From 1a609ce322997fb8d7d4af0419c8b2787466e141 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Fri, 16 Nov 2018 11:40:01 +0100
Subject: [PATCH] Trajectory: added possibility to clone only meta data
---
source/RobotAPI/libraries/core/Trajectory.cpp | 16 +++++++++++++---
source/RobotAPI/libraries/core/Trajectory.h | 3 ++-
2 files changed, 15 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/libraries/core/Trajectory.cpp b/source/RobotAPI/libraries/core/Trajectory.cpp
index 1d85531ea..404379ab6 100644
--- a/source/RobotAPI/libraries/core/Trajectory.cpp
+++ b/source/RobotAPI/libraries/core/Trajectory.cpp
@@ -131,6 +131,13 @@ namespace armarx
return new Trajectory(*this);
}
+ TrajectoryPtr Trajectory::cloneMetaData() const
+ {
+ TrajectoryPtr t = new Trajectory();
+ CopyMetaData(*this, *t);
+ return t;
+ }
+
std::string Trajectory::output(const Ice::Current&) const
{
@@ -1647,11 +1654,14 @@ namespace armarx
}
- void Trajectory::clear()
+ void Trajectory::clear(bool keepMetaData)
{
dataMap.erase(dataMap.begin(), dataMap.end());
- dimensionNames.clear();
- limitless.clear();
+ if (!keepMetaData)
+ {
+ dimensionNames.clear();
+ limitless.clear();
+ }
}
diff --git a/source/RobotAPI/libraries/core/Trajectory.h b/source/RobotAPI/libraries/core/Trajectory.h
index 5f7613bdc..15de38e07 100644
--- a/source/RobotAPI/libraries/core/Trajectory.h
+++ b/source/RobotAPI/libraries/core/Trajectory.h
@@ -398,7 +398,7 @@ namespace armarx
static void CopyData(const Trajectory& source, Trajectory& destination);
static void CopyMetaData(const Trajectory& source, Trajectory& destination);
- void clear();
+ void clear(bool keepMetaData = false);
void setPositionEntry(const double t, const size_t dimIndex, const double& y);
void setEntries(const double t, const size_t dimIndex, const Ice::DoubleSeq& y);
bool dataExists(double t, size_t dimension = 0, size_t derivation = 0) const;
@@ -417,6 +417,7 @@ namespace armarx
// VariantDataClass interface
VariantDataClassPtr clone(const Ice::Current& c = Ice::Current()) const override;
+ TrajectoryPtr cloneMetaData() const;
std::string output(const Ice::Current& c = Ice::Current()) const override;
Ice::Int getType(const Ice::Current& c = Ice::Current()) const override;
bool validate(const Ice::Current& c = Ice::Current()) override;
--
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