Add SceneObjectSet::addSceneObjects for std::vector<SceneObjectPtr> and...

Add SceneObjectSet::addSceneObjects for std::vector<SceneObjectPtr> and std::vector<ManipulationObjectPtr>

VirtualRobot/SceneObjectSet.cpp

@@ -5,6 +5,7 @@
 #include "Visualization//VisualizationNode.h"
 #include "RobotNodeSet.h"
 #include "Obstacle.h"
+#include "ManipulationObject.h"
 
 
 namespace VirtualRobot
@@ -139,6 +140,23 @@ namespace VirtualRobot
         return true;
     }
 
+    void SceneObjectSet::addSceneObjects(std::vector<SceneObjectPtr> sceneObjects)
+    {
+        for (auto& so : sceneObjects)
+        {
+            addSceneObject(so);
+        }
+    }
+
+    void SceneObjectSet::addSceneObjects(std::vector<ManipulationObjectPtr> mos)
+    {
+        for (auto& mobj : mos)
+        {
+            SceneObjectPtr so = boost::dynamic_pointer_cast<SceneObject>(mobj);
+            addSceneObject(so);
+        }
+    }
+
     bool SceneObjectSet::removeSceneObject(SceneObjectPtr sceneObject)
     {
         if (!sceneObject)

VirtualRobot/SceneObjectSet.h

@@ -79,6 +79,9 @@ namespace VirtualRobot
         virtual bool addSceneObjects(RobotNodeSetPtr robotNodeSet);
         virtual bool addSceneObjects(std::vector<RobotNodePtr> robotNodes);
 
+        virtual void addSceneObjects(std::vector<SceneObjectPtr> sceneObjects);
+        virtual void addSceneObjects(std::vector<ManipulationObjectPtr> sceneObjects);
+
         //! remove a single col model from this Set
         virtual bool removeSceneObject(SceneObjectPtr sceneObject);