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Commit f145908e authored by Fabian Reister's avatar Fabian Reister
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moving files and functionality

parent 0d7f5ee5
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2 merge requests!157armem/dev => master,!141Feature/armem object memory articulated objects
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with 266 additions and 53 deletions
source/RobotAPI/components/ObjectPoseProviderExample/CMakeLists.txt
+ 33
− 1
View file @ f145908e
......@@ -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
source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+ 5
− 1
View file @ f145908e
......@@ -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
......
source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
+ 4
− 1
View file @ f145908e
......@@ -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
......
source/RobotAPI/libraries/armem/CMakeLists.txt
+ 2
− 0
View file @ f145908e
......@@ -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
......
source/RobotAPI/libraries/armem_objects/CMakeLists.txt
+ 11
− 2
View file @ f145908e
......@@ -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)
......
source/RobotAPI/libraries/armem_objects/aron/Attachment.xml
+ 1
− 1
View file @ f145908e
......@@ -6,7 +6,7 @@
</CodeIncludes>
<GenerateTypes>
<Object name="armarx::arondto::Attachment">
<Object name="armarx::armem::arondto::Attachment">
<ObjectChild key="constraintType">
......
source/RobotAPI/libraries/armem_objects/aron/Constraint.xml
+ 11
− 11
View file @ f145908e
......@@ -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>
......
source/RobotAPI/libraries/armem_objects/aron/Robot.xml
+ 7
− 7
View file @ f145908e
......@@ -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'>
......
source/RobotAPI/libraries/armem_objects/aron/RobotDescription.xml
+ 4
− 1
View file @ f145908e
......@@ -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 />
......
source/RobotAPI/libraries/armem_objects/aron/RobotState.xml
+ 1
− 1
View file @ f145908e
......@@ -6,7 +6,7 @@
</CodeIncludes>
<GenerateTypes>
<Object name="armarx::arondto::RobotState">
<Object name="armarx::armem::arondto::RobotState">
<ObjectChild key='timestamp'>
<Time />
......
source/RobotAPI/libraries/armem_objects/aron_conversions.cpp
+ 78
− 15
View file @ f145908e
......@@ -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
source/RobotAPI/libraries/armem_objects/aron_conversions.h
+ 23
− 0
View file @ f145908e
......@@ -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);
}
source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.h
+ 20
− 0
View file @ f145908e
#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
source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
+ 18
− 0
View file @ f145908e
#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
source/RobotAPI/libraries/armem_objects/client/articulated_object/interfaces.h 0 → 100644
+ 27
− 0
View file @ f145908e
#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
source/RobotAPI/libraries/armem_objects/ice_conversions.cpp
+ 21
− 12
View file @ f145908e
#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
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