From e6fe4a4e7e1cfd895a6d704ef02201cfcb78972b Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Tue, 13 Oct 2020 14:17:36 +0200
Subject: [PATCH] Fix compilation issue
---
.../ObjectPoseObserver/ObjectPose.cpp | 31 ++++---------------
.../ObjectPoseObserver/ice_conversions.cpp | 30 +-----------------
.../plugins/RequestedObjects.cpp | 3 +-
.../libraries/ArmarXObjects/CMakeLists.txt | 2 +-
.../ArmarXObjects/ice_conversions.cpp | 26 +++++++++++++++-
.../libraries/ArmarXObjects/ice_conversions.h | 10 ++++++
6 files changed, 44 insertions(+), 58 deletions(-)
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectPose.cpp b/source/RobotAPI/components/ObjectPoseObserver/ObjectPose.cpp
index 19bb9d5aa..b7017bbd9 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ObjectPose.cpp
+++ b/source/RobotAPI/components/ObjectPoseObserver/ObjectPose.cpp
@@ -14,25 +14,6 @@
namespace armarx::objpose
{
- Eigen::Vector3f toEigen(const Vector3BasePtr pose)
- {
- auto cast = Vector3Ptr::dynamicCast(pose);
- ARMARX_CHECK_NOT_NULL(cast);
- return cast->toEigen();
- }
- Eigen::Matrix3f toEigen(const QuaternionBasePtr pose)
- {
- auto cast = QuaternionPtr::dynamicCast(pose);
- ARMARX_CHECK_NOT_NULL(cast);
- return cast->toEigen();
- }
- Eigen::Matrix4f toEigen(const PoseBasePtr pose)
- {
- auto cast = PosePtr::dynamicCast(pose);
- ARMARX_CHECK_NOT_NULL(cast);
- return cast->toEigen();
- }
-
ObjectPose::ObjectPose()
{
}
@@ -48,13 +29,13 @@ namespace armarx::objpose
objectType = ice.objectType;
armarx::fromIce(ice.objectID, objectID);
- objectPoseRobot = armarx::objpose::toEigen(ice.objectPoseRobot);
- objectPoseGlobal = armarx::objpose::toEigen(ice.objectPoseGlobal);
- objectPoseOriginal = armarx::objpose::toEigen(ice.objectPoseOriginal);
+ objectPoseRobot = ::armarx::toEigen(ice.objectPoseRobot);
+ objectPoseGlobal = ::armarx::toEigen(ice.objectPoseGlobal);
+ objectPoseOriginal = ::armarx::toEigen(ice.objectPoseOriginal);
objectPoseOriginalFrame = ice.objectPoseOriginalFrame;
robotConfig = ice.robotConfig;
- robotPose = armarx::objpose::toEigen(ice.robotPose);
+ robotPose = ::armarx::toEigen(ice.robotPose);
objpose::fromIce(ice.attachment, this->attachment);
@@ -99,7 +80,7 @@ namespace armarx::objpose
objectType = provided.objectType;
armarx::fromIce(provided.objectID, objectID);
- objectPoseOriginal = armarx::objpose::toEigen(provided.objectPose);
+ objectPoseOriginal = ::armarx::toEigen(provided.objectPose);
objectPoseOriginalFrame = provided.objectPoseFrame;
armarx::FramedPose framed(objectPoseOriginal, objectPoseOriginalFrame, robot->getName());
@@ -147,7 +128,7 @@ namespace armarx
{
attachment.agentName = ice.agentName;
attachment.frameName = ice.frameName;
- attachment.poseInFrame = toEigen(ice.poseInFrame);
+ attachment.poseInFrame = ::armarx::toEigen(ice.poseInFrame);
}
void objpose::fromIce(const data::ObjectAttachmentInfoPtr& ice, std::optional<ObjectAttachmentInfo>& attachment)
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.cpp b/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.cpp
index 0f520c8fc..f1c158aad 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.cpp
+++ b/source/RobotAPI/components/ObjectPoseObserver/ice_conversions.cpp
@@ -11,29 +11,10 @@
#include <RobotAPI/libraries/core/Pose.h>
#include <RobotAPI/libraries/core/FramedPose.h>
+#include <RobotAPI/libraries/ArmarXObjects/ice_conversions.h>
namespace armarx
{
-
- Eigen::Vector3f toEigen(const Vector3BasePtr pose)
- {
- auto cast = Vector3Ptr::dynamicCast(pose);
- ARMARX_CHECK_NOT_NULL(cast);
- return cast->toEigen();
- }
- Eigen::Matrix3f toEigen(const QuaternionBasePtr pose)
- {
- auto cast = QuaternionPtr::dynamicCast(pose);
- ARMARX_CHECK_NOT_NULL(cast);
- return cast->toEigen();
- }
- Eigen::Matrix4f toEigen(const PoseBasePtr pose)
- {
- auto cast = PosePtr::dynamicCast(pose);
- ARMARX_CHECK_NOT_NULL(cast);
- return cast->toEigen();
- }
-
const simox::meta::EnumNames<objpose::ObjectTypeEnum> objpose::ObjectTypeEnumNames =
{
{ objpose::ObjectTypeEnum::AnyObject, "AnyObject" },
@@ -41,7 +22,6 @@ namespace armarx
{ objpose::ObjectTypeEnum::UnknownObject, "UnknownObject" }
};
-
objpose::AABB objpose::toIce(const simox::AxisAlignedBoundingBox& aabb)
{
objpose::AABB ice;
@@ -50,7 +30,6 @@ namespace armarx
return ice;
}
-
void objpose::fromIce(const Box& box, simox::OrientedBoxf& oobb)
{
try
@@ -112,11 +91,4 @@ namespace armarx
toIce(box, oobb);
return box;
}
-
-
}
-
-
-
-
-
diff --git a/source/RobotAPI/components/ObjectPoseObserver/plugins/RequestedObjects.cpp b/source/RobotAPI/components/ObjectPoseObserver/plugins/RequestedObjects.cpp
index 42dba6bc8..036e0530c 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/plugins/RequestedObjects.cpp
+++ b/source/RobotAPI/components/ObjectPoseObserver/plugins/RequestedObjects.cpp
@@ -5,7 +5,6 @@
#include <RobotAPI/libraries/ArmarXObjects/ice_conversions.h>
-
namespace armarx::objpose
{
RequestedObjects::RequestedObjects()
@@ -14,7 +13,7 @@ namespace armarx::objpose
void RequestedObjects::requestObjects(const std::vector<armarx::data::ObjectID>& objectIDs, long relativeTimeOutMS)
{
- requestObjects(fromIce(objectIDs), relativeTimeOutMS);
+ requestObjects(::armarx::fromIce(objectIDs), relativeTimeOutMS);
}
void RequestedObjects::requestObjects(const std::vector<armarx::ObjectID>& objectIDs, long relativeTimeOutMS)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
index 2c03da5f9..247e6420c 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
@@ -4,7 +4,7 @@ armarx_component_set_name("${LIB_NAME}")
armarx_set_target("Library: ${LIB_NAME}")
set(LIBS
- ArmarXCoreInterfaces ArmarXCore
+ RobotAPICore
)
set(LIB_FILES
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ice_conversions.cpp b/source/RobotAPI/libraries/ArmarXObjects/ice_conversions.cpp
index 7dd31ad93..f58e29808 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ice_conversions.cpp
@@ -1,5 +1,7 @@
-#include "ice_conversions.h"
+#include <RobotAPI/libraries/core/Pose.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include "ice_conversions.h"
namespace armarx
{
@@ -66,3 +68,25 @@ armarx::data::ObjectIDSeq armarx::toIce(const std::vector<ObjectID>& ids)
toIce(ice, ids);
return ice;
}
+
+namespace armarx
+{
+ Eigen::Vector3f toEigen(const Vector3BasePtr& pose)
+ {
+ auto cast = Vector3Ptr::dynamicCast(pose);
+ ARMARX_CHECK_NOT_NULL(cast);
+ return cast->toEigen();
+ }
+ Eigen::Matrix3f toEigen(const QuaternionBasePtr& pose)
+ {
+ auto cast = QuaternionPtr::dynamicCast(pose);
+ ARMARX_CHECK_NOT_NULL(cast);
+ return cast->toEigen();
+ }
+ Eigen::Matrix4f toEigen(const PoseBasePtr& pose)
+ {
+ auto cast = PosePtr::dynamicCast(pose);
+ ARMARX_CHECK_NOT_NULL(cast);
+ return cast->toEigen();
+ }
+}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ice_conversions.h b/source/RobotAPI/libraries/ArmarXObjects/ice_conversions.h
index e17f37e35..935cc8fb4 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ice_conversions.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ice_conversions.h
@@ -1,6 +1,9 @@
#pragma once
+#include <Eigen/Dense>
+
#include <RobotAPI/interface/ArmarXObjects/ArmarXObjectsTypes.h>
+#include <RobotAPI/interface/core/PoseBase.h>
#include "ObjectID.h"
@@ -26,3 +29,10 @@ namespace armarx
data::ObjectIDSeq toIce(const std::vector<ObjectID>& ids);
}
+
+namespace armarx
+{
+ Eigen::Vector3f toEigen(const Vector3BasePtr& pose);
+ Eigen::Matrix3f toEigen(const QuaternionBasePtr& pose);
+ Eigen::Matrix4f toEigen(const PoseBasePtr& pose);
+}
--
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