From 9a0b76ba2a774eff19fabe5f39ec770d5f2bae7f Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 18 Aug 2021 11:32:05 +0200
Subject: [PATCH] Add and use constants for core segment names
---
.../components/NavigationMemory/CMakeLists.txt | 2 ++
.../components/NavigationMemory/NavigationMemory.cpp | 10 ++++++++++
source/armarx/navigation/graph/aron/Graph.xml | 8 ++++----
source/armarx/navigation/graph/constants.cpp | 6 ++----
source/armarx/navigation/graph/constants.h | 6 ++++--
source/armarx/navigation/location/aron/Location.xml | 6 +++---
source/armarx/navigation/location/constants.cpp | 6 ++----
source/armarx/navigation/location/constants.h | 6 ++++--
8 files changed, 31 insertions(+), 19 deletions(-)
diff --git a/source/Navigation/components/NavigationMemory/CMakeLists.txt b/source/Navigation/components/NavigationMemory/CMakeLists.txt
index 19721ffb..ae5f287c 100644
--- a/source/Navigation/components/NavigationMemory/CMakeLists.txt
+++ b/source/Navigation/components/NavigationMemory/CMakeLists.txt
@@ -31,6 +31,8 @@ armarx_add_component(
## ${PROJECT_NAME}Interfaces # For ice interfaces from this package.
# This component
## NavigationMemoryInterfaces # If you defined a component ice interface above.
+ Navigation::Graph
+ Navigation::Location
SOURCES
NavigationMemory.cpp
diff --git a/source/Navigation/components/NavigationMemory/NavigationMemory.cpp b/source/Navigation/components/NavigationMemory/NavigationMemory.cpp
index 7b4bb34f..c914b239 100644
--- a/source/Navigation/components/NavigationMemory/NavigationMemory.cpp
+++ b/source/Navigation/components/NavigationMemory/NavigationMemory.cpp
@@ -24,6 +24,10 @@
#include <Navigation/libraries/core/aron/Trajectory.aron.generated.h>
#include <Navigation/libraries/core/aron/Twist.aron.generated.h>
+#include <armarx/navigation/location/aron/Location.aron.generated.h>
+#include <armarx/navigation/location/constants.h>
+#include <armarx/navigation/graph/aron/Graph.aron.generated.h>
+#include <armarx/navigation/graph/constants.h>
// Include headers you only need in function definitions in the .cpp.
@@ -88,6 +92,12 @@ namespace armarx
workingMemory.addCoreSegment("Events"); //, armem::example::ExampleData::toAronType());
// workingMemory.addCoreSegment("Exceptions"); //, armem::example::ExampleData::toAronType());
+
+
+ workingMemory.addCoreSegment(nav::loc::coreSegmentName,
+ nav::loc::arondto::Location::toAronType());
+ workingMemory.addCoreSegment(nav::graph::coreSegmentName,
+ nav::graph::arondto::Graph::toAronType());
}
diff --git a/source/armarx/navigation/graph/aron/Graph.xml b/source/armarx/navigation/graph/aron/Graph.xml
index 38d9fe74..69d0f78a 100644
--- a/source/armarx/navigation/graph/aron/Graph.xml
+++ b/source/armarx/navigation/graph/aron/Graph.xml
@@ -1,18 +1,18 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<CodeIncludes>
- <!--Include include="armarx/navigation/locations/aron/Location.aron.generated.h" /-->
+ <!--Include include="armarx/navigation/location/aron/Location.aron.generated.h" /-->
</CodeIncludes>
<AronIncludes>
- <!-- <Include include="<armarx/navigation/locations/aron/Location.xml>" /> -->
+ <!-- <Include include="<armarx/navigation/location/aron/Location.xml>" /> -->
</AronIncludes>
<GenerateTypes>
- <Object name='armarx::nav::graphs::arondto::Graph'>
+ <Object name='armarx::nav::graph::arondto::Graph'>
<!--ObjectChild key='location'>
- <armarx::nav::locs::arondto::Location />
+ <armarx::nav::loc::arondto::Location />
</ObjectChild-->
</Object>
diff --git a/source/armarx/navigation/graph/constants.cpp b/source/armarx/navigation/graph/constants.cpp
index e1b0ee56..543952ee 100644
--- a/source/armarx/navigation/graph/constants.cpp
+++ b/source/armarx/navigation/graph/constants.cpp
@@ -1,11 +1,9 @@
-#include "aron_conversions.h"
+#include "constants.h"
namespace armarx::nav
{
- void core::test()
- {
+ const std::string graph::coreSegmentName = "Graph";
- }
}
diff --git a/source/armarx/navigation/graph/constants.h b/source/armarx/navigation/graph/constants.h
index 0897a62a..7e518c7e 100644
--- a/source/armarx/navigation/graph/constants.h
+++ b/source/armarx/navigation/graph/constants.h
@@ -21,10 +21,12 @@
#pragma once
+#include <string>
-namespace armarx::nav::core
+
+namespace armarx::nav::graph
{
- void test();
+ extern const std::string coreSegmentName;
}
diff --git a/source/armarx/navigation/location/aron/Location.xml b/source/armarx/navigation/location/aron/Location.xml
index eb3cc696..4bc0d14f 100644
--- a/source/armarx/navigation/location/aron/Location.xml
+++ b/source/armarx/navigation/location/aron/Location.xml
@@ -15,7 +15,7 @@
-->
- <Object name='armarx::nav::locs::arondto::ObjectRelativeLocation'>
+ <Object name='armarx::nav::loc::arondto::ObjectRelativeLocation'>
<ObjectChild key='objectInstanceID'>
<armarx::armem::arondto::MemoryID />
@@ -28,14 +28,14 @@
</Object>
- <Object name='armarx::nav::locs::arondto::Location'>
+ <Object name='armarx::nav::loc::arondto::Location'>
<ObjectChild key='globalRobotPose'>
<Pose />
</ObjectChild>
<ObjectChild key='relativeToObject'>
- <armarx::nav::locs::arondto::ObjectRelativeLocation optional="true" />
+ <armarx::nav::loc::arondto::ObjectRelativeLocation optional="true" />
</ObjectChild>
</Object>
diff --git a/source/armarx/navigation/location/constants.cpp b/source/armarx/navigation/location/constants.cpp
index d35921fd..4a9a4ca4 100644
--- a/source/armarx/navigation/location/constants.cpp
+++ b/source/armarx/navigation/location/constants.cpp
@@ -1,11 +1,9 @@
-#include "aron_conversions.h"
+#include "constants.h"
namespace armarx::nav
{
- void coree::test()
- {
+ const std::string loc::coreSegmentName = "Location";
- }
}
diff --git a/source/armarx/navigation/location/constants.h b/source/armarx/navigation/location/constants.h
index 44692727..31d558d0 100644
--- a/source/armarx/navigation/location/constants.h
+++ b/source/armarx/navigation/location/constants.h
@@ -21,10 +21,12 @@
#pragma once
+#include <string>
-namespace armarx::nav::coree
+
+namespace armarx::nav::loc
{
-void test();
+ extern const std::string coreSegmentName;
}
--
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