diff --git a/source/RobotAPI/components/ArViz/Client/Client.h b/source/RobotAPI/components/ArViz/Client/Client.h
index f2d406fece5753b91d89cc56f26c824711efde62..84dcad9ce36dc40c34553afb085aa3cdd1925460 100644
--- a/source/RobotAPI/components/ArViz/Client/Client.h
+++ b/source/RobotAPI/components/ArViz/Client/Client.h
@@ -80,8 +80,8 @@ namespace viz
InteractionFeedbackRange interactions() const
{
- InteractionFeedback* begin = (InteractionFeedback*) data_.interactions.data();
- InteractionFeedback* end = begin + data_.interactions.size();
+ const InteractionFeedback* begin = reinterpret_cast<const InteractionFeedback*>(data_.interactions.data());
+ const InteractionFeedback* end = begin + data_.interactions.size();
return InteractionFeedbackRange{begin, end};
}
diff --git a/source/RobotAPI/components/ArViz/Client/elements/PointCloud.h b/source/RobotAPI/components/ArViz/Client/elements/PointCloud.h
index a77f79632d3f29955f46773d0aea5c5602dfd0f9..78591128d2daddab633ef3fd04139a4c46ba2340 100644
--- a/source/RobotAPI/components/ArViz/Client/elements/PointCloud.h
+++ b/source/RobotAPI/components/ArViz/Client/elements/PointCloud.h
@@ -71,8 +71,8 @@ namespace armarx::viz
PointCloud& points(std::vector<ColoredPoint> const& ps)
{
std::size_t memorySize = ps.size() * sizeof(ps[0]);
- Ice::Byte* begin = (Ice::Byte*)ps.data();
- Ice::Byte* end = begin + memorySize;
+ const Ice::Byte* const begin = reinterpret_cast<const Ice::Byte*>(ps.data());
+ const Ice::Byte* const end = begin + memorySize;
data_->points.assign(begin, end);
return *this;
}
@@ -92,8 +92,8 @@ namespace armarx::viz
PointCloud& addPointUnchecked(ColoredPoint const& p)
{
- Ice::Byte* begin = (Ice::Byte*)&p;
- Ice::Byte* end = begin + sizeof(p);
+ const Ice::Byte* const begin = reinterpret_cast<const Ice::Byte*>(&p);
+ const Ice::Byte* const end = begin + sizeof(p);
data_->points.insert(data_->points.end(), begin, end);
return *this;
}
@@ -391,5 +391,3 @@ namespace armarx::viz
};
}
-
-
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
index 59e1b9eb46c1f680e16b73a63a51511cf7140f4a..076d5aa61a6d0c79e4e3a56453675308e09f7bde 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
@@ -737,15 +737,22 @@ namespace armarx::aron::codegenerator::cpp
const std::string& otherInstanceAccessor) const
{
const auto& type = getType();
- if (type.getMaybe() == type::Maybe::OPTIONAL || type.getMaybe() == type::Maybe::RAW_PTR ||
- type.getMaybe() == type::Maybe::SHARED_PTR ||
- type.getMaybe() == type::Maybe::UNIQUE_PTR)
+ if (type.getMaybe() == type::Maybe::RAW_PTR || type.getMaybe() == type::Maybe::SHARED_PTR || type.getMaybe() == type::Maybe::UNIQUE_PTR)
+ {
+ CppBlockPtr b = std::make_shared<CppBlock>();
+ b->addLine("if (not (static_cast<bool>(" + accessor + ") == static_cast<bool>(" + otherInstanceAccessor + "))) // check if both contain data");
+ b->addLineAsBlock("return false;");
+ b->addLine("if (static_cast<bool>(" + accessor + ") && static_cast<bool>(" + otherInstanceAccessor + "))");
+ b->addBlock(block_if_data);
+ return b;
+ }
+
+ if (type.getMaybe() == type::Maybe::OPTIONAL)
{
CppBlockPtr b = std::make_shared<CppBlock>();
- b->addLine("if (not ((bool) " + accessor + " == (bool) " + otherInstanceAccessor +
- ")) // check if both contain data");
+ b->addLine("if (not ( " + accessor + ".has_value() == " + otherInstanceAccessor + ".has_value())) // check if both contain data");
b->addLineAsBlock("return false;");
- b->addLine("if ((bool) " + accessor + " && (bool) " + otherInstanceAccessor + ")");
+ b->addLine("if ( " + accessor + ".has_value() && " + otherInstanceAccessor + ".has_value())");
b->addBlock(block_if_data);
return b;
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
index 3ea5e25112213e292c2557dcdf02b67075a12383..be7974fb2ba04d07814a468eec39f982d55aa7c5 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
@@ -102,13 +102,13 @@ namespace armarx::aron::codegenerator::cpp::generator
CppBlockPtr b = std::make_shared<CppBlock>();
std::string escaped_accessor = EscapeAccessor(cppAccessor);
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
- b->addLine(
- "auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeMatrix((int) " +
- std::to_string(type.getRows()) + ", " + "(int) " + std::to_string(type.getCols()) +
- ", " + std::get<2>(ElementType2Cpp.at(type.getElementType())) + ", " + "\"" +
- type.getDefaultValue() + "\", " + conversion::Maybe2CppString.at(type.getMaybe()) +
- ", " + "armarx::aron::Path(" + ARON_PATH_ACCESSOR + ", {" +
- simox::alg::join(p.getPath(), ", ") + "})); // of " + cppAccessor);
+ b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR +
+ ".writeMatrix(static_cast<int>( " + std::to_string(type.getRows()) + "), " + "static_cast<int>( " +
+ std::to_string(type.getCols()) + "), " +
+ std::get<2>(ElementType2Cpp.at(type.getElementType())) + ", " + "\"" +
+ type.getDefaultValue() + "\", " + conversion::Maybe2CppString.at(type.getMaybe()) +
+ ", " + "armarx::aron::Path(" + ARON_PATH_ACCESSOR + ", {" +
+ simox::alg::join(p.getPath(), ", ") + "})); // of " + cppAccessor);
return b;
}
@@ -123,8 +123,8 @@ namespace armarx::aron::codegenerator::cpp::generator
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
block_if_data->addLine(
- variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({(int) " + cppAccessor +
- nextEl() + "rows(), " + "(int) " + cppAccessor + nextEl() + "cols(), " +
+ variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({static_cast<int>( " + cppAccessor +
+ nextEl() + "rows() ), " + "static_cast<int>( " + cppAccessor + nextEl() + "cols()), " +
std::to_string(std::get<1>(ElementType2Cpp.at(type.getElementType()))) + "}, " + "\"" +
std::get<0>(ElementType2Cpp.at(type.getElementType())) + "\", " +
"reinterpret_cast<const unsigned char*>(" + cppAccessor + nextEl() + "data()), " +
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h b/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h
index 6d4203071c29b0d1d20123f85a4263d4c74db58b..1cfc673719f6a4808a9f7e91bfc9b25a46cffb72 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h
@@ -57,6 +57,8 @@ namespace armarx::aron::data
const Path& path = Path());
// operators
+ using detail::ComplexVariant<data::dto::NDArray, NDArray>::operator==;
+
virtual bool operator==(const NDArray&) const override;
bool operator==(const NDArrayPtr&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
index b31f12957d1b6ca4dac0b303f0b3259be89733f0..f6c2d93955f53af91a04364ada5f3da724ae7033 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/Dict.h
@@ -50,6 +50,8 @@ namespace armarx::aron::data
Dict(const std::map<std::string, VariantPtr>&, const Path& path = Path());
// operators
+ using detail::ContainerVariant<data::dto::Dict, Dict>::operator==;
+
bool operator==(const Dict&) const override;
bool operator==(const DictPtr&) const override;
VariantPtr operator[](const std::string&) const;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/container/List.h b/source/RobotAPI/libraries/aron/core/data/variant/container/List.h
index 4d7074ca6b4f6e43a1172837c07423d3eb0f281e..74d33da9af8fb260a9fe098221a1188a52d01cdd 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/container/List.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/container/List.h
@@ -49,6 +49,8 @@ namespace armarx::aron::data
List(const std::vector<VariantPtr>&, const Path& path = Path());
// operators
+ using detail::ContainerVariant<data::dto::List, List>::operator==;
+
bool operator==(const List&) const override;
bool operator==(const ListPtr&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.h b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.h
index 5e07b8a8e33577b268ea8ae8366291664b3012e6..94349fb2c608936b6e395a1af2090713e8372148 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Bool.h
@@ -48,6 +48,8 @@ namespace armarx::aron::data
Bool(const bool, const Path& = Path());
// operators
+ using detail::PrimitiveVariant<data::dto::AronBool, bool, Bool>::operator==;
+
bool operator==(const Bool& other) const override;
bool operator==(const BoolPtr&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.h b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.h
index fb7a6880a9782397239243d38939d1ac22688fd4..59447e7def921da7face8213f24372bf5d5865df 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Double.h
@@ -48,6 +48,8 @@ namespace armarx::aron::data
Double(const double, const Path& = Path());
/* operators */
+ using detail::PrimitiveVariant<data::dto::AronDouble, double, Double>::operator==;
+
bool operator==(const Double&) const override;
bool operator==(const DoublePtr&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.h b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.h
index 2d0cecb7e609df5496da3e616ffcd0fe6e249800..96f84a14c7978ab6675661c6d5fab261e0ad3b92 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Float.h
@@ -48,6 +48,8 @@ namespace armarx::aron::data
Float(const float, const Path& = Path());
/* operators */
+ using detail::PrimitiveVariant<data::dto::AronFloat, float, Float>::operator==;
+
bool operator==(const Float&) const override;
bool operator==(const FloatPtr&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.h b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.h
index 5ee4a270f60bd2b21d8e2257c814f5dab8a0b759..738496f71bc51b4f0bdca92f57405a84a0dc2d22 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Int.h
@@ -49,6 +49,8 @@ namespace armarx::aron::data
Int(const int, const Path& = Path());
/* operators */
+ using detail::PrimitiveVariant<data::dto::AronInt, int, Int>::operator==;
+
bool operator==(const Int&) const override;
bool operator==(const IntPtr&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.h b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.h
index 97e3496c6b984ededccbc19422ecad3b5c65f17b..c28b603aa93f3b23750a310e84e9bcc6a9e7d501 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/Long.h
@@ -48,6 +48,8 @@ namespace armarx::aron::data
Long(const long, const Path& = Path());
/* operators */
+ using detail::PrimitiveVariant<data::dto::AronLong, long, Long>::operator==;
+
bool operator==(const Long&) const override;
bool operator==(const LongPtr&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.h b/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.h
index 21c23698c114262b3d71658288cef82e12e4747f..def1c80315934c55073314483fcda063fbd50e76 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/primitive/String.h
@@ -48,6 +48,7 @@ namespace armarx::aron::data
String(const std::string&, const Path& = Path());
/* operators */
+ using detail::PrimitiveVariant<data::dto::AronString, std::string, String>::operator==;
bool operator==(const String&) const override;
bool operator==(const StringPtr&) const override;