diff --git a/source/RobotAPI/libraries/core/FramedPose.cpp b/source/RobotAPI/libraries/core/FramedPose.cpp
index de30cd40ab4a64109dd778e54447236f3ebf1137..4b22c5cff5fd77119a7ee3f1841ea811a9488730 100644
--- a/source/RobotAPI/libraries/core/FramedPose.cpp
+++ b/source/RobotAPI/libraries/core/FramedPose.cpp
@@ -1,11 +1,6 @@
#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
-// boost includes
-#include <boost/property_tree/ptree.hpp>
-#include <boost/property_tree/xml_parser.hpp>
-
-
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/LinkedCoordinate.h>
@@ -169,34 +164,6 @@ namespace armarx
return toNewFrame;
}
- int FramedDirection::readFromXML(const string& xmlData, const Ice::Current& c)
- {
- int result = Vector3::readFromXML(xmlData);
-
- boost::property_tree::ptree pt = Variant::GetPropertyTree(xmlData);
-
- frame = (pt.get<std::string>("frame"));
-
- return result;
- }
-
- string FramedDirection::writeAsXML(const Ice::Current& c)
- {
- using namespace boost::property_tree;
- ptree pt = Variant::GetPropertyTree(Vector3::writeAsXML());
- pt.add("frame", frame);
-
-#if BOOST_VERSION >= 105600
- boost::property_tree::xml_parser::xml_writer_settings<std::string> settings('\t', 1);
-#else
- boost::property_tree::xml_parser::xml_writer_settings<char> settings('\t', 1);
-#endif
-
- std::stringstream stream;
- xml_parser::write_xml(stream, pt, settings);
-
- return stream.str();
- }
void FramedDirection::serialize(const ObjectSerializerBasePtr& serializer, const Ice::Current&) const
{
@@ -361,25 +328,6 @@ namespace armarx
return newPose;
}
- int FramedPose::readFromXML(const string& xmlData, const Ice::Current& c)
- {
- boost::property_tree::ptree pt = Variant::GetPropertyTree(xmlData);
-
-
- Pose::readFromXML(xmlData);
- frame = (pt.get<std::string>("frame"));
-
- return 1;
- }
-
- string FramedPose::writeAsXML(const Ice::Current&)
- {
- using namespace boost::property_tree;
- std::stringstream stream;
- stream << Pose::writeAsXML()
- << "<frame>" << frame << "</frame>";
- return stream.str();
- }
FramedPositionPtr FramedPose::getPosition() const
{
@@ -549,31 +497,6 @@ namespace armarx
return s.str();
}
- int FramedPosition::readFromXML(const string& xmlData, const Ice::Current& c)
- {
- using namespace boost::property_tree;
- ptree pt;
- std::stringstream stream;
- stream << xmlData;
- xml_parser::read_xml(stream, pt);
-
- Vector3::readFromXML(xmlData);
- frame = (pt.get<std::string>("frame"));
- agent = (pt.get<std::string>("agent"));
-
- return 1;
- }
-
- string FramedPosition::writeAsXML(const Ice::Current&)
- {
- using namespace boost::property_tree;
- std::stringstream stream;
- stream << Vector3::writeAsXML() <<
- "<frame>" << frame << "</frame>" <<
- "<agent>" << agent << "</agent>";
- return stream.str();
- }
-
void FramedPosition::serialize(const ObjectSerializerBasePtr& serializer, const ::Ice::Current& c) const
{
AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
@@ -729,31 +652,6 @@ namespace armarx
return newPos;
}
- int FramedOrientation::readFromXML(const string& xmlData, const Ice::Current& c)
- {
- using namespace boost::property_tree;
- ptree pt;
- std::stringstream stream;
- stream << xmlData;
- xml_parser::read_xml(stream, pt);
-
- Quaternion::readFromXML(xmlData);
- frame = (pt.get<std::string>("frame"));
- agent = (pt.get<std::string>("agent"));
-
- return 1;
- }
-
- string FramedOrientation::writeAsXML(const Ice::Current&)
- {
- using namespace boost::property_tree;
- std::stringstream stream;
- stream << Quaternion::writeAsXML() <<
- "<frame>" << frame << "</frame>" <<
- "<agent>" << agent << "</agent>";
- return stream.str();
- }
-
void FramedOrientation::serialize(const ObjectSerializerBasePtr& serializer, const ::Ice::Current& c) const
{
AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
diff --git a/source/RobotAPI/libraries/core/FramedPose.h b/source/RobotAPI/libraries/core/FramedPose.h
index b247d8aaa8534175a05f089bfc9a55bdfaf6e443..fb60bb5e3c3eceb404bde7d9b8b94b23851f386f 100644
--- a/source/RobotAPI/libraries/core/FramedPose.h
+++ b/source/RobotAPI/libraries/core/FramedPose.h
@@ -22,19 +22,20 @@
#ifndef _ARMARX_COMPONENT_RobotAPI_FramedPose_H
#define _ARMARX_COMPONENT_RobotAPI_FramedPose_H
-#include <sstream>
-#include <Eigen/Core>
-#include <Eigen/Geometry>
+#include "Pose.h"
#include <RobotAPI/interface/core/FramedPoseBase.h>
#include <RobotAPI/interface/core/RobotState.h>
+
#include <ArmarXCore/observers/variant/Variant.h>
#include <ArmarXCore/observers/AbstractObjectSerializer.h>
-
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <RobotAPI/libraries/core/Pose.h>
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+
+#include <sstream>
namespace VirtualRobot
{
@@ -113,23 +114,6 @@ namespace armarx
return true;
}
- /**
- * @brief Implementation of virtual function to read a FramedDirection from an XML-file.
- *Example xml-layout:
- * @code
- * <frame>leftHand</frame>
- * <x>0</x>
- * <y>0</y>
- * <z>0</z>
- * @endcode
-
- * @param xmlData String with xml-data. NOT a file path!
- * @return ErrorCode, 1 on Success
- * @deprecated
- */
- int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
-
friend std::ostream& operator<<(std::ostream& stream, const FramedDirection& rhs)
{
stream << "FramedDirection: " << std::endl << rhs.output() << std::endl;
@@ -191,23 +175,6 @@ namespace armarx
return true;
}
- /**
- * @brief Implementation of virtual function to read a FramedPosition from an XML-file.
- *Example xml-layout:
- * @code
- * <frame>leftHand</frame>
- * <x>0</x>
- * <y>0</y>
- * <z>0</z>
- * @endcode
-
- * @param xmlData String with xml-data. NOT a file path!
- * @return ErrorCode, 1 on Success
- * @deprecated
- */
- int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
-
friend std::ostream& operator<<(std::ostream& stream, const FramedPosition& rhs)
{
stream << "FramedPosition: " << std::endl << rhs.output() << std::endl;
@@ -265,24 +232,6 @@ namespace armarx
void changeToGlobal(const VirtualRobot::RobotPtr& referenceRobot);
FramedOrientationPtr toGlobal(const SharedRobotInterfacePrx& referenceRobot) const;
FramedOrientationPtr toGlobal(const VirtualRobot::RobotPtr& referenceRobot) const;
- /**
- * @brief Implementation of virtual function to read a FramedOrientation from an XML-file.
- *Example xml-layout:
- * @code
- * <frame>leftHand</frame>
- * <qw>0.45</qw>
- * <qx>0.2</qx>
- * <qy>0</qy>
- * <qz>0</qz>
- * @endcode
-
- * @param xmlData String with xml-data. NOT a file path!
- * @param c
- * @return ErrorCode, 1 on Success
- * @deprecated
- */
- int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
friend std::ostream& operator<<(std::ostream& stream, const FramedOrientation& rhs)
{
@@ -349,25 +298,6 @@ namespace armarx
FramedPosePtr toGlobal(const SharedRobotInterfacePrx& referenceRobot) const;
FramedPosePtr toGlobal(const VirtualRobot::RobotPtr& referenceRobot) const;
-
-
- /**
- * @brief Implementation of virtual function to read a FramedPose from an XML-file.
- *Example xml-layout:
- * @code
- * <frame>leftHand</frame>
- * <x>0</x>
- * <y>0</y>
- * <z>0</z>
- * @endcode
-
- * @param xmlData String with xml-data. NOT a file path!
- * @return ErrorCode, 1 on Success
- * @deprecated
- */
- int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
-
friend std::ostream& operator<<(std::ostream& stream, const FramedPose& rhs)
{
stream << "FramedPose: " << std::endl << rhs.output() << std::endl;
diff --git a/source/RobotAPI/libraries/core/LinkedPose.cpp b/source/RobotAPI/libraries/core/LinkedPose.cpp
index ea4ebcb674a323ed0c2dd1083608ec9f1d0e462f..b5c09569e34b067cfe10c6d63027745a67dfb15d 100644
--- a/source/RobotAPI/libraries/core/LinkedPose.cpp
+++ b/source/RobotAPI/libraries/core/LinkedPose.cpp
@@ -1,18 +1,15 @@
#include "LinkedPose.h"
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
-//#include "SharedRobotServants.h"
#include <ArmarXCore/core/logging/Logging.h>
-#include <boost/property_tree/ptree.hpp>
-#include <boost/property_tree/xml_parser.hpp>
-
#include <Eigen/Geometry>
#include <Eigen/Core>
#include <VirtualRobot/LinkedCoordinate.h>
#include <VirtualRobot/VirtualRobot.h>
+
#include <Ice/ObjectAdapter.h>
@@ -154,38 +151,6 @@ namespace armarx
}
- int LinkedPose::readFromXML(const std::string& xmlData, const Ice::Current& c)
- {
- using namespace boost::property_tree;
- ptree pt;
- std::stringstream stream;
- stream << xmlData;
- xml_parser::read_xml(stream, pt);
-
- Pose::readFromXML(xmlData);
- frame = (pt.get<std::string>("frame"));
-
- std::string remoteRobotId = pt.get<std::string>("referenceRobot");
- referenceRobot = SharedRobotInterfacePrx::uncheckedCast(c.adapter->getCommunicator()->stringToProxy(remoteRobotId));
-
- if (!referenceRobot)
- {
- ARMARX_ERROR_S << "ReferenceRobot for LinkedPose not registered: " << remoteRobotId << flush;
- return 0;
- }
-
- return 1;
- }
-
- std::string LinkedPose::writeAsXML(const Ice::Current& c)
- {
- using namespace boost::property_tree;
- std::stringstream stream;
- stream << FramedPose::writeAsXML()
- << "<referenceRobot>" << "Not serializable" << "</referenceRobot>";
- return stream.str();
- }
-
void LinkedPose::serialize(const ObjectSerializerBasePtr& serializer, const ::Ice::Current& c) const
{
AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
@@ -280,17 +245,6 @@ namespace armarx
frame = frVec->frame;
}
- int LinkedDirection::readFromXML(const std::string& xmlData, const Ice::Current& c)
- {
- throw LocalException("LinkedDirection cannot be serialized! Serialize FramedDirection");
-
- }
-
- std::string LinkedDirection::writeAsXML(const Ice::Current& c)
- {
- throw LocalException("LinkedDirection cannot be deserialized! Serialize FramedDirection");
-
- }
void LinkedDirection::serialize(const ObjectSerializerBasePtr& serializer, const Ice::Current&) const
{
diff --git a/source/RobotAPI/libraries/core/LinkedPose.h b/source/RobotAPI/libraries/core/LinkedPose.h
index 0ccf2b21043908ad6969065f4a53823adec6741a..fe3d681765748639dd6fbf1b4d2b8867ff1554a2 100644
--- a/source/RobotAPI/libraries/core/LinkedPose.h
+++ b/source/RobotAPI/libraries/core/LinkedPose.h
@@ -34,8 +34,6 @@
#include <Eigen/Core>
#include <Eigen/Geometry>
-
-
#include <sstream>
@@ -89,23 +87,6 @@ namespace armarx
void changeToGlobal();
LinkedPosePtr toGlobal() const;
- /**
- * @brief Implementation of virtual function to read a LinkedPose from an XML-file.
- *Example xml-layout:
- * @code
- * <referenceRobot>5029a22c-e333-4f87-86b1-cd5e0fcce509</referenceRobot>
- * <frame>leftHand</frame>
- * <x>0</x>
- * <y>0</y>
- * <z>0</z>
- * @endcode
-
- * @param xmlData Strinconst SharedRobotInterfacePrx& referenceRobotg with xml-data. NOT a file path!
- * @return ErrorCode, 1 on Success
- */
- int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
-
friend std::ostream& operator<<(std::ostream& stream, const LinkedPose& rhs)
{
stream << "LinkedPose: " << std::endl << rhs.output() << std::endl;
@@ -170,9 +151,6 @@ namespace armarx
}
- int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
-
friend std::ostream& operator<<(std::ostream& stream, const LinkedDirection& rhs)
{
stream << "LinkedDirection: " << std::endl << rhs.output() << std::endl;
diff --git a/source/RobotAPI/libraries/core/Pose.cpp b/source/RobotAPI/libraries/core/Pose.cpp
index 5ee4cbed2688553a928cd4191b84286935df9d3d..e44d4a9f9453920deb25e6470cc9369b16302999 100644
--- a/source/RobotAPI/libraries/core/Pose.cpp
+++ b/source/RobotAPI/libraries/core/Pose.cpp
@@ -1,11 +1,5 @@
#include "Pose.h"
-// boost includes
-#include <boost/property_tree/ptree.hpp>
-#include <boost/property_tree/xml_parser.hpp>
-
-
-
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/LinkedCoordinate.h>
#include <VirtualRobot/LinkedCoordinate.h>
@@ -55,27 +49,6 @@ namespace armarx
return s.str();
}
- int Vector2::readFromXML(const string& xmlData, const Ice::Current& c)
- {
- boost::property_tree::ptree pt = Variant::GetPropertyTree(xmlData);
-
- x = (pt.get<float>("x"));
- y = (pt.get<float>("y"));
- return 1;
- }
-
- string Vector2::writeAsXML(const Ice::Current&)
- {
- using namespace boost::property_tree;
- ptree pt;
- pt.add("x", x);
- pt.add("y", y);
-
- std::stringstream stream;
- xml_parser::write_xml(stream, pt);
- return stream.str();
- }
-
void Vector2::serialize(const ObjectSerializerBasePtr& serializer, const ::Ice::Current&) const
{
AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
@@ -141,29 +114,6 @@ namespace armarx
return s.str();
}
- int Vector3::readFromXML(const string& xmlData, const Ice::Current& c)
- {
- boost::property_tree::ptree pt = Variant::GetPropertyTree(xmlData);
-
- x = (pt.get<float>("x"));
- y = (pt.get<float>("y"));
- z = (pt.get<float>("z"));
- return 1;
- }
-
- string Vector3::writeAsXML(const Ice::Current&)
- {
- using namespace boost::property_tree;
- ptree pt;
- pt.add("x", x);
- pt.add("y", y);
- pt.add("z", z);
-
- std::stringstream stream;
- xml_parser::write_xml(stream, pt);
- return stream.str();
- }
-
void Vector3::serialize(const ObjectSerializerBasePtr& serializer, const ::Ice::Current&) const
{
AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
@@ -264,54 +214,6 @@ namespace armarx
return s.str();
}
- int Quaternion::readFromXML(const string& xmlData, const Ice::Current& c)
- {
- boost::property_tree::ptree pt = Variant::GetPropertyTree(xmlData);
-
- using namespace Eigen;
-
- Quaternionf q;
-
- if (pt.get_optional<float>("angle"))
- {
- // AxisAngle-Notation
- float angle = pt.get<float>("angle");
-
- Vector3f axis;
- axis << pt.get<float>("x") , pt.get<float>("y"), pt.get<float>("z");
-
- AngleAxisf aa(angle, axis);
- q = aa;
- qw = q.w();
- qx = q.x();
- qy = q.y();
- qz = q.z();
- }
- else
- {
- qx = (pt.get<float>("qx"));
- qy = (pt.get<float>("qy"));
- qz = (pt.get<float>("qz"));
- qw = (pt.get<float>("qw"));
- }
-
- return 1;
- }
-
- string Quaternion::writeAsXML(const Ice::Current&)
- {
- using namespace boost::property_tree;
- ptree pt;
- pt.add("qx", qx);
- pt.add("qy", qy);
- pt.add("qz", qz);
- pt.add("qw", qw);
-
- std::stringstream stream;
- xml_parser::write_xml(stream, pt);
- return stream.str();
- }
-
void Quaternion::serialize(const ObjectSerializerBasePtr& serializer, const ::Ice::Current&) const
{
AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
@@ -393,23 +295,6 @@ namespace armarx
return s.str();
}
- int Pose::readFromXML(const string& xmlData, const Ice::Current& c)
- {
- position->readFromXML(xmlData);
- orientation->readFromXML(xmlData);
-
- return 1;
- }
-
- string Pose::writeAsXML(const Ice::Current&)
- {
- using namespace boost::property_tree;
- std::stringstream stream;
- stream <<
- position->writeAsXML() <<
- orientation->writeAsXML();
- return stream.str();
- }
void Pose::serialize(const ObjectSerializerBasePtr& serializer, const ::Ice::Current& c) const
{
diff --git a/source/RobotAPI/libraries/core/Pose.h b/source/RobotAPI/libraries/core/Pose.h
index b5566e1d13eaedd204965369a7423348cfaf7af4..82890a9438623fa5909789a905228e2b308f0813 100644
--- a/source/RobotAPI/libraries/core/Pose.h
+++ b/source/RobotAPI/libraries/core/Pose.h
@@ -23,15 +23,16 @@
#ifndef _ARMARX_COMPONENT_RobotAPI_Pose_H
#define _ARMARX_COMPONENT_RobotAPI_Pose_H
-#include <sstream>
-#include <Eigen/Core>
-#include <Eigen/Geometry>
+#include <RobotAPI/interface/core/PoseBase.h>
#include <ArmarXCore/observers/variant/Variant.h>
#include <ArmarXCore/observers/AbstractObjectSerializer.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <RobotAPI/interface/core/PoseBase.h>
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+
+#include <sstream>
namespace armarx
@@ -79,25 +80,11 @@ namespace armarx
return true;
}
- /**
- * @brief Implementation of virtual function to read a Vector2 from an XML-file.
- *Example xml-layout:
- * @code
- * <x>0</x>
- * <y>0</y>
- * @endcode
-
- * @param xmlData String with xml-data. NOT a file path!
- * @return ErrorCode, 1 on Success
- */
- int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
-
friend std::ostream& operator<<(std::ostream& stream, const Vector2& rhs)
{
stream << "Vector2: " << std::endl << rhs.output() << std::endl;
return stream;
- };
+ }
public: // serialization
virtual void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const;
@@ -145,26 +132,12 @@ namespace armarx
return true;
}
- /**
- * @brief Implementation of virtual function to read a Vector3 from an XML-file.
- *Example xml-layout:
- * @code
- * <x>0</x>
- * <y>0</y>
- * <z>0</z>
- * @endcode
-
- * @param xmlData String with xml-data. NOT a file path!
- * @return ErrorCode, 1 on Success
- */
- int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
friend std::ostream& operator<<(std::ostream& stream, const Vector3& rhs)
{
stream << "Vector3: " << std::endl << rhs.output() << std::endl;
return stream;
- };
+ }
public: // serialization
virtual void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const;
@@ -215,37 +188,12 @@ namespace armarx
return true;
}
- /**
- * @brief Implementation of virtual function to read a Quaternion from an XML-file.
- *Example xml-layout:
- * @code
- * <qw>0</qw>
- * <qx>0</qx>
- * <qy>0</qy>
- * <qz>0</qz>
- * @endcode
- *
- *OR in AngleAxis-Notation with radiant
- *
- * @code
- * <angle>0.5</qw>
- * <x>0.2</x>
- * <y>0.1</y>
- * <z>0.7</z>
- * @endcode
- *
- * @param xmlData String with xml-data. NOT a file path!
- * @param c
- * @return ErrorCode, 1 on Success
- */
- int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
friend std::ostream& operator<<(std::ostream& stream, const Quaternion& rhs)
{
stream << "Quaternion: " << std::endl << rhs.output() << std::endl;
return stream;
- };
+ }
public: // serialization
virtual void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const;
@@ -297,33 +245,11 @@ namespace armarx
return true;
}
- /**
- * @brief Implementation of virtual function to read a FramedOrientation from an XML-file.
- *Example xml-layout:
- * @code
- * <frame>leftHand</frame>
- * <x>0</x>
- * <y>0</y>
- * <z>0</z>
- * <qw>0.45</qw>
- * <qx>0.2</qx>
- * <qy>0</qy>
- * <qz>0</qz>
- * @endcode
-
- * @param xmlData String with xml-data. NOT a file path!
- * @param c
- * @return ErrorCode, 1 on Success
- * @see Quaternion::readFromXml() for AxisAngle-Notation
- */
- int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
-
friend std::ostream& operator<<(std::ostream& stream, const Pose& rhs)
{
stream << "Pose: " << std::endl << rhs.output() << std::endl;
return stream;
- };
+ }
public: // serialization
virtual void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const;