Object memory: no longer instantiating articulated object class and instance segments

source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp

@@ -54,9 +54,6 @@ namespace armarx::armem::server::obj
         classSegment.defineProperties(defs, prefix + "cls.");
         instance::SegmentAdapter::defineProperties(defs, prefix + "inst.");
 
-        articulatedObjectInstanceSegment.defineProperties(defs, prefix + "articulated.inst.");
-        articulatedObjectClassSegment.defineProperties(defs, prefix + "articulated.cls.");
-
         attachmentSegment.defineProperties(defs, prefix + "attachments.");
 
         return defs;
@@ -68,10 +65,6 @@ namespace armarx::armem::server::obj
                                  server::ComponentPluginUser::workingMemoryMutex),
         classSegment(server::ComponentPluginUser::iceMemory,
                      server::ComponentPluginUser::workingMemoryMutex),
-        articulatedObjectClassSegment(server::ComponentPluginUser::iceMemory,
-                                      server::ComponentPluginUser::workingMemoryMutex),
-        articulatedObjectInstanceSegment(server::ComponentPluginUser::iceMemory,
-                                         server::ComponentPluginUser::workingMemoryMutex),
         attachmentSegment(server::ComponentPluginUser::iceMemory,
                           server::ComponentPluginUser::workingMemoryMutex)
     {
@@ -115,17 +108,6 @@ namespace armarx::armem::server::obj
 
         instance::SegmentAdapter::init();
 
-        initSegmentWithCatch("articulated object class", [&]()
-        {
-            articulatedObjectClassSegment.init();
-        });
-
-        initSegmentWithCatch("articulated object instance", [&]()
-        {
-            articulatedObjectInstanceSegment.setArticulatedObjectClassSegment(articulatedObjectClassSegment);
-            articulatedObjectInstanceSegment.init();
-        });
-
         initSegmentWithCatch("attachment", [&]()
         {
             attachmentSegment.init();
@@ -159,14 +141,6 @@ namespace armarx::armem::server::obj
             ArVizComponentPluginUser::getArvizClient()
         );
 
-        articulatedObjectClassSegment.connect(
-            ArVizComponentPluginUser::getArvizClient()
-        );
-
-        articulatedObjectInstanceSegment.connect(
-            ArVizComponentPluginUser::getArvizClient()
-        );
-
         attachmentSegment.connect(
             ArVizComponentPluginUser::getArvizClient()
         );

source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h

@@ -111,8 +111,6 @@ namespace armarx::armem::server::obj
 
         clazz::Segment classSegment;
 
-        articulated_object_class::Segment articulatedObjectClassSegment;
-        articulated_object_instance::Segment articulatedObjectInstanceSegment;
         attachments::Segment attachmentSegment;
 
         // associations::Segment associationsSegment;