From e4b5a9d6ed1e3d9d09729b95c5b2265944c6fc68 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 9 Oct 2020 11:38:52 +0200
Subject: [PATCH] Add empty default implementation of requestObjects()
---
.../plugins/ObjectPoseProviderPlugin.cpp | 11 +++++++++++
.../plugins/ObjectPoseProviderPlugin.h | 3 +++
2 files changed, 14 insertions(+)
diff --git a/source/RobotAPI/components/ObjectPoseObserver/plugins/ObjectPoseProviderPlugin.cpp b/source/RobotAPI/components/ObjectPoseObserver/plugins/ObjectPoseProviderPlugin.cpp
index 3112560f3..63ccab6e1 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/plugins/ObjectPoseProviderPlugin.cpp
+++ b/source/RobotAPI/components/ObjectPoseObserver/plugins/ObjectPoseProviderPlugin.cpp
@@ -59,6 +59,17 @@ namespace armarx
addPlugin(plugin);
}
+ objpose::provider::RequestObjectsOutput ObjectPoseProviderPluginUser::requestObjects(const objpose::provider::RequestObjectsInput& input, const Ice::Current&)
+ {
+ // ARMARX_INFO << "Requested " << input.objectIDs.size() << " objects for " << input.relativeTimeoutMS << " ms.";
+ objpose::provider::RequestObjectsOutput output;
+ for (const auto& id : input.objectIDs)
+ {
+ output.results[id].success = false;
+ }
+ return output;
+ }
+
objpose::ObjectPoseTopicPrx ObjectPoseProviderPluginUser::createObjectPoseTopic()
{
return plugin->createObjectPoseTopic();
diff --git a/source/RobotAPI/components/ObjectPoseObserver/plugins/ObjectPoseProviderPlugin.h b/source/RobotAPI/components/ObjectPoseObserver/plugins/ObjectPoseProviderPlugin.h
index f15a5b813..332064711 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/plugins/ObjectPoseProviderPlugin.h
+++ b/source/RobotAPI/components/ObjectPoseObserver/plugins/ObjectPoseProviderPlugin.h
@@ -45,6 +45,9 @@ namespace armarx
ObjectPoseProviderPluginUser();
+ /// Implement to process object requests (empty default implementation).
+ objpose::provider::RequestObjectsOutput requestObjects(const objpose::provider::RequestObjectsInput& input, const Ice::Current&) override;
+
objpose::ObjectPoseTopicPrx createObjectPoseTopic();
objpose::ObjectPoseTopicPrx objectPoseTopic;
--
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