Fix constness of ObjectFinder, add flag to disable checking of files

source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp

@@ -17,7 +17,7 @@ namespace armarx
         Logging::setTag("ObjectFinder");
     }
 
-    void ObjectFinder::init()
+    void ObjectFinder::init() const
     {
         if (packageDataDir.empty())
         {
@@ -36,7 +36,7 @@ namespace armarx
     }
 
 
-    std::optional<ObjectInfo> ObjectFinder::findObject(const std::string& project, const std::string& name)
+    std::optional<ObjectInfo> ObjectFinder::findObject(const std::string& project, const std::string& name) const
     {
         init();
         if (!project.empty())
@@ -65,7 +65,7 @@ namespace armarx
         return std::nullopt;
     }
 
-    std::optional<ObjectInfo> ObjectFinder::findObject(const std::string& nameOrID)
+    std::optional<ObjectInfo> ObjectFinder::findObject(const std::string& nameOrID) const
     {
         init();
         if (nameOrID.find("/") != nameOrID.npos)
@@ -81,7 +81,7 @@ namespace armarx
         }
     }
 
-    std::vector<std::string> ObjectFinder::getProjects()
+    std::vector<std::string> ObjectFinder::getProjects() const
     {
         init();
         const bool local = true;
@@ -89,14 +89,14 @@ namespace armarx
         return std::vector<std::string>(paths.begin(), paths.end());
     }
 
-    std::vector<ObjectFinder::path> ObjectFinder::getProjectDirectories()
+    std::vector<ObjectFinder::path> ObjectFinder::getProjectDirectories() const
     {
         init();
         const bool local = false;
         return simox::fs::list_directory(_rootDirAbs(), local);
     }
 
-    std::vector<ObjectInfo> ObjectFinder::findAllObjects()
+    std::vector<ObjectInfo> ObjectFinder::findAllObjects(bool checkPaths) const
     {
         init();
         const bool local = true;
@@ -105,14 +105,14 @@ namespace armarx
         {
             if (fs::is_directory(_rootDirAbs() / projectDir))
             {
-                std::vector<ObjectInfo> project = findAllObjectsOfProject(projectDir);
+                std::vector<ObjectInfo> project = findAllObjectsOfProject(projectDir, checkPaths);
                 objects.insert(objects.end(), project.begin(), project.end());
             }
         }
         return objects;
     }
 
-    std::vector<ObjectInfo> ObjectFinder::findAllObjectsOfProject(const std::string& project)
+    std::vector<ObjectInfo> ObjectFinder::findAllObjectsOfProject(const std::string& project, bool checkPaths) const
     {
         init();
         path projectDir = _rootDirAbs() / project;
@@ -130,7 +130,7 @@ namespace armarx
             if (fs::is_directory(projectDir / dir))
             {
                 ObjectInfo object(packageName, packageDataDir, project, dir.filename());
-                if (object.checkPaths())
+                if (!checkPaths || object.checkPaths())
                 {
                     objects.push_back(object);
                 }

source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.h

@@ -20,20 +20,20 @@ namespace armarx
 
         ObjectFinder(const std::string& objectsPackageName = "ArmarXObjects");
 
-        std::optional<ObjectInfo> findObject(const std::string& project, const std::string& name);
-        std::optional<ObjectInfo> findObject(const std::string& nameOrID);
+        std::optional<ObjectInfo> findObject(const std::string& project, const std::string& name) const;
+        std::optional<ObjectInfo> findObject(const std::string& nameOrID) const;
 
 
-        std::vector<std::string> getProjects();
-        std::vector<path> getProjectDirectories();
+        std::vector<std::string> getProjects() const;
+        std::vector<path> getProjectDirectories() const;
 
-        std::vector<ObjectInfo> findAllObjects();
-        std::vector<ObjectInfo> findAllObjectsOfProject(const std::string& project);
+        std::vector<ObjectInfo> findAllObjects(bool checkPaths = true) const;
+        std::vector<ObjectInfo> findAllObjectsOfProject(const std::string& project, bool checkPaths = true) const;
 
 
     private:
 
-        void init();
+        void init() const;
 
         path _rootDirAbs() const;
         path _rootDirRel() const;
@@ -42,10 +42,10 @@ namespace armarx
 
 
         /// Name of package containing the object models (ArmarXObjects by default).
-        std::string packageName;
+        mutable std::string packageName;
 
         /// Absolute path to data directory (e.g. "/.../repos/ArmarXObjects/data").
-        path packageDataDir;
+        mutable path packageDataDir;
 
     };