From e7de1a134a3c9f704a8eddfa05ce2881c300999e Mon Sep 17 00:00:00 2001
From: Nikolaus Vahrenkamp <vahrenkamp@kit.edu>
Date: Tue, 19 Aug 2014 08:41:47 +0200
Subject: [PATCH] temporay useage of a pose in RobotControl to ensure that
RobotAPI is linked properly
---
source/RobotAPI/operations/RobotControl.cpp | 1 +
source/RobotAPI/robotstate/SharedRobotServants.cpp | 1 +
source/RobotAPI/robotstate/remote/ArmarPose.cpp | 9 +++++++--
3 files changed, 9 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/operations/RobotControl.cpp b/source/RobotAPI/operations/RobotControl.cpp
index 21023484a..5f7570333 100644
--- a/source/RobotAPI/operations/RobotControl.cpp
+++ b/source/RobotAPI/operations/RobotControl.cpp
@@ -34,6 +34,7 @@ namespace armarx
{
void RobotControl::onInitRemoteStateOfferer()
{
+ ARMARX_INFO_S << "pose: " << Pose() ;
addState<Statechart_Robot>("RobotControl");
}
diff --git a/source/RobotAPI/robotstate/SharedRobotServants.cpp b/source/RobotAPI/robotstate/SharedRobotServants.cpp
index 28c84a870..4d0fbb6e7 100644
--- a/source/RobotAPI/robotstate/SharedRobotServants.cpp
+++ b/source/RobotAPI/robotstate/SharedRobotServants.cpp
@@ -19,6 +19,7 @@ using namespace boost;
#undef VERBOSE
+//#define VERBOSE
namespace armarx
diff --git a/source/RobotAPI/robotstate/remote/ArmarPose.cpp b/source/RobotAPI/robotstate/remote/ArmarPose.cpp
index 311615f9f..b348237bd 100644
--- a/source/RobotAPI/robotstate/remote/ArmarPose.cpp
+++ b/source/RobotAPI/robotstate/remote/ArmarPose.cpp
@@ -357,12 +357,17 @@ namespace armarx
void FramedVector3::serialize(const ObjectSerializerBasePtr &serializer, const Ice::Current &) const
{
- throw LocalException("NYI");
+ AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
+ Vector3::serialize(serializer);
+ obj->setString("frame", frame);
+
}
void FramedVector3::deserialize(const ObjectSerializerBasePtr &serializer, const Ice::Current &)
{
- throw LocalException("NYI");
+ AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
+ Vector3::deserialize(serializer);
+ frame = obj->getString("frame");
}
--
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