Merge remote-tracking branch 'origin/master' into ObjectFinder-no-throw-on-init

source/RobotAPI/libraries/core/CMakeLists.txt

@@ -108,6 +108,8 @@ set(LIB_HEADERS
 
     #diffik/NaturalDiffIK.h
     #diffik/SimpleDiffIK.h
+
+    json_conversions.h
 )
 add_subdirectory(test)
 

source/RobotAPI/libraries/core/json_conversions.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::Core
+ * @author     Christian R. G. Dreher <c.dreher@kit.edu>
+ * @date       2020
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+
+#pragma once
+
+
+// Simox
+#include <SimoxUtility/json.h>
+
+// RobotAPI
+#include <RobotAPI/libraries/core/FramedPose.h>
+
+
+namespace armarx
+{
+    void to_json(nlohmann::json& j, const FramedPose& fp)
+    {
+        j = nlohmann::json
+        {
+            {"agent", fp.agent},
+            {"frame", fp.frame},
+            {"qw", fp.orientation->qw},
+            {"qx", fp.orientation->qx},
+            {"qy", fp.orientation->qy},
+            {"qz", fp.orientation->qz},
+            {"x", fp.position->x},
+            {"y", fp.position->y},
+            {"z", fp.position->z}
+        };
+    }
+
+    void from_json(const nlohmann::json& j, FramedPose& fp)
+    {
+        j.at("agent").get_to(fp.agent);
+        j.at("frame").get_to(fp.frame);
+        j.at("qw").get_to(fp.orientation->qw);
+        j.at("qx").get_to(fp.orientation->qx);
+        j.at("qy").get_to(fp.orientation->qy);
+        j.at("qz").get_to(fp.orientation->qz);
+        j.at("x").get_to(fp.position->x);
+        j.at("y").get_to(fp.position->y);
+        j.at("z").get_to(fp.position->z);
+    }
+}