From d92f0d51d378e92e86823ee7035a9bd5365942fd Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 17 Jan 2025 17:00:40 +0100
Subject: [PATCH 1/2] ArticulatedObjectWriter: adding alternative
implementation for storeArticulatedObject which should be more efficient
---
.../ArticulatedObjectWriter.cpp | 33 +++++++++++++++++++
.../ArticulatedObjectWriter.h | 7 ++++
2 files changed, 40 insertions(+)
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
index fdb948721..28f93084c 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
@@ -14,6 +14,8 @@
namespace armarx::armem::articulated_object
{
+
+
armem::articulated_object::ArticulatedObject
convert(const VirtualRobot::Robot& obj, const armem::Time& timestamp)
{
@@ -51,6 +53,21 @@ namespace armarx::armem::articulated_object
.timestamp = timestamp};
}
+ armem::articulated_object::ArticulatedObject
+ convert2(const VirtualRobot::Robot& obj, const armem::Time& timestamp)
+ {
+ ARMARX_DEBUG << "Filename is " << obj.getFilename();
+
+ return armem::articulated_object::ArticulatedObject{
+ .description = {.name = obj.getType(), .xml = {}, .visualization = {}, .info = {}},
+ .instance = obj.getName(),
+ .config = {.timestamp = timestamp,
+ .globalPose = Eigen::Isometry3f(obj.getRootNode()->getGlobalPose()),
+ .jointMap = obj.getJointValues(),
+ .proprioception = std::nullopt},
+ .timestamp = timestamp};
+ }
+
bool
ArticulatedObjectWriter::storeArticulatedObject(const VirtualRobot::RobotPtr& articulatedObject,
const armem::Time& timestamp,
@@ -64,4 +81,20 @@ namespace armarx::armem::articulated_object
return store(armemArticulatedObject, isStatic);
}
+
+ bool
+ ArticulatedObjectWriter::storeArticulatedObject2(
+ const VirtualRobot::RobotPtr& articulatedObject,
+ const armem::Time& timestamp,
+ const bool isStatic)
+ {
+
+ ARMARX_CHECK_NOT_NULL(articulatedObject);
+
+ armarx::armem::articulated_object::ArticulatedObject armemArticulatedObject =
+ convert2(*articulatedObject, Time::Now());
+
+ return storeInstance(armemArticulatedObject, isStatic);
+ }
+
} // namespace armarx::armem::articulated_object
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h
index edc401b6e..4171529f5 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h
@@ -17,5 +17,12 @@ namespace armarx::armem::articulated_object
bool storeArticulatedObject(const VirtualRobot::RobotPtr& articulatedObject,
const armem::Time& timestamp,
bool isStatic = false);
+
+ bool storeArticulatedObject2(const VirtualRobot::RobotPtr& articulatedObject,
+ const armem::Time& timestamp,
+ bool isStatic = false);
+
+ private:
+
};
} // namespace armarx::armem::articulated_object
--
GitLab
From 6d1f9ac39a8adc45282018ddc5fc1c131605b73f Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 24 Jan 2025 17:50:35 +0100
Subject: [PATCH 2/2] articulated object writer: implementation such that the
default behavior is changed: by default, only the instance will be stored and
not the class
---
.../ArticulatedObjectWriter.cpp | 28 ++++++++++---------
.../ArticulatedObjectWriter.h | 15 +++++++---
2 files changed, 26 insertions(+), 17 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
index 28f93084c..9e03b50c0 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
@@ -14,13 +14,14 @@
namespace armarx::armem::articulated_object
{
-
- armem::articulated_object::ArticulatedObject
+ // Slow version with filesystem access. It runs CMake for each project / environment variable.
+ static armem::articulated_object::ArticulatedObject
convert(const VirtualRobot::Robot& obj, const armem::Time& timestamp)
{
ARMARX_DEBUG << "Filename is " << obj.getFilename();
+ // this is very inefficient. It runs CMake for each project
const std::vector<std::string> packages =
armarx::CMakePackageFinder::FindAllArmarXSourcePackages();
const std::string package = armarx::ArmarXDataPath::getProject(packages, obj.getFilename());
@@ -53,8 +54,9 @@ namespace armarx::armem::articulated_object
.timestamp = timestamp};
}
- armem::articulated_object::ArticulatedObject
- convert2(const VirtualRobot::Robot& obj, const armem::Time& timestamp)
+ // fast version without filesystem (CMake) access
+ static armem::articulated_object::ArticulatedObject
+ convertWithoutPackagePath(const VirtualRobot::Robot& obj, const armem::Time& timestamp)
{
ARMARX_DEBUG << "Filename is " << obj.getFilename();
@@ -69,30 +71,30 @@ namespace armarx::armem::articulated_object
}
bool
- ArticulatedObjectWriter::storeArticulatedObject(const VirtualRobot::RobotPtr& articulatedObject,
- const armem::Time& timestamp,
- const bool isStatic)
+ ArticulatedObjectWriter::storeArticulatedObjectWithObjectClass(
+ const VirtualRobot::RobotPtr& articulatedObject,
+ const armem::Time& timestamp,
+ const bool isStatic)
{
ARMARX_CHECK_NOT_NULL(articulatedObject);
armarx::armem::articulated_object::ArticulatedObject armemArticulatedObject =
- convert(*articulatedObject, Time::Now());
+ convert(*articulatedObject, timestamp);
return store(armemArticulatedObject, isStatic);
}
bool
- ArticulatedObjectWriter::storeArticulatedObject2(
- const VirtualRobot::RobotPtr& articulatedObject,
- const armem::Time& timestamp,
- const bool isStatic)
+ ArticulatedObjectWriter::storeArticulatedObject(const VirtualRobot::RobotPtr& articulatedObject,
+ const armem::Time& timestamp,
+ const bool isStatic)
{
ARMARX_CHECK_NOT_NULL(articulatedObject);
armarx::armem::articulated_object::ArticulatedObject armemArticulatedObject =
- convert2(*articulatedObject, Time::Now());
+ convertWithoutPackagePath(*articulatedObject, timestamp);
return storeInstance(armemArticulatedObject, isStatic);
}
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h
index 4171529f5..4d6fca627 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h
@@ -14,15 +14,22 @@ namespace armarx::armem::articulated_object
public:
using Writer::Writer;
+ /**
+ * @brief Stores the articulated object in the memory.
+ *
+ */
bool storeArticulatedObject(const VirtualRobot::RobotPtr& articulatedObject,
const armem::Time& timestamp,
bool isStatic = false);
- bool storeArticulatedObject2(const VirtualRobot::RobotPtr& articulatedObject,
- const armem::Time& timestamp,
- bool isStatic = false);
+ /**
+ * @brief Stores the articulated object. If the object class in unknown,
+ * it will also be stored in the corresponding class core segment.
+ */
+ bool storeArticulatedObjectWithObjectClass(const VirtualRobot::RobotPtr& articulatedObject,
+ const armem::Time& timestamp,
+ bool isStatic = false);
private:
-
};
} // namespace armarx::armem::articulated_object
--
GitLab