From 1705a3e2a40763046b47423193d8139b73eadca9 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 30 Jun 2021 09:42:48 +0200
Subject: [PATCH] Object memory: no longer instantiating articulated object
class and instance segments
---
.../server/ObjectMemory/ObjectMemory.cpp | 26 -------------------
.../armem/server/ObjectMemory/ObjectMemory.h | 2 --
2 files changed, 28 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 422419b78..91ea5b234 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/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()
);
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index a513016a3..f29b2cef9 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/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;
--
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