From 5cdd8ae0c5ef48dba93db2dbcabf15063af4d6b8 Mon Sep 17 00:00:00 2001 From: Andreas Gaukel <ucesn@student.kit.edu> Date: Mon, 9 Sep 2024 11:36:43 +0200 Subject: [PATCH] Added conversion operation for objectWidthatGraspPoseInMM as part of objInfo which is part of ActionHypothesis --- .../manipulation/core/aron_conversions.cpp | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) diff --git a/source/armarx/manipulation/core/aron_conversions.cpp b/source/armarx/manipulation/core/aron_conversions.cpp index 9c2bbd44..92a55ee4 100644 --- a/source/armarx/manipulation/core/aron_conversions.cpp +++ b/source/armarx/manipulation/core/aron_conversions.cpp @@ -132,6 +132,12 @@ namespace armarx::manipulation::core { objInfo->segmentLabel = dto.objectInformation->segmentLabel.value(); } + if (dto.objectInformation->objectWidthAtGraspPoseInMM.has_value()) + { + objInfo->objectWidthAtGraspPoseInMM.emplace(); + objInfo->objectWidthAtGraspPoseInMM = + dto.objectInformation->objectWidthAtGraspPoseInMM.value(); + } } if (dto.approachInformation.has_value()) { @@ -162,7 +168,8 @@ namespace armarx::manipulation::core } void - toAron(arondto::executable_action::EndEffectorState& dto, const executable_action::EndEffectorState& bo) + toAron(arondto::executable_action::EndEffectorState& dto, + const executable_action::EndEffectorState& bo) { armarx::toAron(dto.pose, bo.pose); dto.fingerValues = bo.fingerValues; @@ -178,7 +185,8 @@ namespace armarx::manipulation::core } void - fromAron(const arondto::executable_action::EndEffectorState& dto, executable_action::EndEffectorState& bo) + fromAron(const arondto::executable_action::EndEffectorState& dto, + executable_action::EndEffectorState& bo) { bo = fromAron(dto); } @@ -292,6 +300,12 @@ namespace armarx::manipulation::core toAron(dto.objectInformation->referenceObjectPose.value(), bo.objectInformation->referenceObjectPose.value()); } + if (bo.objectInformation->objectWidthAtGraspPoseInMM.has_value()) + { + dto.objectInformation->objectWidthAtGraspPoseInMM.emplace(); + dto.objectInformation->objectWidthAtGraspPoseInMM = + bo.objectInformation->objectWidthAtGraspPoseInMM; + } } if (bo.approachInformation.has_value()) { -- GitLab