From f8bbcd9cc3e38ca3a80f11c7673e0cb868e31975 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 16 Nov 2023 10:31:00 +0100
Subject: [PATCH] Load names from JSON if available
---
.../util/LocationLoader/LocationLoader.cpp | 18 +++++++++++++++---
1 file changed, 15 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/LocationLoader.cpp b/source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/LocationLoader.cpp
index cfeb43db5..ebde885d2 100644
--- a/source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/LocationLoader.cpp
+++ b/source/RobotAPI/libraries/PriorKnowledge/util/LocationLoader/LocationLoader.cpp
@@ -6,6 +6,8 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <RobotAPI/libraries/core/json_conversions.h>
+
namespace armarx::priorknowledge::util
{
FramedLocationPtr
@@ -53,8 +55,18 @@ namespace armarx::priorknowledge::util
pose,
framedPose.at("pose").get<std::vector<std::vector<float>>>()); // load the 4x4 matrix
- FramedLocationPtr loc(new FramedLocation(
- LocationId(source, locationName), LocationType::FRAMED_LOCATION, frame, agent, pose));
+ std::optional<Names> names;
+ if (auto it = j.find("names"); it != j.end())
+ {
+ it->get_to(names.emplace());
+ }
+
+ FramedLocationPtr loc(new FramedLocation(LocationId(source, locationName),
+ LocationType::FRAMED_LOCATION,
+ frame,
+ agent,
+ pose,
+ names));
return loc;
}
@@ -133,7 +145,7 @@ namespace armarx::priorknowledge::util
}
for (const auto& [locationName, j] :
- js["locations"].get<std::map<std::string, nlohmann::json>>())
+ js.at("locations").get<std::map<std::string, nlohmann::json>>())
{
if (j.find("framedPose") != j.end())
{
--
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