From de3404067f1376d1783d8a188ac33e7c0e35988c Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 26 Oct 2021 17:51:33 +0200
Subject: [PATCH 1/5] Update ARON ice type name
---
source/armarx/navigation/client/ice/NavigatorInterface.ice | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/source/armarx/navigation/client/ice/NavigatorInterface.ice b/source/armarx/navigation/client/ice/NavigatorInterface.ice
index 9b12ab94..ed6a378d 100644
--- a/source/armarx/navigation/client/ice/NavigatorInterface.ice
+++ b/source/armarx/navigation/client/ice/NavigatorInterface.ice
@@ -62,7 +62,7 @@ module armarx
interface NavigatorInterface extends armem::client::MemoryListenerInterface {
- void createConfig(aron::data::AronDict config, string callerId);
+ void createConfig(aron::data::dto::Dict config, string callerId);
void moveTo(Eigen::Matrix4fSeq waypoints, string navigationFrame, string callerId);
--
GitLab
From 13b783fa7fe0f78b8a0c02321c43c64c3ed76c4f Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 27 Oct 2021 09:26:10 +0200
Subject: [PATCH 2/5] Update includes and type name of ARON
---
.../client/NavigationStackConfig.cpp | 30 +++++++++----------
.../navigation/client/NavigationStackConfig.h | 8 ++---
.../NavigationMemory/NavigationMemory.cpp | 6 ++--
.../components/Navigator/Navigator.cpp | 2 +-
.../components/Navigator/Navigator.h | 2 +-
source/armarx/navigation/core/Graph.cpp | 3 +-
source/armarx/navigation/core/Graph.h | 3 +-
.../factories/GlobalPlannerFactory.cpp | 9 +++---
.../factories/GlobalPlannerFactory.h | 5 ++--
.../factories/LocalPlannerFactory.cpp | 9 +++---
.../factories/LocalPlannerFactory.h | 5 ++--
.../factories/NavigationStackFactory.cpp | 12 ++++----
.../factories/NavigationStackFactory.h | 7 ++---
.../factories/SafetyControllerFactory.cpp | 9 +++---
.../factories/SafetyControllerFactory.h | 5 ++--
.../factories/TrajectoryControllerFactory.cpp | 8 ++---
.../factories/TrajectoryControllerFactory.h | 6 ++--
.../navigation/global_planning/AStar.cpp | 8 ++---
.../armarx/navigation/global_planning/AStar.h | 4 +--
.../global_planning/GlobalPlanner.cpp | 2 --
.../global_planning/GlobalPlanner.h | 4 +--
.../global_planning/Point2Point.cpp | 4 +--
.../navigation/global_planning/Point2Point.h | 4 +--
.../navigation/local_planning/LocalPlanner.h | 4 +--
.../local_planning/TimedElasticBands.cpp | 4 +--
.../local_planning/TimedElasticBands.h | 6 ++--
.../memory/client/events/Writer.cpp | 7 ++---
.../memory/client/parameterization/Writer.cpp | 4 +--
.../memory/client/parameterization/Writer.h | 4 +--
.../safety_control/LaserBasedProximity.cpp | 4 +--
.../safety_control/LaserBasedProximity.h | 4 +--
.../safety_control/SafetyController.h | 4 +--
.../MemoryParameterizationService.cpp | 16 +++++-----
.../MemoryParameterizationService.h | 6 ++--
.../trajectory_control/TrajectoryController.h | 4 +--
.../TrajectoryFollowingController.cpp | 4 +--
.../TrajectoryFollowingController.h | 4 +--
.../trajectory_control/WaypointController.cpp | 4 +--
.../trajectory_control/WaypointController.h | 4 +--
39 files changed, 117 insertions(+), 121 deletions(-)
diff --git a/source/armarx/navigation/client/NavigationStackConfig.cpp b/source/armarx/navigation/client/NavigationStackConfig.cpp
index 90e6247b..85a5a5df 100644
--- a/source/armarx/navigation/client/NavigationStackConfig.cpp
+++ b/source/armarx/navigation/client/NavigationStackConfig.cpp
@@ -6,9 +6,10 @@
#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/interface/aron/Aron.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/NavigatorFactory.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/primitive/String.h>
+#include <RobotAPI/libraries/aron/core/data/variant/Factory.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/variant/primitive/String.h>
+
#include <armarx/navigation/core/constants.h>
#include <armarx/navigation/core/types.h>
@@ -16,15 +17,14 @@
namespace armarx::navigation::client
{
- aron::datanavigator::DictNavigatorPtr
+ aron::data::DictPtr
GeneralConfig::toAron() const
{
- aron::datanavigator::DictNavigatorPtr element(new aron::datanavigator::DictNavigator);
+ aron::data::DictPtr element(new aron::data::Dict);
return element;
}
- aron::data::AronDictPtr
- NavigationStackConfig::toAron() const
+ aron::data::dto::DictPtr NavigationStackConfig::toAron() const
{
ARMARX_CHECK(isValid())
<< "The NavigationStackConfig is not valid as some elements are not set!";
@@ -62,9 +62,9 @@ namespace armarx::navigation::client
NavigationStackConfig&
NavigationStackConfig::globalPlanner(const glob_plan::GlobalPlannerParams& params)
{
- aron::datanavigator::DictNavigatorPtr element(new aron::datanavigator::DictNavigator);
+ aron::data::DictPtr element(new aron::data::Dict);
element->addElement(core::NAME_KEY,
- std::make_shared<aron::datanavigator::StringNavigator>(
+ std::make_shared<aron::data::String>(
glob_plan::AlgorithmNames.to_name(params.algorithm())));
element->addElement(core::PARAMS_KEY, params.toAron());
@@ -76,9 +76,9 @@ namespace armarx::navigation::client
NavigationStackConfig&
NavigationStackConfig::localPlanner(const loc_plan::LocalPlannerParams& params)
{
- aron::datanavigator::DictNavigatorPtr element(new aron::datanavigator::DictNavigator);
+ aron::data::DictPtr element(new aron::data::Dict);
element->addElement(core::NAME_KEY,
- std::make_shared<aron::datanavigator::StringNavigator>(
+ std::make_shared<aron::data::String>(
loc_plan::AlgorithmNames.to_name(params.algorithm())));
element->addElement(core::PARAMS_KEY, params.toAron());
@@ -90,9 +90,9 @@ namespace armarx::navigation::client
NavigationStackConfig&
NavigationStackConfig::trajectoryController(const traj_ctrl::TrajectoryControllerParams& params)
{
- aron::datanavigator::DictNavigatorPtr element(new aron::datanavigator::DictNavigator);
+ aron::data::DictPtr element(new aron::data::Dict);
element->addElement(core::NAME_KEY,
- std::make_shared<aron::datanavigator::StringNavigator>(
+ std::make_shared<aron::data::String>(
traj_ctrl::AlgorithmNames.to_name(params.algorithm())));
element->addElement(core::PARAMS_KEY, params.toAron());
@@ -105,9 +105,9 @@ namespace armarx::navigation::client
NavigationStackConfig&
NavigationStackConfig::safetyController(const safe_ctrl::SafetyControllerParams& params)
{
- aron::datanavigator::DictNavigatorPtr element(new aron::datanavigator::DictNavigator);
+ aron::data::DictPtr element(new aron::data::Dict);
element->addElement(core::NAME_KEY,
- std::make_shared<aron::datanavigator::StringNavigator>(
+ std::make_shared<aron::data::String>(
safe_ctrl::AlgorithmNames.to_name(params.algorithm())));
element->addElement(core::PARAMS_KEY, params.toAron());
diff --git a/source/armarx/navigation/client/NavigationStackConfig.h b/source/armarx/navigation/client/NavigationStackConfig.h
index fd49c961..c20a36bb 100644
--- a/source/armarx/navigation/client/NavigationStackConfig.h
+++ b/source/armarx/navigation/client/NavigationStackConfig.h
@@ -25,7 +25,7 @@
#include <memory>
#include <RobotAPI/interface/aron/Aron.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <armarx/navigation/core/types.h>
@@ -48,7 +48,7 @@ namespace armarx::navigation::client
virtual ~GeneralConfig() = default;
- virtual aron::datanavigator::DictNavigatorPtr toAron() const;
+ virtual aron::data::DictPtr toAron() const;
};
class NavigationStackConfig
@@ -68,13 +68,13 @@ namespace armarx::navigation::client
NavigationStackConfig& safetyController(const safe_ctrl::SafetyControllerParams& params);
- aron::data::AronDictPtr toAron() const;
+ aron::data::dto::DictPtr toAron() const;
//! checks if at least global planner and trajectory controller are set
bool isValid() const;
protected:
private:
- aron::datanavigator::DictNavigator dict;
+ aron::data::Dict dict;
};
} // namespace armarx::navigation::client
diff --git a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
index 24388b80..ab09c3fe 100644
--- a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
+++ b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
@@ -30,7 +30,7 @@
#include <RobotAPI/libraries/armem/client/query.h>
#include <RobotAPI/libraries/armem/core/operations.h>
-#include <RobotAPI/libraries/armem/server/ltm/disk/operations.h>
+#include <RobotAPI/libraries/armem/server/ltm/disk/Memory.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
#include "Visu.h"
@@ -138,7 +138,9 @@ namespace armarx::navigation
std::string resolved = ArmarXDataPath::resolvePath(properties.snapshotToLoad);
if (auto path = findSnapshotDirectory(resolved, workingMemory().name()))
{
- armem::wm::Memory memory = armem::server::ltm::disk::load(path.value());
+ // armem::wm::Memory memory = armem::server::ltm::disk::load(path.value());
+ armem::server::ltm::disk::Memory ltm(path.value());
+ armem::wm::Memory memory = ltm.loadAll();
ARMARX_INFO << "Loaded " << armem::print(memory);
workingMemory().update(armem::toCommit(memory));
diff --git a/source/armarx/navigation/components/Navigator/Navigator.cpp b/source/armarx/navigation/components/Navigator/Navigator.cpp
index a53c8528..74292c5b 100644
--- a/source/armarx/navigation/components/Navigator/Navigator.cpp
+++ b/source/armarx/navigation/components/Navigator/Navigator.cpp
@@ -227,7 +227,7 @@ namespace armarx::navigation::components
}
void
- components::Navigator::createConfig(const aron::data::AronDictPtr& stackConfig,
+ components::Navigator::createConfig(const aron::data::dto::DictPtr& stackConfig,
const std::string& callerId,
const Ice::Current&)
{
diff --git a/source/armarx/navigation/components/Navigator/Navigator.h b/source/armarx/navigation/components/Navigator/Navigator.h
index 9acc01de..e557ffff 100644
--- a/source/armarx/navigation/components/Navigator/Navigator.h
+++ b/source/armarx/navigation/components/Navigator/Navigator.h
@@ -93,7 +93,7 @@ namespace armarx::navigation::components
/// @see armarx::ManagedIceObject::getDefaultName()
std::string getDefaultName() const override;
- void createConfig(const aron::data::AronDictPtr& stackConfig,
+ void createConfig(const aron::data::dto::DictPtr& stackConfig,
const std::string& callerId,
const Ice::Current& c = Ice::emptyCurrent) override;
diff --git a/source/armarx/navigation/core/Graph.cpp b/source/armarx/navigation/core/Graph.cpp
index cf969e9f..c7cf378a 100644
--- a/source/armarx/navigation/core/Graph.cpp
+++ b/source/armarx/navigation/core/Graph.cpp
@@ -230,8 +230,7 @@ namespace armarx::navigation
void
- core::resolveLocation(Graph::Vertex& vertex,
- const aron::datanavigator::DictNavigatorPtr& locationData)
+ core::resolveLocation(Graph::Vertex& vertex, const aron::data::DictPtr& locationData)
{
navigation::location::arondto::Location dto;
dto.fromAron(locationData);
diff --git a/source/armarx/navigation/core/Graph.h b/source/armarx/navigation/core/Graph.h
index b933c5e9..5b8fb88b 100644
--- a/source/armarx/navigation/core/Graph.h
+++ b/source/armarx/navigation/core/Graph.h
@@ -114,8 +114,7 @@ namespace armarx::navigation::core
// Location resolution
- void resolveLocation(Graph::Vertex& vertex,
- const aron::datanavigator::DictNavigatorPtr& locationData);
+ void resolveLocation(Graph::Vertex& vertex, const aron::data::DictPtr& locationData);
template <class MemoryContainerT>
diff --git a/source/armarx/navigation/factories/GlobalPlannerFactory.cpp b/source/armarx/navigation/factories/GlobalPlannerFactory.cpp
index 04e75215..2e9944a1 100644
--- a/source/armarx/navigation/factories/GlobalPlannerFactory.cpp
+++ b/source/armarx/navigation/factories/GlobalPlannerFactory.cpp
@@ -2,7 +2,8 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/primitive/String.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/variant/primitive/String.h>
#include <armarx/navigation/core/constants.h>
#include <armarx/navigation/global_planning/AStar.h>
@@ -12,7 +13,7 @@
namespace armarx::navigation::fac
{
glob_plan::GlobalPlannerPtr
- GlobalPlannerFactory::create(const aron::datanavigator::DictNavigatorPtr& params,
+ GlobalPlannerFactory::create(const aron::data::DictPtr& params,
const core::Scene& ctx)
{
namespace layer = glob_plan;
@@ -24,13 +25,13 @@ namespace armarx::navigation::fac
// algo name
const auto algoName =
- aron::datanavigator::StringNavigator::DynamicCast(params->getElement(core::NAME_KEY));
+ aron::data::String::DynamicCast(params->getElement(core::NAME_KEY));
ARMARX_CHECK_NOT_NULL(algoName);
const layer::Algorithms algo = layer::AlgorithmNames.from_name(algoName->getValue());
// algo params
const auto algoParams =
- aron::datanavigator::DictNavigator::DynamicCast(params->getElement(core::PARAMS_KEY));
+ aron::data::Dict::DynamicCast(params->getElement(core::PARAMS_KEY));
ARMARX_CHECK_NOT_NULL(algoParams);
glob_plan::GlobalPlannerPtr globalPlanner;
diff --git a/source/armarx/navigation/factories/GlobalPlannerFactory.h b/source/armarx/navigation/factories/GlobalPlannerFactory.h
index 269d9992..4b366f82 100644
--- a/source/armarx/navigation/factories/GlobalPlannerFactory.h
+++ b/source/armarx/navigation/factories/GlobalPlannerFactory.h
@@ -22,8 +22,7 @@
#pragma once
-// #include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/NavigatorFwd.h>
+#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
#include <armarx/navigation/core/fwd.h>
#include <armarx/navigation/factories/fwd.h>
@@ -38,7 +37,7 @@ namespace armarx::navigation::fac
{
public:
static glob_plan::GlobalPlannerPtr
- create(const aron::datanavigator::DictNavigatorPtr& params, const core::Scene& ctx);
+ create(const aron::data::DictPtr& params, const core::Scene& ctx);
};
} // namespace armarx::navigation::fac
diff --git a/source/armarx/navigation/factories/LocalPlannerFactory.cpp b/source/armarx/navigation/factories/LocalPlannerFactory.cpp
index 95441621..e386f55d 100644
--- a/source/armarx/navigation/factories/LocalPlannerFactory.cpp
+++ b/source/armarx/navigation/factories/LocalPlannerFactory.cpp
@@ -2,7 +2,8 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/primitive/String.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/variant/primitive/String.h>
#include <armarx/navigation/core/constants.h>
#include <armarx/navigation/local_planning/TimedElasticBands.h>
@@ -10,7 +11,7 @@
namespace armarx::navigation::fac
{
loc_plan::LocalPlannerPtr
- LocalPlannerFactory::create(const aron::datanavigator::DictNavigatorPtr& params,
+ LocalPlannerFactory::create(const aron::data::DictPtr& params,
const core::Scene& ctx)
{
namespace layer = loc_plan;
@@ -22,13 +23,13 @@ namespace armarx::navigation::fac
// algo name
const auto algoName =
- aron::datanavigator::StringNavigator::DynamicCast(params->getElement(core::NAME_KEY));
+ aron::data::String::DynamicCast(params->getElement(core::NAME_KEY));
ARMARX_CHECK_NOT_NULL(algoName);
const layer::Algorithms algo = layer::AlgorithmNames.from_name(algoName->getValue());
// algo params
const auto algoParams =
- aron::datanavigator::DictNavigator::DynamicCast(params->getElement(core::PARAMS_KEY));
+ aron::data::Dict::DynamicCast(params->getElement(core::PARAMS_KEY));
ARMARX_CHECK_NOT_NULL(algoParams);
loc_plan::LocalPlannerPtr localPlanner;
diff --git a/source/armarx/navigation/factories/LocalPlannerFactory.h b/source/armarx/navigation/factories/LocalPlannerFactory.h
index 1d3d4b49..4e3b0e09 100644
--- a/source/armarx/navigation/factories/LocalPlannerFactory.h
+++ b/source/armarx/navigation/factories/LocalPlannerFactory.h
@@ -22,8 +22,7 @@
#pragma once
-// #include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/NavigatorFwd.h>
+#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
#include <armarx/navigation/core/fwd.h>
#include <armarx/navigation/factories/fwd.h>
@@ -38,7 +37,7 @@ namespace armarx::navigation::fac
class LocalPlannerFactory
{
public:
- static loc_plan::LocalPlannerPtr create(const aron::datanavigator::DictNavigatorPtr& params,
+ static loc_plan::LocalPlannerPtr create(const aron::data::DictPtr& params,
const core::Scene& ctx);
protected:
diff --git a/source/armarx/navigation/factories/NavigationStackFactory.cpp b/source/armarx/navigation/factories/NavigationStackFactory.cpp
index f394d9db..e6c90a5c 100644
--- a/source/armarx/navigation/factories/NavigationStackFactory.cpp
+++ b/source/armarx/navigation/factories/NavigationStackFactory.cpp
@@ -14,19 +14,19 @@
namespace armarx::navigation::fac
{
server::NavigationStack
- NavigationStackFactory::create(const aron::datanavigator::DictNavigatorPtr& params,
+ NavigationStackFactory::create(const aron::data::DictPtr& params,
const core::Scene& ctx)
{
- using aron::datanavigator::DictNavigator;
+ using aron::data::Dict;
const auto getElementOrNull =
- [¶ms](const core::StackLayer& layer) -> DictNavigator::PointerType
+ [¶ms](const core::StackLayer& layer) -> Dict::PointerType
{
const std::string key = core::StackLayerNames.to_name(layer);
if (params->hasElement(key))
{
- return DictNavigator::DynamicCast(params->getElement(key));
+ return Dict::DynamicCast(params->getElement(key));
}
ARMARX_INFO << "Skipping '" << key << "'";
@@ -48,9 +48,9 @@ namespace armarx::navigation::fac
}
server::NavigationStack
- NavigationStackFactory::create(const aron::data::AronDictPtr& params, const core::Scene& ctx)
+ NavigationStackFactory::create(const aron::data::dto::DictPtr& params, const core::Scene& ctx)
{
- const auto dict = aron::datanavigator::DictNavigator::FromAronDictPtr(params);
+ const auto dict = aron::data::Dict::FromAronDictPtr(params);
ARMARX_CHECK_NOT_NULL(dict);
return create(dict, ctx);
}
diff --git a/source/armarx/navigation/factories/NavigationStackFactory.h b/source/armarx/navigation/factories/NavigationStackFactory.h
index 7e99c67e..f0ee4e19 100644
--- a/source/armarx/navigation/factories/NavigationStackFactory.h
+++ b/source/armarx/navigation/factories/NavigationStackFactory.h
@@ -24,8 +24,7 @@
#include <armarx/navigation/server/NavigationStack.h>
-// #include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/NavigatorFwd.h>
+#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
#include <armarx/navigation/core/fwd.h>
@@ -38,10 +37,10 @@ namespace armarx::navigation::fac
class NavigationStackFactory
{
public:
- static server::NavigationStack create(const aron::datanavigator::DictNavigatorPtr& params,
+ static server::NavigationStack create(const aron::data::DictPtr& params,
const core::Scene& ctx);
- static server::NavigationStack create(const aron::data::AronDictPtr& params,
+ static server::NavigationStack create(const aron::data::dto::DictPtr& params,
const core::Scene& ctx);
protected:
diff --git a/source/armarx/navigation/factories/SafetyControllerFactory.cpp b/source/armarx/navigation/factories/SafetyControllerFactory.cpp
index d49bae34..8dec9fb3 100644
--- a/source/armarx/navigation/factories/SafetyControllerFactory.cpp
+++ b/source/armarx/navigation/factories/SafetyControllerFactory.cpp
@@ -2,7 +2,8 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/primitive/String.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/variant/primitive/String.h>
#include <armarx/navigation/core/constants.h>
#include <armarx/navigation/safety_control/LaserBasedProximity.h>
@@ -12,7 +13,7 @@
namespace armarx::navigation::fac
{
safe_ctrl::SafetyControllerPtr
- SafetyControllerFactory::create(const aron::datanavigator::DictNavigatorPtr& params,
+ SafetyControllerFactory::create(const aron::data::DictPtr& params,
const core::Scene& ctx)
{
namespace layer = safe_ctrl;
@@ -24,13 +25,13 @@ namespace armarx::navigation::fac
// algo name
const auto algoName =
- aron::datanavigator::StringNavigator::DynamicCast(params->getElement(core::NAME_KEY));
+ aron::data::String::DynamicCast(params->getElement(core::NAME_KEY));
ARMARX_CHECK_NOT_NULL(algoName);
const layer::Algorithms algo = layer::AlgorithmNames.from_name(algoName->getValue());
// algo params
const auto algoParams =
- aron::datanavigator::DictNavigator::DynamicCast(params->getElement(core::PARAMS_KEY));
+ aron::data::Dict::DynamicCast(params->getElement(core::PARAMS_KEY));
ARMARX_CHECK_NOT_NULL(algoParams);
safe_ctrl::SafetyControllerPtr controller;
diff --git a/source/armarx/navigation/factories/SafetyControllerFactory.h b/source/armarx/navigation/factories/SafetyControllerFactory.h
index a902c8c3..023a7624 100644
--- a/source/armarx/navigation/factories/SafetyControllerFactory.h
+++ b/source/armarx/navigation/factories/SafetyControllerFactory.h
@@ -22,8 +22,7 @@
#pragma once
-// #include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/NavigatorFwd.h>
+#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
#include <armarx/navigation/core/fwd.h>
#include <armarx/navigation/factories/fwd.h>
@@ -39,7 +38,7 @@ namespace armarx::navigation::fac
{
public:
static safe_ctrl::SafetyControllerPtr
- create(const aron::datanavigator::DictNavigatorPtr& params, const core::Scene& ctx);
+ create(const aron::data::DictPtr& params, const core::Scene& ctx);
protected:
private:
diff --git a/source/armarx/navigation/factories/TrajectoryControllerFactory.cpp b/source/armarx/navigation/factories/TrajectoryControllerFactory.cpp
index 68ecdd8a..c30fe546 100644
--- a/source/armarx/navigation/factories/TrajectoryControllerFactory.cpp
+++ b/source/armarx/navigation/factories/TrajectoryControllerFactory.cpp
@@ -2,7 +2,7 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/primitive/String.h>
+#include <RobotAPI/libraries/aron/core/data/variant/primitive/String.h>
#include <armarx/navigation/core/constants.h>
#include <armarx/navigation/trajectory_control/TrajectoryController.h>
@@ -12,7 +12,7 @@
namespace armarx::navigation::fac
{
traj_ctrl::TrajectoryControllerPtr
- TrajectoryControllerFactory::create(const aron::datanavigator::DictNavigatorPtr& params,
+ TrajectoryControllerFactory::create(const aron::data::DictPtr& params,
const core::Scene& ctx)
{
namespace layer = traj_ctrl;
@@ -24,13 +24,13 @@ namespace armarx::navigation::fac
// algo name
const auto algoName =
- aron::datanavigator::StringNavigator::DynamicCast(params->getElement(core::NAME_KEY));
+ aron::data::String::DynamicCast(params->getElement(core::NAME_KEY));
ARMARX_CHECK_NOT_NULL(algoName);
const layer::Algorithms algo = layer::AlgorithmNames.from_name(algoName->getValue());
// algo params
const auto algoParams =
- aron::datanavigator::DictNavigator::DynamicCast(params->getElement(core::PARAMS_KEY));
+ aron::data::Dict::DynamicCast(params->getElement(core::PARAMS_KEY));
ARMARX_CHECK_NOT_NULL(algoParams);
traj_ctrl::TrajectoryControllerPtr controller;
diff --git a/source/armarx/navigation/factories/TrajectoryControllerFactory.h b/source/armarx/navigation/factories/TrajectoryControllerFactory.h
index 88acc3a7..eb603d5f 100644
--- a/source/armarx/navigation/factories/TrajectoryControllerFactory.h
+++ b/source/armarx/navigation/factories/TrajectoryControllerFactory.h
@@ -22,8 +22,8 @@
#pragma once
-// #include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/NavigatorFwd.h>
+// #include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
#include <armarx/navigation/core/fwd.h>
#include <armarx/navigation/factories/fwd.h>
@@ -39,7 +39,7 @@ namespace armarx::navigation::fac
{
public:
static traj_ctrl::TrajectoryControllerPtr
- create(const aron::datanavigator::DictNavigatorPtr& params, const core::Scene& ctx);
+ create(const aron::data::DictPtr& params, const core::Scene& ctx);
protected:
private:
diff --git a/source/armarx/navigation/global_planning/AStar.cpp b/source/armarx/navigation/global_planning/AStar.cpp
index 267f0e59..9180d28e 100644
--- a/source/armarx/navigation/global_planning/AStar.cpp
+++ b/source/armarx/navigation/global_planning/AStar.cpp
@@ -11,8 +11,8 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/primitive/String.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/variant/primitive/String.h>
#include <armarx/navigation/algorithms/astar/AStarPlanner.h>
#include <armarx/navigation/algorithms/smoothing/ChainApproximation.h>
@@ -38,7 +38,7 @@ namespace armarx::navigation::glob_plan
return Algorithms::AStar;
}
- aron::datanavigator::DictNavigatorPtr
+ aron::data::DictPtr
AStarParams::toAron() const
{
arondto::AStarParams dto;
@@ -50,7 +50,7 @@ namespace armarx::navigation::glob_plan
}
AStarParams
- AStarParams::FromAron(const aron::datanavigator::DictNavigatorPtr& dict)
+ AStarParams::FromAron(const aron::data::DictPtr& dict)
{
ARMARX_CHECK_NOT_NULL(dict);
diff --git a/source/armarx/navigation/global_planning/AStar.h b/source/armarx/navigation/global_planning/AStar.h
index 7319216f..326284d8 100644
--- a/source/armarx/navigation/global_planning/AStar.h
+++ b/source/armarx/navigation/global_planning/AStar.h
@@ -38,9 +38,9 @@ namespace armarx::navigation::glob_plan
float resampleDistance{500};
Algorithms algorithm() const override;
- aron::datanavigator::DictNavigatorPtr toAron() const override;
+ aron::data::DictPtr toAron() const override;
- static AStarParams FromAron(const aron::datanavigator::DictNavigatorPtr& dict);
+ static AStarParams FromAron(const aron::data::DictPtr& dict);
};
/**
diff --git a/source/armarx/navigation/global_planning/GlobalPlanner.cpp b/source/armarx/navigation/global_planning/GlobalPlanner.cpp
index ea7c6745..92d45898 100644
--- a/source/armarx/navigation/global_planning/GlobalPlanner.cpp
+++ b/source/armarx/navigation/global_planning/GlobalPlanner.cpp
@@ -1,7 +1,5 @@
#include "GlobalPlanner.h"
-#include <RobotAPI/libraries/aron/core/navigator/data/primitive/String.h>
-
#include <armarx/navigation/core/constants.h>
#include <armarx/navigation/core/types.h>
diff --git a/source/armarx/navigation/global_planning/GlobalPlanner.h b/source/armarx/navigation/global_planning/GlobalPlanner.h
index 4a68a89d..8a703bd3 100644
--- a/source/armarx/navigation/global_planning/GlobalPlanner.h
+++ b/source/armarx/navigation/global_planning/GlobalPlanner.h
@@ -24,7 +24,7 @@
#include <VirtualRobot/VirtualRobot.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <armarx/navigation/core/DynamicScene.h>
#include <armarx/navigation/core/StaticScene.h>
@@ -52,7 +52,7 @@ namespace armarx::navigation::glob_plan
virtual ~GlobalPlannerParams() = default;
virtual Algorithms algorithm() const = 0;
- virtual aron::datanavigator::DictNavigatorPtr toAron() const = 0;
+ virtual aron::data::DictPtr toAron() const = 0;
};
/**
diff --git a/source/armarx/navigation/global_planning/Point2Point.cpp b/source/armarx/navigation/global_planning/Point2Point.cpp
index 91e86a7c..53a66810 100644
--- a/source/armarx/navigation/global_planning/Point2Point.cpp
+++ b/source/armarx/navigation/global_planning/Point2Point.cpp
@@ -25,7 +25,7 @@ namespace armarx::navigation::glob_plan
return Algorithms::Point2Point;
}
- aron::datanavigator::DictNavigatorPtr
+ aron::data::DictPtr
Point2PointParams::toAron() const
{
arondto::Point2PointParams dto;
@@ -37,7 +37,7 @@ namespace armarx::navigation::glob_plan
}
Point2PointParams
- Point2PointParams::FromAron(const aron::datanavigator::DictNavigatorPtr& dict)
+ Point2PointParams::FromAron(const aron::data::DictPtr& dict)
{
ARMARX_CHECK_NOT_NULL(dict);
diff --git a/source/armarx/navigation/global_planning/Point2Point.h b/source/armarx/navigation/global_planning/Point2Point.h
index d505d1e9..0477d96f 100644
--- a/source/armarx/navigation/global_planning/Point2Point.h
+++ b/source/armarx/navigation/global_planning/Point2Point.h
@@ -39,9 +39,9 @@ namespace armarx::navigation::glob_plan
float velocity{400};
Algorithms algorithm() const override;
- aron::datanavigator::DictNavigatorPtr toAron() const override;
+ aron::data::DictPtr toAron() const override;
- static Point2PointParams FromAron(const aron::datanavigator::DictNavigatorPtr& dict);
+ static Point2PointParams FromAron(const aron::data::DictPtr& dict);
};
/**
diff --git a/source/armarx/navigation/local_planning/LocalPlanner.h b/source/armarx/navigation/local_planning/LocalPlanner.h
index aed7fb00..5e7d06bf 100644
--- a/source/armarx/navigation/local_planning/LocalPlanner.h
+++ b/source/armarx/navigation/local_planning/LocalPlanner.h
@@ -26,7 +26,7 @@
#include <VirtualRobot/VirtualRobot.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include "core.h"
#include <armarx/navigation/core/DynamicScene.h>
@@ -46,7 +46,7 @@ namespace armarx::navigation::loc_plan
virtual ~LocalPlannerParams() = default;
virtual Algorithms algorithm() const = 0;
- virtual aron::datanavigator::DictNavigatorPtr toAron() const = 0;
+ virtual aron::data::DictPtr toAron() const = 0;
};
class LocalPlanner
diff --git a/source/armarx/navigation/local_planning/TimedElasticBands.cpp b/source/armarx/navigation/local_planning/TimedElasticBands.cpp
index 99142b1e..b069cba6 100644
--- a/source/armarx/navigation/local_planning/TimedElasticBands.cpp
+++ b/source/armarx/navigation/local_planning/TimedElasticBands.cpp
@@ -14,14 +14,14 @@ namespace armarx::navigation::loc_plan
return Algorithms::TimedElasticBands;
}
- aron::datanavigator::DictNavigatorPtr
+ aron::data::DictPtr
TimedElasticBandsParams::toAron() const
{
return nullptr; // TODO implement
}
TimedElasticBandsParams
- TimedElasticBandsParams::FromAron(const aron::datanavigator::DictNavigatorPtr& dict)
+ TimedElasticBandsParams::FromAron(const aron::data::DictPtr& dict)
{
return TimedElasticBandsParams(); // TODO implement
}
diff --git a/source/armarx/navigation/local_planning/TimedElasticBands.h b/source/armarx/navigation/local_planning/TimedElasticBands.h
index 90034f03..e43747cd 100644
--- a/source/armarx/navigation/local_planning/TimedElasticBands.h
+++ b/source/armarx/navigation/local_planning/TimedElasticBands.h
@@ -22,7 +22,7 @@
#pragma once
-#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <armarx/navigation/local_planning/LocalPlanner.h>
#include <armarx/navigation/local_planning/core.h>
@@ -35,8 +35,8 @@ namespace armarx::navigation::loc_plan
bool includeStartPose{false};
Algorithms algorithm() const override;
- aron::datanavigator::DictNavigatorPtr toAron() const override;
- static TimedElasticBandsParams FromAron(const aron::datanavigator::DictNavigatorPtr& dict);
+ aron::data::DictPtr toAron() const override;
+ static TimedElasticBandsParams FromAron(const aron::data::DictPtr& dict);
};
class TimedElasticBands : virtual public LocalPlanner
diff --git a/source/armarx/navigation/memory/client/events/Writer.cpp b/source/armarx/navigation/memory/client/events/Writer.cpp
index 08508055..1858dd5d 100644
--- a/source/armarx/navigation/memory/client/events/Writer.cpp
+++ b/source/armarx/navigation/memory/client/events/Writer.cpp
@@ -3,7 +3,7 @@
#include <type_traits>
#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/primitive/String.h>
+#include <RobotAPI/libraries/aron/core/data/variant/primitive/String.h>
#include <armarx/navigation/core/aron/Events.aron.generated.h>
#include <armarx/navigation/core/aron_conversions.h>
@@ -114,9 +114,8 @@ namespace armarx::navigation::mem::client::events
// FIXME auto dto = core::toAron(event);
- aron::datanavigator::DictNavigatorPtr element(new aron::datanavigator::DictNavigator);
- element->addElement("event",
- std::make_shared<aron::datanavigator::StringNavigator>(eventName));
+ aron::data::DictPtr element(new aron::data::Dict);
+ element->addElement("event", std::make_shared<aron::data::String>(eventName));
// FIXME element->addElement("data", dto.toAron());
update.instancesData = {element};
diff --git a/source/armarx/navigation/memory/client/parameterization/Writer.cpp b/source/armarx/navigation/memory/client/parameterization/Writer.cpp
index 64fff864..d40f300f 100644
--- a/source/armarx/navigation/memory/client/parameterization/Writer.cpp
+++ b/source/armarx/navigation/memory/client/parameterization/Writer.cpp
@@ -1,6 +1,6 @@
#include "Writer.h"
-#include <RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h>
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
#include <armarx/navigation/core/constants.h>
@@ -9,7 +9,7 @@ namespace armarx::navigation::mem::client::param
{
bool
Writer::store(
- const std::unordered_map<core::StackLayer, aron::datanavigator::DictNavigatorPtr>& stack,
+ const std::unordered_map<core::StackLayer, aron::data::DictPtr>& stack,
const std::string& clientID,
const core::TimestampUs& timestamp)
{
diff --git a/source/armarx/navigation/memory/client/parameterization/Writer.h b/source/armarx/navigation/memory/client/parameterization/Writer.h
index aac8fea7..d48c3e80 100644
--- a/source/armarx/navigation/memory/client/parameterization/Writer.h
+++ b/source/armarx/navigation/memory/client/parameterization/Writer.h
@@ -22,7 +22,7 @@
#pragma once
#include <RobotAPI/libraries/armem/client/util/SimpleWriterBase.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/forward_declarations.h>
+#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
#include <armarx/navigation/core/constants.h>
#include <armarx/navigation/core/types.h>
@@ -37,7 +37,7 @@ namespace armarx::navigation::mem::client::param
bool store(const std::unordered_map<core::StackLayer,
- aron::datanavigator::DictNavigatorPtr>& stack,
+ aron::data::DictPtr>& stack,
const std::string& clientID,
const core::TimestampUs& timestamp);
diff --git a/source/armarx/navigation/safety_control/LaserBasedProximity.cpp b/source/armarx/navigation/safety_control/LaserBasedProximity.cpp
index f7e77048..83200767 100644
--- a/source/armarx/navigation/safety_control/LaserBasedProximity.cpp
+++ b/source/armarx/navigation/safety_control/LaserBasedProximity.cpp
@@ -11,14 +11,14 @@ namespace armarx::navigation::safe_ctrl
return Algorithms::LaserBasedProximity;
}
- aron::datanavigator::DictNavigatorPtr
+ aron::data::DictPtr
LaserBasedProximityParams::toAron() const
{
return nullptr; // TODO implement
}
LaserBasedProximityParams
- LaserBasedProximityParams::FromAron(const aron::datanavigator::DictNavigatorPtr& dict)
+ LaserBasedProximityParams::FromAron(const aron::data::DictPtr& dict)
{
return LaserBasedProximityParams(); // TODO implement
}
diff --git a/source/armarx/navigation/safety_control/LaserBasedProximity.h b/source/armarx/navigation/safety_control/LaserBasedProximity.h
index a63de66c..94108ade 100644
--- a/source/armarx/navigation/safety_control/LaserBasedProximity.h
+++ b/source/armarx/navigation/safety_control/LaserBasedProximity.h
@@ -32,9 +32,9 @@ namespace armarx::navigation::safe_ctrl
bool includeStartPose{false};
Algorithms algorithm() const override;
- aron::datanavigator::DictNavigatorPtr toAron() const override;
+ aron::data::DictPtr toAron() const override;
static LaserBasedProximityParams
- FromAron(const aron::datanavigator::DictNavigatorPtr& dict);
+ FromAron(const aron::data::DictPtr& dict);
};
class LaserBasedProximity : virtual public SafetyController
diff --git a/source/armarx/navigation/safety_control/SafetyController.h b/source/armarx/navigation/safety_control/SafetyController.h
index 8a5a3c66..ccba53cb 100644
--- a/source/armarx/navigation/safety_control/SafetyController.h
+++ b/source/armarx/navigation/safety_control/SafetyController.h
@@ -26,7 +26,7 @@
#include <VirtualRobot/VirtualRobot.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include "core.h"
#include <armarx/navigation/core/DynamicScene.h>
@@ -46,7 +46,7 @@ namespace armarx::navigation::safe_ctrl
virtual ~SafetyControllerParams() = default;
virtual Algorithms algorithm() const = 0;
- virtual aron::datanavigator::DictNavigatorPtr toAron() const = 0;
+ virtual aron::data::DictPtr toAron() const = 0;
};
class SafetyController
diff --git a/source/armarx/navigation/server/parameterization/MemoryParameterizationService.cpp b/source/armarx/navigation/server/parameterization/MemoryParameterizationService.cpp
index b0ea4091..94bbd51b 100644
--- a/source/armarx/navigation/server/parameterization/MemoryParameterizationService.cpp
+++ b/source/armarx/navigation/server/parameterization/MemoryParameterizationService.cpp
@@ -4,29 +4,29 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <armarx/navigation/core/constants.h>
namespace armarx::navigation::server
{
bool
- MemoryParameterizationService::store(const aron::datanavigator::DictNavigatorPtr& params,
+ MemoryParameterizationService::store(const aron::data::DictPtr& params,
const std::string& clientId,
const core::TimestampUs& timestamp)
{
ARMARX_CHECK_NOT_NULL(writer);
- using aron::datanavigator::DictNavigator;
+ using aron::data::Dict;
const auto getElementOrNull =
- [¶ms](const core::StackLayer& layer) -> DictNavigator::PointerType
+ [¶ms](const core::StackLayer& layer) -> Dict::PointerType
{
const std::string key = core::StackLayerNames.to_name(layer);
if (params->hasElement(key))
{
- return DictNavigator::DynamicCast(params->getElement(key));
+ return Dict::DynamicCast(params->getElement(key));
}
ARMARX_INFO << "Skipping '" << key << "'";
@@ -35,7 +35,7 @@ namespace armarx::navigation::server
};
// convert to more structured representation
- std::unordered_map<core::StackLayer, DictNavigator::PointerType> cfgs;
+ std::unordered_map<core::StackLayer, Dict::PointerType> cfgs;
if (const auto globalPlannerCfg = getElementOrNull(core::StackLayer::GlobalPlanner))
{
@@ -62,11 +62,11 @@ namespace armarx::navigation::server
}
bool
- MemoryParameterizationService::store(const aron::data::AronDictPtr& params,
+ MemoryParameterizationService::store(const aron::data::dto::DictPtr& params,
const std::string& clientId,
const core::TimestampUs& timestamp)
{
- const auto dict = aron::datanavigator::DictNavigator::FromAronDictPtr(params);
+ const auto dict = aron::data::Dict::FromAronDictPtr(params);
return store(dict, clientId, timestamp);
}
diff --git a/source/armarx/navigation/server/parameterization/MemoryParameterizationService.h b/source/armarx/navigation/server/parameterization/MemoryParameterizationService.h
index 671224b4..478b456a 100644
--- a/source/armarx/navigation/server/parameterization/MemoryParameterizationService.h
+++ b/source/armarx/navigation/server/parameterization/MemoryParameterizationService.h
@@ -22,7 +22,7 @@
#pragma once
#include <RobotAPI/libraries/armem/core/Time.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <armarx/navigation/core/types.h>
#include <armarx/navigation/memory/client/parameterization/Reader.h>
@@ -39,11 +39,11 @@ namespace armarx::navigation::server
MemoryParameterizationService(mem::client::param::Reader* reader,
mem::client::param::Writer* writer);
- bool store(const aron::datanavigator::DictNavigatorPtr& params,
+ bool store(const aron::data::DictPtr& params,
const std::string& clientId,
const core::TimestampUs& timestamp);
- bool store(const aron::data::AronDictPtr& params,
+ bool store(const aron::data::dto::DictPtr& params,
const std::string& clientId,
const core::TimestampUs& timestamp);
diff --git a/source/armarx/navigation/trajectory_control/TrajectoryController.h b/source/armarx/navigation/trajectory_control/TrajectoryController.h
index a6b3ddd6..f13e168a 100644
--- a/source/armarx/navigation/trajectory_control/TrajectoryController.h
+++ b/source/armarx/navigation/trajectory_control/TrajectoryController.h
@@ -28,7 +28,7 @@
#include <VirtualRobot/VirtualRobot.h>
-#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include "core.h"
#include <armarx/navigation/core/DynamicScene.h>
@@ -55,7 +55,7 @@ namespace armarx::navigation::traj_ctrl
virtual ~TrajectoryControllerParams() = default;
virtual Algorithms algorithm() const = 0;
- virtual aron::datanavigator::DictNavigatorPtr toAron() const = 0;
+ virtual aron::data::DictPtr toAron() const = 0;
};
class TrajectoryController
diff --git a/source/armarx/navigation/trajectory_control/TrajectoryFollowingController.cpp b/source/armarx/navigation/trajectory_control/TrajectoryFollowingController.cpp
index 97235f9a..0fef75df 100644
--- a/source/armarx/navigation/trajectory_control/TrajectoryFollowingController.cpp
+++ b/source/armarx/navigation/trajectory_control/TrajectoryFollowingController.cpp
@@ -27,7 +27,7 @@ namespace armarx::navigation::traj_ctrl
return Algorithms::TrajectoryFollowingController;
}
- aron::datanavigator::DictNavigatorPtr
+ aron::data::DictPtr
TrajectoryFollowingControllerParams::toAron() const
{
arondto::TrajectoryFollowingControllerParams dto;
@@ -39,7 +39,7 @@ namespace armarx::navigation::traj_ctrl
}
TrajectoryFollowingControllerParams
- TrajectoryFollowingControllerParams::FromAron(const aron::datanavigator::DictNavigatorPtr& dict)
+ TrajectoryFollowingControllerParams::FromAron(const aron::data::DictPtr& dict)
{
arondto::TrajectoryFollowingControllerParams dto;
dto.fromAron(dict);
diff --git a/source/armarx/navigation/trajectory_control/TrajectoryFollowingController.h b/source/armarx/navigation/trajectory_control/TrajectoryFollowingController.h
index 561d1fa3..064de2fc 100644
--- a/source/armarx/navigation/trajectory_control/TrajectoryFollowingController.h
+++ b/source/armarx/navigation/trajectory_control/TrajectoryFollowingController.h
@@ -38,10 +38,10 @@ namespace armarx::navigation::traj_ctrl
core::PIDParams pidOri;
Algorithms algorithm() const override;
- aron::datanavigator::DictNavigatorPtr toAron() const override;
+ aron::data::DictPtr toAron() const override;
static TrajectoryFollowingControllerParams
- FromAron(const aron::datanavigator::DictNavigatorPtr& dict);
+ FromAron(const aron::data::DictPtr& dict);
};
class TrajectoryFollowingController : virtual public TrajectoryController
diff --git a/source/armarx/navigation/trajectory_control/WaypointController.cpp b/source/armarx/navigation/trajectory_control/WaypointController.cpp
index 5ff9ab88..c08ff5b9 100644
--- a/source/armarx/navigation/trajectory_control/WaypointController.cpp
+++ b/source/armarx/navigation/trajectory_control/WaypointController.cpp
@@ -15,7 +15,7 @@ namespace armarx::navigation::traj_ctrl
return Algorithms::WaypointController;
}
- aron::datanavigator::DictNavigatorPtr
+ aron::data::DictPtr
WaypointControllerParams::toAron() const
{
arondto::WaypointControllerParams dto;
@@ -27,7 +27,7 @@ namespace armarx::navigation::traj_ctrl
}
WaypointControllerParams
- WaypointControllerParams::FromAron(const aron::datanavigator::DictNavigatorPtr& dict)
+ WaypointControllerParams::FromAron(const aron::data::DictPtr& dict)
{
arondto::WaypointControllerParams dto;
dto.fromAron(dict);
diff --git a/source/armarx/navigation/trajectory_control/WaypointController.h b/source/armarx/navigation/trajectory_control/WaypointController.h
index 7171be2c..13133e67 100644
--- a/source/armarx/navigation/trajectory_control/WaypointController.h
+++ b/source/armarx/navigation/trajectory_control/WaypointController.h
@@ -30,8 +30,8 @@ namespace armarx::navigation::traj_ctrl
struct WaypointControllerParams : public TrajectoryControllerParams
{
Algorithms algorithm() const override;
- aron::datanavigator::DictNavigatorPtr toAron() const override;
- static WaypointControllerParams FromAron(const aron::datanavigator::DictNavigatorPtr& dict);
+ aron::data::DictPtr toAron() const override;
+ static WaypointControllerParams FromAron(const aron::data::DictPtr& dict);
};
class WaypointController : virtual public TrajectoryController
--
GitLab
From a67e9370c89d105dc67eaf77aca86d5e90161628 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 27 Oct 2021 09:26:29 +0200
Subject: [PATCH 3/5] Handle removed toJSON()
---
source/armarx/navigation/core/CMakeLists.txt | 2 +
source/armarx/navigation/core/Graph.cpp | 3 +-
.../navigation/core/json_conversions.cpp | 45 +++++++++++++++++++
.../armarx/navigation/core/json_conversions.h | 36 +++++++++++++++
4 files changed, 85 insertions(+), 1 deletion(-)
create mode 100644 source/armarx/navigation/core/json_conversions.cpp
create mode 100644 source/armarx/navigation/core/json_conversions.h
diff --git a/source/armarx/navigation/core/CMakeLists.txt b/source/armarx/navigation/core/CMakeLists.txt
index c9b92d2c..d4eb4883 100644
--- a/source/armarx/navigation/core/CMakeLists.txt
+++ b/source/armarx/navigation/core/CMakeLists.txt
@@ -15,6 +15,7 @@ armarx_add_library(core
types.cpp
Graph.cpp
aron_conversions.cpp
+ json_conversions.cpp
time/ChronoMonotonicTimeServer.cpp
HEADERS
types.h
@@ -27,6 +28,7 @@ armarx_add_library(core
Graph.h
TopologicScene.h
aron_conversions.h
+ json_conversions.h
time/ChronoMonotonicTimeServer.h
time/TimeServerInterface.h
DEPENDENCIES
diff --git a/source/armarx/navigation/core/Graph.cpp b/source/armarx/navigation/core/Graph.cpp
index c7cf378a..7bdd89ba 100644
--- a/source/armarx/navigation/core/Graph.cpp
+++ b/source/armarx/navigation/core/Graph.cpp
@@ -31,6 +31,7 @@
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <armarx/navigation/location/aron/Location.aron.generated.h>
+#include <armarx/navigation/core/json_conversions.h>
namespace armarx::navigation::core
@@ -80,7 +81,7 @@ namespace armarx::navigation::core
ss << " cost " << edge.attrib().cost()
<< ", type: " << static_cast<int>(edge.attrib().strategy) << " , has traj "
- << edge.attrib().trajectory.has_value() << ", aron: " << edge.attrib().aron.toJSON();
+ << edge.attrib().trajectory.has_value() << ", aron: " << nlohmann::json(edge.attrib().aron);
return ss.str();
}
diff --git a/source/armarx/navigation/core/json_conversions.cpp b/source/armarx/navigation/core/json_conversions.cpp
new file mode 100644
index 00000000..30b8a70f
--- /dev/null
+++ b/source/armarx/navigation/core/json_conversions.cpp
@@ -0,0 +1,45 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "json_conversions.h"
+
+#include <RobotAPI/libraries/aron/core/data/rw/writer/nlohmannJSON/NlohmannJSONWriter.h>
+#include <RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReader.h>
+
+
+namespace armarx::navigation::core
+{
+
+ void arondto::to_json(nlohmann::json& j, const Edge& bo)
+ {
+ armarx::aron::data::writer::NlohmannJSONWriter writer;
+ j = bo.write(writer);
+ }
+
+
+ void arondto::from_json(const nlohmann::json& j, Edge& bo)
+ {
+ armarx::aron::data::reader::NlohmannJSONReader reader;
+ bo.read<armarx::aron::data::reader::NlohmannJSONReader::InputType>(reader, j);
+ }
+
+
+} // namespace armarx::navigation::core
diff --git a/source/armarx/navigation/core/json_conversions.h b/source/armarx/navigation/core/json_conversions.h
new file mode 100644
index 00000000..57cee75d
--- /dev/null
+++ b/source/armarx/navigation/core/json_conversions.h
@@ -0,0 +1,36 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <SimoxUtility/json/json.hpp>
+
+#include <armarx/navigation/core/aron/Graph.aron.generated.h>
+
+
+namespace armarx::navigation::core::arondto
+{
+
+ void to_json(nlohmann::json& j, const arondto::Edge& bo);
+ void from_json(const nlohmann::json& j, arondto::Edge& bo);
+
+
+} // namespace armarx::navigation::graph
--
GitLab
From 3923b1bdb7f0e76668637d0c1cf8af94f5d0136d Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 5 Nov 2021 10:33:32 +0100
Subject: [PATCH 4/5] Update usage of disk ltm
---
.../components/NavigationMemory/NavigationMemory.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
index ab09c3fe..11b8271d 100644
--- a/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
+++ b/source/armarx/navigation/components/NavigationMemory/NavigationMemory.cpp
@@ -140,7 +140,8 @@ namespace armarx::navigation
{
// armem::wm::Memory memory = armem::server::ltm::disk::load(path.value());
armem::server::ltm::disk::Memory ltm(path.value());
- armem::wm::Memory memory = ltm.loadAll();
+ armem::wm::Memory memory;
+ ltm.loadAll(memory);
ARMARX_INFO << "Loaded " << armem::print(memory);
workingMemory().update(armem::toCommit(memory));
--
GitLab
From 13c19db5967b9bc4daf42933297d7d40cfa3e330 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 12 Nov 2021 11:17:05 +0100
Subject: [PATCH 5/5] Fix warnings
---
.../navigation/algorithms/astar/NavigationCostMap.cpp | 7 ++++++-
source/armarx/navigation/core/Graph.h | 2 +-
2 files changed, 7 insertions(+), 2 deletions(-)
diff --git a/source/armarx/navigation/algorithms/astar/NavigationCostMap.cpp b/source/armarx/navigation/algorithms/astar/NavigationCostMap.cpp
index 8900c799..883f20a1 100644
--- a/source/armarx/navigation/algorithms/astar/NavigationCostMap.cpp
+++ b/source/armarx/navigation/algorithms/astar/NavigationCostMap.cpp
@@ -95,7 +95,12 @@ namespace armarx::navigation::algorithm::astar
robotCollisionModel->setGlobalPose(globalPose.matrix());
- VirtualRobot::BoundingBox robotBbox = robotCollisionModel->getBoundingBox(true);
+ // Unused.
+ if (false)
+ {
+ VirtualRobot::BoundingBox robotBbox = robotCollisionModel->getBoundingBox(true);
+ (void) robotBbox;
+ }
Eigen::Vector3f P1;
Eigen::Vector3f P2;
diff --git a/source/armarx/navigation/core/Graph.h b/source/armarx/navigation/core/Graph.h
index 5b8fb88b..904f51c6 100644
--- a/source/armarx/navigation/core/Graph.h
+++ b/source/armarx/navigation/core/Graph.h
@@ -58,7 +58,7 @@ namespace armarx::navigation::core
{
armarx::navigation::core::arondto::Edge aron;
- client::GlobalPlanningStrategy strategy;
+ client::GlobalPlanningStrategy strategy = client::GlobalPlanningStrategy::Free;
// client::Config config;
float&
--
GitLab