diff --git a/source/RobotAPI/libraries/core/RobotAPIObjectFactories.cpp b/source/RobotAPI/libraries/core/RobotAPIObjectFactories.cpp
index 3ccdd28bc41ecffe6fc6a3e284fcecdeaad19535..65e405455056422f1b3ff19c176d52fe6a0ec0ac 100644
--- a/source/RobotAPI/libraries/core/RobotAPIObjectFactories.cpp
+++ b/source/RobotAPI/libraries/core/RobotAPIObjectFactories.cpp
@@ -21,6 +21,52 @@
*/
#include "RobotAPIObjectFactories.h"
+
+#include "Trajectory.h"
+#include <RobotAPI/interface/core/PoseBase.h>
+#include <RobotAPI/interface/core/RobotState.h>
+#include <RobotAPI/libraries/core/Pose.h>
+#include <RobotAPI/libraries/core/FramedPose.h>
+#include <RobotAPI/libraries/core/LinkedPose.h>
+#include <RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h>
+#include <RobotAPI/libraries/core/observerfilters/OffsetFilter.h>
+#include <RobotAPI/libraries/core/observerfilters/MatrixFilters.h>
+#include <RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.h>
+#include <RobotAPI/libraries/core/OrientedPoint.h>
+#include <RobotAPI/libraries/core/FramedOrientedPoint.h>
+
+
using namespace armarx;
using namespace armarx::ObjectFactories;
const FactoryCollectionBaseCleanUp RobotAPIObjectFactories::RobotAPIObjectFactoriesVar = FactoryCollectionBase::addToPreregistration(new RobotAPIObjectFactories());
+
+ObjectFactoryMap RobotAPIObjectFactories::getFactories()
+{
+ ObjectFactoryMap map;
+
+ add<Vector2>(map);
+ add<Vector3>(map);
+ add<FramedDirection>(map);
+ add<LinkedDirection>(map);
+ add<Quaternion>(map);
+ add<Pose>(map);
+ add<FramedPose>(map);
+ add<FramedOrientation>(map);
+ add<FramedPosition>(map);
+ add<LinkedPose>(map);
+
+ add<armarx::OrientedPointBase, armarx::OrientedPoint>(map);
+ add<armarx::FramedOrientedPointBase, armarx::FramedOrientedPoint>(map);
+
+ add<armarx::PoseMedianFilterBase, armarx::filters::PoseMedianFilter>(map);
+ add<armarx::PoseMedianOffsetFilterBase, armarx::filters::PoseMedianOffsetFilter>(map);
+ add<armarx::OffsetFilterBase, armarx::filters::OffsetFilter>(map);
+ add<armarx::MatrixMaxFilterBase, armarx::filters::MatrixMaxFilter>(map);
+ add<armarx::MatrixMinFilterBase, armarx::filters::MatrixMinFilter>(map);
+ add<armarx::MatrixAvgFilterBase, armarx::filters::MatrixAvgFilter>(map);
+ add<armarx::MatrixPercentileFilterBase, armarx::filters::MatrixPercentileFilter>(map);
+ add<armarx::MatrixPercentilesFilterBase, armarx::filters::MatrixPercentilesFilter>(map);
+ add<armarx::MatrixCumulativeFrequencyFilterBase, armarx::filters::MatrixCumulativeFrequencyFilter>(map);
+ add<armarx::TrajectoryBase, armarx::Trajectory>(map);
+ return map;
+}
diff --git a/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h b/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h
index 0c5d159be75298d7a4c39d3f47ff582f6dd50a6f..0e5dcc8684a41c1a5b92c9869b58901cc2a7a88f 100644
--- a/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h
+++ b/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h
@@ -23,134 +23,11 @@
#ifndef _ARMARX_ROBOTAPI_OBJECT_FACTORIES_H
#define _ARMARX_ROBOTAPI_OBJECT_FACTORIES_H
-#include "Trajectory.h"
-
#include <ArmarXCore/core/system/FactoryCollectionBase.h>
-#include <RobotAPI/interface/core/PoseBase.h>
-#include <RobotAPI/interface/core/RobotState.h>
-#include <RobotAPI/libraries/core/Pose.h>
-#include <RobotAPI/libraries/core/FramedPose.h>
-#include <RobotAPI/libraries/core/LinkedPose.h>
-#include <Ice/Ice.h>
-#include <RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h>
-#include <RobotAPI/libraries/core/observerfilters/OffsetFilter.h>
-#include <RobotAPI/libraries/core/observerfilters/MatrixFilters.h>
-#include <RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.h>
-#include <RobotAPI/libraries/core/OrientedPoint.h>
-#include <RobotAPI/libraries/core/FramedOrientedPoint.h>
+
namespace armarx
{
- class QuaternionObjectFactory : public Ice::ObjectFactory
- {
- public:
- virtual Ice::ObjectPtr create(const std::string& type)
- {
- assert(type == armarx::QuaternionBase::ice_staticId());
- return new Quaternion();
- }
- virtual void destroy()
- {}
- };
-
- class Vector3ObjectFactory : public Ice::ObjectFactory
- {
- public:
- virtual Ice::ObjectPtr create(const std::string& type)
- {
- assert(type == armarx::Vector3Base::ice_staticId());
- return new Vector3();
- }
- virtual void destroy()
- {}
- };
-
- class FramedDirectionObjectFactory : public Ice::ObjectFactory
- {
- public:
- virtual Ice::ObjectPtr create(const std::string& type)
- {
- assert(type == armarx::FramedDirectionBase::ice_staticId());
- return new FramedDirection();
- }
- virtual void destroy()
- {}
- };
-
- class LinkedDirectionObjectFactory : public Ice::ObjectFactory
- {
- public:
- virtual Ice::ObjectPtr create(const std::string& type)
- {
- assert(type == armarx::LinkedDirectionBase::ice_staticId());
- return new LinkedDirection();
- }
- virtual void destroy()
- {}
- };
-
- class PoseObjectFactory : public Ice::ObjectFactory
- {
- public:
- virtual Ice::ObjectPtr create(const std::string& type)
- {
- assert(type == armarx::PoseBase::ice_staticId());
- return new Pose();
- }
- virtual void destroy()
- {}
- };
-
- class FramedPoseObjectFactory : public Ice::ObjectFactory
- {
- public:
- virtual Ice::ObjectPtr create(const std::string& type)
- {
- assert(type == armarx::FramedPoseBase::ice_staticId());
- return new FramedPose();
- }
- virtual void destroy()
- {}
- };
-
- class FramedPositionObjectFactory : public Ice::ObjectFactory
- {
- public:
- virtual Ice::ObjectPtr create(const std::string& type)
- {
- assert(type == armarx::FramedPositionBase::ice_staticId());
- return new FramedPosition();
- }
- virtual void destroy()
- {}
- };
-
- class FramedOrientationObjectFactory : public Ice::ObjectFactory
- {
- public:
- virtual Ice::ObjectPtr create(const std::string& type)
- {
- assert(type == armarx::FramedOrientationBase::ice_staticId());
- return new FramedOrientation();
- }
- virtual void destroy()
- {}
- };
-
- class LinkedPoseObjectFactory : public Ice::ObjectFactory
- {
- public:
- virtual Ice::ObjectPtr create(const std::string& type)
- {
- assert(type == armarx::LinkedPoseBase::ice_staticId());
- return new LinkedPose();
- }
- virtual void destroy()
- {}
- };
-
-
-
namespace ObjectFactories
{
@@ -160,36 +37,7 @@ namespace armarx
class RobotAPIObjectFactories : public FactoryCollectionBase
{
public:
- ObjectFactoryMap getFactories()
- {
- ObjectFactoryMap map;
-
- add<armarx::Vector2Base, armarx::Vector2>(map);
- map.insert(std::make_pair(armarx::Vector3Base::ice_staticId(), new Vector3ObjectFactory));
- map.insert(std::make_pair(armarx::FramedDirectionBase::ice_staticId(), new FramedDirectionObjectFactory));
- map.insert(std::make_pair(armarx::LinkedDirectionBase::ice_staticId(), new LinkedDirectionObjectFactory));
- map.insert(std::make_pair(armarx::QuaternionBase::ice_staticId(), new QuaternionObjectFactory));
- map.insert(std::make_pair(armarx::PoseBase::ice_staticId(), new PoseObjectFactory));
- map.insert(std::make_pair(armarx::FramedPoseBase::ice_staticId(), new FramedPoseObjectFactory));
- map.insert(std::make_pair(armarx::FramedOrientationBase::ice_staticId(), new FramedOrientationObjectFactory));
- map.insert(std::make_pair(armarx::FramedPositionBase::ice_staticId(), new FramedPositionObjectFactory));
- map.insert(std::make_pair(armarx::LinkedPoseBase::ice_staticId(), new LinkedPoseObjectFactory));
-
- add<armarx::OrientedPointBase, armarx::OrientedPoint>(map);
- add<armarx::FramedOrientedPointBase, armarx::FramedOrientedPoint>(map);
-
- add<armarx::PoseMedianFilterBase, armarx::filters::PoseMedianFilter>(map);
- add<armarx::PoseMedianOffsetFilterBase, armarx::filters::PoseMedianOffsetFilter>(map);
- add<armarx::OffsetFilterBase, armarx::filters::OffsetFilter>(map);
- add<armarx::MatrixMaxFilterBase, armarx::filters::MatrixMaxFilter>(map);
- add<armarx::MatrixMinFilterBase, armarx::filters::MatrixMinFilter>(map);
- add<armarx::MatrixAvgFilterBase, armarx::filters::MatrixAvgFilter>(map);
- add<armarx::MatrixPercentileFilterBase, armarx::filters::MatrixPercentileFilter>(map);
- add<armarx::MatrixPercentilesFilterBase, armarx::filters::MatrixPercentilesFilter>(map);
- add<armarx::MatrixCumulativeFrequencyFilterBase, armarx::filters::MatrixCumulativeFrequencyFilter>(map);
- add<armarx::TrajectoryBase, armarx::Trajectory>(map);
- return map;
- }
+ ObjectFactoryMap getFactories();
static const FactoryCollectionBaseCleanUp RobotAPIObjectFactoriesVar;
};