PlatformSubUnit: moving robotstatecomponent to PlatformUnit

source/RobotAPI/components/units/PlatformUnit.cpp

@@ -39,6 +39,8 @@ namespace armarx
         def->topic(odometryPrx);
         def->topic(globalPosePrx);
 
+        def->component(robotStateComponent);
+
         return def;
     }
 

source/RobotAPI/components/units/PlatformUnit.h

@@ -29,6 +29,7 @@
 #include <ArmarXCore/core/application/properties/Properties.h>
 #include <ArmarXCore/core/system/ImportExportComponent.h>
 
+#include <RobotAPI/interface/core/RobotState.h>
 #include <RobotAPI/interface/units/PlatformUnitInterface.h>
 
 #include <vector>
@@ -125,6 +126,9 @@ namespace armarx
         GlobalRobotPoseLocalizationListenerPrx globalPosePrx;
         OdometryListenerPrx odometryPrx;
 
+        RobotStateComponentInterfacePrx robotStateComponent;
+
+
     };
 
     PlatformPose toPlatformPose(const TransformStamped& transformStamped);

source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp

@@ -32,17 +32,6 @@
 namespace armarx
 {
 
-
-    PropertyDefinitionsPtr armarx::PlatformSubUnit::createPropertyDefinitions()
-    {
-        auto def = PlatformUnit::createPropertyDefinitions();
-
-        def->component(robotStateComponent);
-
-        return def;
-    }
-
-
     void armarx::PlatformSubUnit::update(const armarx::SensorAndControl& sc, const JointAndNJointControllers&)
     {
         if (!getProxy())

source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h

@@ -61,9 +61,6 @@ namespace armarx
 
         void reportGlobalRobotPose(const TransformStamped& currentPose, const Ice::Current& = Ice::emptyCurrent) override;
 
-        PropertyDefinitionsPtr createPropertyDefinitions() override;
-
-
         // PlatformUnit interface
         void onInitPlatformUnit()  override
         {
@@ -97,8 +94,6 @@ namespace armarx
         // TODO(fabian.reister): likely remove or adapt
         Eigen::Matrix4f positionCorrection = Eigen::Matrix4f::Identity();
 
-    protected:
-        RobotStateComponentInterfacePrx robotStateComponent;
 
     private: