moving interface

source/RobotAPI/interface/CMakeLists.txt

@@ -16,6 +16,7 @@ set(SLICE_FILES
     core/OrientedPoint.ice
     core/LinkedPoseBase.ice
     core/FramedPoseBase.ice
+    core/RobotLocalization.ice
     core/RobotState.ice
     core/RobotStateObserverInterface.ice
     core/Trajectory.ice

source/RobotAPI/interface/core/RobotLocalization.ice

+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI
+ * @author     Fabian Reister (fabian dot reister at kit dot edu)
+ * @copyright  2021
+ * @license    http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/interface/core/GeometryBase.ice>
+
+module armarx{
+
+
+    interface GlobalRobotPoseLocalizationListener{
+        void reportGlobalRobotPose(TransformStamped currentPose);
+    }
+    
+    interface OdometryListener{
+        void reportOdometryVelocity(TwistStamped platformVelocity);
+        void reportOdometryPose(TransformStamped odometryPose);
+    }
+
+} // module armarx
\ No newline at end of file

source/RobotAPI/interface/units/PlatformUnitInterface.ice

@@ -29,6 +29,7 @@
 #include <ArmarXCore/interface/core/UserException.ice>
 #include <ArmarXCore/interface/core/BasicTypes.ice>
 #include <RobotAPI/interface/core/GeometryBase.ice>
+#include <RobotAPI/interface/core/RobotLocalization.ice>
 
 
 module armarx
@@ -83,16 +84,6 @@ module armarx
         float rotationAroundZ = 0.0f;
     };
 
-
-    interface GlobalRobotPoseLocalizationListener{
-        void reportGlobalRobotPose(TransformStamped currentPose);
-    }
-    
-    interface OdometryListener{
-        void reportOdometryVelocity(TwistStamped platformVelocity);
-        void reportOdometryPose(TransformStamped odometryPose);
-    }
-
 	/**
 	* Implements an interface to an PlatformUnitListener.
 	**/