From 6e1df760ab2901077be465a4f25695ee57325c35 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 16 Mar 2023 10:39:05 +0100
Subject: [PATCH] support for ARMAR-DE
---
.../components/gaze_scheduler/Scheduler.cpp | 13 +++++++++++--
.../components/gaze_scheduler/Scheduler.h | 5 +++--
2 files changed, 14 insertions(+), 4 deletions(-)
diff --git a/source/armarx/view_selection/components/gaze_scheduler/Scheduler.cpp b/source/armarx/view_selection/components/gaze_scheduler/Scheduler.cpp
index acda2ae..e00b27e 100644
--- a/source/armarx/view_selection/components/gaze_scheduler/Scheduler.cpp
+++ b/source/armarx/view_selection/components/gaze_scheduler/Scheduler.cpp
@@ -447,7 +447,7 @@ namespace armarx::view_selection::gaze_scheduler
}
Scheduler::RobotNodeNames
- Scheduler::getRobotNodeNames(std::string robotName)
+ Scheduler::getRobotNodeNames(const std::string& robotName)
{
RobotNodeNames nodeNames;
if (robotName == "Armar6")
@@ -458,9 +458,18 @@ namespace armarx::view_selection::gaze_scheduler
nodeNames.cameraNodeName = "DepthCamera";
nodeNames.torsoNodeName = "TorsoJoint";
}
+ else if(robotName == "ArmarDE")
+ {
+
+ nodeNames.cameraFrameName = "DepthCamera";
+ nodeNames.pitchNodeName = "Neck_1_Pitch";
+ nodeNames.yawNodeName = "Neck_2_Yaw";
+ nodeNames.cameraNodeName = "DepthCamera";
+ nodeNames.torsoNodeName = "TorsoJoint";
+ }
else
{
- ARMARX_WARNING << "robotName not known, using fallback values";
+ ARMARX_FATAL << "Robot name `" << robotName <<"` not known!";
}
return nodeNames;
}
diff --git a/source/armarx/view_selection/components/gaze_scheduler/Scheduler.h b/source/armarx/view_selection/components/gaze_scheduler/Scheduler.h
index 3076f20..db28a83 100644
--- a/source/armarx/view_selection/components/gaze_scheduler/Scheduler.h
+++ b/source/armarx/view_selection/components/gaze_scheduler/Scheduler.h
@@ -106,9 +106,10 @@ namespace armarx::view_selection::gaze_scheduler
std::string cameraNodeName = "DepthCamera";
std::string torsoNodeName = "TorsoJoint";
};
+
+
// return node names for given robot
- // TODO: implement this function for other robots than Armar6
- RobotNodeNames getRobotNodeNames(std::string robotName);
+ RobotNodeNames getRobotNodeNames(const std::string& robotName);
//check whether the current target is out of time and reschedule
void checkTargetDeadline();
--
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