From 1888d6e87095c814ec05f5ff7578da52445c4262 Mon Sep 17 00:00:00 2001
From: Phillip Thomas <phillipthomas@live.de>
Date: Thu, 5 Mar 2015 17:00:11 +0100
Subject: [PATCH] Added remote Robot overloads.
---
.../core/remoterobot/RemoteRobot.cpp | 25 +++++++++++++------
.../libraries/core/remoterobot/RemoteRobot.h | 5 ++++
2 files changed, 22 insertions(+), 8 deletions(-)
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
index 44f79520f..2812e0782 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
@@ -293,20 +293,25 @@ VirtualRobot::RobotPtr RemoteRobot::createLocalClone()
}
VirtualRobot::RobotPtr RemoteRobot::createLocalClone(RobotStateComponentInterfacePrx robotStatePrx, const string &filename)
+{
+ return createLocalClone(robotStatePrx->getSynchronizedRobot(), filename);
+}
+
+RobotPtr RemoteRobot::createLocalClone(SharedRobotInterfacePrx sharedRobotPrx, const string &filename)
{
boost::recursive_mutex::scoped_lock cloneLock(m);
ARMARX_VERBOSE_S << "Creating local clone of remote robot (filename:" << filename << ")" << endl;
VirtualRobot::RobotPtr result;
- if (!robotStatePrx)
+ if (!sharedRobotPrx)
{
- ARMARX_ERROR_S << "NULL robotStatePrx. Aborting..." << endl;
+ ARMARX_ERROR_S << "NULL sharedRobotPrx. Aborting..." << endl;
return result;
}
if (filename.empty())
{
- RemoteRobotPtr rob(new RemoteRobot(robotStatePrx->getSynchronizedRobot()));
+ RemoteRobotPtr rob(new RemoteRobot(sharedRobotPrx));
result = rob->createLocalClone();
if (!result)
{
@@ -322,20 +327,24 @@ VirtualRobot::RobotPtr RemoteRobot::createLocalClone(RobotStateComponentInterfac
return result;
}
}
- synchronizeLocalClone(result,robotStatePrx);
+ synchronizeLocalClone(result,sharedRobotPrx);
return result;
}
bool RemoteRobot::synchronizeLocalClone(VirtualRobot::RobotPtr robot, RobotStateComponentInterfacePrx robotStatePrx)
{
- if (!robotStatePrx || !robot)
+ return synchronizeLocalClone(robot, robotStatePrx->getSynchronizedRobot());
+}
+
+bool RemoteRobot::synchronizeLocalClone(VirtualRobot::RobotPtr robot, SharedRobotInterfacePrx sharedRobotPrx)
+{
+ if (!sharedRobotPrx || !robot)
{
ARMARX_ERROR_S << "NULL data. Aborting..." << endl;
return false;
}
RobotConfigPtr c(new RobotConfig(robot,"synchronizeLocalClone"));
- auto robotProxy = robotStatePrx->getSynchronizedRobot();
- NameValueMap jv = robotProxy->getConfig();
+ NameValueMap jv = sharedRobotPrx->getConfig();
for ( NameValueMap::const_iterator it = jv.begin(); it!=jv.end(); it++ )
{
// joint values
@@ -347,7 +356,7 @@ bool RemoteRobot::synchronizeLocalClone(VirtualRobot::RobotPtr robot, RobotState
}
}
robot->setConfig(c);
- auto pose = PosePtr::dynamicCast(robotProxy->getGlobalPose());
+ auto pose = PosePtr::dynamicCast(sharedRobotPrx->getGlobalPose());
robot->setGlobalPose(pose->toEigen());
return true;
}
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
index fd7af89c4..e55731859 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
@@ -184,16 +184,21 @@ namespace armarx
*/
static VirtualRobot::RobotPtr createLocalClone(RobotStateComponentInterfacePrx robotStatePrx, const std::string &filename=std::string());
+ static VirtualRobot::RobotPtr createLocalClone(SharedRobotInterfacePrx sharedRobotPrx, const std::string &filename=std::string());
+
/*!
Use this method to synchronize (i.e. copy the joint values) from the remote robot to the local clone.
The local clone must have the identical structure as the remote robot model, otherwise an error will be reported.
*/
static bool synchronizeLocalClone(VirtualRobot::RobotPtr robot, RobotStateComponentInterfacePrx robotStatePrx);
+ static bool synchronizeLocalClone(VirtualRobot::RobotPtr robot, SharedRobotInterfacePrx sharedRobotPrx);
+
// VirtualRobot::RobotPtr getRobotPtr() { return shared_from_this();} // only for debugging
//! Clones the structure of this remote robot to a local instance
VirtualRobot::RobotPtr createLocalClone();
+
protected:
/// Not implemented yet
--
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