From 7cc9b4a5365e6cf329709f1e5b8b5030f4e6f5aa Mon Sep 17 00:00:00 2001
From: Patrick Dormanns <patrick.dormanns@student.kit.edu>
Date: Mon, 26 Feb 2024 00:09:26 +0100
Subject: [PATCH] set logging tag
---
.../armarx/control/pointing/core/Pointing.cpp | 37 ++++++++++---------
.../armarx/control/pointing/core/Pointing.h | 8 ++--
2 files changed, 23 insertions(+), 22 deletions(-)
diff --git a/source/armarx/control/pointing/core/Pointing.cpp b/source/armarx/control/pointing/core/Pointing.cpp
index 2cf69328..f59d0aaa 100644
--- a/source/armarx/control/pointing/core/Pointing.cpp
+++ b/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
diff --git a/source/armarx/control/pointing/core/Pointing.h b/source/armarx/control/pointing/core/Pointing.h
index 0de3de67..8c50238e 100644
--- a/source/armarx/control/pointing/core/Pointing.h
+++ b/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;
--
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