From 2a9aa29f4fc6c68c7b4bc1a245e87d056ee34b16 Mon Sep 17 00:00:00 2001
From: "Christian R. G. Dreher" <c.dreher@kit.edu>
Date: Fri, 9 Jul 2021 11:25:56 +0200
Subject: [PATCH] fix: Formatting.
---
.../components/Navigator/Navigator.cpp | 236 ++++++++++--------
1 file changed, 129 insertions(+), 107 deletions(-)
diff --git a/source/Navigation/components/Navigator/Navigator.cpp b/source/Navigation/components/Navigator/Navigator.cpp
index bda158c8..4b81d19d 100644
--- a/source/Navigation/components/Navigator/Navigator.cpp
+++ b/source/Navigation/components/Navigator/Navigator.cpp
@@ -40,147 +40,169 @@
#include <Navigation/libraries/factories/NavigationStackFactory.h>
-namespace armarx::nav::components
+armarx::nav::components::Navigator::Navigator() : executor{platformUnit}
{
+}
- Navigator::Navigator() : executor{platformUnit}
- {
- }
+armarx::nav::components::Navigator::~Navigator()
+{
+}
- Navigator::~Navigator()
- {
- }
- void Navigator::onInitComponent()
- {
- }
+void
+armarx::nav::components::Navigator::onInitComponent()
+{
+}
- void Navigator::onConnectComponent()
- {
- }
- void Navigator::onDisconnectComponent()
- {
- }
+void
+armarx::nav::components::Navigator::onConnectComponent()
+{
+}
- void Navigator::onExitComponent()
- {
- }
- void Navigator::updateContext()
- {
- scene.staticScene = staticScene();
- scene.robot = getRobot();
- }
+void
+armarx::nav::components::Navigator::onDisconnectComponent()
+{
+}
- std::string Navigator::getDefaultName() const
- {
- return "Navigator";
- }
- std::vector<core::Pose> convert(const std::vector<Eigen::Matrix4f>& wps)
- {
- std::vector<core::Pose> p;
- p.reserve(wps.size());
- std::transform(wps.begin(), wps.end(), std::back_inserter(p), [](const auto & p)
- {
- return Eigen::Affine3f(p);
- });
- return p;
- }
-
- std::string
- Navigator::createConfig(const aron::data::AronDictPtr& stackConfig,
- const Ice::Current&)
- {
- // TODO: Not thread-safe.
- const std::string uuid = boost::uuids::to_string(boost::uuids::random_generator()());
+void
+armarx::nav::components::Navigator::onExitComponent()
+{
+}
- server::NavigationStack stack = fac::NavigationStackFactory::create(stackConfig, scene);
- navigators.emplace(uuid, server::Navigator{stack, scene, executor});
- return uuid;
- }
+void
+armarx::nav::components::Navigator::updateContext()
+{
+ scene.staticScene = staticScene();
+ scene.robot = getRobot();
+}
- void Navigator::moveTo(const std::vector<Eigen::Matrix4f>& waypoints,
- const std::string& navigationMode,
- const std::string& configId,
- const Ice::Current&)
- {
- // TODO: Error handling.
- navigators.at(configId).moveTo(convert(waypoints), core::NavigationFramesMap.from_name(navigationMode));
- }
+std::string
+armarx::nav::components::Navigator::getDefaultName() const
+{
+ return "Navigator";
+}
- void Navigator::moveTowards(const Eigen::Vector3f& direction,
- const std::string& navigationMode,
- const std::string& configId,
- const Ice::Current&)
+
+std::vector<armarx::nav::core::Pose>
+convert(const std::vector<Eigen::Matrix4f>& wps)
+{
+ std::vector<core::Pose> p;
+ p.reserve(wps.size());
+ std::transform(wps.begin(), wps.end(), std::back_inserter(p), [](const auto & p)
{
- // TODO: Error handling.
+ return Eigen::Affine3f(p);
+ });
+ return p;
+}
- navigators.at(configId).moveTowards(direction, core::NavigationFramesMap.from_name(navigationMode));
- }
- void
- Navigator::pauseMovement(const Ice::Current&)
- {
+std::string
+armarx::nav::components::Navigator::createConfig(const aron::data::AronDictPtr& stackConfig,
+ const Ice::Current&)
+{
+ // TODO: Not thread-safe.
+ const std::string uuid = boost::uuids::to_string(boost::uuids::random_generator()());
- }
+ server::NavigationStack stack = fac::NavigationStackFactory::create(stackConfig, scene);
+ navigators.emplace(uuid, server::Navigator{stack, scene, executor});
- void
- Navigator::resumeMovement(const Ice::Current&)
- {
+ return uuid;
+}
- }
- armarx::PropertyDefinitionsPtr Navigator::createPropertyDefinitions()
- {
- armarx::PropertyDefinitionsPtr def =
- new ComponentPropertyDefinitions(getConfigIdentifier());
+void
+armarx::nav::components::Navigator::moveTo(const std::vector<Eigen::Matrix4f>& waypoints,
+ const std::string& navigationMode,
+ const std::string& configId,
+ const Ice::Current&)
+{
+ // TODO: Error handling.
+
+ navigators.at(configId).moveTo(convert(waypoints), core::NavigationFramesMap.from_name(navigationMode));
+}
- // Publish to a topic (passing the TopicListenerPrx).
- // def->topic(myTopicListener);
- // Subscribe to a topic (passing the topic name).
- // def->topic<PlatformUnitListener>("MyTopic");
+void
+armarx::nav::components::Navigator::moveTowards(const Eigen::Vector3f& direction,
+ const std::string& navigationMode,
+ const std::string& configId,
+ const Ice::Current&)
+{
+ // TODO: Error handling.
- // Use (and depend on) another component (passing the ComponentInterfacePrx).
- def->component(platformUnit);
+ navigators.at(configId).moveTowards(direction, core::NavigationFramesMap.from_name(navigationMode));
+}
- // Add a required property.
- // def->required(properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
- // Add an optionalproperty.
- // def->optional(properties.numBoxes, "p.box.Number", "Number of boxes to draw in ArViz.");
+void
+armarx::nav::components::Navigator::pauseMovement(const Ice::Current&)
+{
- return def;
- }
+}
- core::StaticScene Navigator::staticScene()
- {
- core::StaticScene scene;
- objpose::ObjectPoseSeq objectPoses = ObjectPoseClientPluginUser::getObjectPoses();
+void
+armarx::nav::components::Navigator::resumeMovement(const Ice::Current&)
+{
- scene.objects = util::asSceneObjects(objectPoses);
+}
- return scene;
- }
- VirtualRobot::RobotPtr Navigator::getRobot()
- {
- auto robot = RemoteRobot::createLocalCloneFromFile(
- getRobotStateComponent(), VirtualRobot::RobotIO::RobotDescription::eFull);
- // auto robot = RemoteRobot::createLocalClone(getRobotStateComponent());
- ARMARX_CHECK_NOT_NULL(robot);
+armarx::PropertyDefinitionsPtr
+armarx::nav::components::Navigator::createPropertyDefinitions()
+{
+ armarx::PropertyDefinitionsPtr def =
+ new ComponentPropertyDefinitions(getConfigIdentifier());
+
+ // Publish to a topic (passing the TopicListenerPrx).
+ // def->topic(myTopicListener);
+
+ // Subscribe to a topic (passing the topic name).
+ // def->topic<PlatformUnitListener>("MyTopic");
+
+ // Use (and depend on) another component (passing the ComponentInterfacePrx).
+ def->component(platformUnit);
- // ARMARX_INFO << "Resetting robot";
- // robot = VirtualRobot::RobotIO::loadRobot(robot->getFilename());
+ // Add a required property.
+ // def->required(properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
+
+ // Add an optionalproperty.
+ // def->optional(properties.numBoxes, "p.box.Number", "Number of boxes to draw in ArViz.");
+
+ return def;
+}
+
+
+armarx::nav::core::StaticScene
+armarx::nav::components::Navigator::staticScene()
+{
+ core::StaticScene scene;
+
+ objpose::ObjectPoseSeq objectPoses = ObjectPoseClientPluginUser::getObjectPoses();
+
+ scene.objects = util::asSceneObjects(objectPoses);
+
+ return scene;
+}
+
+
+VirtualRobot::RobotPtr
+armarx::nav::components::Navigator::getRobot()
+{
+ auto robot = RemoteRobot::createLocalCloneFromFile(
+ getRobotStateComponent(), VirtualRobot::RobotIO::RobotDescription::eFull);
+ // auto robot = RemoteRobot::createLocalClone(getRobotStateComponent());
+ ARMARX_CHECK_NOT_NULL(robot);
- RemoteRobot::synchronizeLocalClone(robot, getRobotStateComponent());
+ // ARMARX_INFO << "Resetting robot";
+ // robot = VirtualRobot::RobotIO::loadRobot(robot->getFilename());
- return robot;
- }
+ RemoteRobot::synchronizeLocalClone(robot, getRobotStateComponent());
-} // namespace armarx::nav::components
+ return robot;
+}
--
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