set logging tag

source/armarx/control/pointing/core/Pointing.cpp

@@ -14,6 +14,7 @@ namespace armarx::control::pointing::core
 {
     Pointing::Pointing(const Remote& remote) : remote_(remote)
     {
+        setTag("Pointing");
     }
 
     void
@@ -38,7 +39,7 @@ namespace armarx::control::pointing::core
 
         if (params.handShape)
         {
-            auto shapeJointValues = GetShapeJointValues(robot, params.side, *params.handShape);
+            auto shapeJointValues = getShapeJointValues(robot, params.side, *params.handShape);
             addHandTrajectory(robot, traj, shapeJointValues);
         }
 
@@ -129,6 +130,23 @@ namespace armarx::control::pointing::core
                       });
     }
 
+    std::map<std::string, float>
+    Pointing::getShapeJointValues(VirtualRobot::RobotPtr robot,
+                                  Side side,
+                                  const std::string& shapeName)
+    {
+        auto eefName = std::string("Hand_") + (side == Side::LEFT ? "L" : "R") + "_EEF"; // TODO
+        auto eef = robot->getEndEffector(eefName);
+
+        auto shape = eef->getPreshape(shapeName);
+        if (not shape)
+        {
+            ARMARX_ERROR << "Hand '" << eefName << "' has no shape '" << shape << "'";
+            throw armarx::exceptions::local::PointingFailedException();
+        }
+        return shape->getRobotNodeJointValueMap();
+    }
+
     void
     Pointing::addHandTrajectory(VirtualRobot::RobotPtr robot,
                                 armarx::TrajectoryPtr traj,
@@ -167,21 +185,4 @@ namespace armarx::control::pointing::core
         ARMARX_INFO << "Pointing target reached";
     }
 
-    std::map<std::string, float>
-    Pointing::GetShapeJointValues(VirtualRobot::RobotPtr robot,
-                                  Side side,
-                                  const std::string& shapeName)
-    {
-        auto eefName = std::string("Hand_") + (side == Side::LEFT ? "L" : "R") + "_EEF"; // TODO
-        auto eef = robot->getEndEffector(eefName);
-
-        auto shape = eef->getPreshape(shapeName);
-        if (not shape)
-        {
-            ARMARX_ERROR << "Hand '" << eefName << "' has no shape '" << shape << "'";
-            throw armarx::exceptions::local::PointingFailedException();
-        }
-        return shape->getRobotNodeJointValueMap();
-    }
-
 } // namespace armarx::control::pointing::core

source/armarx/control/pointing/core/Pointing.h

@@ -36,7 +36,7 @@ namespace armarx::control::pointing::core
      *
      * @ingroup Library-pointing
      */
-    class Pointing
+    class Pointing : virtual public armarx::Logging
     {
     public:
         struct Remote
@@ -100,15 +100,15 @@ namespace armarx::control::pointing::core
         void
         addWristTrajectory(VirtualRobot::RobotPtr robot, Side side, armarx::TrajectoryPtr traj);
 
+        std::map<std::string, float>
+        getShapeJointValues(VirtualRobot::RobotPtr robot, Side side, const std::string& shapeName);
+
         void addHandTrajectory(VirtualRobot::RobotPtr robot,
                                armarx::TrajectoryPtr traj,
                                const std::map<std::string, float>& shapeJointValues);
 
         void playTrajectory(armarx::TrajectoryPtr traj);
 
-        static std::map<std::string, float>
-        GetShapeJointValues(VirtualRobot::RobotPtr robot, Side side, const std::string& shapeName);
-
     private:
         Remote remote_;
         std::atomic_bool aborted;