diff --git a/source/RobotAPI/libraries/core/CMakeLists.txt b/source/RobotAPI/libraries/core/CMakeLists.txt
index 9babf0b23f1eeae6bc2bc01e9238d93809c6c40c..206e492c5660dc1c4c50b8bdbeb069b8b35736aa 100644
--- a/source/RobotAPI/libraries/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/core/CMakeLists.txt
@@ -31,7 +31,9 @@ set(LIB_FILES
RobotStatechartContext.cpp
RobotPool.cpp
checks/ConditionCheckMagnitudeChecks.cpp
+ observerfilters/OffsetFilter.cpp
observerfilters/PoseAverageFilter.cpp
+ observerfilters/PoseMedianFilter.cpp
observerfilters/PoseMedianOffsetFilter.cpp
observerfilters/MedianDerivativeFilterV3.cpp
RobotAPIObjectFactories.cpp
diff --git a/source/RobotAPI/libraries/core/FramedPose.cpp b/source/RobotAPI/libraries/core/FramedPose.cpp
index f8a2c3f48687c98c96b56d44cd574f07c5a5bae9..852477268e44969670b78789e31f1aae57848fac 100644
--- a/source/RobotAPI/libraries/core/FramedPose.cpp
+++ b/source/RobotAPI/libraries/core/FramedPose.cpp
@@ -26,11 +26,14 @@
#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
+#include <ArmarXCore/core/logging/Logging.h>
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/LinkedCoordinate.h>
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/RobotConfig.h>
+
+
using namespace Eigen;
template class ::IceInternal::Handle<::armarx::FramedPose>;
diff --git a/source/RobotAPI/libraries/core/LinkedPose.cpp b/source/RobotAPI/libraries/core/LinkedPose.cpp
index 00391df0cba8d2a9b94cb368cdf16738c7e4c2c8..10b93907b5873f521378987329895c1a7033a960 100644
--- a/source/RobotAPI/libraries/core/LinkedPose.cpp
+++ b/source/RobotAPI/libraries/core/LinkedPose.cpp
@@ -290,4 +290,10 @@ namespace armarx
}
+ void VariantType::suppressWarningUnusedVariableForLinkedPoseAndDirection()
+ {
+ ARMARX_DEBUG_S << VAROUT(LinkedPose);
+ ARMARX_DEBUG_S << VAROUT(LinkedDirection);
+ }
+
}
diff --git a/source/RobotAPI/libraries/core/LinkedPose.h b/source/RobotAPI/libraries/core/LinkedPose.h
index c0cceefce563a026803846773fd805d522031186..def35d7f7fd3d23b19f301f7fd77aebdb2b7bbae 100644
--- a/source/RobotAPI/libraries/core/LinkedPose.h
+++ b/source/RobotAPI/libraries/core/LinkedPose.h
@@ -42,11 +42,7 @@ namespace armarx::VariantType
// variant types
const VariantTypeId LinkedPose = Variant::addTypeName("::armarx::LinkedPoseBase");
const VariantTypeId LinkedDirection = Variant::addTypeName("::armarx::LinkedDirectionBase");
- inline void suppressWarningUnusedVariableForLinkedPoseAndDirection()
- {
- ARMARX_DEBUG_S << VAROUT(LinkedPose);
- ARMARX_DEBUG_S << VAROUT(LinkedDirection);
- }
+ void suppressWarningUnusedVariableForLinkedPoseAndDirection();
}
namespace armarx
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
index 1009903e4fb1ddb631f11482a459098452e15419..addca00cdc7e3487aac217a3b03ee488f2287253 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
@@ -23,11 +23,14 @@
*/
#pragma once
+#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/system/ImportExport.h>
#include <ArmarXCore/observers/ConditionCheck.h>
+
#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/libraries/core/LinkedPose.h>
+
namespace armarx
{
diff --git a/source/RobotAPI/libraries/core/observerfilters/MedianDerivativeFilterV3.cpp b/source/RobotAPI/libraries/core/observerfilters/MedianDerivativeFilterV3.cpp
index eaf21147840e8ec1c2e95fa7eedbb218f5518ed0..fbe93784ccb11229682a57d2c2d6ba7577c8adf8 100644
--- a/source/RobotAPI/libraries/core/observerfilters/MedianDerivativeFilterV3.cpp
+++ b/source/RobotAPI/libraries/core/observerfilters/MedianDerivativeFilterV3.cpp
@@ -23,6 +23,9 @@
*/
#include "MedianDerivativeFilterV3.h"
+#include <ArmarXCore/core/logging/Logging.h>
+
+
using namespace armarx;
using namespace filters;
diff --git a/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.cpp b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d8a3246de16fa15282559204e96f45f516567d7c
--- /dev/null
+++ b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.cpp
@@ -0,0 +1,109 @@
+#include "OffsetFilter.h"
+
+#include <RobotAPI/libraries/core/FramedPose.h>
+
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/util/variants/eigen3/MatrixVariant.h>
+
+
+namespace armarx::filters
+{
+
+ OffsetFilter::OffsetFilter()
+ {
+ firstRun = true;
+ windowFilterSize = 1;
+ }
+
+
+ VariantBasePtr OffsetFilter::calculate(const Ice::Current&) const
+ {
+ std::unique_lock lock(historyMutex);
+
+ VariantPtr newVariant;
+
+ if (initialValue && dataHistory.size() > 0)
+ {
+ VariantTypeId type = dataHistory.begin()->second->getType();
+ VariantPtr currentValue = VariantPtr::dynamicCast(dataHistory.rbegin()->second);
+
+ if (currentValue->getType() != initialValue->getType())
+ {
+ ARMARX_ERROR_S << "Types in OffsetFilter are different: " << Variant::typeToString(currentValue->getType()) << " and " << Variant::typeToString(initialValue->getType());
+ return nullptr;
+ }
+
+ if (type == VariantType::Int)
+ {
+ int newValue = dataHistory.rbegin()->second->getInt() - initialValue->getInt();
+ newVariant = new Variant(newValue);
+ }
+ else if (type == VariantType::Float)
+ {
+ float newValue = dataHistory.rbegin()->second->getFloat() - initialValue->getFloat();
+ newVariant = new Variant(newValue);
+ }
+ else if (type == VariantType::Double)
+ {
+ double newValue = dataHistory.rbegin()->second->getDouble() - initialValue->getDouble();
+ newVariant = new Variant(newValue);
+ }
+ else if (type == VariantType::FramedDirection)
+ {
+ FramedDirectionPtr vec = FramedDirectionPtr::dynamicCast(currentValue->get<FramedDirection>());
+ FramedDirectionPtr intialVec = FramedDirectionPtr::dynamicCast(initialValue->get<FramedDirection>());
+ Eigen::Vector3f newValue = vec->toEigen() - intialVec->toEigen();
+
+ newVariant = new Variant(new FramedDirection(newValue, vec->frame, vec->agent));
+ }
+ else if (type == VariantType::FramedPosition)
+ {
+ FramedPositionPtr pos = FramedPositionPtr::dynamicCast(currentValue->get<FramedPosition>());
+ FramedPositionPtr intialPos = FramedPositionPtr::dynamicCast(initialValue->get<FramedPosition>());
+ Eigen::Vector3f newValue = pos->toEigen() - intialPos->toEigen();
+ newVariant = new Variant(new FramedPosition(newValue, pos->frame, pos->agent));
+ }
+ else if (type == VariantType::MatrixFloat)
+ {
+ MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(currentValue->get<MatrixFloat>());
+ MatrixFloatPtr initialMatrix = MatrixFloatPtr::dynamicCast(initialValue->get<MatrixFloat>());
+ Eigen::MatrixXf newMatrix = matrix->toEigen() - initialMatrix->toEigen();
+ newVariant = new Variant(new MatrixFloat(newMatrix));
+ }
+ }
+
+ return newVariant;
+
+ }
+
+ ParameterTypeList OffsetFilter::getSupportedTypes(const Ice::Current&) const
+ {
+ ParameterTypeList result;
+ result.push_back(VariantType::Int);
+ result.push_back(VariantType::Float);
+ result.push_back(VariantType::Double);
+ result.push_back(VariantType::FramedDirection);
+ result.push_back(VariantType::FramedPosition);
+ result.push_back(VariantType::MatrixFloat);
+ return result;
+ }
+
+ void OffsetFilter::update(Ice::Long timestamp, const VariantBasePtr& value, const Ice::Current& c)
+ {
+ DatafieldFilter::update(timestamp, value, c);
+
+ if (firstRun)
+ {
+ std::unique_lock lock(historyMutex);
+
+ if (dataHistory.size() == 0)
+ {
+ return;
+ }
+
+ initialValue = VariantPtr::dynamicCast(dataHistory.begin()->second);
+ firstRun = false;
+ }
+ }
+
+}
diff --git a/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
index 68b2cc80905a7747ab73c04f9d19c873b4e3fb77..4af1082d7fb7ac6fb8aeea67f1491d7f94d2f39d 100644
--- a/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
+++ b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
@@ -23,9 +23,9 @@
#pragma once
#include <RobotAPI/interface/observers/ObserverFilters.h>
+
#include <ArmarXCore/observers/filters/DatafieldFilter.h>
-#include <RobotAPI/libraries/core/FramedPose.h>
-#include <ArmarXCore/util/variants/eigen3/MatrixVariant.h>
+
namespace armarx::filters
{
@@ -43,109 +43,27 @@ namespace armarx::filters
public DatafieldFilter
{
public:
- OffsetFilter()
- {
- firstRun = true;
- windowFilterSize = 1;
- }
+
+ OffsetFilter();
// DatafieldFilterBase interface
public:
- VariantBasePtr calculate(const Ice::Current& c = Ice::emptyCurrent) const override
- {
-
- std::unique_lock lock(historyMutex);
-
- VariantPtr newVariant;
-
- if (initialValue && dataHistory.size() > 0)
- {
- VariantTypeId type = dataHistory.begin()->second->getType();
- VariantPtr currentValue = VariantPtr::dynamicCast(dataHistory.rbegin()->second);
-
- if (currentValue->getType() != initialValue->getType())
- {
- ARMARX_ERROR_S << "Types in OffsetFilter are different: " << Variant::typeToString(currentValue->getType()) << " and " << Variant::typeToString(initialValue->getType());
- return NULL;
- }
-
- if (type == VariantType::Int)
- {
- int newValue = dataHistory.rbegin()->second->getInt() - initialValue->getInt();
- newVariant = new Variant(newValue);
- }
- else if (type == VariantType::Float)
- {
- float newValue = dataHistory.rbegin()->second->getFloat() - initialValue->getFloat();
- newVariant = new Variant(newValue);
- }
- else if (type == VariantType::Double)
- {
- double newValue = dataHistory.rbegin()->second->getDouble() - initialValue->getDouble();
- newVariant = new Variant(newValue);
- }
- else if (type == VariantType::FramedDirection)
- {
- FramedDirectionPtr vec = FramedDirectionPtr::dynamicCast(currentValue->get<FramedDirection>());
- FramedDirectionPtr intialVec = FramedDirectionPtr::dynamicCast(initialValue->get<FramedDirection>());
- Eigen::Vector3f newValue = vec->toEigen() - intialVec->toEigen();
-
- newVariant = new Variant(new FramedDirection(newValue, vec->frame, vec->agent));
- }
- else if (type == VariantType::FramedPosition)
- {
- FramedPositionPtr pos = FramedPositionPtr::dynamicCast(currentValue->get<FramedPosition>());
- FramedPositionPtr intialPos = FramedPositionPtr::dynamicCast(initialValue->get<FramedPosition>());
- Eigen::Vector3f newValue = pos->toEigen() - intialPos->toEigen();
- newVariant = new Variant(new FramedPosition(newValue, pos->frame, pos->agent));
- }
- else if (type == VariantType::MatrixFloat)
- {
- MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(currentValue->get<MatrixFloat>());
- MatrixFloatPtr initialMatrix = MatrixFloatPtr::dynamicCast(initialValue->get<MatrixFloat>());
- Eigen::MatrixXf newMatrix = matrix->toEigen() - initialMatrix->toEigen();
- newVariant = new Variant(new MatrixFloat(newMatrix));
- }
- }
-
- return newVariant;
-
- }
- ParameterTypeList getSupportedTypes(const Ice::Current&) const override
- {
- ParameterTypeList result;
- result.push_back(VariantType::Int);
- result.push_back(VariantType::Float);
- result.push_back(VariantType::Double);
- result.push_back(VariantType::FramedDirection);
- result.push_back(VariantType::FramedPosition);
- result.push_back(VariantType::MatrixFloat);
- return result;
- }
+
+ VariantBasePtr calculate(const Ice::Current& = Ice::emptyCurrent) const override;
+
+ ParameterTypeList getSupportedTypes(const Ice::Current&) const override;
+
+
private:
bool firstRun;
VariantPtr initialValue;
+
// DatafieldFilterBase interface
public:
- void update(Ice::Long timestamp, const VariantBasePtr& value, const Ice::Current& c) override
- {
- DatafieldFilter::update(timestamp, value, c);
-
- if (firstRun)
- {
- std::unique_lock lock(historyMutex);
-
- if (dataHistory.size() == 0)
- {
- return;
- }
-
- initialValue = VariantPtr::dynamicCast(dataHistory.begin()->second);
- firstRun = false;
- }
- }
+ void update(Ice::Long timestamp, const VariantBasePtr& value, const Ice::Current& c) override;
+
};
}
diff --git a/source/RobotAPI/libraries/core/observerfilters/PoseAverageFilter.cpp b/source/RobotAPI/libraries/core/observerfilters/PoseAverageFilter.cpp
index aa3b14347927cbbcd068f0164f2c92b86012fabd..e0d61134cfb5e85319d9a45af55418cf9f1a9a07 100644
--- a/source/RobotAPI/libraries/core/observerfilters/PoseAverageFilter.cpp
+++ b/source/RobotAPI/libraries/core/observerfilters/PoseAverageFilter.cpp
@@ -23,6 +23,9 @@
*/
#include "PoseAverageFilter.h"
+#include <ArmarXCore/core/logging/Logging.h>
+
+
namespace armarx::filters
{
diff --git a/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.cpp b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..72c6e8e8e798c43046f14c3dbcabc73233ab9a0d
--- /dev/null
+++ b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.cpp
@@ -0,0 +1,112 @@
+#include "PoseMedianFilter.h"
+
+#include <RobotAPI/libraries/core/FramedPose.h>
+#include <RobotAPI/interface/core/PoseBase.h>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+
+namespace armarx::filters
+{
+
+ PoseMedianFilter::PoseMedianFilter(int windowSize)
+ {
+ this->windowFilterSize = windowSize;
+ }
+
+
+ VariantBasePtr PoseMedianFilter::calculate(const Ice::Current& c) const
+ {
+ std::unique_lock lock(historyMutex);
+
+ if (dataHistory.size() == 0)
+ {
+ return nullptr;
+ }
+
+ VariantTypeId type = dataHistory.begin()->second->getType();
+
+ if (type == VariantType::Vector3
+ or type == VariantType::FramedDirection
+ or type == VariantType::FramedPosition)
+ {
+ Eigen::Vector3f vec;
+ vec.setZero();
+ std::string frame = "";
+ std::string agent = "";
+ VariantPtr var = VariantPtr::dynamicCast(dataHistory.begin()->second);
+
+ if (type == VariantType::FramedDirection)
+ {
+ FramedDirectionPtr p = var->get<FramedDirection>();
+ frame = p->frame;
+ agent = p->agent;
+ }
+ else if (type == VariantType::FramedPosition)
+ {
+ FramedPositionPtr p = var->get<FramedPosition>();
+ frame = p->frame;
+ agent = p->agent;
+ }
+
+ for (int i = 0; i < 3; ++i)
+ {
+ std::vector<double> values;
+
+ for (auto v : dataHistory)
+ {
+ VariantPtr v2 = VariantPtr::dynamicCast(v.second);
+ values.push_back(v2->get<Vector3>()->toEigen()[i]);
+ }
+
+ std::sort(values.begin(), values.end());
+ vec[i] = values.at(values.size() / 2);
+ }
+
+ if (type == VariantType::Vector3)
+ {
+ Vector3Ptr vecVar = new Vector3(vec);
+ return new Variant(vecVar);
+ }
+ else if (type == VariantType::FramedDirection)
+ {
+
+ FramedDirectionPtr vecVar = new FramedDirection(vec, frame, agent);
+ return new Variant(vecVar);
+ }
+ else if (type == VariantType::FramedPosition)
+ {
+ FramedPositionPtr vecVar = new FramedPosition(vec, frame, agent);
+ return new Variant(vecVar);
+ }
+ else
+ {
+ ARMARX_WARNING_S << "Implementation missing here";
+ return nullptr;
+ }
+ }
+ else if (type == VariantType::Double)
+ {
+ // auto values = SortVariants<double>(dataHistory);
+ // return new Variant(values.at(values.size()/2));
+ }
+ else if (type == VariantType::Int)
+ {
+ // auto values = SortVariants<int>(dataHistory);
+ // return new Variant(values.at(values.size()/2));
+ }
+
+ return MedianFilter::calculate(c);
+ }
+
+
+ ParameterTypeList PoseMedianFilter::getSupportedTypes(const Ice::Current& c) const
+ {
+ ParameterTypeList result = MedianFilter::getSupportedTypes(c);
+ result.push_back(VariantType::Vector3);
+ result.push_back(VariantType::FramedDirection);
+ result.push_back(VariantType::FramedPosition);
+ return result;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
index 33bbed17812e9c8d06336da6ce37ca9b7e73703e..bc03128714c8685f07b45b09e1e41996437e697f 100644
--- a/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
+++ b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
@@ -23,9 +23,10 @@
*/
#pragma once
+#include <RobotAPI/interface/core/FramedPoseBase.h>
+
#include <ArmarXCore/observers/filters/MedianFilter.h>
-#include <RobotAPI/libraries/core/FramedPose.h>
-#include <RobotAPI/interface/core/PoseBase.h>
+
namespace armarx::filters
{
@@ -41,108 +42,17 @@ namespace armarx::filters
public MedianFilter
{
public:
- PoseMedianFilter(int windowSize = 11)
- {
- this->windowFilterSize = windowSize;
- }
+ PoseMedianFilter(int windowSize = 11);
// DatafieldFilterBase interface
public:
- VariantBasePtr calculate(const Ice::Current& c) const override
- {
- std::unique_lock lock(historyMutex);
-
- if (dataHistory.size() == 0)
- {
- return NULL;
- }
-
- VariantTypeId type = dataHistory.begin()->second->getType();
-
- if ((type == VariantType::Vector3) || (type == VariantType::FramedDirection) || (type == VariantType::FramedPosition))
- {
-
- Eigen::Vector3f vec;
- vec.setZero();
- std::string frame = "";
- std::string agent = "";
- VariantPtr var = VariantPtr::dynamicCast(dataHistory.begin()->second);
-
- if (type == VariantType::FramedDirection)
- {
- FramedDirectionPtr p = var->get<FramedDirection>();
- frame = p->frame;
- agent = p->agent;
- }
- else if (type == VariantType::FramedPosition)
- {
- FramedPositionPtr p = var->get<FramedPosition>();
- frame = p->frame;
- agent = p->agent;
- }
-
- for (int i = 0; i < 3; ++i)
- {
- std::vector<double> values;
-
- for (auto v : dataHistory)
- {
- VariantPtr v2 = VariantPtr::dynamicCast(v.second);
- values.push_back(v2->get<Vector3>()->toEigen()[i]);
- }
-
- std::sort(values.begin(), values.end());
- vec[i] = values.at(values.size() / 2);
- }
-
- if (type == VariantType::Vector3)
- {
- Vector3Ptr vecVar = new Vector3(vec);
- return new Variant(vecVar);
- }
- else if (type == VariantType::FramedDirection)
- {
-
- FramedDirectionPtr vecVar = new FramedDirection(vec, frame, agent);
- return new Variant(vecVar);
- }
- else if (type == VariantType::FramedPosition)
- {
- FramedPositionPtr vecVar = new FramedPosition(vec, frame, agent);
- return new Variant(vecVar);
- }
- else
- {
- ARMARX_WARNING_S << "Implementation missing here";
- return NULL;
- }
- }
- else if (type == VariantType::Double)
- {
- // auto values = SortVariants<double>(dataHistory);
- // return new Variant(values.at(values.size()/2));
- }
- else if (type == VariantType::Int)
- {
- // auto values = SortVariants<int>(dataHistory);
- // return new Variant(values.at(values.size()/2));
- }
-
- return MedianFilter::calculate(c);
- }
+ VariantBasePtr calculate(const Ice::Current& c) const override;
/**
* @brief This filter supports: Vector3, FramedDirection, FramedPosition
* @return List of VariantTypes
*/
- ParameterTypeList getSupportedTypes(const Ice::Current& c) const override
- {
- ParameterTypeList result = MedianFilter::getSupportedTypes(c);
- result.push_back(VariantType::Vector3);
- result.push_back(VariantType::FramedDirection);
- result.push_back(VariantType::FramedPosition);
- return result;
- }
+ ParameterTypeList getSupportedTypes(const Ice::Current& c) const override;
};
diff --git a/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.cpp b/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.cpp
index e4d4a1444065ad83bbc681fa83832bca5ccabb29..3fffba8a157154642b2f7548ed055346b86fb5ef 100644
--- a/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.cpp
+++ b/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.cpp
@@ -23,6 +23,8 @@
*/
#include "PoseMedianOffsetFilter.h"
+#include <ArmarXCore/core/logging/Logging.h>
+
using namespace armarx;
using namespace filters;
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp b/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
index 3452cb93862066c3409e35004a2b8f26ed8eca90..1b002dc20e5d631dec870f4f935c2a1a19e5cc36 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
@@ -27,8 +27,10 @@
#include <RobotAPI/libraries/core/FramedPose.h>
+#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/interface/core/BasicTypes.h>
+
namespace armarx
{