diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index 1db77c2f32c4a2b2278abcd9fbdfe860ca081f95..d8b6e4f89038a42fc137a78316cfa3fbd7bc7eb0 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -22,13 +22,9 @@
#include "ExampleMemoryClient.h"
-#include <random>
-
-#include <SimoxUtility/color/cmaps.h>
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <ArmarXCore/core/time/CycleUtil.h>
+#include <RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.aron.generated.h>
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
@@ -37,7 +33,16 @@
#include <RobotAPI/libraries/armem/core/operations.h>
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
-#include <RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.aron.generated.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/time/CycleUtil.h>
+
+#include <SimoxUtility/color/cmaps.h>
+#include <SimoxUtility/math/pose/pose.h>
+
+#include <Eigen/Geometry>
+
+#include <random>
+
#define STORE_IMAGES 0
@@ -130,7 +135,6 @@ namespace armarx
{
ARMARX_IMPORTANT << "Running example.";
run_started = IceUtil::Time::now();
- std::srand(std::time(nullptr));
armem::MemoryID snapshotID = commitSingleSnapshot(exampleEntityID);
if (true)
@@ -185,6 +189,9 @@ namespace armarx
armem::MemoryID ExampleMemoryClient::commitSingleSnapshot(const armem::MemoryID& entityID)
{
+ std::default_random_engine gen(std::random_device{}());
+ std::uniform_int_distribution<int> distrib(-20, 20);
+
// Prepare the update with some empty instances.
armem::EntityUpdate update;
update.entityID = entityID;
@@ -200,7 +207,7 @@ namespace armarx
auto sqrt = std::make_shared<aron::datanavigator::DoubleNavigator>(std::sqrt(diff));
auto lin = std::make_shared<aron::datanavigator::LongNavigator>(static_cast<long>(diff * 1000));
- auto rand = std::make_shared<aron::datanavigator::IntNavigator>(std::rand());
+ auto rand = std::make_shared<aron::datanavigator::IntNavigator>(distrib(gen));
dict1->addElement("sin", sin);
dict1->addElement("cos", cos);
@@ -386,34 +393,24 @@ namespace armarx
{ "three", 3 },
};
+ data.the_position = { 42, 24, 4224 };
+ data.the_orientation = Eigen::AngleAxisf(1.57f, Eigen::Vector3f(1, 1, 1).normalized());
+ data.the_pose = simox::math::pose(data.the_position, data.the_orientation);
+
+ data.the_3x1_vector = { 24, 42, 2442 };
+ data.the_4x4_matrix = 42 * Eigen::Matrix4f::Identity();
+
toAron(data.memoryLink, armem::MemoryID());
simox::ColorMap cmap = simox::color::cmaps::plasma();
- {
- data.the_ivt_image = std::make_shared<CByteImage>();
- CByteImage& image = *data.the_ivt_image;
- image.Set(15, 35, CByteImage::ImageType::eRGB24);
- cmap.set_vlimits(0, float(image.width + image.height));
- for (int row = 0; row < image.height; ++row)
- {
- for (int col = 0; col < image.width; ++col)
- {
- simox::Color color = cmap(float(row + col));
- unsigned char* p = &image.pixels[(row * image.width + col) * image.bytesPerPixel];
- p[0] = color.r;
- p[1] = color.g;
- p[2] = color.b;
- }
- }
- }
{
cv::Mat& image = data.the_rgb24_image;
image.create(10, 20, image.type());
cmap.set_vlimits(0, float(image.cols + image.rows));
using Pixel = cv::Point3_<uint8_t>;
- image.forEach<Pixel>([&cmap](Pixel& pixel, const int position[]) -> void
+ image.forEach<Pixel>([&cmap](Pixel& pixel, const int index[]) -> void
{
- simox::Color color = cmap(float(position[0] + position[1]));
+ simox::Color color = cmap(float(index[0] + index[1]));
pixel.x = color.r;
pixel.y = color.g;
pixel.z = color.b;
@@ -428,18 +425,18 @@ namespace armarx
{
cv::Mat& image = data.the_depth32_image;
image.create(20, 10, image.type());
- image.forEach<float>([&image](float& pixel, const int position[]) -> void
+ image.forEach<float>([&image](float& pixel, const int index[]) -> void
{
- pixel = 100 * float(position[0] + position[1]) / float(image.rows + image.cols);
+ pixel = 100 * float(index[0] + index[1]) / float(image.rows + image.cols);
});
#if STORE_IMAGES
cmap.set_vlimits(0, 100);
cv::Mat rgb(image.rows, image.cols, CV_8UC3);
using Pixel = cv::Point3_<uint8_t>;
- rgb.forEach<Pixel>([&image, &cmap](Pixel& pixel, const int position[]) -> void
+ rgb.forEach<Pixel>([&image, &cmap](Pixel& pixel, const int index[]) -> void
{
- simox::Color color = cmap(image.at<float>(position));
+ simox::Color color = cmap(image.at<float>(index));
pixel.x = color.r;
pixel.y = color.g;
pixel.z = color.b;
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
index 40aa30326633f0afb3f97e36ada659918f5dafa1..40eb57625848ba442e7be2abb10ed1c832ee8440 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
@@ -23,20 +23,17 @@
#pragma once
+#include <RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h>
+#include <RobotAPI/libraries/armem/client/Reader.h>
+#include <RobotAPI/libraries/armem/client/Writer.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
-// ArmarX
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXCore/util/tasks.h>
-#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
-
-// RobotAPI
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-#include <RobotAPI/libraries/armem/client/plugins.h>
-#include <RobotAPI/interface/armem/server/MemoryInterface.h>
-#include <RobotAPI/libraries/armem/client/Reader.h>
-#include <RobotAPI/libraries/armem/client/Writer.h>
namespace armarx
@@ -56,8 +53,8 @@ namespace armarx
*/
class ExampleMemoryClient :
virtual public armarx::Component,
- virtual public armarx::armem::client::ComponentPluginUser,
- virtual public LightweightRemoteGuiComponentPluginUser
+ virtual public armarx::armem::ListeningClientPluginUser,
+ virtual public armarx::LightweightRemoteGuiComponentPluginUser
{
public:
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml b/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
index 5c49bef1660bbb3eb2fa336c83ad865bb7bf2e9e..6347fef0adf48e84d1104985481b05732db7b11f 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
@@ -1,104 +1,114 @@
-<!--Some fancy comment -->
+<!--
+An example data containing different native ARON types.
+-->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<Eigen/Core>" />
- <Include include="<Image/ByteImage.h>" />
- <Include include="<opencv2/core/core.hpp>" />
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
- </CodeIncludes>
+ <CodeIncludes>
+ <!-- These should not be necessary in the future: -->
+ <Include include="<Eigen/Core>" /> <!-- For Position, Pose and Matrix. -->
+ <Include include="<Eigen/Geometry>" /> <!-- For Orientation. -->
+ <Include include="<opencv2/core/core.hpp>" /> <!-- For Image. -->
+ <!--Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" /-->
+ </CodeIncludes>
- <AronIncludes>
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
- </AronIncludes>
+ <AronIncludes>
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true" />
+ </AronIncludes>
- <GenerateTypes>
- <Object name='armarx::armem::example::ExampleData'>
+ <GenerateTypes>
+ <Object name='armarx::armem::example::ExampleData'>
- <ObjectChild key='the_int'>
- <Int />
- </ObjectChild>
- <ObjectChild key='the_long'>
- <Long />
- </ObjectChild>
- <ObjectChild key='the_float'>
- <Float />
- </ObjectChild>
- <ObjectChild key='the_double'>
- <Double />
- </ObjectChild>
- <ObjectChild key='the_string'>
+ <ObjectChild key='the_int'>
+ <Int />
+ </ObjectChild>
+ <ObjectChild key='the_long'>
+ <Long />
+ </ObjectChild>
+ <ObjectChild key='the_float'>
+ <Float />
+ </ObjectChild>
+ <ObjectChild key='the_double'>
+ <Double />
+ </ObjectChild>
+ <ObjectChild key='the_string'>
<String />
- </ObjectChild>
- <ObjectChild key='the_bool'>
- <Bool />
- </ObjectChild>
+ </ObjectChild>
+ <ObjectChild key='the_bool'>
+ <Bool />
+ </ObjectChild>
- <ObjectChild key='the_eigen_position'>
- <EigenMatrix rows="3" cols="1" type="float" />
- </ObjectChild>
- <ObjectChild key='the_eigen_pose'>
- <EigenMatrix rows="4" cols="4" type="float" />
- </ObjectChild>
- <ObjectChild key='the_ivt_image'>
- <IVTCByteImage type="GrayScale" shared_ptr="true"/>
- </ObjectChild>
- <ObjectChild key='the_rgb24_image'>
- <Image pixelType="rgb24"/>
- </ObjectChild>
- <ObjectChild key='the_depth32_image'>
- <Image pixelType="depth32"/>
- </ObjectChild>
+ <ObjectChild key='the_position'>
+ <Position />
+ </ObjectChild>
+ <ObjectChild key='the_orientation'>
+ <Orientation />
+ </ObjectChild>
+ <ObjectChild key='the_pose'>
+ <Pose />
+ </ObjectChild>
- <ObjectChild key='the_float_list'>
- <List>
- <Float />
- </List>
- </ObjectChild>
- <ObjectChild key='the_int_list'>
- <List>
- <Int />
- </List>
- </ObjectChild>
- <ObjectChild key='the_string_list'>
- <List>
- <String />
- </List>
- </ObjectChild>
+ <ObjectChild key='the_3x1_vector'>
+ <EigenMatrix rows="3" cols="1" type="float" />
+ </ObjectChild>
+ <ObjectChild key='the_4x4_matrix'>
+ <EigenMatrix rows="4" cols="4" type="float" />
+ </ObjectChild>
+ <ObjectChild key='the_rgb24_image'>
+ <Image pixelType="rgb24"/>
+ </ObjectChild>
+ <ObjectChild key='the_depth32_image'>
+ <Image pixelType="depth32"/>
+ </ObjectChild>
- <ObjectChild key='the_object_list'>
- <List>
- <Object name='ListClass'>
- <ObjectChild key='element_int'>
- <Int />
- </ObjectChild>
- <ObjectChild key='element_float'>
- <Float />
- </ObjectChild>
- <ObjectChild key='element_string'>
+ <ObjectChild key='the_float_list'>
+ <List>
+ <Float />
+ </List>
+ </ObjectChild>
+ <ObjectChild key='the_int_list'>
+ <List>
+ <Int />
+ </List>
+ </ObjectChild>
+ <ObjectChild key='the_string_list'>
+ <List>
<String />
- </ObjectChild>
- </Object>
- </List>
- </ObjectChild>
+ </List>
+ </ObjectChild>
+
+ <ObjectChild key='the_object_list'>
+ <List>
+ <Object name='InnerClass'>
+ <ObjectChild key='element_int'>
+ <Int />
+ </ObjectChild>
+ <ObjectChild key='element_float'>
+ <Float />
+ </ObjectChild>
+ <ObjectChild key='element_string'>
+ <String />
+ </ObjectChild>
+ </Object>
+ </List>
+ </ObjectChild>
- <ObjectChild key='the_float_dict'>
- <Dict>
- <Float />
- </Dict>
- </ObjectChild>
- <ObjectChild key='the_int_dict'>
- <Dict>
- <Int />
- </Dict>
- </ObjectChild>
+ <ObjectChild key='the_float_dict'>
+ <Dict>
+ <Float />
+ </Dict>
+ </ObjectChild>
+ <ObjectChild key='the_int_dict'>
+ <Dict>
+ <Int />
+ </Dict>
+ </ObjectChild>
- <ObjectChild key="memoryLink">
- <armarx::armem::arondto::MemoryID />
- </ObjectChild>
+ <ObjectChild key="memoryLink">
+ <armarx::armem::arondto::MemoryID />
+ </ObjectChild>
- </Object>
- </GenerateTypes>
+ </Object>
+ </GenerateTypes>
</AronTypeDefinition>