From e30524da3315dfe191620533ed3a7b027d310710 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 17 Mar 2021 09:24:50 +0100
Subject: [PATCH] moving interface
---
source/RobotAPI/interface/CMakeLists.txt | 1 +
.../interface/core/RobotLocalization.ice | 41 +++++++++++++++++++
.../interface/units/PlatformUnitInterface.ice | 11 +----
3 files changed, 43 insertions(+), 10 deletions(-)
create mode 100644 source/RobotAPI/interface/core/RobotLocalization.ice
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index 0c7cdeb1f..88db84d51 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/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
diff --git a/source/RobotAPI/interface/core/RobotLocalization.ice b/source/RobotAPI/interface/core/RobotLocalization.ice
new file mode 100644
index 000000000..dbaee0f7a
--- /dev/null
+++ b/source/RobotAPI/interface/core/RobotLocalization.ice
@@ -0,0 +1,41 @@
+/*
+ * 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
diff --git a/source/RobotAPI/interface/units/PlatformUnitInterface.ice b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
index b3ab39c9e..2d93b642a 100644
--- a/source/RobotAPI/interface/units/PlatformUnitInterface.ice
+++ b/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.
**/
--
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