From f6314de7c4abce64295fd58844198439fad07c9d Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 16 Nov 2023 10:30:47 +0100
Subject: [PATCH] Add Names to Location BOs
---
.../util/LocationLoader/datatypes/Location.h | 36 +++++++++++--------
1 file changed, 22 insertions(+), 14 deletions(-)
diff --git a/source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/datatypes/Location.h b/source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/datatypes/Location.h
index 2a1eccb4c..f4a05204d 100644
--- a/source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/datatypes/Location.h
+++ b/source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/datatypes/Location.h
@@ -1,11 +1,13 @@
#pragma once
#include <memory>
+#include <optional>
#include <string>
#include <SimoxUtility/shapes/OrientedBox.h>
#include <RobotAPI/libraries/core/FramedPose.h>
+#include <RobotAPI/libraries/core/Names.h>
namespace armarx::priorknowledge::util
{
@@ -31,8 +33,12 @@ namespace armarx::priorknowledge::util
{
LocationId id;
LocationType type;
+ std::optional<Names> names;
- Location(const LocationId& i, const LocationType t) : id(i), type(t)
+ Location(const LocationId& i,
+ const LocationType t,
+ const std::optional<Names>& names = std::nullopt) :
+ id(i), type(t), names(names)
{
}
@@ -45,12 +51,13 @@ namespace armarx::priorknowledge::util
std::string agent;
Eigen::Matrix4f pose;
- FramedLocation(const LocationId& i,
- const LocationType t,
- const std::string& f,
- const std::string& a,
- const Eigen::Matrix4f& p) :
- Location(i, t), frame(f), agent(a), pose(p)
+ FramedLocation(const LocationId& id,
+ const LocationType type,
+ const std::string& frame,
+ const std::string& agent,
+ const Eigen::Matrix4f& pose,
+ const std::optional<Names>& names = std::nullopt) :
+ Location(id, type, names), frame(frame), agent(agent), pose(pose)
{
}
@@ -63,13 +70,14 @@ namespace armarx::priorknowledge::util
{
Eigen::Vector3f extents;
- FramedBoxedLocation(const LocationId& i,
- const LocationType t,
- const std::string& f,
- const std::string& a,
- const Eigen::Matrix4f& p,
- const Eigen::Vector3f& e) :
- FramedLocation(i, t, f, a, p), extents(e)
+ FramedBoxedLocation(const LocationId& id,
+ const LocationType type,
+ const std::string& frame,
+ const std::string& agent,
+ const Eigen::Matrix4f& pose,
+ const Eigen::Vector3f& extents,
+ const std::optional<Names>& names = std::nullopt) :
+ FramedLocation(id, type, frame, agent, pose, names), extents(extents)
{
}
--
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