From a72afde6510f9868ba9961d664fe91fc0362e6cb Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Sun, 27 Jun 2021 17:30:57 +0200
Subject: [PATCH] Add articulated simox XML in ObjectClass
---
.../armem_objects/aron/ObjectClass.xml | 4 +++
.../armem_objects/server/class/Segment.cpp | 27 +++++++++++--------
2 files changed, 20 insertions(+), 11 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml b/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
index 650082eb4..cb3c418e6 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
@@ -31,6 +31,10 @@ Core segment type of Object/Class.
<armarx::arondto::PackagePath />
</ObjectChild>
+ <ObjectChild key="articulatedSimoxXmlPath">
+ <armarx::arondto::PackagePath />
+ </ObjectChild>
+
<ObjectChild key="meshWrlPath">
<armarx::arondto::PackagePath />
</ObjectChild>
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index ad3027f50..3e6ecfed3 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -172,18 +172,23 @@ namespace armarx::armem::server::obj::clazz
toAron(data.id, info.id());
- if (fs::is_regular_file(info.simoxXML().absolutePath))
+ auto setPathIfExists = [](
+ armarx::arondto::PackagePath & aron,
+ const PackageFileLocation & location)
{
- toAron(data.simoxXmlPath, info.simoxXML());
- }
- if (fs::is_regular_file(info.wavefrontObj().absolutePath))
- {
- toAron(data.meshObjPath, info.wavefrontObj());
- }
- if (fs::is_regular_file(info.file(".wrl").absolutePath))
- {
- toAron(data.meshWrlPath, info.file(".wrl"));
- }
+ if (fs::is_regular_file(location.absolutePath))
+ {
+ toAron(aron, location);
+ }
+ else
+ {
+ toAron(aron, PackageFileLocation());
+ }
+ };
+ setPathIfExists(data.simoxXmlPath, info.simoxXML());
+ setPathIfExists(data.articulatedSimoxXmlPath, info.articulatedSimoxXML());
+ setPathIfExists(data.meshObjPath, info.wavefrontObj());
+ setPathIfExists(data.meshWrlPath, info.meshWrl());
auto aabb = info.loadAABB();
toAron(data.aabb, aabb ? aabb.value() : simox::AxisAlignedBoundingBox());
--
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