added robotpool for robotunit robots

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp

@@ -26,6 +26,8 @@
 #include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
 #include <ArmarXCore/core/system/ArmarXDataPath.h>
 
+#include <RobotAPI/libraries/core/RobotPool.h>
+
 #include "RobotUnitModuleRobotData.h"
 
 namespace armarx
@@ -73,8 +75,8 @@ namespace armarx
             throwIfInControlThread(BOOST_CURRENT_FUNCTION);
             std::lock_guard<std::mutex> guard {robotMutex};
             ARMARX_CHECK_EXPRESSION_W_HINT(robot, __FUNCTION__ << " should only be called after _initVirtualRobot was called");
-            ARMARX_CHECK_EXPRESSION(robot);
-            const VirtualRobot::RobotPtr clone = robot->clone();
+            ARMARX_CHECK_EXPRESSION(robotPool);
+            const VirtualRobot::RobotPtr clone = robotPool->getRobot();
             clone->setUpdateVisualization(false);
             clone->setUpdateCollisionModel(updateCollisionModel);
             return clone;
@@ -123,6 +125,7 @@ namespace armarx
                             << "\n\tRobotNodeSet : " << robotNodeSetName
                             << "\n\tNodeNames    : " << robot->getRobotNodeSet(robotNodeSetName)->getNodeNames();
                 ARMARX_CHECK_NOT_NULL(robot);
+                robotPool.reset(new RobotPool(robot, 10));
             }
         }
     }

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.h

@@ -32,6 +32,8 @@
 
 namespace armarx
 {
+    typedef std::shared_ptr<class RobotPool> RobotPoolPtr;
+
     namespace RobotUnitModule
     {
         class RobotDataPropertyDefinitions: public ModuleBasePropertyDefinitions
@@ -129,6 +131,7 @@ namespace armarx
 
             /// @brief The robot's model.
             boost::shared_ptr<VirtualRobot::Robot> robot;
+            RobotPoolPtr robotPool;
             /// @brief A mutex guarding \ref robot
             mutable std::mutex robotMutex;
         };