From f145908e75d05d492df1f0de40e7e39e742ecaf1 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 4 May 2021 10:26:55 +0200
Subject: [PATCH] moving files and functionality
---
.../ObjectPoseProviderExample/CMakeLists.txt | 34 ++++++-
.../server/ObjectMemory/ObjectMemory.cpp | 6 +-
.../objectpose/ObjectPoseStorageInterface.ice | 5 +-
.../RobotAPI/libraries/armem/CMakeLists.txt | 2 +
.../client}/MemoryConnector.cpp | 0
.../client}/MemoryConnector.h | 0
.../libraries/armem_objects/CMakeLists.txt | 13 ++-
.../armem_objects/aron/Attachment.xml | 2 +-
.../armem_objects/aron/Constraint.xml | 22 ++---
.../libraries/armem_objects/aron/Robot.xml | 14 +--
.../armem_objects/aron/RobotDescription.xml | 5 +-
.../armem_objects/aron/RobotState.xml | 2 +-
.../armem_objects/aron_conversions.cpp | 93 ++++++++++++++++---
.../armem_objects/aron_conversions.h | 23 +++++
.../client/articulated_object/Reader.cpp | 0
.../client/articulated_object/Reader.h | 20 ++++
.../client/articulated_object/Writer.cpp | 0
.../client/articulated_object/Writer.h | 18 ++++
.../client/articulated_object/interfaces.h | 27 ++++++
.../armem_objects/ice_conversions.cpp | 33 ++++---
.../libraries/armem_objects/ice_conversions.h | 13 ++-
.../RobotAPI/libraries/armem_objects/types.h | 6 +-
.../armem_robot_localization/CMakeLists.txt | 3 +-
.../TransformReader.h | 2 +-
.../TransformWriter.cpp | 1 -
.../TransformWriter.h | 2 +-
.../aron/Transform.xml | 21 +----
.../aron/TransformHeader.xml | 23 +++++
.../armem_robot_mapping/CMakeLists.txt | 2 -
.../armem_robot_mapping/MappingDataReader.cpp | 2 +-
.../armem_robot_mapping/MappingDataReader.h | 3 +-
.../armem_robot_mapping/MappingDataWriter.cpp | 1 -
.../armem_robot_mapping/MappingDataWriter.h | 7 +-
.../libraries/aron/common/CMakeLists.txt | 8 --
.../aron/common/aron_conversions/armarx.cpp | 58 ------------
.../aron/common/aron_conversions/armarx.h | 23 -----
36 files changed, 314 insertions(+), 180 deletions(-)
rename source/RobotAPI/libraries/{armem_robot_localization => armem/client}/MemoryConnector.cpp (100%)
rename source/RobotAPI/libraries/{armem_robot_localization => armem/client}/MemoryConnector.h (100%)
create mode 100644 source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
create mode 100644 source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
create mode 100644 source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h
create mode 100644 source/RobotAPI/libraries/armem_robot_localization/aron/TransformHeader.xml
diff --git a/source/RobotAPI/components/ObjectPoseProviderExample/CMakeLists.txt b/source/RobotAPI/components/ObjectPoseProviderExample/CMakeLists.txt
index 1395fc02f..97c324a68 100644
--- a/source/RobotAPI/components/ObjectPoseProviderExample/CMakeLists.txt
+++ b/source/RobotAPI/components/ObjectPoseProviderExample/CMakeLists.txt
@@ -3,7 +3,8 @@ armarx_component_set_name("ObjectPoseProviderExample")
set(COMPONENT_LIBS
# ArmarXCore
- ArmarXCore ArmarXCoreInterfaces
+ ArmarXCore
+ ArmarXCoreInterfaces
# RobotAPI
RobotAPI::ArmarXObjects
)
@@ -21,3 +22,34 @@ armarx_add_component("${SOURCES}" "${HEADERS}")
#generate the application
armarx_generate_and_add_component_executable()
+
+
+
+
+
+
+
+armarx_component_set_name("ArticulatedObjectStateProviderExample")
+
+
+set(COMPONENT_LIBS
+ # ArmarXCore
+ ArmarXCore
+ ArmarXCoreInterfaces
+ # RobotAPI
+ RobotAPI::ArmarXObjects
+)
+
+set(SOURCES
+ ArticulatedObjectStateProviderExample.cpp
+)
+set(HEADERS
+ ArticulatedObjectStateProviderExample.h
+)
+
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+
+#generate the application
+armarx_generate_and_add_component_executable(COMPONENT_NAMESPACE "armarx::articulated_object")
\ No newline at end of file
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 18ccb6875..cc296ea48 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -22,6 +22,8 @@
#include "ObjectMemory.h"
+#include <RobotAPI/interface/core/articulated_object/topic.h>
+
namespace armarx::armem::server::obj
{
@@ -38,6 +40,7 @@ namespace armarx::armem::server::obj
// Subscribe
defs->topic<objpose::ObjectPoseTopic>(); // "ObjectPoseTopic", "ObjectPoseTopicName", "Name of the Object Pose Topic.");
+ defs->topic<articulated_object::ArticulatedObjectTopic>(); // "ObjectPoseTopic", "ObjectPoseTopicName", "Name of the Object Pose Topic.");
// Use
// defs->component(kinematicUnitObserver); // Optional dependency.
@@ -107,7 +110,8 @@ namespace armarx::armem::server::obj
getProxyFromProperty(kinematicUnitObserver, "cmp.KinematicUnitObserverName", false, "", false);
instance::SegmentAdapter::connect(
- robotStateComponent, robot,
+ robotStateComponent,
+ robot,
kinematicUnitObserver,
ArVizComponentPluginUser::arviz,
debugObserver
diff --git a/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice b/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
index 3097f6c75..adc6063bc 100644
--- a/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
+++ b/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
@@ -32,6 +32,8 @@
#include <RobotAPI/interface/objectpose/object_pose_types.ice>
#include <RobotAPI/interface/objectpose/ObjectPoseProvider.ice>
+#include <RobotAPI/interface/core/articulated_object/topic.ice>
+
module armarx
{
@@ -153,7 +155,8 @@ module armarx
};
interface ObjectPoseStorageInterface extends
- ObjectPoseTopic
+ ObjectPoseTopic,
+ armarx::articulated_object::ArticulatedObjectTopic
{
// Object poses
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index be3028444..03f509ce8 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -65,6 +65,7 @@ set(LIB_FILES
client/ReaderComponentPlugin.cpp
client/Writer.cpp
client/WriterComponentPlugin.cpp
+ client/MemoryConnector.cpp
client/Query.cpp
client/query/Builder.cpp
@@ -162,6 +163,7 @@ set(LIB_HEADERS
client/ReaderComponentPlugin.h
client/Writer.h
client/WriterComponentPlugin.h
+ client/MemoryConnector.h
client/Query.h
client/query/Builder.h
diff --git a/source/RobotAPI/libraries/armem_robot_localization/MemoryConnector.cpp b/source/RobotAPI/libraries/armem/client/MemoryConnector.cpp
similarity index 100%
rename from source/RobotAPI/libraries/armem_robot_localization/MemoryConnector.cpp
rename to source/RobotAPI/libraries/armem/client/MemoryConnector.cpp
diff --git a/source/RobotAPI/libraries/armem_robot_localization/MemoryConnector.h b/source/RobotAPI/libraries/armem/client/MemoryConnector.h
similarity index 100%
rename from source/RobotAPI/libraries/armem_robot_localization/MemoryConnector.h
rename to source/RobotAPI/libraries/armem/client/MemoryConnector.h
diff --git a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
index 4c1e05dcc..6e11e6619 100644
--- a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
@@ -19,6 +19,8 @@ armarx_add_library(
aron_conversions.h
aron_forward_declarations.h
+ ice_conversions.h
+
server/class/FloorVis.h
server/class/Segment.h
@@ -28,13 +30,14 @@ armarx_add_library(
server/instance/RobotHeadMovement.h
server/instance/Visu.h
- server/articulated_object/Segment.h
+ # server/articulated_object/Segment.h
# server/articulated_object/SegmentAdapter.h
# server/articulated_object/Visu.h
SOURCES
aron_conversions.cpp
+ ice_conversions.cpp
server/class/FloorVis.cpp
server/class/Segment.cpp
@@ -45,7 +48,7 @@ armarx_add_library(
server/instance/RobotHeadMovement.cpp
server/instance/Visu.cpp
- server/articulated_object/Segment.cpp
+ # server/articulated_object/Segment.cpp
# server/articulated_object/SegmentAdapter.cpp
# server/articulated_object/Visu.cpp
)
@@ -56,6 +59,12 @@ armarx_enable_aron_file_generation_for_target(
ARON_FILES
aron/ObjectClass.xml
aron/ObjectInstance.xml
+
+ # aron/Attachment.xml
+ aron/RobotDescription.xml
+ aron/RobotState.xml
+ aron/Robot.xml
+ aron/Constraint.xml
)
add_library(${PROJECT_NAME}::armem_objects ALIAS armem_objects)
diff --git a/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml b/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml
index de6386369..6b0227772 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml
@@ -6,7 +6,7 @@
</CodeIncludes>
<GenerateTypes>
- <Object name="armarx::arondto::Attachment">
+ <Object name="armarx::armem::arondto::Attachment">
<ObjectChild key="constraintType">
diff --git a/source/RobotAPI/libraries/armem_objects/aron/Constraint.xml b/source/RobotAPI/libraries/armem_objects/aron/Constraint.xml
index b1360fc5b..534df98a1 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/Constraint.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/Constraint.xml
@@ -11,7 +11,7 @@
</AronIncludes>
<GenerateTypes>
- <Object name="armarx::arondto::RobotID">
+ <Object name="armarx::armem::arondto::RobotID">
<ObjectChild key="name">
<string/>
</ObjectChild>
@@ -20,15 +20,15 @@
</ObjectChild>
</Object>
- <IntEnum name="armarx::arondto::SceneEntityType">
+ <IntEnum name="armarx::armem::arondto::SceneEntityType">
<EnumValue key="Robot" value="0" />
<EnumValue key="ArticulatedObject" value="1" />
<EnumValue key="Object" value="2" />
</IntEnum>
- <Object name="armarx::arondto::SceneEntity">
+ <Object name="armarx::armem::arondto::SceneEntity">
<ObjectChild key="type">
- <armarx::arondto::SceneEntityType />
+ <armarx::armem::arondto::SceneEntityType />
</ObjectChild>
<!-- could be a variant -->
@@ -40,9 +40,9 @@
</ObjectChild> -->
</Object>
- <Object name="armarx::arondto::BodyLinkDescription">
+ <Object name="armarx::armem::arondto::BodyLinkDescription">
<ObjectChild key="entity">
- <armarx::arondto::SceneEntity />
+ <armarx::armem::arondto::SceneEntity />
</ObjectChild>
<ObjectChild key="node">
@@ -55,7 +55,7 @@
</Object>
<!-- http://www.cs.kent.edu/~ruttan/GameEngines/lectures/Bullet_User_Manual -->
- <IntEnum name="armarx::arondto::ConstraintType">
+ <IntEnum name="armarx::armem::arondto::ConstraintType">
<EnumValue key="Fixed" value="0" />
<!-- <EnumValue key="Prismatic" value="1" /> -->
<!-- <EnumValue key="Revolute" value="2" /> -->
@@ -66,10 +66,10 @@
<!-- <EnumValue key="Spring" value="7" /> -->
</IntEnum>
- <Object name="armarx::arondto::Constraint">
+ <Object name="armarx::armem::arondto::Constraint">
<ObjectChild key="type">
- <armarx::arondto::ConstraintType />
+ <armarx::armem::arondto::ConstraintType />
</ObjectChild>
<!-- <ObjectChild key="transformation">
@@ -78,11 +78,11 @@
<ObjectChild key="bodyA">
- <armarx::arondto::BodyLinkDescription/>
+ <armarx::armem::arondto::BodyLinkDescription/>
</ObjectChild>
<ObjectChild key="bodyB">
- <armarx::arondto::BodyLinkDescription/>
+ <armarx::armem::arondto::BodyLinkDescription/>
</ObjectChild>
diff --git a/source/RobotAPI/libraries/armem_objects/aron/Robot.xml b/source/RobotAPI/libraries/armem_objects/aron/Robot.xml
index dc92382a7..2b2f0ba38 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/Robot.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/Robot.xml
@@ -2,23 +2,23 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<CodeIncludes>
- <Include include="<RobotAPI/libraries/aron/common/aron/RobotDescription.aron.generated.h>" />
- <Include include="<RobotAPI/libraries/aron/common/aron/RobotState.aron.generated.h>" />
+ <Include include="<RobotAPI/libraries/armem_objects/aron/RobotDescription.aron.generated.h>" />
+ <Include include="<RobotAPI/libraries/armem_objects/aron/RobotState.aron.generated.h>" />
</CodeIncludes>
<AronIncludes>
- <Include include="<RobotAPI/libraries/aron/common/aron/RobotDescription.xml>" />
- <Include include="<RobotAPI/libraries/aron/common/aron/RobotState.xml>" />
+ <Include include="<RobotAPI/libraries/armem_objects/aron/RobotDescription.xml>" />
+ <Include include="<RobotAPI/libraries/armem_objects/aron/RobotState.xml>" />
</AronIncludes>
<GenerateTypes>
- <Object name="armarx::arondto::Robot">
+ <Object name="armarx::armem::arondto::Robot">
<ObjectChild key='description'>
- <armarx::arondto::RobotDescription />
+ <armarx::armem::arondto::RobotDescription />
</ObjectChild>
<ObjectChild key='state'>
- <armarx::arondto::RobotState />
+ <armarx::armem::arondto::RobotState />
</ObjectChild>
<ObjectChild key='timestamp'>
diff --git a/source/RobotAPI/libraries/armem_objects/aron/RobotDescription.xml b/source/RobotAPI/libraries/armem_objects/aron/RobotDescription.xml
index bc6f8f2a0..84ab00dc1 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/RobotDescription.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/RobotDescription.xml
@@ -4,10 +4,13 @@
<AronIncludes>
<Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.xml>" />
</AronIncludes>
+ <CodeIncludes>
+ <Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.aron.generated.h>" />
+ </CodeIncludes>
<GenerateTypes>
- <Object name='armarx::arondto::RobotDescription'>
+ <Object name='armarx::armem::arondto::RobotDescription'>
<ObjectChild key='name'>
<string />
diff --git a/source/RobotAPI/libraries/armem_objects/aron/RobotState.xml b/source/RobotAPI/libraries/armem_objects/aron/RobotState.xml
index 1579bf790..eaf9b41a7 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/RobotState.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/RobotState.xml
@@ -6,7 +6,7 @@
</CodeIncludes>
<GenerateTypes>
- <Object name="armarx::arondto::RobotState">
+ <Object name="armarx::armem::arondto::RobotState">
<ObjectChild key='timestamp'>
<Time />
diff --git a/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp b/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp
index 859f3d601..a1a760531 100644
--- a/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp
@@ -2,26 +2,89 @@
#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
+#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
+#include <RobotAPI/libraries/aron/common/aron_conversions/stl.h>
+#include <RobotAPI/libraries/aron/common/aron_conversions/armarx.h>
-void armarx::armem::fromAron(const arondto::ObjectInstance& dto, objpose::arondto::ObjectPose& bo)
+namespace armarx::armem
{
- bo = dto.pose;
-}
-void armarx::armem::toAron(arondto::ObjectInstance& dto, const objpose::arondto::ObjectPose& bo)
-{
- dto.pose = bo;
-}
+ void fromAron(const arondto::ObjectInstance& dto,
+ objpose::arondto::ObjectPose& bo)
+ {
+ bo = dto.pose;
+ }
+ void toAron(arondto::ObjectInstance& dto, const objpose::arondto::ObjectPose& bo)
+ {
+ dto.pose = bo;
+ }
-void armarx::armem::fromAron(const arondto::ObjectInstance& dto, objpose::ObjectPose& bo)
-{
- objpose::fromAron(dto.pose, bo);
-}
+ void fromAron(const arondto::ObjectInstance& dto, objpose::ObjectPose& bo)
+ {
+ objpose::fromAron(dto.pose, bo);
+ }
-void armarx::armem::toAron(arondto::ObjectInstance& dto, const objpose::ObjectPose& bo)
-{
- objpose::toAron(dto.pose, bo);
-}
+ void toAron(arondto::ObjectInstance& dto, const objpose::ObjectPose& bo)
+ {
+ objpose::toAron(dto.pose, bo);
+ }
+
+
+ /* to be moved */
+ void fromAron(const long& dto, IceUtil::Time& time)
+ {
+ time = IceUtil::Time::microSeconds(dto);
+ }
+
+ void toAron(long& dto, const IceUtil::Time& time)
+ {
+ dto = time.toMicroSeconds();
+ }
+
+
+ /* Robot */
+
+ void fromAron(const arondto::Robot& dto, Robot& bo)
+ {
+ fromAron(dto.description, bo.description);
+ fromAron(dto.state, bo.config);
+ }
+
+ void toAron(arondto::Robot& dto, const Robot& bo)
+ {
+ toAron(dto.description, bo.description);
+ toAron(dto.state, bo.config);
+ }
+
+ /* RobotDescription */
+
+ void fromAron(const arondto::RobotDescription& dto, RobotDescription& bo)
+ {
+ aron::fromAron(dto.name, bo.name);
+ fromAron(dto.xml, bo.xml);
+ }
+
+ void toAron(arondto::RobotDescription& dto, const RobotDescription& bo)
+ {
+ aron::toAron(dto.name, bo.name);
+ toAron(dto.xml, bo.xml);
+ }
+
+ /* RobotState */
+
+ void fromAron(const arondto::RobotState& dto, RobotState& bo)
+ {
+ fromAron(dto.timestamp, bo.timestamp);
+ bo.globalPose.matrix() = dto.globalPose;
+ bo.jointMap = dto.jointMap;
+ }
+ void toAron(arondto::RobotState& dto, const RobotState& bo)
+ {
+ toAron(dto.timestamp, bo.timestamp);
+ dto.globalPose = bo.globalPose.matrix();
+ dto.jointMap = bo.jointMap;
+ }
+} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem_objects/aron_conversions.h b/source/RobotAPI/libraries/armem_objects/aron_conversions.h
index 7ea733e99..995c249f9 100644
--- a/source/RobotAPI/libraries/armem_objects/aron_conversions.h
+++ b/source/RobotAPI/libraries/armem_objects/aron_conversions.h
@@ -5,6 +5,12 @@
#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
+#include <RobotAPI/libraries/armem_objects/types.h>
+
+#include <RobotAPI/libraries/armem_objects/aron/RobotDescription.aron.generated.h>
+#include <RobotAPI/libraries/armem_objects/aron/RobotState.aron.generated.h>
+#include <RobotAPI/libraries/armem_objects/aron/Robot.aron.generated.h>
+
namespace armarx::armem
{
void fromAron(const arondto::ObjectInstance& dto, objpose::arondto::ObjectPose& bo);
@@ -12,4 +18,21 @@ namespace armarx::armem
void fromAron(const arondto::ObjectInstance& dto, objpose::ObjectPose& bo);
void toAron(arondto::ObjectInstance& dto, const objpose::ObjectPose& bo);
+
+
+ // TODO move the following
+ void fromAron(const long& dto, IceUtil::Time& time);
+ void toAron(long& dto, const IceUtil::Time& time);
+ // end TODO
+
+
+ void fromAron(const arondto::Robot& dto, Robot& bo);
+ void toAron(arondto::Robot& dto, const Robot& bo);
+
+ void fromAron(const arondto::RobotDescription& dto, RobotDescription& bo);
+ void toAron(arondto::RobotDescription& dto, const RobotDescription& bo);
+
+ void fromAron(const arondto::RobotState& dto, RobotState& bo);
+ void toAron(arondto::RobotState& dto, const RobotState& bo);
+
}
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h
index e69de29bb..556284d2c 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "interfaces.h"
+
+
+namespace armarx::armem::articulated_object
+{
+ class Reader:
+ virtual public ReaderInterface,
+ virtual public ::armarx::armem::MemoryConnector
+ {
+ public:
+ virtual ~Reader() = default;
+
+ void synchronize(ArticulatedObject& obj, const armem::Time& timestamp) override;
+ ArticulatedObject get(const ArticulatedObjectDescription& description, const armem::Time& timestamp) override;
+ };
+
+
+} // namespace armarx::armem::articulated_object
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
index e69de29bb..9afe430b8 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include "interfaces.h"
+
+
+namespace armarx::armem::articulated_object
+{
+
+ class Writer: public WriterInterface
+ {
+ public:
+ virtual ~WriterInterface() = default;
+
+ void store(const ArticulatedObject& obj) override;
+ };
+
+
+} // namespace armarx::armem::articulated_object
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h
new file mode 100644
index 000000000..9ffb994ae
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h
@@ -0,0 +1,27 @@
+#pragma once
+
+
+#include <RobotAPI/libraries/armem/core/Time.h>
+#include <RobotAPI/libraries/armem_objects/types.h>
+
+namespace armarx::armem::articulated_object
+{
+ class ReaderInterface
+ {
+ public:
+ virtual ~ReaderInterface() = default;
+
+ virtual void synchronize(ArticulatedObject& obj, const armem::Time& timestamp) = 0;
+ virtual ArticulatedObject get(const ArticulatedObjectDescription& description, const armem::Time& timestamp) = 0;
+ };
+
+
+ class WriterInterface
+ {
+ public:
+ virtual ~WriterInterface() = default;
+
+ virtual void store(const ArticulatedObject& obj) = 0;
+ };
+
+} // namespace armarx::armem::articulated_object
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/armem_objects/ice_conversions.cpp b/source/RobotAPI/libraries/armem_objects/ice_conversions.cpp
index 335686861..bbfecee5b 100644
--- a/source/RobotAPI/libraries/armem_objects/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_objects/ice_conversions.cpp
@@ -1,32 +1,41 @@
-#include "ice_conversions.cpp"
+#include "ice_conversions.h"
-#include <RobotAPI/libraries/aron/common/aron/new_types.h>
#include <RobotAPI/interface/core/articulated_object/types.h>
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
+
namespace armarx
{
- void fromIce(const ::armarx::articulated_object::data::RobotState& ice, ::armarx::RobotState& bo)
+ void toIce(::armarx::articulated_object::data::Config& ice, const ::armarx::armem::RobotState& bo)
{
- fromIce(ice.config, bo.config);
- fromIce(ice.id, bo.description);
+ // toIce(ice.timestamp, bo.timestamp);
+ // toIce(ice.globalPose, bo.globalPose);
+ // toIce(ice.jointMap, bo.jointMap);
}
- void toIce(::armarx::articulated_object::data::ArticulatedObject& ice, const ::armarx::articulated_object::ArticulatedObject& bo)
- {
+ void fromIce(const ::armarx::articulated_object::data::Config& ice, ::armarx::armem::RobotState& bo)
+ {
+ fromIce(ice.timestamp, bo.timestamp);
+ // fromIce(ice.globalPose, bo.globalPose);
+ // fromIce(ice.jointMap, bo.jointMap);
}
- void fromIce(const ::armarx::articulated_object::data::ArticulatedObject& ice, ::armarx::articulated_object::ArticulatedObject& bo)
+ void toIce(::armarx::articulated_object::data::ArticulatedObject& ice, const ::armarx::armem::articulated_object::ArticulatedObject& bo)
{
- fromIce(ice.config, bo.config);
- fromIce(ice.id, bo.description);
+ // toIce(ice.config, bo.config);
+ //? toIce(ice.id, bo.description);
}
- void toIce(::armarx::articulated_object::data::ArticulatedObject& ice, const ::armarx::articulated_object::ArticulatedObject& bo)
- {
+ void fromIce(const ::armarx::articulated_object::data::ArticulatedObject& ice, ::armarx::armem::articulated_object::ArticulatedObject& bo)
+ {
+ // fromIce(ice.config, bo.config);
+ // fromIce(ice.id, bo.description);
}
+
} // namespace armarx
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/armem_objects/ice_conversions.h b/source/RobotAPI/libraries/armem_objects/ice_conversions.h
index 00aa04afd..fbbe30069 100644
--- a/source/RobotAPI/libraries/armem_objects/ice_conversions.h
+++ b/source/RobotAPI/libraries/armem_objects/ice_conversions.h
@@ -1,12 +1,17 @@
#pragma once
-#include <RobotAPI/libraries/aron/common/aron/new_types.h>
+#include <RobotAPI/libraries/armem_objects/types.h>
+
#include <RobotAPI/interface/core/articulated_object/types.h>
-namespace armarx
+namespace armarx::armem
{
- void fromIce(const ::armarx::articulated_object::data::ArticulatedObject& ice, ::armarx::articulated_object::ArticulatedObject& bo);
- void toIce(::armarx::articulated_object::data::ArticulatedObject& ice, const ::armarx::articulated_object::ArticulatedObject& bo);
+ void fromIce(const ::armarx::articulated_object::data::Config& ice, ::armarx::armem::RobotState& bo);
+ void toIce(::armarx::articulated_object::data::Config& ice, const ::armarx::armem::RobotState& bo);
+
+
+ void fromIce(const ::armarx::articulated_object::data::ArticulatedObject& ice, ::armarx::armem::articulated_object::ArticulatedObject& bo);
+ void toIce(::armarx::articulated_object::data::ArticulatedObject& ice, const ::armarx::armem::articulated_object::ArticulatedObject& bo);
} // namespace armarx
diff --git a/source/RobotAPI/libraries/armem_objects/types.h b/source/RobotAPI/libraries/armem_objects/types.h
index 60fa683ae..c772840db 100644
--- a/source/RobotAPI/libraries/armem_objects/types.h
+++ b/source/RobotAPI/libraries/armem_objects/types.h
@@ -11,7 +11,7 @@
#include <ArmarXCore/core/PackagePath.h>
-namespace armarx
+namespace armarx::armem
{
struct RobotDescription
@@ -41,8 +41,10 @@ namespace armarx
namespace articulated_object
{
+ using ArticulatedObjectDescription = RobotDescription;
+
using ArticulatedObject = Robot;
using ArticulatedObjects = std::vector<ArticulatedObject>;
}
-} // namespace armarx
\ No newline at end of file
+} // namespace armarx::armem
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/armem_robot_localization/CMakeLists.txt b/source/RobotAPI/libraries/armem_robot_localization/CMakeLists.txt
index 19a7f0019..24caa9df3 100644
--- a/source/RobotAPI/libraries/armem_robot_localization/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_robot_localization/CMakeLists.txt
@@ -22,12 +22,10 @@ armarx_add_library(
./TransformInterfaces.h
./TransformReader.h
./TransformWriter.h
- ./MemoryConnector.h
./aron_conversions.h
SOURCES
./TransformReader.cpp
./TransformWriter.cpp
- ./MemoryConnector.cpp
./aron_conversions.cpp
)
@@ -36,6 +34,7 @@ armarx_enable_aron_file_generation_for_target(
TARGET_NAME
"${LIB_NAME}"
ARON_FILES
+ aron/TransformHeader.xml
aron/Transform.xml
)
diff --git a/source/RobotAPI/libraries/armem_robot_localization/TransformReader.h b/source/RobotAPI/libraries/armem_robot_localization/TransformReader.h
index 9b0489954..4107ed61f 100644
--- a/source/RobotAPI/libraries/armem_robot_localization/TransformReader.h
+++ b/source/RobotAPI/libraries/armem_robot_localization/TransformReader.h
@@ -23,8 +23,8 @@
#pragma once
#include <RobotAPI/libraries/armem/client/Reader.h>
+#include <RobotAPI/libraries/armem/client/MemoryConnector.h>
-#include "MemoryConnector.h"
#include "TransformInterfaces.h"
namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem_robot_localization/TransformWriter.cpp b/source/RobotAPI/libraries/armem_robot_localization/TransformWriter.cpp
index 1ac8ea58b..7a9bcd1f4 100644
--- a/source/RobotAPI/libraries/armem_robot_localization/TransformWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_localization/TransformWriter.cpp
@@ -113,7 +113,6 @@ namespace armarx::armem
armem::EntityUpdate update;
update.entityID = entityID;
- update.timeCreated = armem::Time::now();
aron::Transform aronTransform;
toAron(transform, aronTransform);
diff --git a/source/RobotAPI/libraries/armem_robot_localization/TransformWriter.h b/source/RobotAPI/libraries/armem_robot_localization/TransformWriter.h
index 2804fbc53..7d1ee2acb 100644
--- a/source/RobotAPI/libraries/armem_robot_localization/TransformWriter.h
+++ b/source/RobotAPI/libraries/armem_robot_localization/TransformWriter.h
@@ -25,8 +25,8 @@
#include <mutex>
#include <RobotAPI/libraries/armem/client/Writer.h>
+#include <RobotAPI/libraries/armem/client/MemoryConnector.h>
-#include "MemoryConnector.h"
#include "TransformInterfaces.h"
namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem_robot_localization/aron/Transform.xml b/source/RobotAPI/libraries/armem_robot_localization/aron/Transform.xml
index 1e4e4c7d6..afdd4fafd 100644
--- a/source/RobotAPI/libraries/armem_robot_localization/aron/Transform.xml
+++ b/source/RobotAPI/libraries/armem_robot_localization/aron/Transform.xml
@@ -3,24 +3,12 @@
<AronTypeDefinition>
<CodeIncludes>
<Include include="<Eigen/Core>" />
+ <Include include="<RobotAPI/libraries/armem_robot_localization/aron/TransformHeader.aron.generated.h>" />
</CodeIncludes>
+ <AronIncludes>
+ <Include include="<RobotAPI/libraries/armem_robot_localization/aron/TransformHeader.xml>" />
+ </AronIncludes>
<GenerateTypes>
-
- <Object name="armarx::aron::TransformHeader">
- <ObjectChild key='parentFrame'>
- <string />
- </ObjectChild>
- <ObjectChild key='frame'>
- <string />
- </ObjectChild>
- <ObjectChild key='agent'>
- <string />
- </ObjectChild>
- <ObjectChild key='timestamp'>
- <Time />
- </ObjectChild>
- </Object>
-
<Object name="armarx::aron::Transform">
<ObjectChild key='header'>
<armarx::aron::TransformHeader />
@@ -29,6 +17,5 @@
<Pose />
</ObjectChild>
</Object>
-
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/armem_robot_localization/aron/TransformHeader.xml b/source/RobotAPI/libraries/armem_robot_localization/aron/TransformHeader.xml
new file mode 100644
index 000000000..85add64be
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_robot_localization/aron/TransformHeader.xml
@@ -0,0 +1,23 @@
+<!--This class contains the data structure for ObjectPose -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <CodeIncludes>
+ <Include include="<Eigen/Core>" />
+ </CodeIncludes>
+ <GenerateTypes>
+ <Object name="armarx::aron::TransformHeader">
+ <ObjectChild key='parentFrame'>
+ <string />
+ </ObjectChild>
+ <ObjectChild key='frame'>
+ <string />
+ </ObjectChild>
+ <ObjectChild key='agent'>
+ <string />
+ </ObjectChild>
+ <ObjectChild key='timestamp'>
+ <Time />
+ </ObjectChild>
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/CMakeLists.txt b/source/RobotAPI/libraries/armem_robot_mapping/CMakeLists.txt
index 5712d4c15..28e32f85f 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_robot_mapping/CMakeLists.txt
@@ -10,8 +10,6 @@ armarx_add_library(
# This package
RobotAPICore
RobotAPI::libraries::armem
- # TODO(fabian.reister): remove this dependency!
- RobotAPI::armem_robot_localization
# System / External
Eigen3::Eigen
HEADERS
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp
index d035b2b79..ec4fa0207 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp
@@ -33,7 +33,7 @@
#include <RobotAPI/libraries/armem/core/workingmemory/ProviderSegment.h>
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/libraries/armem/util/util.h>
-#include <RobotAPI/libraries/armem_robot_localization/MemoryConnector.h>
+#include <RobotAPI/libraries/armem/client/MemoryConnector.h>
#include <RobotAPI/libraries/armem_robot_mapping/aron/LaserScan.aron.generated.h>
#include <RobotAPI/libraries/armem_robot_mapping/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot_mapping/types.h>
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.h b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.h
index 359b88fe8..5135d41b8 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.h
+++ b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.h
@@ -28,8 +28,7 @@
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
-// TODO(fabian.reister): move MemoryConnector to armem library
-#include <RobotAPI/libraries/armem_robot_localization/MemoryConnector.h>
+#include <RobotAPI/libraries/armem/client/MemoryConnector.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem_robot_mapping/types.h>
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.cpp b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.cpp
index dd0299ece..2216b159f 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.cpp
@@ -71,7 +71,6 @@ namespace armarx::armem
armem::EntityUpdate update;
update.entityID = entityID;
- update.timeCreated = armem::Time::now();
arondto::LaserScanStamped aronSensorData;
// currently only sets the header
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.h b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.h
index 5d5f21185..4eddff56c 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.h
+++ b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.h
@@ -22,13 +22,12 @@
#pragma once
-#include <RobotAPI/interface/units/LaserScannerUnit.h>
#include <mutex>
-#include <RobotAPI/libraries/armem/client/Writer.h>
+#include <RobotAPI/interface/units/LaserScannerUnit.h>
-// TODO(fabian.reister): move MemoryConnector to armem lib
-#include "RobotAPI/libraries/armem_robot_localization/MemoryConnector.h"
+#include <RobotAPI/libraries/armem/client/Writer.h>
+#include <RobotAPI/libraries/armem/client/MemoryConnector.h>
namespace armarx::armem
diff --git a/source/RobotAPI/libraries/aron/common/CMakeLists.txt b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
index a64ff5e71..6fc9fa463 100644
--- a/source/RobotAPI/libraries/aron/common/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
@@ -23,9 +23,6 @@ armarx_add_library(
aron_conversions/armarx.cpp
aron_conversions/simox.cpp
aron_conversions/stl.cpp
-
- # TODO move
- aron/ice_conversions.cpp
)
@@ -37,11 +34,6 @@ armarx_enable_aron_file_generation_for_target(
aron/OrientedBox.xml
aron/PackagePath.xml
- # aron/Attachment.xml
- aron/RobotDescription.xml
- aron/RobotState.xml
- aron/Robot.xml
- aron/Constraint.xml
)
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
index 0aa43a2b2..ea25e01e3 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.cpp
@@ -7,17 +7,6 @@
namespace armarx
{
- /* to be moved */
- void fromAron(const long& dto, IceUtil::Time& time)
- {
- time = IceUtil::Time::microSeconds(dto);
- }
-
- void toAron(long& dto, const IceUtil::Time& time)
- {
- dto = time.toMicroSeconds();
- }
-
/* PackagePath */
void fromAron(const arondto::PackagePath& dto, PackagePath& bo)
@@ -33,51 +22,4 @@ namespace armarx
}
- /* Robot */
-
- void fromAron(const arondto::Robot& dto, Robot& bo)
- {
- fromAron(dto.description, bo.description);
- fromAron(dto.state, bo.config);
- }
-
- void toAron(arondto::Robot& dto, const Robot& bo)
- {
- toAron(dto.description, bo.description);
- toAron(dto.state, bo.config);
- }
-
-
- /* RobotDescription */
-
- void fromAron(const arondto::RobotDescription& dto, RobotDescription& bo)
- {
- aron::fromAron(dto.name, bo.name);
- fromAron(dto.xml, bo.xml);
- }
-
- void toAron(arondto::RobotDescription& dto, const RobotDescription& bo)
- {
- aron::toAron(dto.name, bo.name);
- toAron(dto.xml, bo.xml);
- }
-
-
- /* RobotState */
-
- void fromAron(const arondto::RobotState& dto, RobotState& bo)
- {
- fromAron(dto.timestamp, bo.timestamp);
- bo.globalPose.matrix() = dto.globalPose;
- bo.jointMap = dto.jointMap;
- }
-
- void toAron(arondto::RobotState& dto, const RobotState& bo)
- {
- toAron(dto.timestamp, bo.timestamp);
- dto.globalPose = bo.globalPose.matrix();
- dto.jointMap = bo.jointMap;
- }
-
-
} // namespace armarx
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
index fafb4c33a..985409745 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/armarx.h
@@ -6,32 +6,9 @@
#include <RobotAPI/libraries/aron/common/aron/PackagePath.aron.generated.h>
-#include <RobotAPI/libraries/aron/common/aron/new_types.h>
-#include <RobotAPI/libraries/aron/common/aron/RobotDescription.aron.generated.h>
-#include <RobotAPI/libraries/aron/common/aron/RobotState.aron.generated.h>
-#include <RobotAPI/libraries/aron/common/aron/Robot.aron.generated.h>
-
namespace armarx
{
-
- // TODO move the following
- void fromAron(const long& dto, IceUtil::Time& time);
- void toAron(long& dto, const IceUtil::Time& time);
-
- // end TODO
-
-
void fromAron(const arondto::PackagePath& dto, PackagePath& bo);
void toAron(arondto::PackagePath& dto, const PackagePath& bo);
-
- void fromAron(const arondto::Robot& dto, Robot& bo);
- void toAron(arondto::Robot& dto, const Robot& bo);
-
- void fromAron(const arondto::RobotDescription& dto, RobotDescription& bo);
- void toAron(arondto::RobotDescription& dto, const RobotDescription& bo);
-
- void fromAron(const arondto::RobotState& dto, RobotState& bo);
- void toAron(arondto::RobotState& dto, const RobotState& bo);
-
} // namespace armarx
--
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