From d391c336b69792a84979af53ad62ba6f00dfd400 Mon Sep 17 00:00:00 2001
From: alissa <alissamueller@outlook.de>
Date: Sat, 12 Jun 2021 18:55:06 +0200
Subject: [PATCH] Renamed ObjectTypeEnum in objpose to ObjectType and deleted
redundant ObjectTypeEnum in grasping
---
.../config/GraspProviderExample.cfg | 8 ----
.../ObjectPoseProviderExample.cpp | 4 +-
.../GraspProviderExample.cpp | 1 -
.../units/GraspCandidateObserver.cpp | 11 +++---
.../components/units/GraspCandidateObserver.h | 2 +-
.../GraspCandidateViewerWidgetController.cpp | 6 +--
.../ObjectPoseGuiWidgetController.cpp | 2 +-
.../objectpose/ObjectPoseProvider.ice | 2 +-
.../objectpose/object_pose_types.ice | 9 +++--
.../GraspCandidateObserverInterface.ice | 2 +-
.../units/GraspCandidateProviderInterface.ice | 13 ++++---
.../libraries/ArmarXObjects/ObjectPose.h | 2 +-
.../aron_conversions/objpose.cpp | 16 ++++----
.../ArmarXObjects/aron_conversions/objpose.h | 4 +-
.../ArmarXObjects/ice_conversions.cpp | 8 ++--
.../libraries/ArmarXObjects/ice_conversions.h | 2 +-
.../ArmarXObjects/json_conversions.cpp | 4 +-
.../libraries/GraspingUtility/CMakeLists.txt | 1 +
.../GraspingUtility/GraspCandidateWriter.cpp | 2 -
.../GraspingUtility/aron_conversions.cpp | 38 -------------------
.../GraspingUtility/aron_conversions.h | 3 --
.../box_to_grasp_candidates.cpp | 2 +-
22 files changed, 49 insertions(+), 93 deletions(-)
diff --git a/scenarios/ArmemGraspMemory/config/GraspProviderExample.cfg b/scenarios/ArmemGraspMemory/config/GraspProviderExample.cfg
index ec01b1a9a..9df508c17 100644
--- a/scenarios/ArmemGraspMemory/config/GraspProviderExample.cfg
+++ b/scenarios/ArmemGraspMemory/config/GraspProviderExample.cfg
@@ -136,14 +136,6 @@
# ArmarX.GraspProviderExample.tpc.pub.DebugObserver = DebugObserver
-# ArmarX.GraspProviderExample.tpc.sub.MemoryListener: Name of the `MemoryListener` topic to subscribe to.
-# Attributes:
-# - Default: MemoryUpdates
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.GraspProviderExample.tpc.sub.MemoryListener = MemoryUpdates
-
-
# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
# Attributes:
# - Default: ""
diff --git a/source/RobotAPI/components/ObjectPoseProviderExample/ObjectPoseProviderExample.cpp b/source/RobotAPI/components/ObjectPoseProviderExample/ObjectPoseProviderExample.cpp
index c0ef77b2f..849456898 100644
--- a/source/RobotAPI/components/ObjectPoseProviderExample/ObjectPoseProviderExample.cpp
+++ b/source/RobotAPI/components/ObjectPoseProviderExample/ObjectPoseProviderExample.cpp
@@ -59,7 +59,7 @@ namespace armarx
}
{
- providerInfo.objectType = objpose::ObjectTypeEnum::KnownObject;
+ providerInfo.objectType = objpose::ObjectType::KnownObject;
std::vector<ObjectInfo> objects = objectFinder.findAllObjectsOfDataset("KIT");
for (const auto& obj : objects)
{
@@ -152,7 +152,7 @@ namespace armarx
armarx::objpose::data::ProvidedObjectPose& pose = poses.emplace_back();
pose.providerName = getName();
- pose.objectType = objpose::ObjectTypeEnum::KnownObject;
+ pose.objectType = objpose::ObjectType::KnownObject;
pose.objectID.dataset = info.id().dataset();
pose.objectID.className = info.id().className();
diff --git a/source/RobotAPI/components/armem/client/GraspProviderExample/GraspProviderExample.cpp b/source/RobotAPI/components/armem/client/GraspProviderExample/GraspProviderExample.cpp
index 064ae5639..841291b91 100644
--- a/source/RobotAPI/components/armem/client/GraspProviderExample/GraspProviderExample.cpp
+++ b/source/RobotAPI/components/armem/client/GraspProviderExample/GraspProviderExample.cpp
@@ -113,7 +113,6 @@ namespace armarx
candidate.graspPose = PoseBasePtr(toIce(Eigen::Matrix4f()));
candidate.providerName = "Example";
candidate.robotPose = PoseBasePtr(toIce(Eigen::Matrix4f()));
-
writer.storeGraspCandidate(candidate, IceUtil::Time::now().toMilliSeconds());
// initialize all necessary fields of a bimanual grasp candidate and use writer to commit it to memory
diff --git a/source/RobotAPI/components/units/GraspCandidateObserver.cpp b/source/RobotAPI/components/units/GraspCandidateObserver.cpp
index 8e0bf7887..8b3f0299e 100644
--- a/source/RobotAPI/components/units/GraspCandidateObserver.cpp
+++ b/source/RobotAPI/components/units/GraspCandidateObserver.cpp
@@ -79,27 +79,28 @@ bool GraspCandidateObserver::FilterMatches(const CandidateFilterConditionPtr& fi
{
return false;
}
- if (filter->objectType != AnyObject && filter->objectType != candidate->objectType)
+ if (filter->objectType != objpose::AnyObject && filter->objectType != candidate->objectType)
{
return false;
}
return true;
}
-std::string GraspCandidateObserver::ObjectTypeToString(ObjectTypeEnum type)
+std::string GraspCandidateObserver::ObjectTypeToString(objpose::ObjectType type)
{
switch (type)
{
- case grasping::AnyObject:
+ case objpose::AnyObject:
return "AnyObject";
- case grasping::KnownObject:
+ case objpose::KnownObject:
return "KnownObject";
- case grasping::UnknownObject:
+ case objpose::UnknownObject:
return "UnknownObject";
default:
return "ERROR";
}
}
+
void GraspCandidateObserver::handleProviderUpdate(const std::string& providerName, int candidateCount)
{
if (updateCounters.count(providerName) == 0)
diff --git a/source/RobotAPI/components/units/GraspCandidateObserver.h b/source/RobotAPI/components/units/GraspCandidateObserver.h
index 67adec25e..f4bb0ba3e 100644
--- a/source/RobotAPI/components/units/GraspCandidateObserver.h
+++ b/source/RobotAPI/components/units/GraspCandidateObserver.h
@@ -72,7 +72,7 @@ namespace armarx
public:
static bool FilterMatches(const grasping::CandidateFilterConditionPtr& filter, const std::string& providerName, const grasping::GraspCandidatePtr& candidate);
- static std::string ObjectTypeToString(grasping::ObjectTypeEnum type);
+ static std::string ObjectTypeToString(objpose::ObjectType type);
// GraspCandidateProviderListener interface
public:
diff --git a/source/RobotAPI/gui-plugins/GraspCandidateViewer/GraspCandidateViewerWidgetController.cpp b/source/RobotAPI/gui-plugins/GraspCandidateViewer/GraspCandidateViewerWidgetController.cpp
index a46e191dc..0cddd8405 100644
--- a/source/RobotAPI/gui-plugins/GraspCandidateViewer/GraspCandidateViewerWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/GraspCandidateViewer/GraspCandidateViewerWidgetController.cpp
@@ -260,13 +260,13 @@ namespace armarx
_ui.labelGraspgroupNr ->setText(QString::number(e->gc->groupNr));
switch (e->gc->objectType)
{
- case grasping::ObjectTypeEnum::AnyObject :
+ case objpose::ObjectType::AnyObject :
_ui.labelGraspObjType->setText("AnyObject");
break;
- case grasping::ObjectTypeEnum::KnownObject :
+ case objpose::ObjectType::KnownObject :
_ui.labelGraspObjType->setText("KnownObject");
break;
- case grasping::ObjectTypeEnum::UnknownObject :
+ case objpose::ObjectType::UnknownObject :
_ui.labelGraspObjType->setText("UnknownObject");
break;
}
diff --git a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
index dffe7711d..be5ae9846 100644
--- a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
@@ -216,7 +216,7 @@ namespace armarx
int col = 0;
item->setText(col++, QString::fromStdString(pose.objectID.str()));
item->setText(col++, QString::fromStdString(pose.providerName));
- item->setText(col++, QString::fromStdString(objpose::ObjectTypeEnumNames.to_name(pose.objectType)));
+ item->setText(col++, QString::fromStdString(objpose::ObjectTypeNames.to_name(pose.objectType)));
{
std::stringstream ss;
diff --git a/source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice b/source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice
index 18201e65d..7eef5984e 100644
--- a/source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice
+++ b/source/RobotAPI/interface/objectpose/ObjectPoseProvider.ice
@@ -37,7 +37,7 @@ module armarx
struct ProviderInfo
{
ObjectPoseProvider* proxy;
- ObjectTypeEnum objectType = AnyObject;
+ ObjectType objectType = AnyObject;
armarx::data::ObjectIDSeq supportedObjects;
};
dictionary<string, ProviderInfo> ProviderInfoMap;
diff --git a/source/RobotAPI/interface/objectpose/object_pose_types.ice b/source/RobotAPI/interface/objectpose/object_pose_types.ice
index 385da35e3..f104719fa 100644
--- a/source/RobotAPI/interface/objectpose/object_pose_types.ice
+++ b/source/RobotAPI/interface/objectpose/object_pose_types.ice
@@ -32,11 +32,14 @@ module armarx
// A struct's name cannot cannot differ only in capitalization from its immediately enclosing module name.
module objpose
{
- enum ObjectTypeEnum
+ // ObjectTypeEnum is now renamed to ObjectType
+ enum ObjectType
{
AnyObject, KnownObject, UnknownObject
};
+
+
class AABB
{
Vector3Base center;
@@ -63,7 +66,7 @@ module armarx
/// Name of the providing component.
string providerName;
/// Known or unknown object.
- ObjectTypeEnum objectType = AnyObject;
+ ObjectType objectType = AnyObject;
/// The object ID, i.e. dataset and name.
armarx::data::ObjectID objectID;
@@ -91,7 +94,7 @@ module armarx
/// Name of the providing component.
string providerName;
/// Known or unknown object.
- ObjectTypeEnum objectType = AnyObject;
+ ObjectType objectType = AnyObject;
/// The object ID, i.e. dataset and name.
armarx::data::ObjectID objectID;
diff --git a/source/RobotAPI/interface/observers/GraspCandidateObserverInterface.ice b/source/RobotAPI/interface/observers/GraspCandidateObserverInterface.ice
index 5a59f5b44..b60aa19c3 100644
--- a/source/RobotAPI/interface/observers/GraspCandidateObserverInterface.ice
+++ b/source/RobotAPI/interface/observers/GraspCandidateObserverInterface.ice
@@ -35,7 +35,7 @@ module armarx
{
string providerName = "*";
float minimumSuccessProbability = 0;
- ObjectTypeEnum objectType = AnyObject;
+ armarx::objpose::ObjectType objectType = AnyObject;
ApertureType preshape = AnyAperture;
ApproachType approach = AnyApproach;
diff --git a/source/RobotAPI/interface/units/GraspCandidateProviderInterface.ice b/source/RobotAPI/interface/units/GraspCandidateProviderInterface.ice
index ac4da1da0..8d4cf2557 100644
--- a/source/RobotAPI/interface/units/GraspCandidateProviderInterface.ice
+++ b/source/RobotAPI/interface/units/GraspCandidateProviderInterface.ice
@@ -27,14 +27,17 @@
#include <RobotAPI/interface/core/FramedPoseBase.ice>
#include <ArmarXCore/interface/observers/VariantBase.ice>
#include <ArmarXCore/interface/observers/RequestableService.ice>
+#include <RobotAPI/interface/objectpose/object_pose_types.ice>
module armarx
{
module grasping
{
- enum ObjectTypeEnum {
+ // Grasping will now use ObjectType from armarx::objpose in <RobotAPI/interface/objectpose/object_pose_types.ice>
+ /*enum ObjectTypeEnum {
AnyObject, KnownObject, UnknownObject
- };
+ };*/
+
enum ApproachType {
AnyApproach, TopApproach, SideApproach
};
@@ -87,7 +90,7 @@ module armarx
float graspSuccessProbability;
- ObjectTypeEnum objectType = AnyObject;
+ armarx::objpose::ObjectType objectType = AnyObject;
int groupNr = -1; // used to match candidates that belog together, e.g. from the same object or point cloud segment
string providerName;
@@ -113,7 +116,7 @@ module armarx
//float graspSuccessProbability;
- ObjectTypeEnum objectType = AnyObject;
+ armarx::objpose::ObjectType objectType = AnyObject;
int groupNr = -1; // used to match candidates that belog together, e.g. from the same object or point cloud segment
string providerName;
@@ -130,7 +133,7 @@ module armarx
class ProviderInfo
{
- ObjectTypeEnum objectType = AnyObject;
+ armarx::objpose::ObjectType objectType = AnyObject;
StringVariantBaseMap currentConfig;
};
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h
index 023d6351f..d7eef22b7 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h
@@ -46,7 +46,7 @@ namespace armarx::objpose
/// Name of the providing component.
std::string providerName;
/// Known or unknown object.
- ObjectTypeEnum objectType = AnyObject;
+ ObjectType objectType = AnyObject;
/// The object ID, i.e. dataset, class name and instance name.
armarx::ObjectID objectID;
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
index 2de8a3da0..e91685207 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.cpp
@@ -19,33 +19,33 @@ void armarx::objpose::toAron(arondto::ObjectAttachmentInfo& dto, const ObjectAtt
dto.poseInFrame = bo.poseInFrame;
}
-void armarx::objpose::fromAron(const arondto::ObjectType& dto, ObjectTypeEnum& bo)
+void armarx::objpose::fromAron(const arondto::ObjectType& dto, ObjectType& bo)
{
switch (dto.value)
{
case arondto::ObjectType::AnyObject:
- bo = ObjectTypeEnum::AnyObject;
+ bo = ObjectType::AnyObject;
return;
case arondto::ObjectType::KnownObject:
- bo = ObjectTypeEnum::KnownObject;
+ bo = ObjectType::KnownObject;
return;
case arondto::ObjectType::UnknownObject:
- bo = ObjectTypeEnum::UnknownObject;
+ bo = ObjectType::UnknownObject;
return;
}
ARMARX_UNEXPECTED_ENUM_VALUE(arondto::ObjectType, dto.value);
}
-void armarx::objpose::toAron(arondto::ObjectType& dto, const ObjectTypeEnum& bo)
+void armarx::objpose::toAron(arondto::ObjectType& dto, const ObjectType& bo)
{
switch (bo)
{
- case ObjectTypeEnum::AnyObject:
+ case ObjectType::AnyObject:
dto.value = arondto::ObjectType::AnyObject;
return;
- case ObjectTypeEnum::KnownObject:
+ case ObjectType::KnownObject:
dto.value = arondto::ObjectType::KnownObject;
return;
- case ObjectTypeEnum::UnknownObject:
+ case ObjectType::UnknownObject:
dto.value = arondto::ObjectType::UnknownObject;
return;
}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.h b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.h
index afe31e500..c89a075be 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/aron_conversions/objpose.h
@@ -12,8 +12,8 @@ namespace armarx::objpose
void fromAron(const arondto::ObjectAttachmentInfo& dto, ObjectAttachmentInfo& bo);
void toAron(arondto::ObjectAttachmentInfo& dto, const ObjectAttachmentInfo& bo);
- void fromAron(const arondto::ObjectType& dto, ObjectTypeEnum& bo);
- void toAron(arondto::ObjectType& dto, const ObjectTypeEnum& bo);
+ void fromAron(const arondto::ObjectType& dto, ObjectType& bo);
+ void toAron(arondto::ObjectType& dto, const ObjectType& bo);
void fromAron(const arondto::ObjectPose& dto, ObjectPose& bo);
void toAron(arondto::ObjectPose& dto, const ObjectPose& bo);
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ice_conversions.cpp b/source/RobotAPI/libraries/ArmarXObjects/ice_conversions.cpp
index 671576041..ccbae7e21 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ice_conversions.cpp
@@ -82,11 +82,11 @@ armarx::data::ObjectIDSeq armarx::toIce(const std::vector<ObjectID>& ids)
namespace armarx
{
- const simox::meta::EnumNames<objpose::ObjectTypeEnum> objpose::ObjectTypeEnumNames =
+ const simox::meta::EnumNames<objpose::ObjectType> objpose::ObjectTypeNames =
{
- { objpose::ObjectTypeEnum::AnyObject, "AnyObject" },
- { objpose::ObjectTypeEnum::KnownObject, "KnownObject" },
- { objpose::ObjectTypeEnum::UnknownObject, "UnknownObject" }
+ { objpose::ObjectType::AnyObject, "AnyObject" },
+ { objpose::ObjectType::KnownObject, "KnownObject" },
+ { objpose::ObjectType::UnknownObject, "UnknownObject" }
};
objpose::AABB objpose::toIce(const simox::AxisAlignedBoundingBox& aabb)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ice_conversions.h b/source/RobotAPI/libraries/ArmarXObjects/ice_conversions.h
index 39ebc2050..429d6246c 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ice_conversions.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ice_conversions.h
@@ -41,7 +41,7 @@ namespace armarx
namespace armarx::objpose
{
- extern const simox::meta::EnumNames<objpose::ObjectTypeEnum> ObjectTypeEnumNames;
+ extern const simox::meta::EnumNames<objpose::ObjectType> ObjectTypeNames;
objpose::AABB toIce(const simox::AxisAlignedBoundingBox& aabb);
diff --git a/source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp b/source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp
index 389aae5e2..388885589 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp
@@ -26,7 +26,7 @@ void armarx::from_json(const nlohmann::json& j, ObjectID& id)
void armarx::objpose::to_json(nlohmann::json& j, const ObjectPose& op)
{
j["providerName"] = op.providerName;
- j["objectType"] = ObjectTypeEnumNames.to_name(op.objectType);
+ j["objectType"] = ObjectTypeNames.to_name(op.objectType);
j["objectID"] = op.objectID;
@@ -51,7 +51,7 @@ void armarx::objpose::to_json(nlohmann::json& j, const ObjectPose& op)
void armarx::objpose::from_json(const nlohmann::json& j, ObjectPose& op)
{
op.providerName = j.at("providerName");
- op.objectType = ObjectTypeEnumNames.from_name(j.at("objectType"));
+ op.objectType = ObjectTypeNames.from_name(j.at("objectType"));
op.objectID = j.at("objectID");
diff --git a/source/RobotAPI/libraries/GraspingUtility/CMakeLists.txt b/source/RobotAPI/libraries/GraspingUtility/CMakeLists.txt
index 11e12b59d..cce3efe6d 100644
--- a/source/RobotAPI/libraries/GraspingUtility/CMakeLists.txt
+++ b/source/RobotAPI/libraries/GraspingUtility/CMakeLists.txt
@@ -7,6 +7,7 @@ armarx_add_library(
LIBS RobotAPICore
RobotStatechartHelpers # Contains RobotNameHelper
RobotAPI::armem
+ RobotAPI::ArmarXObjects
SOURCES box_to_grasp_candidates.cpp
grasp_candidate_drawer.cpp
GraspCandidateHelper.cpp
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
index 1cd6d4667..2d120e575 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateWriter.cpp
@@ -48,9 +48,7 @@ namespace armarx::armem
const int64_t& timestamp)
{
armarx::grasping::arondto::GraspCandidate aronGraspCandidate;
-
toAron(aronGraspCandidate, candidate);
-
auto dict = aronGraspCandidate.toAron();
return commitToMemory(dict, candidate.providerName, timestamp, properties.graspMemoryName);
diff --git a/source/RobotAPI/libraries/GraspingUtility/aron_conversions.cpp b/source/RobotAPI/libraries/GraspingUtility/aron_conversions.cpp
index b2e421a72..4f64c8dad 100644
--- a/source/RobotAPI/libraries/GraspingUtility/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/aron_conversions.cpp
@@ -303,44 +303,6 @@ void armarx::grasping::toAron(armarx::grasping::arondto::GraspCandidateExecution
dto.graspTrajectoryName = bo.graspTrajectoryName;
}
-void armarx::grasping::fromAron(const armarx::objpose::arondto::ObjectType& dto,
- armarx::grasping::ObjectTypeEnum& bo)
-{
- switch (dto.value)
- {
- case armarx::objpose::arondto::ObjectType::AnyObject:
- bo = ObjectTypeEnum::AnyObject;
- return;
- case armarx::objpose::arondto::ObjectType::KnownObject:
- bo = ObjectTypeEnum::KnownObject;
- return;
- case armarx::objpose::arondto::ObjectType::UnknownObject:
- bo = ObjectTypeEnum::UnknownObject;
- return;
- }
- ARMARX_UNEXPECTED_ENUM_VALUE(arondto::ObjectType, dto.value);
-
-}
-
-void armarx::grasping::toAron(armarx::objpose::arondto::ObjectType& dto,
- const armarx::grasping::ObjectTypeEnum& bo)
-{
- switch (bo)
- {
- case ObjectTypeEnum::AnyObject:
- dto.value = armarx::objpose::arondto::ObjectType::AnyObject;
- return;
- case ObjectTypeEnum::KnownObject:
- dto.value = armarx::objpose::arondto::ObjectType::KnownObject;
- return;
- case ObjectTypeEnum::UnknownObject:
- dto.value = armarx::objpose::arondto::ObjectType::UnknownObject;
- return;
- }
- ARMARX_UNEXPECTED_ENUM_VALUE(ObjectTypeEnum, bo);
-
-}
-
void armarx::grasping::fromAron(const armarx::grasping::arondto::ApproachType& dto,
armarx::grasping::ApproachType& bo)
{
diff --git a/source/RobotAPI/libraries/GraspingUtility/aron_conversions.h b/source/RobotAPI/libraries/GraspingUtility/aron_conversions.h
index a5f85b3fb..9e1ac4ca2 100644
--- a/source/RobotAPI/libraries/GraspingUtility/aron_conversions.h
+++ b/source/RobotAPI/libraries/GraspingUtility/aron_conversions.h
@@ -8,9 +8,6 @@ namespace armarx
{
namespace grasping
{
- void fromAron(const armarx::objpose::arondto::ObjectType& dto, ObjectTypeEnum& bo);
- void toAron(armarx::objpose::arondto::ObjectType& dto, const ObjectTypeEnum& bo);
-
void fromAron(const arondto::ApproachType& dto, ApproachType& bo);
void toAron(arondto::ApproachType& dto, const ApproachType& bo);
diff --git a/source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.cpp b/source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.cpp
index 3082a9367..628824cb3 100644
--- a/source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.cpp
@@ -292,7 +292,7 @@ namespace armarx
gc->providerName = provider_name;
gc->side = side_name;
gc->approachVector = new armarx::Vector3(approach);
- gc->objectType = armarx::grasping::UnknownObject;
+ gc->objectType = armarx::objpose::UnknownObject;
gc->sourceFrame = "root";
gc->targetFrame = "root";
return gc;
--
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