From f0b99a7f8e5af2bbf033358f41b5d9b37385e33b Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 23 Jun 2022 13:41:33 +0200
Subject: [PATCH] factories: removing .trajectoryControl and .safetyControl
---
.../armarx/navigation/factories/NavigationStackFactory.cpp | 6 +++---
.../navigation/factories/TrajectoryControllerFactory.cpp | 7 ++++---
.../navigation/factories/TrajectoryControllerFactory.h | 5 +++--
3 files changed, 10 insertions(+), 8 deletions(-)
diff --git a/source/armarx/navigation/factories/NavigationStackFactory.cpp b/source/armarx/navigation/factories/NavigationStackFactory.cpp
index 68fa77a0..9869c6a7 100644
--- a/source/armarx/navigation/factories/NavigationStackFactory.cpp
+++ b/source/armarx/navigation/factories/NavigationStackFactory.cpp
@@ -40,9 +40,9 @@ namespace armarx::navigation::fac
return server::NavigationStack{
.globalPlanner = GlobalPlannerFactory::create(globalPlannerCfg, ctx),
- .localPlanner = LocalPlannerFactory::create(localPlannerCfg, ctx),
- .trajectoryControl = TrajectoryControllerFactory::create(trajectoryControllerCfg, ctx),
- .safetyControl = SafetyControllerFactory::create(safetyControllerCfg, ctx)};
+ .localPlanner = LocalPlannerFactory::create(localPlannerCfg, ctx)};
+ // .trajectoryControl = TrajectoryControllerFactory::create(trajectoryControllerCfg, ctx),
+ // .safetyControl = SafetyControllerFactory::create(safetyControllerCfg, ctx)};
}
server::NavigationStack
diff --git a/source/armarx/navigation/factories/TrajectoryControllerFactory.cpp b/source/armarx/navigation/factories/TrajectoryControllerFactory.cpp
index 277d277d..3b8f6a39 100644
--- a/source/armarx/navigation/factories/TrajectoryControllerFactory.cpp
+++ b/source/armarx/navigation/factories/TrajectoryControllerFactory.cpp
@@ -12,7 +12,8 @@
namespace armarx::navigation::fac
{
traj_ctrl::TrajectoryControllerPtr
- TrajectoryControllerFactory::create(const aron::data::DictPtr& params, const core::Scene& ctx)
+ TrajectoryControllerFactory::create(const VirtualRobot::RobotPtr& robot,
+ const aron::data::DictPtr& params)
{
namespace layer = traj_ctrl;
@@ -35,11 +36,11 @@ namespace armarx::navigation::fac
{
case traj_ctrl::Algorithms::WaypointController:
controller = std::make_shared<traj_ctrl::WaypointController>(
- traj_ctrl::WaypointControllerParams::FromAron(algoParams), ctx);
+ traj_ctrl::WaypointControllerParams::FromAron(algoParams));
break;
case traj_ctrl::Algorithms::TrajectoryFollowingController:
controller = std::make_shared<traj_ctrl::TrajectoryFollowingController>(
- traj_ctrl::TrajectoryFollowingControllerParams::FromAron(algoParams), ctx);
+ robot, traj_ctrl::TrajectoryFollowingControllerParams::FromAron(algoParams));
break;
}
diff --git a/source/armarx/navigation/factories/TrajectoryControllerFactory.h b/source/armarx/navigation/factories/TrajectoryControllerFactory.h
index 16328e1c..cd35d860 100644
--- a/source/armarx/navigation/factories/TrajectoryControllerFactory.h
+++ b/source/armarx/navigation/factories/TrajectoryControllerFactory.h
@@ -23,6 +23,7 @@
#pragma once
// #include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
#include <armarx/navigation/core/fwd.h>
@@ -38,8 +39,8 @@ namespace armarx::navigation::fac
class TrajectoryControllerFactory
{
public:
- static traj_ctrl::TrajectoryControllerPtr create(const aron::data::DictPtr& params,
- const core::Scene& ctx);
+ static traj_ctrl::TrajectoryControllerPtr create(const VirtualRobot::RobotPtr& robot,
+ const aron::data::DictPtr& params);
protected:
private:
--
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