8 @@ namespace armarx::aron::typenavigator
// static methods
static EigenMatrixNavigatorPtr DynamicCast(const NavigatorPtr& n);
+ static EigenMatrixNavigator& DynamicCast(Navigator& n);
+ static const EigenMatrixNavigator& DynamicCast(const Navigator& n);
static EigenMatrixNavigatorPtr DynamicCastAndCheck(const NavigatorPtr& n);
// virtual implementations
@@ -86,7 +88,6 @@ namespace armarx::aron::typenavigator
//{"complex float", {"std::complex<float>"}},
//{"complex double", {"std::complex<double>"}},
};
- const unsigned int ACCEPTED_DIMENSION_MIN_SIZE = 2;
private:
// members
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.cpp
index b4d8ed39e..399de45d1 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::typenavigator
EigenQuaternionNavigator::EigenQuaternionNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eEigenQuaternion, path),
Navigator(type::Descriptor::eEigenQuaternion, path),
- type(new type::AronEigenQuaternion(false, ""))
+ type(new type::AronEigenQuaternion(true, ""))
{
}
@@ -43,17 +43,22 @@ namespace armarx::aron::typenavigator
bool EigenQuaternionNavigator::checkTypename(const std::string& s) const
{
+ if (isOptional())
+ {
+ return true;
+ }
+
if (s.empty())
{
throw error::AronException("AronEigenQuaternionTypeNavigator", "checkTypename", "The typename is empty.", getPath());
}
- if (!std::any_of(ACCEPTED_TYPES.begin(), ACCEPTED_TYPES.end(), [s](const auto & el)
- {
- return s == el.first || std::find(el.second.begin(), el.second.end(), s) != el.second.end();
- }))
+ for (const auto& [k, t] : ACCEPTED_TYPES)
{
- throw error::AronException("AronEigenQuaternionTypeNavigator", "checkTypename", "The typename is wrong. Got " + s, getPath());
+ if (s != k && std::find(t.begin(), t.end(), s) == t.end())
+ {
+ throw error::AronException("AronEigenQuaternionTypeNavigator", "checkTypename", "The typename is wrong. Got " + s, getPath());
+ }
}
return true;
}
@@ -117,12 +122,12 @@ namespace armarx::aron::typenavigator
void EigenQuaternionNavigator::setOptional(bool v)
{
- type->is_optional = v;
+ type->isOptional = v;
}
bool EigenQuaternionNavigator::isOptional() const
{
- return type->is_optional;
+ return type->isOptional;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.cpp
index 8155f1be1..ac72b5f15 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::typenavigator
IVTCByteImageNavigator::IVTCByteImageNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eIVTCByteImage, path),
Navigator(type::Descriptor::eIVTCByteImage, path),
- type(new type::AronIVTCByteImage(false, 0, 0, ""))
+ type(new type::AronIVTCByteImage(true, -1, -1, ""))
{
}
@@ -43,6 +43,11 @@ namespace armarx::aron::typenavigator
std::string IVTCByteImageNavigator::checkTypename(const std::string& s) const
{
+ if (isOptional() && s == "")
+ {
+ return s;
+ }
+
for (const auto& [key, list] : ACCEPTED_TYPES)
{
if (s == key)
@@ -58,7 +63,7 @@ namespace armarx::aron::typenavigator
}
}
}
- throw error::AronException("AronIVTCByteImageTypeNavigator", "checkTypename", "The typename is empty.", getPath());
+ throw error::StringNotValidException("IVTCByteImageNavigator", "checkTypename", "The typename is wrong.", s, getPath());
}
type::AronIVTCByteImagePtr IVTCByteImageNavigator::toAronIVTCByteImagePtr() const
@@ -147,12 +152,12 @@ namespace armarx::aron::typenavigator
void IVTCByteImageNavigator::setOptional(bool v)
{
- type->is_optional = v;
+ type->isOptional = v;
}
bool IVTCByteImageNavigator::isOptional() const
{
- return type->is_optional;
+ return type->isOptional;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.cpp
index f4c471c4c..b5ec2ccce 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::typenavigator
NDArrayNavigator::NDArrayNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eNDArray, path),
Navigator(type::Descriptor::eNDArray, path),
- type(new type::AronNDArray(false, {}, ""))
+ type(new type::AronNDArray(true, {}, ""))
{
}
@@ -118,12 +118,12 @@ namespace armarx::aron::typenavigator
void NDArrayNavigator::setOptional(bool v)
{
- type->is_optional = v;
+ type->isOptional = v;
}
bool NDArrayNavigator::isOptional() const
{
- return type->is_optional;
+ return type->isOptional;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp
index db77cf3ec..ad7e19e11 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::typenavigator
OpenCVMatNavigator::OpenCVMatNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eOpenCVMat, path),
Navigator(type::Descriptor::eOpenCVMat, path),
- type(new type::AronOpenCVMat(false, {}, ""))
+ type(new type::AronOpenCVMat(true, {}, ""))
{
}
@@ -146,12 +146,12 @@ namespace armarx::aron::typenavigator
void OpenCVMatNavigator::setOptional(bool v)
{
- type->is_optional = v;
+ type->isOptional = v;
}
bool OpenCVMatNavigator::isOptional() const
{
- return type->is_optional;
+ return type->isOptional;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.cpp
index 0e768b654..c31db0b5b 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::typenavigator
OrientationNavigator::OrientationNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eOrientation, path),
Navigator(type::Descriptor::eOrientation, path),
- type(new type::AronOrientation())
+ type(new type::AronOrientation(true))
{
}
@@ -93,12 +93,12 @@ namespace armarx::aron::typenavigator
void OrientationNavigator::setOptional(bool v)
{
- type->is_optional = v;
+ type->isOptional = v;
}
bool OrientationNavigator::isOptional() const
{
- return type->is_optional;
+ return type->isOptional;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.cpp
index 5aa5cd89f..b66ce47fb 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::typenavigator
PCLPointCloudNavigator::PCLPointCloudNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePCLPointCloud, path),
Navigator(type::Descriptor::ePCLPointCloud, path),
- type(new type::AronPCLPointCloud(false, 0, 0, ""))
+ type(new type::AronPCLPointCloud(true, -1, -1, ""))
{
}
@@ -149,12 +149,12 @@ namespace armarx::aron::typenavigator
void PCLPointCloudNavigator::setOptional(bool v)
{
- type->is_optional = v;
+ type->isOptional = v;
}
bool PCLPointCloudNavigator::isOptional() const
{
- return type->is_optional;
+ return type->isOptional;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.cpp
index 0844950b9..5f165f016 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::typenavigator
PoseNavigator::PoseNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePose, path),
Navigator(type::Descriptor::ePose, path),
- type(new type::AronPose())
+ type(new type::AronPose(true))
{
}
@@ -93,12 +93,12 @@ namespace armarx::aron::typenavigator
void PoseNavigator::setOptional(bool v)
{
- type->is_optional = v;
+ type->isOptional = v;
}
bool PoseNavigator::isOptional() const
{
- return type->is_optional;
+ return type->isOptional;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.cpp
index 0fe6ed842..13898a188 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::typenavigator
PositionNavigator::PositionNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePosition, path),
Navigator(type::Descriptor::ePosition, path),
- type(new type::AronPosition())
+ type(new type::AronPosition(true))
{
}
@@ -93,12 +93,12 @@ namespace armarx::aron::typenavigator
void PositionNavigator::setOptional(bool v)
{
- type->is_optional = v;
+ type->isOptional = v;
}
bool PositionNavigator::isOptional() const
{
- return type->is_optional;
+ return type->isOptional;
}
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/primitive/Primitive.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/primitive/Primitive.cpp
index 227155e7e..344b61d71 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/primitive/Primitive.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/primitive/Primitive.cpp
@@ -92,12 +92,12 @@ namespace armarx::aron::typenavigator
\
void upperType##Navigator::setOptional(bool v) \
{ \
- type->is_optional = v; \
+ type->isOptional = v; \
} \
\
bool upperType##Navigator::isOptional() const \
{ \
- return type->is_optional; \
+ return type->isOptional; \
}
HANDLE_PRIMITIVE_TYPES
--
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