From 6c2f894532ffd6c6f426dd88e1f30d9fdcd23ff8 Mon Sep 17 00:00:00 2001
From: "fabian.peller-konrad@kit.edu" <fabian.peller-konrad@kit.edu>
Date: Wed, 5 May 2021 15:45:20 +0200
Subject: [PATCH] optional updates, an arontype does not contain dynamic
information anymore
---
.../server/ExampleMemory/ExampleMemory.cpp | 2 +-
.../ExampleMemory/test/ExampleMemoryTest.cpp | 2 +-
source/RobotAPI/interface/aron/Aron.ice | 12 +--
.../armem_gui/instance/sanitize_typename.cpp | 2 +-
.../armem_objects/server/class/Segment.cpp | 2 +-
.../armem_objects/server/instance/Segment.cpp | 2 +-
.../codegenerator/codeWriter/CodeWriter.h | 2 -
.../codeWriter/cpp/AronCppClass.h | 1 -
.../codegenerator/codeWriter/cpp/Writer.cpp | 52 ++-----------
.../codeWriter/cpp/serializer/Serializer.cpp | 49 ++-----------
.../codeWriter/cpp/serializer/Serializer.h | 11 +--
.../cpp/serializer/container/Dict.cpp | 19 +----
.../cpp/serializer/container/Dict.h | 3 +-
.../cpp/serializer/container/List.cpp | 17 +----
.../cpp/serializer/container/List.h | 3 +-
.../cpp/serializer/container/Object.cpp | 11 +--
.../cpp/serializer/container/Object.h | 3 +-
.../cpp/serializer/container/Pair.cpp | 29 +-------
.../cpp/serializer/container/Pair.h | 3 +-
.../cpp/serializer/container/Tuple.cpp | 23 +-----
.../cpp/serializer/container/Tuple.h | 3 +-
.../cpp/serializer/enum/IntEnum.cpp | 11 +--
.../codeWriter/cpp/serializer/enum/IntEnum.h | 3 +-
.../cpp/serializer/ndarray/EigenMatrix.cpp | 11 +--
.../cpp/serializer/ndarray/EigenMatrix.h | 3 +-
.../serializer/ndarray/EigenQuaternion.cpp | 11 +--
.../cpp/serializer/ndarray/EigenQuaternion.h | 3 +-
.../cpp/serializer/ndarray/IVTCByteImage.cpp | 15 +---
.../cpp/serializer/ndarray/IVTCByteImage.h | 3 +-
.../cpp/serializer/ndarray/NDArray.cpp | 8 +-
.../cpp/serializer/ndarray/NDArray.h | 3 +-
.../cpp/serializer/ndarray/OpenCVMat.cpp | 28 +------
.../cpp/serializer/ndarray/OpenCVMat.h | 3 +-
.../cpp/serializer/ndarray/Orientation.cpp | 13 +---
.../cpp/serializer/ndarray/Orientation.h | 3 +-
.../cpp/serializer/ndarray/PCLPointCloud.cpp | 13 +---
.../cpp/serializer/ndarray/PCLPointCloud.h | 3 +-
.../cpp/serializer/ndarray/Pose.cpp | 13 +---
.../codeWriter/cpp/serializer/ndarray/Pose.h | 3 +-
.../cpp/serializer/ndarray/Position.cpp | 13 +---
.../cpp/serializer/ndarray/Position.h | 3 +-
.../cpp/serializer/primitive/Primitive.cpp | 9 +--
.../cpp/serializer/primitive/Primitive.h | 3 +-
.../cpp/serializer/toplevel/IntEnumClass.cpp | 9 +--
.../cpp/serializer/toplevel/IntEnumClass.h | 3 +-
.../cpp/serializer/toplevel/ObjectClass.cpp | 27 +------
.../cpp/serializer/toplevel/ObjectClass.h | 3 +-
.../typeReader/xml/ReaderFactory.cpp | 49 ++++++-------
.../libraries/aron/core/io/typeIO/Reader.h | 10 +--
.../libraries/aron/core/io/typeIO/Writer.h | 10 +--
.../core/io/typeIO/converter/Converter.cpp | 8 +-
.../reader/navigator/NavigatorReader.cpp | 8 +-
.../nlohmannJSON/NlohmannJSONReader.cpp | 15 ++--
.../aron/core/io/typeIO/visitor/Visitor.cpp | 8 +-
.../writer/navigator/NavigatorWriter.cpp | 10 +--
.../nlohmannJSON/NlohmannJSONWriter.cpp | 7 +-
.../core/navigator/data/complex/NDArray.cpp | 32 ++++----
.../core/navigator/data/complex/NDArray.h | 1 +
.../navigator/type/ndarray/EigenMatrix.cpp | 52 ++-----------
.../core/navigator/type/ndarray/EigenMatrix.h | 3 -
.../type/ndarray/EigenQuaternion.cpp | 29 ++------
.../navigator/type/ndarray/EigenQuaternion.h | 3 +-
.../navigator/type/ndarray/IVTCByteImage.cpp | 73 +------------------
.../navigator/type/ndarray/IVTCByteImage.h | 11 ---
.../core/navigator/type/ndarray/NDArray.cpp | 2 +-
.../core/navigator/type/ndarray/OpenCVMat.cpp | 67 +----------------
.../core/navigator/type/ndarray/OpenCVMat.h | 10 ---
.../navigator/type/ndarray/Orientation.cpp | 10 ---
.../core/navigator/type/ndarray/Orientation.h | 6 --
.../navigator/type/ndarray/PCLPointCloud.cpp | 39 +---------
.../navigator/type/ndarray/PCLPointCloud.h | 5 --
.../aron/core/navigator/type/ndarray/Pose.cpp | 10 ---
.../aron/core/navigator/type/ndarray/Pose.h | 3 -
.../core/navigator/type/ndarray/Position.cpp | 10 ---
.../core/navigator/type/ndarray/Position.h | 3 -
.../core/test/aronDataWithoutCodeGeneration.h | 6 +-
.../libraries/aron/core/test/aronTest.cpp | 4 +-
.../aron/core/test/xmls/OptionalTest.xml | 24 +++---
78 files changed, 184 insertions(+), 815 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index 8bd030bb8..a86814987 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -63,7 +63,7 @@ namespace armarx
workingMemory.name() = p.memoryName;
// Usually, the memory server will specify a number of core segments with a specific aron type.
- workingMemory.addCoreSegment("ExampleData", armem::example::ExampleData::toInitialAronType());
+ workingMemory.addCoreSegment("ExampleData", armem::example::ExampleData::toAronType());
// For illustration purposes, we add more segments (without types).
bool trim = true;
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
index b269993f7..c5ba35a13 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
@@ -39,7 +39,7 @@ namespace armem = armarx::armem;
BOOST_AUTO_TEST_CASE(test_ExampleData_type)
{
- armarx::aron::typenavigator::ObjectNavigatorPtr type = ExampleData::toInitialAronType();
+ armarx::aron::typenavigator::ObjectNavigatorPtr type = ExampleData::toAronType();
BOOST_CHECK_EQUAL(type->childrenSize(), 15);
diff --git a/source/RobotAPI/interface/aron/Aron.ice b/source/RobotAPI/interface/aron/Aron.ice
index 2e7053efc..cf80de715 100644
--- a/source/RobotAPI/interface/aron/Aron.ice
+++ b/source/RobotAPI/interface/aron/Aron.ice
@@ -44,7 +44,7 @@ module armarx
module type
{
class AronType {
- bool isOptional = true; // Every type can be optional or not
+ bool isOptional = false; // Every type can be optional or not
}
sequence<AronType> AronTypeList;
dictionary<string, AronType> AronTypeDict;
@@ -57,12 +57,12 @@ module armarx
class AronDict extends AronType { AronType acceptedType; }
// Complex Types (serialize to ndarray)
- class AronNDArray extends AronType { AronIntSequence dimensions; string typeName; }
- class AronEigenMatrix extends AronType { int rows; int cols; AronIntSequence otherDimensions; string typeName; }
+ class AronNDArray extends AronType { AronIntSequence dimensions; int elementSize; string typeName; }
+ class AronEigenMatrix extends AronType { int rows; int cols; string typeName; }
class AronEigenQuaternion extends AronType { string typeName; }
- class AronIVTCByteImage extends AronType { int width; int height; string typeName; }
- class AronOpenCVMat extends AronType { AronIntSequence dimensions; string typeName; }
- class AronPCLPointCloud extends AronType { int width; int height; string typeName; }
+ class AronIVTCByteImage extends AronType { }
+ class AronOpenCVMat extends AronType { }
+ class AronPCLPointCloud extends AronType { string typeName; }
class AronPosition extends AronType { }
class AronOrientation extends AronType { }
class AronPose extends AronType { }
diff --git a/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp b/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
index 9db048145..afe3fdc8f 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
@@ -7,7 +7,7 @@
#include <RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>
-static const std::string MemoryIDTypeName = armarx::armem::arondto::MemoryID::toInitialAronType()->getName();
+static const std::string MemoryIDTypeName = armarx::armem::arondto::MemoryID::toAronType()->getName();
std::string armarx::armem::gui::instance::sanitizeTypeName(const std::string& typeName)
{
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index 38b143f2b..4e4a23991 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -42,7 +42,7 @@ namespace armarx::armem::server::obj::clazz
{
ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
- coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName, arondto::ObjectClass::toInitialAronType());
+ coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName, arondto::ObjectClass::toAronType());
coreSegment->setMaxHistorySize(p.maxHistorySize);
if (p.loadFromObjectsPackage)
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index aa2125dad..669f07612 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -74,7 +74,7 @@ namespace armarx::armem::server::obj::instance
{
ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
- coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName, arondto::ObjectInstance::toInitialAronType());
+ coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName, arondto::ObjectInstance::toAronType());
coreSegment->setMaxHistorySize(p.maxHistorySize);
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/CodeWriter.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/CodeWriter.h
index f2f9b12c2..97dc8570e 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/CodeWriter.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/CodeWriter.h
@@ -73,8 +73,6 @@ namespace armarx::aron::codegenerator
std::vector<codegeneratorhelper::WriterInfoPtr> dataWriters;
std::vector<codegeneratorhelper::ReaderInfoPtr> dataReaders;
std::vector<codegeneratorhelper::WriterInfoPtr> initialTypeWriters;
- std::vector<codegeneratorhelper::WriterInfoPtr> currentTypeWriters;
- std::vector<codegeneratorhelper::ReaderInfoPtr> typeReaders;
std::vector<std::string> additionalIncludes;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
index a95dce2ca..390a0de8b 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h
@@ -51,6 +51,5 @@ namespace armarx::aron::cppcodegenerator
virtual void initialize() = 0;
virtual void read(armarx::aron::dataIO::ReaderInterface& r) = 0;
virtual void write(armarx::aron::dataIO::WriterInterface& w) const = 0;
- virtual void writeCurrentType(armarx::aron::typeIO::WriterInterface& w, bool type_is_optional = false) const = 0;
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
index c0d206781..592728007 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/Writer.cpp
@@ -77,18 +77,11 @@ namespace armarx::aron::cppcodegenerator
{
// The toAron Serializer is visible by default
codegeneratorhelper::WriterInfoPtr toAronType = codegeneratorhelper::WriterInfoPtr(new codegeneratorhelper::WriterInfo());
- toAronType->methodName = "toInitialAronType";
+ toAronType->methodName = "toAronType";
toAronType->returnType = "armarx::aron::typenavigator::ObjectNavigatorPtr";
toAronType->writerClassType = "armarx::aron::typeIO::writer::NavigatorWriter";
toAronType->include = "<RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h>";
initialTypeWriters.push_back(toAronType);
-
- // The toAron Serializer is visible by default
- codegeneratorhelper::WriterInfoPtr toAronType2 = codegeneratorhelper::WriterInfoPtr(new codegeneratorhelper::WriterInfo());
- toAronType2->methodName = "toCurrentAronType";
- toAronType2->returnType = "armarx::aron::typenavigator::ObjectNavigatorPtr";
- toAronType2->writerClassType = "armarx::aron::typeIO::writer::NavigatorWriter";
- currentTypeWriters.push_back(toAronType2);
}
void Writer::generateTypeObjects(const std::vector<codegeneratorhelper::GenerateObjectInfoPtr>& generateObjects)
@@ -159,12 +152,8 @@ namespace armarx::aron::cppcodegenerator
c->addMethod(setup);
//std::cout << "Generate writeInit method" << std::endl;
- CppMethodPtr writeInitialType = serializer->toWriteInitialTypeMethod();
- c->addMethod(writeInitialType);
-
- //std::cout << "Generate writeCurrent method" << std::endl;
- CppMethodPtr writeCurrentType = serializer->toWriteCurrentTypeMethod();
- c->addMethod(writeCurrentType);
+ CppMethodPtr writeType = serializer->toWriteTypeMethod();
+ c->addMethod(writeType);
//std::cout << "Generate write method" << std::endl;
CppMethodPtr write = serializer->toWriteMethod();
@@ -203,29 +192,7 @@ namespace armarx::aron::cppcodegenerator
{
c->addInclude(info->include);
}
- CppMethodPtr convert = serializer->toSpecializedInitialTypeWriterMethod(info->returnType, info->methodName, info->writerClassType, "armarx::aron::typenavigator::ObjectNavigator::DynamicCast");
- c->addMethod(convert);
- }
-
- // Typewritermethods
- for (const codegeneratorhelper::WriterInfoPtr& info : currentTypeWriters)
- {
- if (!info->include.empty())
- {
- c->addInclude(info->include);
- }
- CppMethodPtr convert = serializer->toSpecializedCurrentTypeWriterMethod(info->returnType, info->methodName, info->writerClassType, "armarx::aron::typenavigator::ObjectNavigator::DynamicCast");
- c->addMethod(convert);
- }
-
- // Add methods to set the member variables
- for (const codegeneratorhelper::ReaderInfoPtr& info : typeReaders)
- {
- if (!info->include.empty())
- {
- c->addInclude(info->include);
- }
- CppMethodPtr convert = serializer->toSpecializedCurrentTypeReaderMethod(info->argumentType, info->methodName, info->readerClassType);
+ CppMethodPtr convert = serializer->toSpecializedTypeWriterMethod(info->returnType, info->methodName, info->writerClassType, "armarx::aron::typenavigator::ObjectNavigator::DynamicCast");
c->addMethod(convert);
}
@@ -303,13 +270,9 @@ namespace armarx::aron::cppcodegenerator
c->addMethod(setup);
//std::cout << "Generate writeInit method" << std::endl;
- CppMethodPtr writeInitialType = serializer->toWriteInitialTypeMethod();
+ CppMethodPtr writeInitialType = serializer->toWriteTypeMethod();
c->addMethod(writeInitialType);
- //std::cout << "Generate writeCurrent method" << std::endl;
- CppMethodPtr writeCurrentType = serializer->toWriteCurrentTypeMethod();
- c->addMethod(writeCurrentType);
-
//std::cout << "Generate write method" << std::endl;
CppMethodPtr write = serializer->toWriteMethod();
c->addMethod(write);
@@ -353,12 +316,9 @@ namespace armarx::aron::cppcodegenerator
CppMethodPtr setup = serializer->toInitializeMethod();
c->addMethod(setup);
- CppMethodPtr writeInitialType = serializer->toWriteInitialTypeMethod();
+ CppMethodPtr writeInitialType = serializer->toWriteTypeMethod();
c->addMethod(writeInitialType);
- CppMethodPtr writeCurrentType = serializer->toWriteCurrentTypeMethod();
- c->addMethod(writeCurrentType);
-
CppMethodPtr write = serializer->toWriteMethod();
c->addMethod(write);
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
index c5d2bc671..098952c5b 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
@@ -232,26 +232,14 @@ namespace armarx::aron::cppcodegenerator
return m;
}
- CppMethodPtr Serializer::toWriteInitialTypeMethod() const
+ CppMethodPtr Serializer::toWriteTypeMethod() const
{
std::stringstream doc;
- doc << "@brief writeInitialType() - This method returns a new type from the class structure using a type writer implementation. This function is static. \n";
+ doc << "@brief writeType() - This method returns a new type from the class structure using a type writer implementation. This function is static. \n";
doc << "@return - the result of the writer implementation";
- CppMethodPtr m = CppMethodPtr(new CppMethod("static void writeInitialType(armarx::aron::typeIO::WriterInterface& w, bool type_is_optional = false)", doc.str()));
- CppBlockPtr b = this->getWriteInitialTypeBlock("");
- m->setBlock(b);
- return m;
- }
-
- CppMethodPtr Serializer::toWriteCurrentTypeMethod() const
- {
- std::stringstream doc;
- doc << "@brief writeType() - This method returns a new type from the current class structure using a type writer implementation. \n";
- doc << "@return - the result of the writer implementation";
-
- CppMethodPtr m = CppMethodPtr(new CppMethod("void writeCurrentType(armarx::aron::typeIO::WriterInterface& w, bool type_is_optional = false) const override", doc.str()));
- CppBlockPtr b = this->getWriteCurrentTypeBlock("");
+ CppMethodPtr m = CppMethodPtr(new CppMethod("static void writeType(armarx::aron::typeIO::WriterInterface& w, bool type_is_optional = false)", doc.str()));
+ CppBlockPtr b = this->getWriteTypeBlock("");
m->setBlock(b);
return m;
}
@@ -307,7 +295,7 @@ namespace armarx::aron::cppcodegenerator
return m;
}
- CppMethodPtr Serializer::toSpecializedInitialTypeWriterMethod(const std::string& returnname, const std::string& methodname, const std::string& writerName, const std::string& enforceConversion) const
+ CppMethodPtr Serializer::toSpecializedTypeWriterMethod(const std::string& returnname, const std::string& methodname, const std::string& writerName, const std::string& enforceConversion) const
{
std::stringstream doc;
doc << "@brief specializedTypeWrite() - This method returns a new type from the member data types using a writer implementation. \n";
@@ -315,36 +303,11 @@ namespace armarx::aron::cppcodegenerator
CppMethodPtr m = CppMethodPtr(new CppMethod("static " + returnname + " " + methodname + "()", doc.str()));
m->addLine(writerName + " writer;");
- m->addLine("writeInitialType(writer);");
- m->addLine("return " + enforceConversion + "(writer.getResult());");
- return m;
- }
-
- CppMethodPtr Serializer::toSpecializedCurrentTypeWriterMethod(const std::string& returnname, const std::string& methodname, const std::string& writerName, const std::string& enforceConversion) const
- {
- std::stringstream doc;
- doc << "@brief specializedTypeWrite() - This method returns a new type from the current member data types using a writer implementation. \n";
- doc << "@return - the result of the writer implementation";
-
- CppMethodPtr m = CppMethodPtr(new CppMethod(returnname + " " + methodname + "()", doc.str()));
- m->addLine(writerName + " writer;");
- m->addLine("this->writeCurrentType(writer);");
+ m->addLine("writeType(writer);");
m->addLine("return " + enforceConversion + "(writer.getResult());");
return m;
}
- CppMethodPtr Serializer::toSpecializedCurrentTypeReaderMethod(const std::string& argumentname, const std::string& methodname, const std::string& readerName, const std::string& enforceConversion) const
- {
- std::stringstream doc;
- doc << "@brief specializedTypeRead() - This method sets the structure of the members to new values given in a reader implementation. \n";
- doc << "@return - nothing";
-
- CppMethodPtr m = CppMethodPtr(new CppMethod("void " + methodname + "(const " + argumentname + "& input)", doc.str()));
- m->addLine(readerName + " reader(" + enforceConversion + "(input));");
- m->addLine("this->readType(reader);");
- return m;
- }
-
CppMethodPtr Serializer::toEqualsMethod() const
{
std::stringstream doc;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
index 8115d8de8..f631e9ecb 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
@@ -81,9 +81,7 @@ namespace armarx::aron::cppcodegenerator
CppMethodPtr toSpecializedDataWriterMethod(const std::string&, const std::string&, const std::string&, const std::string& enforceType = "") const;
CppMethodPtr toSpecializedDataReaderMethod(const std::string&, const std::string&, const std::string&, const std::string& enforceType = "") const;
- CppMethodPtr toSpecializedInitialTypeWriterMethod(const std::string&, const std::string&, const std::string&, const std::string& enforceType = "") const;
- CppMethodPtr toSpecializedCurrentTypeWriterMethod(const std::string&, const std::string&, const std::string&, const std::string& enforceType = "") const;
- CppMethodPtr toSpecializedCurrentTypeReaderMethod(const std::string&, const std::string&, const std::string&, const std::string& enforceType = "") const;
+ CppMethodPtr toSpecializedTypeWriterMethod(const std::string&, const std::string&, const std::string&, const std::string& enforceType = "") const;
// virtual override definitions
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const = 0;
@@ -95,11 +93,8 @@ namespace armarx::aron::cppcodegenerator
CppMethodPtr toResetMethod() const;
virtual CppBlockPtr getResetBlock(const std::string&) const = 0;
- CppMethodPtr toWriteInitialTypeMethod() const;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const = 0;
-
- CppMethodPtr toWriteCurrentTypeMethod() const;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const = 0;
+ CppMethodPtr toWriteTypeMethod() const;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const = 0;
CppMethodPtr toInitializeMethod() const;
virtual CppBlockPtr getInitializeBlock(const std::string&) const = 0;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
index a6978a13e..821574260 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
@@ -70,7 +70,7 @@ namespace armarx::aron::cppcodegenerator::serializer
return b;
}
- CppBlockPtr DictSerializer::getWriteInitialTypeBlock(const std::string& accessor) const
+ CppBlockPtr DictSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("w.writeStartDict({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
@@ -79,22 +79,7 @@ namespace armarx::aron::cppcodegenerator::serializer
std::string accessor_iterator = escaped_accessor + DICT_ITERATOR_ACCESSOR;
auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
- CppBlockPtr b2 = type_s->getWriteInitialTypeBlock(type_s->getFullCppTypename());
- b->appendBlock(b2);
- b->addLine("w.writeEndDict();");
- return b;
- }
-
- CppBlockPtr DictSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartDict({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
-
- std::string escaped_accessor = EscapeAccessor(accessor);
- std::string accessor_iterator = escaped_accessor + DICT_ITERATOR_ACCESSOR;
-
- auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
- CppBlockPtr b2 = type_s->getWriteCurrentTypeBlock(type_s->getFullCppTypename());
+ CppBlockPtr b2 = type_s->getWriteTypeBlock(type_s->getFullCppTypename());
b->appendBlock(b2);
b->addLine("w.writeEndDict();");
return b;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.h
index 99fa2f7ae..038c2ed40 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.h
@@ -54,8 +54,7 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
index 5afe9e9b6..ae2428570 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
@@ -68,26 +68,13 @@ namespace armarx::aron::cppcodegenerator::serializer
return b;
}
- CppBlockPtr ListSerializer::getWriteInitialTypeBlock(const std::string&) const
+ CppBlockPtr ListSerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("w.writeStartList({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
- CppBlockPtr b2 = type_s->getWriteInitialTypeBlock(type_s->getFullCppTypename());
- b->appendBlock(b2);
-
- b->addLine("w.writeEndList();");
- return b;
- }
-
- CppBlockPtr ListSerializer::getWriteCurrentTypeBlock(const std::string&) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartList({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
- auto type_s = FromAronTypeNaviagtorPtr(typenavigator->getAcceptedType());
-
- CppBlockPtr b2 = type_s->getWriteInitialTypeBlock(type_s->getFullCppTypename()); // TODO: think about having a better solution not ignoting the current type
+ CppBlockPtr b2 = type_s->getWriteTypeBlock(type_s->getFullCppTypename());
b->appendBlock(b2);
b->addLine("w.writeEndList();");
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.h
index e35aaa2d8..3af8f241f 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.h
@@ -52,8 +52,7 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
index 7e1aacd7e..31d398f40 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
@@ -82,17 +82,10 @@ namespace armarx::aron::cppcodegenerator::serializer
return b;
}
- CppBlockPtr ObjectSerializer::getWriteInitialTypeBlock(const std::string& accessor) const
+ CppBlockPtr ObjectSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + "::writeInitialType(w, " + std::string(typenavigator->isOptional() ? "true" : "false") + ");");
- return b;
- }
-
- CppBlockPtr ObjectSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + nextEl() + "writeCurrentType(w, " + std::string(typenavigator->isOptional() ? "true" : "false") + ");");
+ b->addLine(accessor + "::writeType(w, " + std::string(typenavigator->isOptional() ? "true" : "false") + ");");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.h
index 226d08f67..770422d16 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.h
@@ -54,8 +54,7 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
index 56d0ff682..447f5b92c 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
@@ -94,7 +94,7 @@ namespace armarx::aron::cppcodegenerator::serializer
return b;
}
- CppBlockPtr PairSerializer::getWriteInitialTypeBlock(const std::string& accessor) const
+ CppBlockPtr PairSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("w.writeStartPair({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
@@ -104,36 +104,13 @@ namespace armarx::aron::cppcodegenerator::serializer
auto child_s1 = FromAronTypeNaviagtorPtr(typenavigator->getFirstAcceptedType());
std::string accessor_iterator1 = escaped_accessor + PAIR_FIRST_ACCESSOR;
b->addLine("w.writeKey(\"0\");");
- CppBlockPtr b21 = child_s1->getWriteInitialTypeBlock(accessor_iterator1);
+ CppBlockPtr b21 = child_s1->getWriteTypeBlock(accessor_iterator1);
b->appendBlock(b21);
auto child_s2 = FromAronTypeNaviagtorPtr(typenavigator->getSecondAcceptedType());
std::string accessor_iterator2 = escaped_accessor + PAIR_SECOND_ACCESSOR;
b->addLine("w.writeKey(\"1\");");
- CppBlockPtr b22 = child_s2->getWriteInitialTypeBlock(accessor_iterator2);
- b->appendBlock(b22);
-
- b->addLine("w.writeEndPair();");
- return b;
- }
-
- CppBlockPtr PairSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartPair({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
-
- std::string escaped_accessor = EscapeAccessor(accessor);
-
- auto child_s1 = FromAronTypeNaviagtorPtr(typenavigator->getFirstAcceptedType());
- std::string accessor_iterator1 = escaped_accessor + PAIR_FIRST_ACCESSOR;
- b->addLine("w.writeKey(\"0\");");
- CppBlockPtr b21 = child_s1->getWriteCurrentTypeBlock(accessor_iterator1);
- b->appendBlock(b21);
-
- auto child_s2 = FromAronTypeNaviagtorPtr(typenavigator->getSecondAcceptedType());
- std::string accessor_iterator2 = escaped_accessor + PAIR_SECOND_ACCESSOR;
- b->addLine("w.writeKey(\"1\");");
- CppBlockPtr b22 = child_s2->getWriteCurrentTypeBlock(accessor_iterator2);
+ CppBlockPtr b22 = child_s2->getWriteTypeBlock(accessor_iterator2);
b->appendBlock(b22);
b->addLine("w.writeEndPair();");
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.h
index f9441c02b..5ea49b510 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.h
@@ -53,9 +53,8 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
index 9a8e86fbb..57d7e0419 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
@@ -94,7 +94,7 @@ namespace armarx::aron::cppcodegenerator::serializer
return b;
}
- CppBlockPtr TupleSerializer::getWriteInitialTypeBlock(const std::string& accessor) const
+ CppBlockPtr TupleSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("w.writeStartTuple({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
@@ -106,26 +106,7 @@ namespace armarx::aron::cppcodegenerator::serializer
std::string accessor_iterator = escaped_accessor + TUPLE_ITERATOR_ACCESSOR + std::to_string(i++);
auto type_s = FromAronTypeNaviagtorPtr(type);
b->addLine("w.writeKey(\"" + std::to_string(i) + "\");");
- CppBlockPtr b2 = type_s->getWriteInitialTypeBlock(accessor_iterator);
- b->appendBlock(b2);
- }
- b->addLine("w.writeEndTuple();");
- return b;
- }
-
- CppBlockPtr TupleSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeStartTuple({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
-
- std::string escaped_accessor = EscapeAccessor(accessor);
- unsigned int i = 0;
- for (const auto& type : typenavigator->getAcceptedTypes())
- {
- std::string accessor_iterator = escaped_accessor + TUPLE_ITERATOR_ACCESSOR + std::to_string(i++);
- auto type_s = FromAronTypeNaviagtorPtr(type);
- b->addLine("w.writeKey(\"" + std::to_string(i) + "\");");
- CppBlockPtr b2 = type_s->getWriteCurrentTypeBlock(accessor_iterator);
+ CppBlockPtr b2 = type_s->getWriteTypeBlock(accessor_iterator);
b->appendBlock(b2);
}
b->addLine("w.writeEndTuple();");
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.h
index 52bd376ec..31a0a6fa7 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.h
@@ -53,9 +53,8 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
index 899f4fe1f..7cbd3deb4 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
@@ -67,17 +67,10 @@ namespace armarx::aron::cppcodegenerator::serializer
return b;
}
- CppBlockPtr IntEnumSerializer::getWriteInitialTypeBlock(const std::string& accessor) const
+ CppBlockPtr IntEnumSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + "::writeInitialType(w, " + std::string(typenavigator->isOptional() ? "true" : "false") + ");");
- return b;
- }
-
- CppBlockPtr IntEnumSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + nextEl() + "writeCurrentType(w, " + std::string(typenavigator->isOptional() ? "true" : "false") + ");");
+ b->addLine(accessor + "::writeType(w, " + std::string(typenavigator->isOptional() ? "true" : "false") + ");");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.h
index ba53bb47e..36fc41b53 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.h
@@ -53,8 +53,7 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
index e6c93e450..4184f0754 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
@@ -79,17 +79,10 @@ namespace armarx::aron::cppcodegenerator::serializer
return b;
}
- CppBlockPtr EigenMatrixSerializer::getWriteInitialTypeBlock(const std::string&) const
+ CppBlockPtr EigenMatrixSerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeEigenMatrix({{" + simox::alg::to_string<int>(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
- return b;
- }
-
- CppBlockPtr EigenMatrixSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeEigenMatrix({{" + accessor + nextEl() + "rows(), " + accessor + nextEl() + "cols()}, \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
+ b->addLine("w.writeEigenMatrix({" + std::to_string(typenavigator->getRows()) + ", " + std::to_string(typenavigator->getCols()) + ", \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.h
index bbdb75fdf..df67a5f93 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.h
@@ -53,8 +53,7 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
index 20c0cbeaa..c1f541675 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
@@ -74,14 +74,7 @@ namespace armarx::aron::cppcodegenerator::serializer
return b;
}
- CppBlockPtr EigenQuaternionSerializer::getWriteInitialTypeBlock(const std::string&) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeEigenQuaternion({\"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
- return b;
- }
-
- CppBlockPtr EigenQuaternionSerializer::getWriteCurrentTypeBlock(const std::string&) const
+ CppBlockPtr EigenQuaternionSerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("w.writeEigenQuaternion({\"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
@@ -91,7 +84,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr EigenQuaternionSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + ", " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
+ block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", " + std::to_string(ACCEPTED_TYPES.at(typenavigator->getTypename()).second) + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
return ResolveOptionalBlock(accessor, block_if_data, typenavigator);
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.h
index 9f306d7dd..d07b9796b 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.h
@@ -53,8 +53,7 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
index 5a57d9373..170b9a086 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
@@ -41,8 +41,6 @@ namespace armarx::aron::cppcodegenerator::serializer
simox::meta::get_type_name(typeid(type::AronIVTCByteImage)), SerializerAccessType::ePTR), // a ptr is by default optional. We ignore the setting here
typenavigator(e)
{
- // check if type exists
- ACCEPTED_TYPES.at(typenavigator->getTypename());
}
std::vector<CppFieldPtr> IVTCByteImageSerializer::getPublicVariableDeclarations(const std::string& name) const
@@ -72,21 +70,14 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr IVTCByteImageSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = std::make_shared<" + getCoreCppTypename() + ">(" + std::to_string(typenavigator->getWidth()) + ", " + std::to_string(typenavigator->getHeight()) + ", " + ACCEPTED_TYPES.at(typenavigator->getTypename()).first + ");");
+ b->addLine(accessor + " = std::make_shared<" + getCoreCppTypename() + ">();");
return b;
}
- CppBlockPtr IVTCByteImageSerializer::getWriteInitialTypeBlock(const std::string&) const
+ CppBlockPtr IVTCByteImageSerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeIVTCByteImage({" + std::to_string(typenavigator->getWidth()) + ", " + std::to_string(typenavigator->getHeight()) + ", \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
- return b;
- }
-
- CppBlockPtr IVTCByteImageSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeIVTCByteImage({" + accessor + nextEl() + "width, " + accessor + nextEl() + "height, \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
+ b->addLine("w.writeIVTCByteImage({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
index ac91df514..a801d7f3d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
@@ -53,9 +53,8 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
index c5a586b86..fe7724422 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
@@ -66,13 +66,7 @@ namespace armarx::aron::cppcodegenerator::serializer
return b;
}
- CppBlockPtr NDArraySerializer::getWriteInitialTypeBlock(const std::string&) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- return b;
- }
-
- CppBlockPtr NDArraySerializer::getWriteCurrentTypeBlock(const std::string&) const
+ CppBlockPtr NDArraySerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
return b;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h
index 46e45ff14..f20a63d68 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h
@@ -52,9 +52,8 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
index b782c80d2..4076b1dc7 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
@@ -46,11 +46,6 @@ namespace armarx::aron::cppcodegenerator::serializer
(e->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
typenavigator(e)
{
- // check if type exists
- if (ACCEPTED_TYPES.find(e->getTypename()) == ACCEPTED_TYPES.end())
- {
- throw error::StringNotValidException("OpenCVMatSerializer", "OpenCVMatSerializer", "Could not find a matching typename.", e->getTypename(), e->getPath());
- }
}
std::vector<CppFieldPtr> OpenCVMatSerializer::getPublicVariableDeclarations(const std::string& name) const
@@ -96,32 +91,15 @@ namespace armarx::aron::cppcodegenerator::serializer
}
else
{
- b->addLine(accessor + " = " + getFullCppTypename() + "(std::vector<int>({" + simox::alg::to_string<int>(typenavigator->getDimensions(), ", ") + "}), " + ACCEPTED_TYPES.at(typenavigator->getTypename()).first + ");");
+ b->addLine(accessor + " = " + getFullCppTypename() + "(std::vector<int>());");
}
return b;
}
- CppBlockPtr OpenCVMatSerializer::getWriteInitialTypeBlock(const std::string&) const
+ CppBlockPtr OpenCVMatSerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeOpenCVMat({{" + simox::alg::to_string<int>(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
- return b;
- }
-
- CppBlockPtr OpenCVMatSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
-
- std::string escaped_accessor = EscapeAccessor(accessor);
- std::string accessor_dimensions = escaped_accessor + DIMENSION_ACCESSOR;
- std::string accessor_iterator = escaped_accessor + ITERATOR_ACCESSOR;
-
- b->addLine("std::vector<int> " + accessor_dimensions + ";");
- b->addLine("for (int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + nextEl() + "dims; ++" + accessor_iterator + ")");
- CppBlockPtr b2 = CppBlockPtr(new CppBlock());
- b2->addLine(accessor_dimensions + ".push_back(" + accessor + nextEl() + "size[" + accessor_iterator + "]);");
- b->appendBlock(b2);
- b->addLine("w.writeOpenCVMat({" + accessor_dimensions + ", std::to_string(" + accessor + nextEl() + "type()), " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
+ b->addLine("w.writeOpenCVMat({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h
index dff7118e2..79c8b0c05 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h
@@ -53,9 +53,8 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
index 992d169ce..8a8afb3c7 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
@@ -28,7 +28,7 @@ namespace armarx::aron::cppcodegenerator::serializer
{
// constructors
OrientationSerializer::OrientationSerializer(const typenavigator::OrientationNavigatorPtr& n) :
- Serializer("Eigen::Quaternion<" + n->getTypename() + ">",
+ Serializer("Eigen::Quaternion<" + n->ACCEPTED_TYPE + ">",
simox::meta::get_type_name(typeid(data::AronNDArray)),
simox::meta::get_type_name(typeid(type::AronOrientation)),
(n->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
@@ -67,14 +67,7 @@ namespace armarx::aron::cppcodegenerator::serializer
return b;
}
- CppBlockPtr OrientationSerializer::getWriteInitialTypeBlock(const std::string&) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeOrientation({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
- return b;
- }
-
- CppBlockPtr OrientationSerializer::getWriteCurrentTypeBlock(const std::string&) const
+ CppBlockPtr OrientationSerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("w.writeOrientation({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
@@ -84,7 +77,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr OrientationSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
+ block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + "}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "coeffs().data()));");
return ResolveOptionalBlock(accessor, block_if_data, typenavigator);
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h
index 248a1a6da..5a55b78ec 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h
@@ -52,9 +52,8 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
index 314779853..761e2b6f0 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
@@ -83,21 +83,14 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PCLPointCloudSerializer::getInitializeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine(accessor + " = " + getFullCppTypename() + "(" + std::to_string(typenavigator->getWidth()) + ", " + std::to_string(typenavigator->getHeight()) + ");");
+ b->addLine(accessor + " = " + getFullCppTypename() + "();");
return b;
}
- CppBlockPtr PCLPointCloudSerializer::getWriteInitialTypeBlock(const std::string&) const
+ CppBlockPtr PCLPointCloudSerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writePCLPointCloud({" + std::to_string(typenavigator->getWidth()) + ", " + std::to_string(typenavigator->getHeight()) + ", \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
- return b;
- }
-
- CppBlockPtr PCLPointCloudSerializer::getWriteCurrentTypeBlock(const std::string& accessor) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writePCLPointCloud({" + accessor + nextEl() + "width, " + accessor + nextEl() + "height, \"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
+ b->addLine("w.writePCLPointCloud({\"" + typenavigator->getTypename() + "\", " + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
return b;
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
index 101ee2ee6..2224fce91 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
@@ -52,9 +52,8 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
index 3cc08abf3..f13b1d44b 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
@@ -28,7 +28,7 @@ namespace armarx::aron::cppcodegenerator::serializer
{
// constructors
PoseSerializer::PoseSerializer(const typenavigator::PoseNavigatorPtr& n) :
- Serializer("Eigen::Matrix<" + n->getTypename() + ", " + simox::alg::to_string(n->getDimensions(), ", ") + ">",
+ Serializer("Eigen::Matrix<" + n->ACCEPTED_TYPE + ", " + simox::alg::to_string(n->ACCEPTED_DIMENSION, ", ") + ">",
simox::meta::get_type_name(typeid(data::AronNDArray)),
simox::meta::get_type_name(typeid(type::AronPose)),
(n->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
@@ -67,14 +67,7 @@ namespace armarx::aron::cppcodegenerator::serializer
return b;
}
- CppBlockPtr PoseSerializer::getWriteInitialTypeBlock(const std::string&) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writePose({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
- return b;
- }
-
- CppBlockPtr PoseSerializer::getWriteCurrentTypeBlock(const std::string&) const
+ CppBlockPtr PoseSerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("w.writePose({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
@@ -84,7 +77,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PoseSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data()));");
+ block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + "}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data()));");
return ResolveOptionalBlock(accessor, block_if_data, typenavigator);
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h
index 567b4f1ef..03521edb7 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h
@@ -52,9 +52,8 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
index 9369718a0..4d1ee7b6e 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
@@ -28,7 +28,7 @@ namespace armarx::aron::cppcodegenerator::serializer
{
// constructors
PositionSerializer::PositionSerializer(const typenavigator::PositionNavigatorPtr& n) :
- Serializer("Eigen::Matrix<" + n->getTypename() + ", " + simox::alg::to_string(n->getDimensions(), ", ") + ">",
+ Serializer("Eigen::Matrix<" + n->ACCEPTED_TYPE + ", " + simox::alg::to_string(n->ACCEPTED_DIMENSION, ", ") + ">",
simox::meta::get_type_name(typeid(data::AronNDArray)),
simox::meta::get_type_name(typeid(type::AronPosition)),
(n->isOptional() ? SerializerAccessType::eOPTIONAL : SerializerAccessType::eDIRECT)),
@@ -67,14 +67,7 @@ namespace armarx::aron::cppcodegenerator::serializer
return b;
}
- CppBlockPtr PositionSerializer::getWriteInitialTypeBlock(const std::string&) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writePosition({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
- return b;
- }
-
- CppBlockPtr PositionSerializer::getWriteCurrentTypeBlock(const std::string&) const
+ CppBlockPtr PositionSerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("w.writePosition({" + std::string(typenavigator->isOptional() ? "true" : "false") + "});");
@@ -84,7 +77,7 @@ namespace armarx::aron::cppcodegenerator::serializer
CppBlockPtr PositionSerializer::getWriteBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->getDimensions(), ", ") + "}, \"" + typenavigator->getTypename() + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data()));");
+ block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + "}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data()));");
return ResolveOptionalBlock(accessor, block_if_data, typenavigator);
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.h
index 94b9317e0..ab6dbf138 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.h
@@ -52,9 +52,8 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const override;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.cpp
index a7f8b33b4..8987f2d59 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.cpp
@@ -87,14 +87,7 @@ namespace armarx::aron::cppcodegenerator::serializer
return b; \
} \
\
- CppBlockPtr upperType##Serializer::getWriteInitialTypeBlock(const std::string&) const \
- { \
- CppBlockPtr b = CppBlockPtr(new CppBlock()); \
- b->addLine("w.write" + std::string(#upperType) + "({" + std::string(typenavigator->isOptional() ? "true" : "false")+"});"); \
- return b; \
- } \
- \
- CppBlockPtr upperType##Serializer::getWriteCurrentTypeBlock(const std::string&) const \
+ CppBlockPtr upperType##Serializer::getWriteTypeBlock(const std::string&) const \
{ \
CppBlockPtr b = CppBlockPtr(new CppBlock()); \
b->addLine("w.write" + std::string(#upperType) + "({" + std::string(typenavigator->isOptional() ? "true" : "false")+"});"); \
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.h
index 4356f6757..60c2d93c9 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Primitive.h
@@ -56,8 +56,7 @@ namespace armarx::aron::cppcodegenerator::serializer
virtual CppBlockPtr getCtorBlock(const std::string&) const override; \
virtual CppBlockPtr getResetBlock(const std::string& accessor) const override; \
virtual CppBlockPtr getInitializeBlock(const std::string& accessor) const override; \
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override; \
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string& accessor) const override; \
+ virtual CppBlockPtr getWriteTypeBlock(const std::string& accessor) const override; \
virtual CppBlockPtr getWriteBlock(const std::string& accessor) const override; \
virtual CppBlockPtr getReadBlock(const std::string& accessor) const override; \
CppBlockPtr getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const override; \
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
index c7f32781e..68fc518a9 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
@@ -95,14 +95,7 @@ namespace armarx::aron::cppcodegenerator::serializer
return b;
}
- CppBlockPtr IntEnumClassSerializer::getWriteInitialTypeBlock(const std::string&) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- b->addLine("w.writeInt({" + std::string(navigator->isOptional() ? "true" : "false") + "});");
- return b;
- }
-
- CppBlockPtr IntEnumClassSerializer::getWriteCurrentTypeBlock(const std::string&) const
+ CppBlockPtr IntEnumClassSerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
b->addLine("w.writeInt({" + std::string(navigator->isOptional() ? "true" : "false") + "});");
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
index cf5b46c25..b4a9d4dde 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
@@ -53,8 +53,7 @@ namespace armarx::aron::cppcodegenerator::serializer
std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
index 75f466fbe..4ad79753c 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
@@ -97,13 +97,13 @@ namespace armarx::aron::cppcodegenerator::serializer
return b;
}
- CppBlockPtr ObjectClassSerializer::getWriteInitialTypeBlock(const std::string&) const
+ CppBlockPtr ObjectClassSerializer::getWriteTypeBlock(const std::string&) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
if (navigator->getExtends() != nullptr)
{
const auto extends_s = FromAronTypeNaviagtorPtr(navigator->getExtends());
- b->addLine(extends_s->getFullCppTypename() + "::writeInitialType(w);");
+ b->addLine(extends_s->getFullCppTypename() + "::writeType(w);");
}
b->addLine("w.writeStartObject({\"" + navigator->getObjectName() + "\", type_is_optional});");
@@ -111,28 +111,7 @@ namespace armarx::aron::cppcodegenerator::serializer
{
const auto child_s = FromAronTypeNaviagtorPtr(child);
b->addLine("w.writeKey(\"" + key + "\");");
- CppBlockPtr b2 = child_s->getWriteInitialTypeBlock(child_s->getCoreCppTypename());
- b->appendBlock(b2);
- }
- b->addLine("w.writeEndObject();");
- return b;
- }
-
- CppBlockPtr ObjectClassSerializer::getWriteCurrentTypeBlock(const std::string&) const
- {
- CppBlockPtr b = CppBlockPtr(new CppBlock());
- if (navigator->getExtends() != nullptr)
- {
- const auto extends_s = FromAronTypeNaviagtorPtr(navigator->getExtends());
- b->addLine(extends_s->getFullCppTypename() + "::writeCurrentType(w);");
- }
-
- b->addLine("w.writeStartObject({\"" + navigator->getObjectName() + "\", type_is_optional});");
- for (const auto& [key, child] : navigator->getMemberTypes())
- {
- const auto child_s = FromAronTypeNaviagtorPtr(child);
- b->addLine("w.writeKey(\"" + key + "\");");
- CppBlockPtr b2 = child_s->getWriteCurrentTypeBlock(key);
+ CppBlockPtr b2 = child_s->getWriteTypeBlock(child_s->getCoreCppTypename());
b->appendBlock(b2);
}
b->addLine("w.writeEndObject();");
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.h
index 7b996cb76..1eb4c9316 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.h
@@ -54,8 +54,7 @@ namespace armarx::aron::cppcodegenerator::serializer
std::vector<CppFieldPtr> getPublicVariableDeclarations(const std::string&) const;
virtual std::vector<std::pair<std::string, std::string>> getCtorInitializers(const std::string&) const override;
virtual CppBlockPtr getCtorBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteInitialTypeBlock(const std::string&) const override;
- virtual CppBlockPtr getWriteCurrentTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getInitializeBlock(const std::string&) const override;
virtual CppBlockPtr getResetBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
index ac53b26da..fb6ef9bae 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
@@ -117,13 +117,8 @@ namespace armarx::aron::xmltypereader
if (extends != "")
{
- auto it = AllPublicObjects.find(extends);
- if (it == AllPublicObjects.end())
- {
- throw error::StringNotValidException("AronObjectTypeXMLReaderFactory", "createSpecific", "An extends name could not be found. Perhaps you need to change the order of your types or you have to add another UseType", extends, path);
- }
- codegeneratorhelper::GenerateObjectInfoPtr parentObj = it->second;
- aronObjectType->setExtends(parentObj->correspondingType);
+ auto parentObj = typenavigator::ObjectNavigator::DynamicCastAndCheck(ResolveTypename(simox::alg::to_lower(extends)));
+ aronObjectType->setExtends(parentObj);
}
ObjectGenerationStack.push(newObject);
@@ -135,10 +130,11 @@ namespace armarx::aron::xmltypereader
Data::EnforceAttribute(objectChild, Data::KEY_ATTRIBUTE_NAME);
const std::string key = objectChild.attribute_value(Data::KEY_ATTRIBUTE_NAME);
- bool isOptional = Data::AttributeIsTrue(objectChild, Data::OPTIONAL_NAME);
-
std::vector<RapidXmlReaderNode> children = objectChild.nodes();
+
+ bool isOptional = Data::AttributeIsTrue(children[0], Data::OPTIONAL_NAME);
typenavigator::NavigatorPtr childNavigator = create(children[0], Path(path, key));
+
childNavigator->setOptional(isOptional);
aronObjectType->addMemberType(key, childNavigator);
}
@@ -269,16 +265,13 @@ namespace armarx::aron::xmltypereader
typenavigator::NavigatorPtr IVTCByteImageReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
{
Data::EnforceTagName(node, Data::GENERATE_IVT_CBYTE_IMAGE_MEMBER_TAG);
- Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
+ //Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
- int width = std::stoi(Data::GetAttributeWithDefault(node, Data::WIDTH_ATTRIBUTE_NAME, "1"));
- int height = std::stoi(Data::GetAttributeWithDefault(node, Data::HEIGHT_ATTRIBUTE_NAME, "1"));
- std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);;
+ //int width = std::stoi(Data::GetAttributeWithDefault(node, Data::WIDTH_ATTRIBUTE_NAME, "1"));
+ //int height = std::stoi(Data::GetAttributeWithDefault(node, Data::HEIGHT_ATTRIBUTE_NAME, "1"));
+ //std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);;
typenavigator::IVTCByteImageNavigatorPtr complex(new typenavigator::IVTCByteImageNavigator(path));
- complex->setWidth(width);
- complex->setHeight(height);
- complex->setTypename(type);
return complex;
}
@@ -288,8 +281,8 @@ namespace armarx::aron::xmltypereader
Data::EnforceTagName(node, Data::GENERATE_EIGEN_MATRIX_MEMBER_TAG);
Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
- int rows = std::stoi(Data::GetAttributeWithDefault(node, Data::ROWS_ATTRIBUTE_NAME, "1"));
- int cols = std::stoi(Data::GetAttributeWithDefault(node, Data::COLS_ATTRIBUTE_NAME, "1"));
+ int rows = std::stoi(Data::GetAttributeWithDefault(node, Data::ROWS_ATTRIBUTE_NAME, "4"));
+ int cols = std::stoi(Data::GetAttributeWithDefault(node, Data::COLS_ATTRIBUTE_NAME, "4"));
std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);
typenavigator::EigenMatrixNavigatorPtr complex(new typenavigator::EigenMatrixNavigator(path));
@@ -316,15 +309,15 @@ namespace armarx::aron::xmltypereader
typenavigator::NavigatorPtr OpenCVMatReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
{
Data::EnforceTagName(node, Data::GENERATE_OPENCV_MAT_MEMBER_TAG);
- Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
+ //Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
- std::vector<std::string> dimensions_as_strings = simox::alg::split(Data::GetAttributeWithDefault(node, Data::DIMENSIONS_ATTRIBUTE_NAME, "1"), ",");
- std::vector<int> dimensions = simox::alg::to_vec<int>(dimensions_as_strings);
- std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);
+ //std::vector<std::string> dimensions_as_strings = simox::alg::split(Data::GetAttributeWithDefault(node, Data::DIMENSIONS_ATTRIBUTE_NAME, "1"), ",");
+ //std::vector<int> dimensions = simox::alg::to_vec<int>(dimensions_as_strings);
+ //std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);
typenavigator::OpenCVMatNavigatorPtr complex(new typenavigator::OpenCVMatNavigator(path));
- complex->setDimensions(dimensions);
- complex->setTypename(type);
+ //complex->setDimensions(dimensions);
+ //complex->setTypename(type);
return complex;
}
@@ -334,13 +327,13 @@ namespace armarx::aron::xmltypereader
Data::EnforceTagName(node, Data::GENERATE_PCL_POINTCLOUD_MEMBER_TAG);
Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
- int width = std::stoi(Data::GetAttributeWithDefault(node, Data::WIDTH_ATTRIBUTE_NAME, "1"));
- int height = std::stoi(Data::GetAttributeWithDefault(node, Data::HEIGHT_ATTRIBUTE_NAME, "1"));
+ //int width = std::stoi(Data::GetAttributeWithDefault(node, Data::WIDTH_ATTRIBUTE_NAME, "1"));
+ //int height = std::stoi(Data::GetAttributeWithDefault(node, Data::HEIGHT_ATTRIBUTE_NAME, "1"));
std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);;
typenavigator::PCLPointCloudNavigatorPtr complex(new typenavigator::PCLPointCloudNavigator(path));
- complex->setWidth(width);
- complex->setHeight(height);
+ //complex->setWidth(width);
+ //complex->setHeight(height);
complex->setTypename(type);
return complex;
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.h b/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.h
index 52a707936..0b61e0a35 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/Reader.h
@@ -81,7 +81,8 @@ namespace armarx::aron::typeIO
struct ReadEigenMatrixReturnType
{
- std::vector<int> dimensions;
+ unsigned int rows;
+ unsigned int cols;
std::string type;
bool isOptional;
};
@@ -96,25 +97,18 @@ namespace armarx::aron::typeIO
struct ReadIVTCbyteImageReturnType
{
- unsigned int width;
- unsigned int height;
- std::string type;
bool isOptional;
};
virtual ReadIVTCbyteImageReturnType readIVTCByteImage() = 0;
struct ReadOpenCVMatReturnType
{
- std::vector<int> dimensions;
- std::string type;
bool isOptional;
};
virtual ReadOpenCVMatReturnType readOpenCVMat() = 0;
struct ReadPCLPointCloudReturnType
{
- unsigned int width;
- unsigned int height;
std::string type;
bool isOptional;
};
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h b/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
index 761d2d964..b83e8d3e6 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
@@ -77,7 +77,8 @@ namespace armarx::aron::typeIO
struct WriteEigenMatrixInput
{
- std::vector<int> dimensions;
+ unsigned int rows;
+ unsigned int cols;
std::string type;
bool isOptional;
};
@@ -92,25 +93,18 @@ namespace armarx::aron::typeIO
struct WriteIVTCByteImageInput
{
- unsigned int width;
- unsigned int height;
- std::string type;
bool isOptional;
};
virtual void writeIVTCByteImage(const WriteIVTCByteImageInput&) = 0;
struct WriteOpenCVMatInput
{
- std::vector<int> dimensions;
- std::string type;
bool isOptional;
};
virtual void writeOpenCVMat(const WriteOpenCVMatInput&) = 0;
struct WritePCLPointCloudInput
{
- unsigned int width;
- unsigned int height;
std::string type;
bool isOptional;
};
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp
index 742a4063e..fe1f4eb36 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/converter/Converter.cpp
@@ -87,7 +87,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eEigenMatrix:
{
const auto readEigenMatrix = reader.readEigenMatrix();
- writer.writeEigenMatrix({readEigenMatrix.dimensions, readEigenMatrix.type, readEigenMatrix.isOptional});
+ writer.writeEigenMatrix({readEigenMatrix.rows, readEigenMatrix.cols, readEigenMatrix.type, readEigenMatrix.isOptional});
break;
}
case type::Descriptor::eEigenQuaternion:
@@ -99,19 +99,19 @@ namespace armarx::aron::typeIO
case type::Descriptor::eIVTCByteImage:
{
const auto readIVTCByteImage = reader.readIVTCByteImage();
- writer.writeIVTCByteImage({readIVTCByteImage.width, readIVTCByteImage.height, readIVTCByteImage.type, readIVTCByteImage.isOptional});
+ writer.writeIVTCByteImage({readIVTCByteImage.isOptional});
break;
}
case type::Descriptor::eOpenCVMat:
{
const auto readOpenCVMat = reader.readOpenCVMat();
- writer.writeOpenCVMat({readOpenCVMat.dimensions, readOpenCVMat.type, readOpenCVMat.isOptional});
+ writer.writeOpenCVMat({readOpenCVMat.isOptional});
break;
}
case type::Descriptor::ePCLPointCloud:
{
const auto readPCLPointCloud = reader.readPCLPointCloud();
- writer.writePCLPointCloud({readPCLPointCloud.width, readPCLPointCloud.height, readPCLPointCloud.type, readPCLPointCloud.isOptional});
+ writer.writePCLPointCloud({readPCLPointCloud.type, readPCLPointCloud.isOptional});
break;
}
case type::Descriptor::ePosition:
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.cpp
index d31e4fca7..d134d98ca 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.cpp
@@ -168,7 +168,7 @@ namespace armarx::aron::typeIO::reader
{
auto nav = getNextAndIncrease();
auto casted = typenavigator::EigenMatrixNavigator::DynamicCastAndCheck(nav);
- return {casted->getDimensions(), casted->getTypename(), casted->isOptional()};
+ return {casted->getRows(), casted->getCols(), casted->getTypename(), casted->isOptional()};
}
ReaderInterface::ReadEigenQuaternionReturnType NavigatorReader::readEigenQuaternion()
@@ -182,21 +182,21 @@ namespace armarx::aron::typeIO::reader
{
auto nav = getNextAndIncrease();
auto casted = typenavigator::IVTCByteImageNavigator::DynamicCastAndCheck(nav);
- return {casted->getWidth(), casted->getHeight(), casted->getTypename(), casted->isOptional()};
+ return {casted->isOptional()};
}
ReaderInterface::ReadOpenCVMatReturnType NavigatorReader::readOpenCVMat()
{
auto nav = getNextAndIncrease();
auto casted = typenavigator::OpenCVMatNavigator::DynamicCastAndCheck(nav);
- return {casted->getDimensions(), casted->getTypename(), casted->isOptional()};
+ return {casted->isOptional()};
}
ReaderInterface::ReadPCLPointCloudReturnType NavigatorReader::readPCLPointCloud()
{
auto nav = getNextAndIncrease();
auto casted = typenavigator::PCLPointCloudNavigator::DynamicCastAndCheck(nav);
- return {casted->getWidth(), casted->getHeight(), casted->getTypename(), casted->isOptional()};
+ return {casted->getTypename(), casted->isOptional()};
}
ReaderInterface::ReadPositionReturnType NavigatorReader::readPosition()
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
index 175918c82..f39daa017 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.cpp
@@ -168,10 +168,10 @@ namespace armarx::aron::typeIO::reader
ReaderInterface::ReadEigenMatrixReturnType NlohmannJSONReader::readEigenMatrix()
{
nlohmann::json j = getNextAndIncrease();
- std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
+ std::vector<unsigned int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
- return {dims, type, o};
+ return {dims[0], dims[1], type, o};
}
ReaderInterface::ReadEigenQuaternionReturnType NlohmannJSONReader::readEigenQuaternion()
@@ -185,28 +185,23 @@ namespace armarx::aron::typeIO::reader
ReaderInterface::ReadIVTCbyteImageReturnType NlohmannJSONReader::readIVTCByteImage()
{
nlohmann::json j = getNextAndIncrease();
- std::vector<unsigned int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
- std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
- return {dims[0], dims[1], type, o};
+ return {o};
}
ReaderInterface::ReadOpenCVMatReturnType NlohmannJSONReader::readOpenCVMat()
{
nlohmann::json j = getNextAndIncrease();
- std::vector<int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
- std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
- return {dims, type, o};
+ return {o};
}
ReaderInterface::ReadPCLPointCloudReturnType NlohmannJSONReader::readPCLPointCloud()
{
nlohmann::json j = getNextAndIncrease();
- std::vector<unsigned int> dims = j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG];
std::string type = j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG];
bool o = j[io::Data::READER_WRITER_OPTIONAL_SLUG];
- return {dims[0], dims[1], type, o};
+ return {type, o};
}
ReaderInterface::ReadPositionReturnType NlohmannJSONReader::readPosition()
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp
index 942db9a9f..c4aa86d62 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/visitor/Visitor.cpp
@@ -88,7 +88,7 @@ namespace armarx::aron::typeIO
case type::Descriptor::eEigenMatrix:
{
auto casted = type::AronEigenMatrixPtr::dynamicCast(aron);
- writer.writeEigenMatrix({simox::alg::appended({casted->rows, casted->cols}, casted->otherDimensions), casted->typeName, casted->isOptional});
+ writer.writeEigenMatrix({(unsigned int) casted->rows, (unsigned int) casted->cols, casted->typeName, casted->isOptional});
break;
}
case type::Descriptor::eEigenQuaternion:
@@ -100,19 +100,19 @@ namespace armarx::aron::typeIO
case type::Descriptor::eIVTCByteImage:
{
auto casted = type::AronIVTCByteImagePtr::dynamicCast(aron);
- writer.writeIVTCByteImage({(unsigned int) casted->width, (unsigned int) casted->height, casted->typeName, casted->isOptional});
+ writer.writeIVTCByteImage({casted->isOptional});
break;
}
case type::Descriptor::eOpenCVMat:
{
auto casted = type::AronOpenCVMatPtr::dynamicCast(aron);
- writer.writeOpenCVMat({casted->dimensions, casted->typeName, casted->isOptional});
+ writer.writeOpenCVMat({casted->isOptional});
break;
}
case type::Descriptor::ePCLPointCloud:
{
auto casted = type::AronPCLPointCloudPtr::dynamicCast(aron);
- writer.writePCLPointCloud({(unsigned int) casted->width, (unsigned int) casted->height, casted->typeName, casted->isOptional});
+ writer.writePCLPointCloud({casted->typeName, casted->isOptional});
break;
}
case type::Descriptor::ePosition:
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
index 163ec2609..0ef6f90ba 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
@@ -164,8 +164,9 @@ namespace armarx::aron::typeIO::writer
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::EigenMatrixNavigatorPtr aron(new typenavigator::EigenMatrixNavigator(path));
+ aron->setRows(o.rows);
+ aron->setCols(o.cols);
aron->setTypename(o.type);
- aron->setDimensions(o.dimensions);
aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -185,9 +186,6 @@ namespace armarx::aron::typeIO::writer
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::IVTCByteImageNavigatorPtr aron(new typenavigator::IVTCByteImageNavigator(path));
- aron->setTypename(o.type);
- aron->setWidth(o.width);
- aron->setHeight(o.height);
aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -197,8 +195,6 @@ namespace armarx::aron::typeIO::writer
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
typenavigator::OpenCVMatNavigatorPtr aron(new typenavigator::OpenCVMatNavigator(path));
- aron->setTypename(o.type);
- aron->setDimensions(o.dimensions);
aron->setOptional(o.isOptional);
token->addElement(aron);
}
@@ -209,8 +205,6 @@ namespace armarx::aron::typeIO::writer
NavigatorWriterTokenPtr token = stack.top();
typenavigator::PCLPointCloudNavigatorPtr aron(new typenavigator::PCLPointCloudNavigator(path));
aron->setTypename(o.type);
- aron->setWidth(o.width);
- aron->setHeight(o.height);
aron->setOptional(o.isOptional);
token->addElement(aron);
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
index 5ca58566d..04d6efecf 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
@@ -133,7 +133,7 @@ namespace armarx::aron::typeIO::writer
nlohmann::json j;
j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "EigenMatrix";
- j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = o.dimensions;
+ j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = std::vector<unsigned int>({o.rows, o.cols});
j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = o.type;
token->addElement(j);
}
@@ -154,8 +154,6 @@ namespace armarx::aron::typeIO::writer
nlohmann::json j;
j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "IVTCByteImage";
- j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = {o.width, o.height};
- j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = o.type;
token->addElement(j);
}
@@ -165,8 +163,6 @@ namespace armarx::aron::typeIO::writer
nlohmann::json j;
j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "OpenCVMat";
- j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = o.dimensions;
- j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = o.type;
token->addElement(j);
}
@@ -176,7 +172,6 @@ namespace armarx::aron::typeIO::writer
nlohmann::json j;
j[io::Data::READER_WRITER_OPTIONAL_SLUG] = o.isOptional;
j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "PCLPointCloud";
- j[io::Data::READER_WRITER_NDARRAY_DIMENSIONS_SLUG] = {o.width, o.height};
j[io::Data::READER_WRITER_NDARRAY_TYPE_SLUG] = o.type;
token->addElement(j);
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp b/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp
index ed82f0a7e..fb58bf424 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp
@@ -115,6 +115,11 @@ namespace armarx::aron::datanavigator
return dynamic_cast<NDArrayNavigator&>(n);
}
+ const NDArrayNavigator NDArrayNavigator::DynamicCast(const Navigator& n)
+ {
+ return dynamic_cast<const NDArrayNavigator&>(n);
+ }
+
NDArrayNavigatorPtr NDArrayNavigator::DynamicCastAndCheck(const NavigatorPtr& n)
{
CheckDataNavigatorPtrForNull("NDArrayNavigator", "DynamicCastAndCheck[Before]", n);
@@ -193,10 +198,8 @@ namespace armarx::aron::datanavigator
typenavigator::NavigatorPtr NDArrayNavigator::recalculateType() const
{
- // We set all to openCVMat because it accepts n-dimensional types
+ // We set all to openCVMat because it accepts n-dimensional types TODO
typenavigator::OpenCVMatNavigatorPtr typenav = typenavigator::OpenCVMatNavigatorPtr(new typenavigator::OpenCVMatNavigator(getPath()));
- typenav->setDimensions(std::vector<int>(aron->dimensions.begin(), std::prev(aron->dimensions.end())));
- typenav->setTypename(aron->type);
return typenav;
}
@@ -209,19 +212,16 @@ namespace armarx::aron::datanavigator
switch (type->getDescriptor())
{
-#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
-case type::Descriptor::e##upperType: \
-{ \
- typenavigator::upperType##NavigatorPtr casted = typenavigator::upperType##Navigator::DynamicCast(type); \
- if (std::vector<int>(aron->dimensions.begin(), std::prev(aron->dimensions.end())) != casted->getDimensions() || aron->type != casted->getTypename()) \
- { \
- return false; \
- } \
- break; \
-}
-
- HANDLE_NDARRAY_TYPES
-#undef RUN_ARON_MACRO
+ case type::Descriptor::eEigenMatrix:
+ {
+ auto casted = typenavigator::EigenMatrixNavigator::DynamicCast(type);
+ if ((unsigned int) aron->dimensions[0] != casted->getRows() || (unsigned int) aron->dimensions[1] != casted->getCols())
+ {
+ return false;
+ }
+ break;
+ }
+ // TODO:
default:
throw error::AronException("NDArrayNavigator", "fullfillsType", "Could not cast a type to an NDArray-Type", getPath());
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h b/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h
index c6d12cc6b..4cf022696 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h
@@ -60,6 +60,7 @@ namespace armarx::aron::datanavigator
// static methods
static NDArrayNavigatorPtr DynamicCast(const NavigatorPtr& n);
static NDArrayNavigator DynamicCast(Navigator& n);
+ static const NDArrayNavigator DynamicCast(const Navigator& n);
static NDArrayNavigatorPtr DynamicCastAndCheck(const NavigatorPtr& n);
static NDArrayNavigatorPtr FromAronNDArrayPtr(const data::AronNDArrayPtr& aron);
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.cpp
index 2ced1ba21..8d731614f 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.cpp
@@ -33,7 +33,7 @@ namespace armarx::aron::typenavigator
EigenMatrixNavigator::EigenMatrixNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eEigenMatrix, path),
Navigator(type::Descriptor::eEigenMatrix, path),
- type(new type::AronEigenMatrix(true, -1, -1, {}, ""))
+ type(new type::AronEigenMatrix())
{
}
@@ -42,39 +42,11 @@ namespace armarx::aron::typenavigator
Navigator(type::Descriptor::eEigenMatrix, path),
type(new type::AronEigenMatrix(*o))
{
- checkDimensions(simox::alg::appended({type->rows, type->cols}, type->otherDimensions));
checkTypename(type->typeName);
}
- bool EigenMatrixNavigator::checkDimensions(const std::vector<int>& d) const
- {
- if (isOptional() && d == std::vector<int> {-1, -1})
- {
- return true;
- }
-
- if (d.size() < 2)
- {
- throw error::AronException("AronEigenMatrixNavigator", "checkDimensions", "The dimension size is wrong. Got size: " + std::to_string(d.size()), getPath());
- }
-
- for (const auto& i : d)
- {
- if (i == 0 || i < -1)
- {
- throw error::AronException("AronEigenMatrixNavigator", "checkDimensions", "The dimension size is wrong. Got as dimension: " + simox::alg::to_string(d, ", "), getPath());
- }
- }
- return true;
- }
-
std::string EigenMatrixNavigator::checkTypename(const std::string& s) const
{
- if (isOptional() && s == "")
- {
- return s;
- }
-
for (const auto& [key, list] : ACCEPTED_TYPES)
{
if (s == key)
@@ -121,35 +93,21 @@ namespace armarx::aron::typenavigator
type->cols = h;
}
- type::AronEigenMatrixPtr EigenMatrixNavigator::toAronEigenMatrixPtr() const
- {
- checkDimensions(simox::alg::appended({type->rows, type->cols}, type->otherDimensions));
- checkTypename(type->typeName);
- return type;
- }
-
std::string EigenMatrixNavigator::getTypename() const
{
return type->typeName;
}
- std::vector<int> EigenMatrixNavigator::getDimensions() const
- {
- return simox::alg::appended({type->rows, type->cols}, type->otherDimensions);
- }
-
void EigenMatrixNavigator::setTypename(const std::string& u)
{
checkTypename(u);
type->typeName = u;
}
- void EigenMatrixNavigator::setDimensions(const std::vector<int>& d)
+ type::AronEigenMatrixPtr EigenMatrixNavigator::toAronEigenMatrixPtr() const
{
- checkDimensions(d);
- type->rows = d[0];
- type->cols = d[1];
- type->otherDimensions = simox::alg::subvector(d, 3);
+ checkTypename(type->typeName);
+ return type;
}
// static methods
@@ -194,7 +152,7 @@ namespace armarx::aron::typenavigator
std::string EigenMatrixNavigator::getName() const
{
- return "AronEigenMatrix<" + simox::alg::to_string(getDimensions(), ", ") + ", " + type->typeName + ">";
+ return "AronEigenMatrix<" + std::to_string(type->rows) + ", " + std::to_string(type->cols) + ", " + type->typeName + ">";
}
void EigenMatrixNavigator::setOptional(bool v)
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.h
index e366ef37f..214d3bfb5 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.h
@@ -47,18 +47,15 @@ namespace armarx::aron::typenavigator
EigenMatrixNavigator(const Path& path);
EigenMatrixNavigator(const type::AronEigenMatrixPtr&, const Path& path);
- bool checkDimensions(const std::vector<int>&) const;
std::string checkTypename(const std::string&) const;
unsigned int getRows() const;
unsigned int getCols() const;
std::string getTypename() const;
- std::vector<int> getDimensions() const;
void setRows(int);
void setCols(int);
void setTypename(const std::string&);
- void setDimensions(const std::vector<int>&);
type::AronEigenMatrixPtr toAronEigenMatrixPtr() const;
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.cpp
index 399de45d1..374ec9b03 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::typenavigator
EigenQuaternionNavigator::EigenQuaternionNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eEigenQuaternion, path),
Navigator(type::Descriptor::eEigenQuaternion, path),
- type(new type::AronEigenQuaternion(true, ""))
+ type(new type::AronEigenQuaternion())
{
}
@@ -41,31 +41,20 @@ namespace armarx::aron::typenavigator
{
}
- bool EigenQuaternionNavigator::checkTypename(const std::string& s) const
+ std::string EigenQuaternionNavigator::checkTypename(const std::string& s) const
{
- if (isOptional())
- {
- return true;
- }
-
- if (s.empty())
- {
- throw error::AronException("AronEigenQuaternionTypeNavigator", "checkTypename", "The typename is empty.", getPath());
- }
-
for (const auto& [k, t] : ACCEPTED_TYPES)
{
- if (s != k && std::find(t.begin(), t.end(), s) == t.end())
+ if (s == k || std::find(t.begin(), t.end(), s) != t.end())
{
- throw error::AronException("AronEigenQuaternionTypeNavigator", "checkTypename", "The typename is wrong. Got " + s, getPath());
+ return k;
}
}
- return true;
+ throw error::StringNotValidException("EigenQuaternionNavigator", "checkTypename", "The typename is wrong.", s, getPath());
}
type::AronEigenQuaternionPtr EigenQuaternionNavigator::toAronEigenQuaternionPtr() const
{
- checkTypename(type->typeName);
return type;
}
@@ -74,15 +63,9 @@ namespace armarx::aron::typenavigator
return type->typeName;
}
- std::vector<int> EigenQuaternionNavigator::getDimensions() const
- {
- return ACCEPTED_DIMENSION;
- }
-
void EigenQuaternionNavigator::setTypename(const std::string& u)
{
- checkTypename(u);
- type->typeName = u;
+ type->typeName = checkTypename(u);
}
// static methods
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.h
index 8ea5977f7..cae9c4ea0 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.h
@@ -47,10 +47,9 @@ namespace armarx::aron::typenavigator
EigenQuaternionNavigator(const Path& path);
EigenQuaternionNavigator(const type::AronEigenQuaternionPtr&, const Path& path);
- bool checkTypename(const std::string&) const;
+ std::string checkTypename(const std::string&) const;
std::string getTypename() const;
- std::vector<int> getDimensions() const;
void setTypename(const std::string&);
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.cpp
index ac72b5f15..ccde3a9ac 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::typenavigator
IVTCByteImageNavigator::IVTCByteImageNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eIVTCByteImage, path),
Navigator(type::Descriptor::eIVTCByteImage, path),
- type(new type::AronIVTCByteImage(true, -1, -1, ""))
+ type(new type::AronIVTCByteImage())
{
}
@@ -41,80 +41,11 @@ namespace armarx::aron::typenavigator
{
}
- std::string IVTCByteImageNavigator::checkTypename(const std::string& s) const
- {
- if (isOptional() && s == "")
- {
- return s;
- }
-
- for (const auto& [key, list] : ACCEPTED_TYPES)
- {
- if (s == key)
- {
- return key;
- }
-
- for (const auto& el : list)
- {
- if (s == el)
- {
- return key;
- }
- }
- }
- throw error::StringNotValidException("IVTCByteImageNavigator", "checkTypename", "The typename is wrong.", s, getPath());
- }
-
type::AronIVTCByteImagePtr IVTCByteImageNavigator::toAronIVTCByteImagePtr() const
{
- checkTypename(type->typeName);
return type;
}
- std::vector<int> IVTCByteImageNavigator::getDimensions() const
- {
- return {type->width, type->height};
- }
-
- unsigned int IVTCByteImageNavigator::getWidth() const
- {
- return type->width;
- }
-
- unsigned int IVTCByteImageNavigator::getHeight() const
- {
- return type->height;
- }
-
- std::string IVTCByteImageNavigator::getTypename() const
- {
- return type->typeName;
- }
-
- void IVTCByteImageNavigator::setWidth(const unsigned int& w)
- {
- if (w == 0)
- {
- throw error::AronException("AronIVTCByteImageTypeNavigator", "setWidth", "The width of an image cannot be 0", getPath());
- }
- type->width = w;
- }
-
- void IVTCByteImageNavigator::setHeight(const unsigned int& h)
- {
- if (h == 0)
- {
- throw error::AronException("AronIVTCByteImageTypeNavigator", "setHeight", "The height of an image cannot be 0", getPath());
- }
- type->height = h;
- }
-
- void IVTCByteImageNavigator::setTypename(const std::string& u)
- {
- type->typeName = checkTypename(u);
- }
-
// static methods
IVTCByteImageNavigatorPtr IVTCByteImageNavigator::DynamicCast(const NavigatorPtr& n)
{
@@ -147,7 +78,7 @@ namespace armarx::aron::typenavigator
std::string IVTCByteImageNavigator::getName() const
{
- return "AronIVTCByteImageType<" + simox::alg::to_string(getDimensions(), ", ") + ", " + type->typeName + ">";
+ return "AronIVTCByteImageType";
}
void IVTCByteImageNavigator::setOptional(bool v)
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.h
index 3fd5f987a..0946108d0 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.h
@@ -47,17 +47,6 @@ namespace armarx::aron::typenavigator
IVTCByteImageNavigator(const Path& path);
IVTCByteImageNavigator(const type::AronIVTCByteImagePtr&, const Path& path);
- std::string checkTypename(const std::string&) const;
-
- unsigned int getWidth() const;
- unsigned int getHeight() const;
- std::string getTypename() const;
- std::vector<int> getDimensions() const;
-
- void setWidth(const unsigned int&);
- void setHeight(const unsigned int&);
- void setTypename(const std::string&);
-
type::AronIVTCByteImagePtr toAronIVTCByteImagePtr() const;
// static methods
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.cpp
index b5ec2ccce..26755ddca 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::typenavigator
NDArrayNavigator::NDArrayNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eNDArray, path),
Navigator(type::Descriptor::eNDArray, path),
- type(new type::AronNDArray(true, {}, ""))
+ type(new type::AronNDArray())
{
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp
index ad7e19e11..2b70f33d0 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::typenavigator
OpenCVMatNavigator::OpenCVMatNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eOpenCVMat, path),
Navigator(type::Descriptor::eOpenCVMat, path),
- type(new type::AronOpenCVMat(true, {}, ""))
+ type(new type::AronOpenCVMat())
{
}
@@ -39,76 +39,13 @@ namespace armarx::aron::typenavigator
Navigator(type::Descriptor::eOpenCVMat, path),
type(new type::AronOpenCVMat(*o))
{
- checkDimensions(type->dimensions);
- checkTypename(type->typeName);
- }
-
- bool OpenCVMatNavigator::checkDimensions(const std::vector<int>& d) const
- {
- if (d.size() < ACCEPTED_DIMENSION_MIN_SIZE)
- {
- throw error::AronException("AronOpenCVMatTypeNavigator", "checkDimensions", "The dimension size is wrong. Got size: " + std::to_string(d.size()), getPath());
- }
-
- if (std::any_of(d.begin(), d.end(), [](int i)
- {
- return i < -1 || i == 0;
- }))
- {
- throw error::AronException("AronOpenCVMatTypeNavigator", "checkDimensions", "The dimension size is wrong. At least one empty is < -1 or 0. Got as dimension: " + simox::alg::to_string(d, ", "), getPath());
- }
- return true;
- }
-
- std::string OpenCVMatNavigator::checkTypename(const std::string& s) const
- {
- for (const auto& [key, list] : ACCEPTED_TYPES)
- {
- if (s == key)
- {
- return key;
- }
-
- for (const auto& el : list)
- {
- if (s == el)
- {
- return key;
- }
- }
- }
- throw error::AronException("OpenCVMatNavigator", "checkTypename", "The typename is empty.", getPath());
}
type::AronOpenCVMatPtr OpenCVMatNavigator::toAronOpenCVMatPtr() const
{
- checkDimensions(type->dimensions);
- checkTypename(type->typeName);
return type;
}
- std::string OpenCVMatNavigator::getTypename() const
- {
- return type->typeName;
- }
-
- std::vector<int> OpenCVMatNavigator::getDimensions() const
- {
- return type->dimensions;
- }
-
- void OpenCVMatNavigator::setTypename(const std::string& u)
- {
- type->typeName = checkTypename(u);
- }
-
- void OpenCVMatNavigator::setDimensions(const std::vector<int>& d)
- {
- checkDimensions(d);
- type->dimensions = d;
- }
-
-
// static methods
OpenCVMatNavigatorPtr OpenCVMatNavigator::DynamicCast(const NavigatorPtr& n)
{
@@ -141,7 +78,7 @@ namespace armarx::aron::typenavigator
std::string OpenCVMatNavigator::getName() const
{
- return "AronOpenCVMatType<" + simox::alg::to_string(type->dimensions, ", ") + ", " + type->typeName + ">";
+ return "AronOpenCVMatType";
}
void OpenCVMatNavigator::setOptional(bool v)
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h
index 18d61a3c0..82be8a9aa 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h
@@ -47,15 +47,6 @@ namespace armarx::aron::typenavigator
OpenCVMatNavigator(const Path& path);
OpenCVMatNavigator(const type::AronOpenCVMatPtr&, const Path& path);
- bool checkDimensions(const std::vector<int>&) const;
- std::string checkTypename(const std::string&) const;
-
- std::string getTypename() const;
- std::vector<int> getDimensions() const;
-
- void setDimensions(const std::vector<int>&);
- void setTypename(const std::string&);
-
type::AronOpenCVMatPtr toAronOpenCVMatPtr() const;
// static methods
@@ -82,7 +73,6 @@ namespace armarx::aron::typenavigator
{"CV_32F", {"32F"}},
{"CV_64F", {"64F"}}
};
- const unsigned int ACCEPTED_DIMENSION_MIN_SIZE = 2;
private:
// members
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.cpp
index c31db0b5b..b91f79dc2 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.cpp
@@ -46,16 +46,6 @@ namespace armarx::aron::typenavigator
return type;
}
- std::vector<int> OrientationNavigator::getDimensions() const
- {
- return ACCEPTED_DIMENSION;
- }
-
- std::string OrientationNavigator::getTypename() const
- {
- return ACCEPTED_TYPE;
- }
-
// static methods
OrientationNavigatorPtr OrientationNavigator::DynamicCast(const NavigatorPtr& n)
{
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.h
index 001212b29..691c09741 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.h
@@ -47,12 +47,6 @@ namespace armarx::aron::typenavigator
OrientationNavigator(const Path& path);
OrientationNavigator(const type::AronOrientationPtr&, const Path& path);
- bool checkDimensions(const std::vector<int>&) const;
- bool checkTypename(const std::string&) const;
-
- std::string getTypename() const;
- std::vector<int> getDimensions() const;
-
type::AronOrientationPtr toAronOrientationPtr() const;
// static methods
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.cpp
index b66ce47fb..59ee729c9 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.cpp
@@ -30,7 +30,7 @@ namespace armarx::aron::typenavigator
PCLPointCloudNavigator::PCLPointCloudNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::ePCLPointCloud, path),
Navigator(type::Descriptor::ePCLPointCloud, path),
- type(new type::AronPCLPointCloud(true, -1, -1, ""))
+ type(new type::AronPCLPointCloud())
{
}
@@ -59,7 +59,7 @@ namespace armarx::aron::typenavigator
}
}
}
- throw error::AronException("PCLPointCloudNavigator", "checkTypename", "The typename is empty.", getPath());
+ throw error::StringNotValidException("PCLPointCloudNavigator", "checkTypename", "The typename is wrong.", s, getPath());
}
type::AronPCLPointCloudPtr PCLPointCloudNavigator::toAronPCLPointCloudPtr() const
@@ -68,44 +68,11 @@ namespace armarx::aron::typenavigator
return type;
}
- std::vector<int> PCLPointCloudNavigator::getDimensions() const
- {
- return {type->width, type->height};
- }
-
- unsigned int PCLPointCloudNavigator::getWidth() const
- {
- return type->width;
- }
-
- unsigned int PCLPointCloudNavigator::getHeight() const
- {
- return type->height;
- }
-
std::string PCLPointCloudNavigator::getTypename() const
{
return type->typeName;
}
- void PCLPointCloudNavigator::setWidth(const unsigned int& w)
- {
- if (w == 0)
- {
- throw error::AronException("AronPCLPointCloudTypeNavigator", "setWidth", "The width of aa pointcloud cannot be 0", getPath());
- }
- type->width = w;
- }
-
- void PCLPointCloudNavigator::setHeight(const unsigned int& h)
- {
- if (h == 0)
- {
- throw error::AronException("AronPCLPointCloudTypeNavigator", "setHeight", "The height of aa pointcloud cannot be 0", getPath());
- }
- type->height = h;
- }
-
void PCLPointCloudNavigator::setTypename(const std::string& u)
{
type->typeName = checkTypename(u);
@@ -144,7 +111,7 @@ namespace armarx::aron::typenavigator
std::string PCLPointCloudNavigator::getName() const
{
- return "AronPCLPointCloudType<" + simox::alg::to_string(getDimensions(), ", ") + ", " + type->typeName + ">";
+ return "AronPCLPointCloudType<" + type->typeName + ">";
}
void PCLPointCloudNavigator::setOptional(bool v)
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.h
index d0ba9c448..1b550562a 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.h
@@ -49,13 +49,8 @@ namespace armarx::aron::typenavigator
std::string checkTypename(const std::string&) const;
- unsigned int getWidth() const;
- unsigned int getHeight() const;
std::string getTypename() const;
- std::vector<int> getDimensions() const;
- void setWidth(const unsigned int&);
- void setHeight(const unsigned int&);
void setTypename(const std::string&);
type::AronPCLPointCloudPtr toAronPCLPointCloudPtr() const;
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.cpp
index 5f165f016..e5585f27a 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.cpp
@@ -46,16 +46,6 @@ namespace armarx::aron::typenavigator
return type;
}
- std::vector<int> PoseNavigator::getDimensions() const
- {
- return ACCEPTED_DIMENSION;
- }
-
- std::string PoseNavigator::getTypename() const
- {
- return ACCEPTED_TYPE;
- }
-
// static methods
PoseNavigatorPtr PoseNavigator::DynamicCast(const NavigatorPtr& n)
{
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.h
index a38aef961..bed12f9e9 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.h
@@ -46,9 +46,6 @@ namespace armarx::aron::typenavigator
PoseNavigator(const Path& path = Path());
PoseNavigator(const type::AronPosePtr&, const Path& path = Path());
- std::string getTypename() const;
- std::vector<int> getDimensions() const;
-
type::AronPosePtr toAronPosePtr() const;
// static methods
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.cpp
index 13898a188..e0066c620 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.cpp
@@ -46,16 +46,6 @@ namespace armarx::aron::typenavigator
return type;
}
- std::vector<int> PositionNavigator::getDimensions() const
- {
- return ACCEPTED_DIMENSION;
- }
-
- std::string PositionNavigator::getTypename() const
- {
- return ACCEPTED_TYPE;
- }
-
// static methods
PositionNavigatorPtr PositionNavigator::DynamicCast(const NavigatorPtr& n)
{
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.h
index 36eccd67a..2b9a0be09 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.h
@@ -46,9 +46,6 @@ namespace armarx::aron::typenavigator
PositionNavigator(const Path& path = Path());
PositionNavigator(const type::AronPositionPtr&, const Path& path = Path());
- std::string getTypename() const;
- std::vector<int> getDimensions() const;
-
type::AronPositionPtr toAronPositionPtr() const;
// static methods
diff --git a/source/RobotAPI/libraries/aron/core/test/aronDataWithoutCodeGeneration.h b/source/RobotAPI/libraries/aron/core/test/aronDataWithoutCodeGeneration.h
index 0e7e29371..db9969bbb 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronDataWithoutCodeGeneration.h
+++ b/source/RobotAPI/libraries/aron/core/test/aronDataWithoutCodeGeneration.h
@@ -72,7 +72,7 @@ namespace armarx
//this->read(reader);
}
- armarx::aron::typenavigator::ObjectNavigatorPtr toInitialAronType() const
+ armarx::aron::typenavigator::ObjectNavigatorPtr toAronType() const
{
armarx::aron::io::NavigatorWriter writer;
this->writeType(writer);
@@ -157,7 +157,7 @@ namespace armarx
//this->read(reader);
}
- armarx::aron::typenavigator::ObjectNavigatorPtr toInitialAronType() const
+ armarx::aron::typenavigator::ObjectNavigatorPtr toAronType() const
{
armarx::aron::io::NavigatorWriter writer;
this->writeType(writer);
@@ -280,7 +280,7 @@ namespace armarx
//this->read(reader);
}
- armarx::aron::typenavigator::ObjectNavigatorPtr toInitialAronType() const
+ armarx::aron::typenavigator::ObjectNavigatorPtr toAronType() const
{
armarx::aron::io::NavigatorWriter writer;
this->writeType(writer);
diff --git a/source/RobotAPI/libraries/aron/core/test/aronTest.cpp b/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
index 96c6a5c53..f9e33b547 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
+++ b/source/RobotAPI/libraries/aron/core/test/aronTest.cpp
@@ -93,12 +93,12 @@ void runTestWithInstances(T& k1, T& k2)
Randomizer r;
std::cout << "\t getting type 1" << std::endl;
- typenavigator::ObjectNavigatorPtr k1_type_nav = k1.toInitialAronType();
+ typenavigator::ObjectNavigatorPtr k1_type_nav = k1.toAronType();
type::AronObjectPtr k1_type = k1_type_nav->toAronObjectPtr();
BOOST_CHECK_NE(k1_type.get(), nullptr);
std::cout << "\t getting type 2" << std::endl;
- typenavigator::ObjectNavigatorPtr k2_type_nav = k2.toInitialAronType();
+ typenavigator::ObjectNavigatorPtr k2_type_nav = k2.toAronType();
type::AronObjectPtr k2_type = k2_type_nav->toAronObjectPtr();
BOOST_CHECK_NE(k2_type.get(), nullptr);
diff --git a/source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml b/source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml
index 6ab102f24..9c7462aa0 100644
--- a/source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/xmls/OptionalTest.xml
@@ -11,16 +11,16 @@
</Object>
<Object name='armarx::OptionalTest'>
- <ObjectChild key='some_float' optional="1">
- <Float />
+ <ObjectChild key='some_float'>
+ <Float optional="1"/>
</ObjectChild>
- <ObjectChild key='some_string' optional="true">
- <String />
+ <ObjectChild key='some_string'>
+ <String optional="true"/>
</ObjectChild>
- <ObjectChild key='some_dict' optional="wahr">
- <Dict>
+ <ObjectChild key='some_dict'>
+ <Dict optional="wahr">
<Float />
</Dict>
</ObjectChild>
@@ -31,8 +31,8 @@
</Dict>
</ObjectChild>
- <ObjectChild key='some_list' optional="ja">
- <List>
+ <ObjectChild key='some_list'>
+ <List optional="ja">
<Double />
</List>
</ObjectChild>
@@ -43,12 +43,12 @@
</List>
</ObjectChild>
- <ObjectChild key='some_obj' optional="ja">
- <EigenMatrix rows="25" cols="10" type="long" />
+ <ObjectChild key='some_obj'>
+ <EigenMatrix rows="25" cols="10" type="long" optional="ja"/>
</ObjectChild>
- <ObjectChild key='some_obj' optional="ja">
- <armarx::OptionalTestElement />
+ <ObjectChild key='some_obj'>
+ <armarx::OptionalTestElement optional="ja"/>
</ObjectChild>
</Object>
--
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