fix: No accessor for mixin.

source/Navigation/components/ExampleClient/ExampleClient.cpp

@@ -93,20 +93,20 @@ exns::ExampleClient::exampleNavigation()
                         .configureGeneral({}/*{.maxVel = VelocityLimits{.linear = 400 , .angular = 0.1}}*/));
 
     // Example of registering a lambda as callback.
-    navigator().onGoalReached([&]()
+    navigator.onGoalReached([&]()
     {
         ARMARX_IMPORTANT << "Goal reached! (lambda-style)";
     });
 
     // Example of registering a method as callback.
-    navigator().onGoalReached([this] { goalReached(); });
+    navigator.onGoalReached([this] { goalReached(); });
 
     std::this_thread::sleep_for(1s);
 
     ARMARX_INFO << "Moving to goal pose";
     // Start moving to goal position using above config.
     const Pose goal = Pose::Identity();
-    navigator().moveTo(goal, NavigationFrame::Absolute);
+    navigator.moveTo(goal, NavigationFrame::Absolute);
 
     // Wait until goal is reached
     navigator.waitForGoalReached();
@@ -115,12 +115,12 @@ exns::ExampleClient::exampleNavigation()
 
     ARMARX_INFO << "Moving into certain direction.";
     // Start moving towards a direction
-    navigator().moveTowards(Direction(100, 100, 0), NavigationFrame::Relative);
+    navigator.moveTowards(Direction(100, 100, 0), NavigationFrame::Relative);
 
     std::this_thread::sleep_for(3s);
 
     ARMARX_INFO << "Pausing movement.";
-    navigator().pauseMovement();
+    navigator.pauseMovement();
 }
 
 

source/Navigation/libraries/client/ComponentPlugin.cpp

 #include "Navigation/libraries/client/ComponentPlugin.h"
 
+
 #include "ArmarXCore/core/Component.h"
 #include "ArmarXCore/core/application/properties/PropertyDefinitionContainer.h"
 #include "ArmarXCore/util/CPPUtility/trace.h"
 
+
 // ComponentPlugin
 
+
 armarx::nav::client::ComponentPlugin::~ComponentPlugin()
     = default;
 
+
 void armarx::nav::client::ComponentPlugin::postCreatePropertyDefinitions(
     armarx::PropertyDefinitionsPtr& properties)
 {
     if (not properties->hasDefinition(PROPERTY_NAME))
     {
-        // properties->defineRequiredProperty<std::string>(PROPERTY_NAME, "Name of the Navigator");
         properties->defineOptionalProperty<std::string>(PROPERTY_NAME, "Navigator", "Name of the Navigator");
     }
 }
 
+
 void armarx::nav::client::ComponentPlugin::preOnInitComponent()
 {
     ARMARX_TRACE;
     parent<armarx::Component>().usingProxyFromProperty(PROPERTY_NAME);
 }
 
+
 void armarx::nav::client::ComponentPlugin::preOnConnectComponent()
 {
     ARMARX_TRACE;
     parent<armarx::Component>().getProxyFromProperty(navigatorPrx, PROPERTY_NAME);
 
-    ARMARX_TRACE;
-    parent<armarx::nav::client::ComponentPluginUser>().nav = client::Navigator(navigatorPrx);
-
     ARMARX_TRACE;
     const std::string componentName = parent().getName();
-    parent<armarx::nav::client::ComponentPluginUser>().nav->setConfigId(componentName);
+    parent<armarx::nav::client::ComponentPluginUser>().navigator.setConfigId(componentName);
 }
 
+
 // ComponentPluginUser
 
+
 armarx::nav::client::ComponentPluginUser::ComponentPluginUser()
 {
     ARMARX_TRACE;
     addPlugin(plugin);
 }
 
+
 armarx::nav::client::ComponentPluginUser::~ComponentPluginUser()
     = default;
-
-armarx::nav::client::Navigator& armarx::nav::client::ComponentPluginUser::navigator()
-{
-    ARMARX_CHECK(nav.has_value()) << "The navigator must be set!";
-    return nav.value();
-}

source/Navigation/libraries/client/ComponentPlugin.h

@@ -29,7 +29,7 @@ namespace armarx::nav::client
         void preOnConnectComponent() override;
 
     private:
-        static constexpr const char* PROPERTY_NAME = "Navigator";
+        static constexpr const char* PROPERTY_NAME = "nav.NavigatorName";
 
         components::NavigatorInterfacePrx navigatorPrx;
     };
@@ -42,16 +42,13 @@ namespace armarx::nav::client
     public:
 
         ComponentPluginUser();
-        ~ComponentPluginUser() override;
 
-        Navigator& navigator();
+        ~ComponentPluginUser() override;
 
-        friend class ComponentPlugin;
+        Navigator navigator;
 
     private:
 
-        std::optional<Navigator> nav;
-
         ComponentPlugin* plugin = nullptr;
 
 

source/Navigation/libraries/client/Navigator.cpp

@@ -15,6 +15,13 @@ std::vector<Eigen::Matrix4f> convert(const std::vector<armarx::nav::core::Pose>&
 }
 
 
+//armarx::nav::client::Navigator::Navigator(const armarx::nav::components::NavigatorInterfacePrx& navigator)
+//    : navigator(navigator)
+//{
+//    // pass
+//}
+
+
 void
 armarx::nav::client::Navigator::setConfigId(const std::string& configId)
 {
@@ -118,7 +125,3 @@ auto armarx::nav::client::Navigator::waitForWaypointNearlyReached() -> WaypointR
 {
     return {};
 }
-
-armarx::nav::client::Navigator::Navigator(const armarx::nav::components::NavigatorInterfacePrx& navigator)
-    : navigator(navigator)
-{}

source/Navigation/libraries/client/Navigator.h

@@ -40,7 +40,7 @@ namespace armarx::nav::client
 
     public:
 
-        Navigator(const components::NavigatorInterfacePrx& navigator);
+        //Navigator(const components::NavigatorInterfacePrx& navigator);
 
         void setConfigId(const std::string& configId);