From 607a01fbd5d3c88807f2439569dad6088ad5769a Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 24 Mar 2022 09:51:24 +0100
Subject: [PATCH] Add ARON DTO for simox::Color
---
.../libraries/aron/common/CMakeLists.txt | 2 ++
.../libraries/aron/common/aron/Color.xml | 26 +++++++++++++++++++
.../aron/common/aron_conversions/simox.cpp | 20 +++++++++++++-
.../aron/common/aron_conversions/simox.h | 9 ++++---
.../aron/common/forward_declarations.h | 9 +++++++
5 files changed, 62 insertions(+), 4 deletions(-)
create mode 100644 source/RobotAPI/libraries/aron/common/aron/Color.xml
create mode 100644 source/RobotAPI/libraries/aron/common/forward_declarations.h
diff --git a/source/RobotAPI/libraries/aron/common/CMakeLists.txt b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
index 98cfb29ec..498c79c47 100644
--- a/source/RobotAPI/libraries/aron/common/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
@@ -13,6 +13,7 @@ armarx_add_library(
HEADERS
aron_conversions.h
+ forward_declarations.h
aron_conversions/core.h
aron_conversions/armarx.h
aron_conversions/simox.h
@@ -36,6 +37,7 @@ armarx_enable_aron_file_generation_for_target(
ARON_FILES
aron/trajectory.xml
aron/color.xml
+ aron/Color.xml
aron/PackagePath.xml
aron/AxisAlignedBoundingBox.xml
aron/OrientedBox.xml
diff --git a/source/RobotAPI/libraries/aron/common/aron/Color.xml b/source/RobotAPI/libraries/aron/common/aron/Color.xml
new file mode 100644
index 000000000..180a9b372
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron/Color.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+ <GenerateTypes>
+
+ <Object name='simox::arondto::Color'>
+ <ObjectChild key='r'>
+ <int />
+ </ObjectChild>
+
+ <ObjectChild key='g'>
+ <int />
+ </ObjectChild>
+
+ <ObjectChild key='b'>
+ <int />
+ </ObjectChild>
+
+ <ObjectChild key='a'>
+ <int />
+ </ObjectChild>
+ </Object>
+
+ </GenerateTypes>
+
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/simox.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/simox.cpp
index c87d13cdb..f8629190d 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/simox.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/simox.cpp
@@ -1,5 +1,8 @@
#include "simox.h"
+#include <RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.aron.generated.h>
+#include <RobotAPI/libraries/aron/common/aron/Color.aron.generated.h>
+#include <RobotAPI/libraries/aron/common/aron/OrientedBox.aron.generated.h>
void simox::fromAron(const arondto::AxisAlignedBoundingBox& dto, AxisAlignedBoundingBox& bo)
@@ -15,7 +18,6 @@ void simox::toAron(arondto::AxisAlignedBoundingBox& dto, const AxisAlignedBoundi
}
-
void simox::fromAron(const arondto::OrientedBox& dto, OrientedBoxf& bo)
{
bo = OrientedBoxf(dto.center, dto.orientation, dto.extents);
@@ -28,3 +30,19 @@ void simox::toAron(arondto::OrientedBox& dto, const OrientedBoxf& bo)
dto.extents = bo.dimensions();
}
+
+void simox::fromAron(const arondto::Color& dto, Color& bo)
+{
+ bo.r = dto.r;
+ bo.g = dto.g;
+ bo.b = dto.b;
+ bo.a = dto.a;
+}
+
+void simox::toAron(arondto::Color& dto, const Color& bo)
+{
+ dto.r = bo.r;
+ dto.g = bo.g;
+ dto.b = bo.b;
+ dto.a = bo.a;
+}
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h b/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h
index 64e847afb..5440ac1c6 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h
@@ -1,10 +1,10 @@
#pragma once
+#include <SimoxUtility/color/Color.h>
#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
-#include <RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.aron.generated.h>
-
#include <SimoxUtility/shapes/OrientedBox.h>
-#include <RobotAPI/libraries/aron/common/aron/OrientedBox.aron.generated.h>
+
+#include <RobotAPI/libraries/aron/common/forward_declarations.h>
namespace simox
@@ -14,5 +14,8 @@ namespace simox
void fromAron(const arondto::OrientedBox& dto, OrientedBoxf& bo);
void toAron(arondto::OrientedBox& dto, const OrientedBoxf& bo);
+
+ void fromAron(const arondto::Color& dto, Color& bo);
+ void toAron(arondto::Color& dto, const Color& bo);
}
diff --git a/source/RobotAPI/libraries/aron/common/forward_declarations.h b/source/RobotAPI/libraries/aron/common/forward_declarations.h
new file mode 100644
index 000000000..ba4679a85
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/forward_declarations.h
@@ -0,0 +1,9 @@
+#pragma once
+
+
+namespace simox::arondto
+{
+ class AxisAlignedBoundingBox;
+ class Color;
+ class OrientedBox;
+}
--
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