From 0b16ade389c964af25ea7b1474930197c9092cb7 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 19 Apr 2021 15:24:49 +0200
Subject: [PATCH] Add new ARON types to TypedDataVisitor
---
.../navigator/visitors/TypedDataVisitor.cpp | 24 +++++-
.../navigator/visitors/TypedDataVisitor.h | 84 +++++++++++++++++--
2 files changed, 99 insertions(+), 9 deletions(-)
diff --git a/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.cpp b/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.cpp
index 263253c88..55a30cff9 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.cpp
@@ -87,8 +87,20 @@ namespace armarx::aron::visitor
{
return visit(*t, key, dynamic_cast<StringDataNavigator&>(data));
}
+ else if (auto t = dynamic_cast<TimeTypeNavigator*>(&type))
+ {
+ return visit(*t, key, dynamic_cast<LongDataNavigator&>(data));
+ }
- if (auto t = dynamic_cast<EigenMatrixTypeNavigator*>(&type))
+ if (auto t = dynamic_cast<PCLPointCloudTypeNavigator*>(&type))
+ {
+ return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
+ }
+ else if (auto t = dynamic_cast<EigenMatrixTypeNavigator*>(&type))
+ {
+ return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
+ }
+ else if (auto t = dynamic_cast<EigenQuaternionTypeNavigator*>(&type))
{
return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
}
@@ -100,7 +112,15 @@ namespace armarx::aron::visitor
{
return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
}
- else if (auto t = dynamic_cast<PCLPointCloudTypeNavigator*>(&type))
+ else if (auto t = dynamic_cast<PoseTypeNavigator*>(&type))
+ {
+ return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
+ }
+ else if (auto t = dynamic_cast<PositionTypeNavigator*>(&type))
+ {
+ return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
+ }
+ else if (auto t = dynamic_cast<OrientationTypeNavigator*>(&type))
{
return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.h b/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.h
index 13800fa67..77c73fe08 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.h
@@ -29,8 +29,8 @@ namespace armarx::aron::visitor
* To the the location of the passed navigator in the original `AronType`,
* use `navigator.getPath()`.
*
- * @see `aron::Type::AronTypePtr`
- * @see `aron::Typenavigator::Navigator`
+ * @see `aron::Type::AronTypePtr`
+ * @see `aron::Typenavigator::Navigator`
* @see `std::stack` To manage Type with stack semantics.
*/
class TypedDataVisitor
@@ -73,12 +73,18 @@ namespace armarx::aron::visitor
using IntTypeNavigator = typenavigator::IntNavigator;
using LongTypeNavigator = typenavigator::LongNavigator;
using StringTypeNavigator = typenavigator::StringNavigator;
+ using TimeTypeNavigator = typenavigator::TimeNavigator;
+
// Array-valued
using EigenMatrixTypeNavigator = typenavigator::EigenMatrixNavigator;
+ using EigenQuaternionTypeNavigator = typenavigator::EigenQuaternionNavigator;
using IVTCByteImageTypeNavigator = typenavigator::IVTCByteImageNavigator;
using OpenCVMatTypeNavigator = typenavigator::OpenCVMatNavigator;
using PCLPointCloudTypeNavigator = typenavigator::PCLPointCloudNavigator;
+ using PoseTypeNavigator = typenavigator::PoseNavigator;
+ using PositionTypeNavigator = typenavigator::PositionNavigator;
+ using OrientationTypeNavigator = typenavigator::OrientationNavigator;
public:
@@ -166,26 +172,55 @@ namespace armarx::aron::visitor
(void) type, (void) data;
return true;
}
+ virtual bool visit(TimeTypeNavigator& type, LongDataNavigator& data)
+ {
+ return visit(type, IceUtil::Time::microSeconds(data.getValue()));
+ }
+ virtual bool visit(TimeTypeNavigator& type, const IceUtil::Time& data)
+ {
+ (void) type, (void) data;
+ return true;
+ }
virtual bool visit(EigenMatrixTypeNavigator& type, NDArrayDataNavigator& data)
{
- (void) type, (void) type, (void) data;
+ (void) type, (void) data;
+ return true;
+ }
+ virtual bool visit(EigenQuaternionTypeNavigator& type, NDArrayDataNavigator& data)
+ {
+ (void) type, (void) data;
return true;
}
virtual bool visit(IVTCByteImageTypeNavigator& type, NDArrayDataNavigator& data)
{
- (void) type, (void) type, (void) data;
+ (void) type, (void) data;
return true;
}
virtual bool visit(OpenCVMatTypeNavigator& type, NDArrayDataNavigator& data)
{
- (void) type, (void) type, (void) data;
+ (void) type, (void) data;
return true;
}
virtual bool visit(PCLPointCloudTypeNavigator& type, NDArrayDataNavigator& data)
{
- (void) type, (void) type, (void) data;
+ (void) type, (void) data;
+ return true;
+ }
+ virtual bool visit(PoseTypeNavigator& type, NDArrayDataNavigator& data)
+ {
+ (void) type, (void) data;
+ return true;
+ }
+ virtual bool visit(PositionTypeNavigator& type, NDArrayDataNavigator& data)
+ {
+ (void) type, (void) data;
+ return true;
+ }
+ virtual bool visit(OrientationTypeNavigator& type, NDArrayDataNavigator& data)
+ {
+ (void) type, (void) data;
return true;
}
@@ -280,6 +315,18 @@ namespace armarx::aron::visitor
visit(type, data);
return true;
}
+ virtual bool visit(TimeTypeNavigator& type, const std::string& key, LongDataNavigator& data)
+ {
+ (void) key;
+ visit(type, data);
+ return true;
+ }
+ virtual bool visit(TimeTypeNavigator& type, const std::string& key, const IceUtil::Time& data)
+ {
+ (void) key;
+ visit(type, data);
+ return true;
+ }
virtual bool visit(EigenMatrixTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
@@ -288,6 +335,12 @@ namespace armarx::aron::visitor
visit(type, data);
return true;
}
+ virtual bool visit(EigenQuaternionTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
+ {
+ (void) type, (void) key;
+ visit(type, data);
+ return true;
+ }
virtual bool visit(IVTCByteImageTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
{
(void) type, (void) key;
@@ -306,7 +359,24 @@ namespace armarx::aron::visitor
visit(type, data);
return true;
}
-
+ virtual bool visit(PoseTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
+ {
+ (void) type, (void) key;
+ visit(type, data);
+ return true;
+ }
+ virtual bool visit(PositionTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
+ {
+ (void) type, (void) key;
+ visit(type, data);
+ return true;
+ }
+ virtual bool visit(OrientationTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
+ {
+ (void) type, (void) key;
+ visit(type, data);
+ return true;
+ }
private:
--
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