From c63ed3acf21a718f90d2d92202b9c7fd02db33dd Mon Sep 17 00:00:00 2001
From: "Christian R. G. Dreher" <c.dreher@kit.edu>
Date: Thu, 1 Oct 2020 15:48:01 +0200
Subject: [PATCH] feature: Add JSON conversions for FramedPose.
---
source/RobotAPI/libraries/core/CMakeLists.txt | 2 +
.../libraries/core/json_conversions.h | 64 +++++++++++++++++++
2 files changed, 66 insertions(+)
create mode 100644 source/RobotAPI/libraries/core/json_conversions.h
diff --git a/source/RobotAPI/libraries/core/CMakeLists.txt b/source/RobotAPI/libraries/core/CMakeLists.txt
index 6cb265f6f..5743f098b 100644
--- a/source/RobotAPI/libraries/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/core/CMakeLists.txt
@@ -108,6 +108,8 @@ set(LIB_HEADERS
#diffik/NaturalDiffIK.h
#diffik/SimpleDiffIK.h
+
+ json_conversions.h
)
add_subdirectory(test)
diff --git a/source/RobotAPI/libraries/core/json_conversions.h b/source/RobotAPI/libraries/core/json_conversions.h
new file mode 100644
index 000000000..bccd85c68
--- /dev/null
+++ b/source/RobotAPI/libraries/core/json_conversions.h
@@ -0,0 +1,64 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::Core
+ * @author Christian R. G. Dreher <c.dreher@kit.edu>
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+
+#pragma once
+
+
+// Simox
+#include <SimoxUtility/json.h>
+
+// RobotAPI
+#include <RobotAPI/libraries/core/FramedPose.h>
+
+
+namespace armarx
+{
+ void to_json(nlohmann::json& j, const FramedPose& fp)
+ {
+ j = nlohmann::json
+ {
+ {"agent", fp.agent},
+ {"frame", fp.frame},
+ {"qw", fp.orientation->qw},
+ {"qx", fp.orientation->qx},
+ {"qy", fp.orientation->qy},
+ {"qz", fp.orientation->qz},
+ {"x", fp.position->x},
+ {"y", fp.position->y},
+ {"z", fp.position->z}
+ };
+ }
+
+ void from_json(const nlohmann::json& j, FramedPose& fp)
+ {
+ j.at("agent").get_to(fp.agent);
+ j.at("frame").get_to(fp.frame);
+ j.at("qw").get_to(fp.orientation->qw);
+ j.at("qx").get_to(fp.orientation->qx);
+ j.at("qy").get_to(fp.orientation->qy);
+ j.at("qz").get_to(fp.orientation->qz);
+ j.at("x").get_to(fp.position->x);
+ j.at("y").get_to(fp.position->y);
+ j.at("z").get_to(fp.position->z);
+ }
+}
--
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