From edc4a2d314182ed2f6d7a08cf9b06263be9203bf Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 10 Nov 2022 12:13:24 +0100
Subject: [PATCH] Allow using the ObjectPoseClient plugin without being user
---
.../plugins/ObjectPoseClientPlugin.cpp | 13 ++++---------
.../ArmarXObjects/plugins/ObjectPoseClientPlugin.h | 11 ++++-------
2 files changed, 8 insertions(+), 16 deletions(-)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.cpp b/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.cpp
index 2e59775c3..6525be6b5 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.cpp
@@ -23,7 +23,7 @@ namespace armarx::plugins
void ObjectPoseClientPlugin::preOnConnectComponent()
{
- parent<ObjectPoseClientPluginUser>().objectPoseStorage = createObjectPoseStorage();
+ _objectPoseStorage = createObjectPoseStorage();
}
objpose::ObjectPoseStorageInterfacePrx ObjectPoseClientPlugin::createObjectPoseStorage()
@@ -63,23 +63,18 @@ namespace armarx
objpose::ObjectPoseClient ObjectPoseClientPluginUser::getClient() const
{
- return objpose::ObjectPoseClient(objectPoseStorage, getObjectFinder());
+ return plugin->createClient();
}
objpose::ObjectPoseSeq ObjectPoseClientPluginUser::getObjectPoses()
{
- if (!objectPoseStorage)
- {
- ARMARX_WARNING << "No object pose observer.";
- return {};
- }
- return objpose::fromIce(objectPoseStorage->getObjectPoses());
+ return getClient().fetchObjectPoses();
}
objpose::ObjectPoseSeq ObjectPoseClientPluginUser::getObjectPosesByProvider(const std::string& providerName)
{
- return objpose::ObjectPoseClient(objectPoseStorage, getObjectFinder()).fetchObjectPosesFromProvider(providerName);
+ return getClient().fetchObjectPosesFromProvider(providerName);
}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h b/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h
index 229987238..7f27d9768 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h
@@ -16,9 +16,7 @@ namespace armarx::plugins
using ComponentPlugin::ComponentPlugin;
- void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
objpose::ObjectPoseStorageInterfacePrx createObjectPoseStorage();
-
objpose::ObjectPoseClient createClient();
template<class...Ts>
@@ -45,12 +43,15 @@ namespace armarx::plugins
private:
+ void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
void preOnInitComponent() override;
void preOnConnectComponent() override;
static constexpr const char* PROPERTY_NAME = "ObjectMemoryName";
ObjectFinder _finder;
+ objpose::ObjectPoseStorageInterfacePrx _objectPoseStorage;
};
}
@@ -73,12 +74,8 @@ namespace armarx
ObjectPoseClientPluginUser();
- objpose::ObjectPoseStorageInterfacePrx createObjectPoseStorage();
- objpose::ObjectPoseStorageInterfacePrx objectPoseStorage;
-
-
objpose::ObjectPoseClient getClient() const;
-
+ objpose::ObjectPoseStorageInterfacePrx createObjectPoseStorage();
objpose::ObjectPoseSeq getObjectPoses();
objpose::ObjectPoseSeq getObjectPosesByProvider(const std::string& providerName);
--
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