From f8a61a42b078c5fc3e47a7e7367a1e950ff432d6 Mon Sep 17 00:00:00 2001
From: alissa <alissamueller@outlook.de>
Date: Fri, 7 May 2021 13:06:23 +0200
Subject: [PATCH] Deleted unneccessary Code for Grasp memory server from copied
example server code
---
.../armem/server/GraspMemory/GraspMemory.cpp | 25 ++-----------------
.../armem/server/GraspMemory/GraspMemory.h | 20 +++------------
2 files changed, 6 insertions(+), 39 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp
index 4bf9a3744..653435b4e 100644
--- a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp
+++ b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp
@@ -18,14 +18,7 @@ namespace armarx
defs->topic(debugObserver);
- defs->optional(p.memoryName, "memory.Name", "Name of this memory server.");
-
- p.core._defaultSegmentsStr = simox::alg::join(p.core.defaultCoreSegments, ", ");
- defs->optional(p.core._defaultSegmentsStr, "core.DefaultSegments",
- "Core segments to add on start up (just as Grasp).");
- defs->optional(p.core.addOnUsage, "core.AddOnUsage",
- "If enabled, core segments are added when required by a new provider segment."
- "This will usually be off for most memory servers.");
+ defs->optional(memoryName, "memory.Name", "Name of this memory server.");
return defs;
}
@@ -38,16 +31,11 @@ namespace armarx
void GraspMemory::onInitComponent()
{
- memory.name() = p.memoryName;
+ memory.name() = memoryName;
// Usually, the memory server will specify a number of core segments with a specific aron type.
memory.addCoreSegment("GraspCandidate", armarx::grasping::arondto::GraspCandidate::toInitialAronType());
- // For illustration purposes, we add more segments (without types).
- bool trim = true;
- p.core.defaultCoreSegments = simox::alg::split(p.core._defaultSegmentsStr, ",", trim);
- p.core._defaultSegmentsStr.clear();
- memory.addCoreSegments(p.core.defaultCoreSegments);
}
void GraspMemory::onConnectComponent()
@@ -68,15 +56,6 @@ namespace armarx
// WRITING
- armem::data::AddSegmentsResult GraspMemory::addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&)
- {
- // This function is overloaded to trigger the remote gui rebuild.
- armem::data::AddSegmentsResult result = ComponentPluginUser::addSegments(input, p.core.addOnUsage);
- tab.rebuild = true;
- return result;
- }
-
-
armem::data::CommitResult GraspMemory::commit(const armem::data::Commit& commit, const Ice::Current&)
{
// This function is overloaded to trigger the remote gui rebuild.
diff --git a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h
index c3568423b..732c74a83 100644
--- a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h
+++ b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h
@@ -23,7 +23,7 @@ namespace armarx
* Detailed description of class ExampleMemory.
*/
class GraspMemory :
- virtual public armarx::Component
+ virtual public Component
, virtual public armem::server::ComponentPluginUser
, virtual public LightweightRemoteGuiComponentPluginUser
// , virtual public armarx::ArVizComponentPluginUser
@@ -36,7 +36,6 @@ namespace armarx
// WritingInterface interface
public:
- armem::data::AddSegmentsResult addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&) override;
armem::data::CommitResult commit(const armem::data::Commit& commit, const Ice::Current&) override;
@@ -48,7 +47,7 @@ namespace armarx
protected:
- armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+ PropertyDefinitionsPtr createPropertyDefinitions() override;
void onInitComponent() override;
void onConnectComponent() override;
@@ -58,22 +57,11 @@ namespace armarx
private:
- armarx::DebugObserverInterfacePrx debugObserver;
+ DebugObserverInterfacePrx debugObserver;
- struct Properties
- {
- std::string memoryName = "Grasp";
- struct CoreSegments
- {
- std::vector<std::string> defaultCoreSegments = { "GraspModality", "GraspConcept" };
- std::string _defaultSegmentsStr;
- bool addOnUsage = false;
- };
+ std::string memoryName = "Grasp";
- CoreSegments core;
- };
- Properties p;
struct RemoteGuiTab : RemoteGui::Client::Tab
--
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