From a9559e4986c838a086bc94af84455237d644f66f Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 27 May 2021 11:29:11 +0200
Subject: [PATCH] distinguishing between getRobot and getSynchronizedRobot
---
.../client/common/VirtualRobotReader.cpp | 10 +++++++++-
.../client/common/VirtualRobotReader.h | 6 ++++++
2 files changed, 15 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
index a1fbd970f..a3655fee1 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
@@ -67,7 +67,15 @@ namespace armarx::armem::robot_state
const std::string xmlFilename = ArmarXDataPath::resolvePath(description->xml.serialize().path);
ARMARX_INFO << "Loading (virtual) robot '" << description->name << "' from XML file '" << xmlFilename << "'";
- auto robot = VirtualRobot::RobotIO::loadRobot(xmlFilename, loadMode);
+ return VirtualRobot::RobotIO::loadRobot(xmlFilename, loadMode);
+ }
+
+
+ VirtualRobot::RobotPtr VirtualRobotReader::getSynchronizedRobot(const std::string& name,
+ const armem::Time& timestamp,
+ const VirtualRobot::RobotIO::RobotDescription& loadMode)
+ {
+ auto robot = getRobot(name, timestamp);
synchronizeRobot(*robot, timestamp);
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
index 5958bbca1..a280e71b6 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
@@ -53,6 +53,12 @@ namespace armarx::armem::robot_state
const armem::Time& timestamp,
const VirtualRobot::RobotIO::RobotDescription& loadMode =
VirtualRobot::RobotIO::RobotDescription::eStructure);
+
+ VirtualRobot::RobotPtr
+ getSynchronizedRobot(const std::string& name,
+ const armem::Time& timestamp,
+ const VirtualRobot::RobotIO::RobotDescription& loadMode =
+ VirtualRobot::RobotIO::RobotDescription::eStructure);
};
} // namespace armarx::armem::robot_state
\ No newline at end of file
--
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