From 8670d5fcf3b7f998972e9db75166d45e6204b860 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 4 Dec 2023 14:28:55 +0100
Subject: [PATCH] Replace armarx::arondto::ObjectNames with
armarx::arondto::Names
---
.../libraries/ArmarXObjects/CMakeLists.txt | 1 -
.../ArmarXObjects/aron/ObjectNames.xml | 23 ---------
.../armem_objects/aron/ObjectClass.xml | 4 +-
.../armem_objects/aron_conversions.cpp | 50 +++++++++++--------
.../armem_objects/aron_conversions.h | 5 +-
.../armem_objects/server/class/Segment.cpp | 4 +-
.../RobotAPI/libraries/armem_objects/types.h | 3 +-
7 files changed, 37 insertions(+), 53 deletions(-)
delete mode 100644 source/RobotAPI/libraries/ArmarXObjects/aron/ObjectNames.xml
diff --git a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
index 3e503f9a7..879422d20 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
@@ -82,7 +82,6 @@ armarx_enable_aron_file_generation_for_target(
"${LIB_NAME}"
ARON_FILES
aron/ObjectID.xml
- aron/ObjectNames.xml
aron/ObjectPose.xml
aron/ObjectType.xml
aron/PoseManifoldGaussian.xml
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectNames.xml b/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectNames.xml
deleted file mode 100644
index eb99bea9c..000000000
--- a/source/RobotAPI/libraries/ArmarXObjects/aron/ObjectNames.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<!--
-Recognized and spoken names of a known object.
--->
-<?xml version="1.0" encoding="UTF-8" ?>
-<AronTypeDefinition>
- <GenerateTypes>
-
- <Object name="armarx::arondto::ObjectNames">
- <ObjectChild key="recognizedNames">
- <List>
- <String/>
- </List>
- </ObjectChild>
- <ObjectChild key="spokenNames">
- <List>
- <String/>
- </List>
- </ObjectChild>
- </Object>
-
- </GenerateTypes>
-</AronTypeDefinition>
-
diff --git a/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml b/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
index 019987f50..190e105b4 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
@@ -8,7 +8,7 @@ Core segment type of Object/Class.
<PackagePath package="RobotAPI" path="libraries/aron/common/aron/OrientedBox.xml" />
<PackagePath package="RobotAPI" path="libraries/aron/common/aron/PackagePath.xml" />
<PackagePath package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectID.xml" />
- <PackagePath package="RobotAPI" path="libraries/ArmarXObjects/aron/ObjectNames.xml" />
+ <PackagePath package="RobotAPI" path="libraries/aron/common/aron/Names.xml" />
<PackagePath package="RobotAPI" path="libraries/armem/aron/MemoryID.xml" />
</AronIncludes>
<GenerateTypes>
@@ -83,7 +83,7 @@ Core segment type of Object/Class.
</ObjectChild>
<ObjectChild key="names">
- <armarx::arondto::ObjectNames />
+ <armarx::arondto::Names />
</ObjectChild>
<ObjectChild key="ivtFeatures">
diff --git a/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp b/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp
index da32c2771..62ee858c9 100644
--- a/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp
@@ -4,50 +4,53 @@
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
-namespace armarx::armem
+namespace armarx
{
void
- fromAron(const arondto::ObjectInstance& dto, objpose::arondto::ObjectPose& bo)
+ armem::fromAron(const arondto::ObjectInstance& dto, objpose::arondto::ObjectPose& bo)
{
bo = dto.pose;
}
void
- toAron(arondto::ObjectInstance& dto, const objpose::arondto::ObjectPose& bo)
+ armem::toAron(arondto::ObjectInstance& dto, const objpose::arondto::ObjectPose& bo)
{
dto.pose = bo;
}
void
- fromAron(const arondto::ObjectInstance& dto, objpose::ObjectPose& bo)
+ armem::fromAron(const arondto::ObjectInstance& dto, objpose::ObjectPose& bo)
{
objpose::fromAron(dto.pose, bo);
}
void
- toAron(arondto::ObjectInstance& dto, const objpose::ObjectPose& bo)
+ armem::toAron(arondto::ObjectInstance& dto, const objpose::ObjectPose& bo)
{
objpose::toAron(dto.pose, bo);
}
/* Attachments */
void
- fromAron(const arondto::attachment::AgentDescription& dto, attachment::AgentDescription& bo)
+ armem::fromAron(const arondto::attachment::AgentDescription& dto,
+ attachment::AgentDescription& bo)
{
fromAron(dto.id, bo.id);
aron::fromAron(dto.frame, bo.frame);
}
void
- toAron(arondto::attachment::AgentDescription& dto, const attachment::AgentDescription& bo)
+ armem::toAron(arondto::attachment::AgentDescription& dto,
+ const attachment::AgentDescription& bo)
{
toAron(dto.id, bo.id);
aron::toAron(dto.frame, bo.frame);
}
void
- fromAron(const arondto::attachment::ObjectAttachment& dto, attachment::ObjectAttachment& bo)
+ armem::fromAron(const arondto::attachment::ObjectAttachment& dto,
+ attachment::ObjectAttachment& bo)
{
fromAron(dto.agent, bo.agent);
aron::fromAron(dto.transformation, bo.transformation);
@@ -57,7 +60,8 @@ namespace armarx::armem
}
void
- toAron(arondto::attachment::ObjectAttachment& dto, const attachment::ObjectAttachment& bo)
+ armem::toAron(arondto::attachment::ObjectAttachment& dto,
+ const attachment::ObjectAttachment& bo)
{
toAron(dto.agent, bo.agent);
aron::toAron(dto.transformation, bo.transformation);
@@ -67,8 +71,8 @@ namespace armarx::armem
}
void
- fromAron(const arondto::attachment::ArticulatedObjectAttachment& dto,
- attachment::ArticulatedObjectAttachment& bo)
+ armem::fromAron(const arondto::attachment::ArticulatedObjectAttachment& dto,
+ attachment::ArticulatedObjectAttachment& bo)
{
fromAron(dto.agent, bo.agent);
aron::fromAron(dto.transformation, bo.transformation);
@@ -78,8 +82,8 @@ namespace armarx::armem
}
void
- toAron(arondto::attachment::ArticulatedObjectAttachment& dto,
- const attachment::ArticulatedObjectAttachment& bo)
+ armem::toAron(arondto::attachment::ArticulatedObjectAttachment& dto,
+ const attachment::ArticulatedObjectAttachment& bo)
{
toAron(dto.agent, bo.agent);
aron::toAron(dto.transformation, bo.transformation);
@@ -89,7 +93,7 @@ namespace armarx::armem
}
void
- toAron(arondto::Marker& dto, const marker::Marker& bo)
+ armem::toAron(arondto::Marker& dto, const marker::Marker& bo)
{
dto.name = bo.name;
armarx::toAron(dto.robotGlobal, bo.robotGlobal);
@@ -100,7 +104,7 @@ namespace armarx::armem
}
void
- fromAron(const arondto::Marker& dto, marker::Marker& bo)
+ armem::fromAron(const arondto::Marker& dto, marker::Marker& bo)
{
bo.name = dto.name;
armarx::fromAron(dto.robotGlobal, bo.robotGlobal);
@@ -109,13 +113,13 @@ namespace armarx::armem
armarx::fromAron(dto.markerPose, bo.markerPose);
}
-} // namespace armarx::armem
+} // namespace armarx
-namespace armarx::armem::clazz
+namespace armarx::armem
{
void
- fromAron(const arondto::Feature& dto, Feature& bo)
+ clazz::fromAron(const arondto::Feature& dto, Feature& bo)
{
bo.angle = dto.angle;
bo.scale = dto.scale;
@@ -125,7 +129,7 @@ namespace armarx::armem::clazz
}
void
- toAron(arondto::Feature& dto, const Feature& bo)
+ clazz::toAron(arondto::Feature& dto, const Feature& bo)
{
dto.angle = bo.angle;
dto.scale = bo.scale;
@@ -135,7 +139,7 @@ namespace armarx::armem::clazz
}
void
- fromAron(const arondto::ObjectClass& dto, ObjectClass& bo)
+ clazz::fromAron(const arondto::ObjectClass& dto, ObjectClass& bo)
{
armarx::fromAron(dto.id, bo.id);
armarx::fromAron(dto.simoxXmlPath, bo.simoxXmlPath);
@@ -147,6 +151,7 @@ namespace armarx::armem::clazz
armarx::fromAron(dto.meshObjPath, bo.meshObjPath);
armarx::fromAron(dto.aabb, bo.aabb);
armarx::fromAron(dto.oobb, bo.oobb);
+ fromAron(dto.names, bo.names);
bo.ivtFeatures.clear();
for (const auto& i : dto.ivtFeatures)
{
@@ -155,7 +160,7 @@ namespace armarx::armem::clazz
}
void
- toAron(arondto::ObjectClass& dto, const ObjectClass& bo)
+ clazz::toAron(arondto::ObjectClass& dto, const ObjectClass& bo)
{
armarx::toAron(dto.id, bo.id);
armarx::toAron(dto.simoxXmlPath, bo.simoxXmlPath);
@@ -167,6 +172,7 @@ namespace armarx::armem::clazz
armarx::toAron(dto.meshObjPath, bo.meshObjPath);
armarx::toAron(dto.aabb, bo.aabb);
armarx::toAron(dto.oobb, bo.oobb);
+ toAron(dto.names, bo.names);
dto.ivtFeatures.clear();
for (const auto& i : bo.ivtFeatures)
{
@@ -174,7 +180,7 @@ namespace armarx::armem::clazz
}
}
-} // namespace armarx::armem::clazz
+} // namespace armarx::armem
armarx::armem::MemoryID
armarx::armem::obj::makeObjectInstanceMemoryID(const objpose::ObjectPose& objectPose)
diff --git a/source/RobotAPI/libraries/armem_objects/aron_conversions.h b/source/RobotAPI/libraries/armem_objects/aron_conversions.h
index b61164a5d..a41c7ccf4 100644
--- a/source/RobotAPI/libraries/armem_objects/aron_conversions.h
+++ b/source/RobotAPI/libraries/armem_objects/aron_conversions.h
@@ -1,6 +1,7 @@
#pragma once
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem_objects/aron/Attachment.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron/Marker.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
@@ -32,6 +33,7 @@ namespace armarx::armem
void fromAron(const arondto::Marker& dto, marker::Marker& bo);
void toAron(arondto::Marker& dto, const marker::Marker& bo);
+
} // namespace armarx::armem
namespace armarx::armem::clazz
@@ -44,10 +46,9 @@ namespace armarx::armem::clazz
} // namespace armarx::armem::clazz
-#include <RobotAPI/libraries/armem/core/MemoryID.h>
-
namespace armarx::armem::obj
{
/// Make a Memory ID for the object instance snapshot representing this pose.
MemoryID makeObjectInstanceMemoryID(const objpose::ObjectPose& objectPose);
+
} // namespace armarx::armem::obj
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index c841afc4d..b827d07ed 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -206,11 +206,11 @@ namespace armarx::armem::server::obj::clazz
if (auto recogNames = info.loadRecognizedNames())
{
- data.names.recognizedNames = recogNames.value();
+ data.names.recognized = recogNames.value();
}
if (auto spokenNames = info.loadSpokenNames())
{
- data.names.spokenNames = spokenNames.value();
+ data.names.spoken = spokenNames.value();
}
return data;
diff --git a/source/RobotAPI/libraries/armem_objects/types.h b/source/RobotAPI/libraries/armem_objects/types.h
index 598c78ca9..564bf3b46 100644
--- a/source/RobotAPI/libraries/armem_objects/types.h
+++ b/source/RobotAPI/libraries/armem_objects/types.h
@@ -30,6 +30,7 @@
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem_robot/types.h>
#include <RobotAPI/libraries/core/FramedPose.h>
+#include <RobotAPI/libraries/core/Names.h>
#include "aron_forward_declarations.h"
@@ -67,7 +68,7 @@ namespace armarx::armem::clazz
armarx::PackagePath meshObjPath;
simox::AxisAlignedBoundingBox aabb;
simox::OrientedBoxf oobb;
- // TODO NAMES
+ armarx::Names names;
std::vector<Feature> ivtFeatures;
};
} // namespace armarx::armem::clazz
--
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