MotionModelRestoreFusion.cpp
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1 /*
2  * This file is part of ArmarX.
3  *
4  * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
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6  * ArmarX is free software; you can redistribute it and/or modify
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18  * @package
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22  * GNU General Public License
23  */
26 
27 
28 namespace memoryx
29 {
30 
32  EntityFusionMethod("MotionModelRestoreFusion")
33  {
34  }
35 
36  EntityBasePtr MotionModelRestoreFusion::fuseEntity(const EntityBasePtr& oldEntity, const EntityBasePtr& newEntity, const Ice::Current&)
37  {
38  ObjectInstancePtr oldObj = ObjectInstancePtr::dynamicCast(oldEntity);
39  ObjectInstancePtr newObj = ObjectInstancePtr::dynamicCast(newEntity);
40 
41  if (oldObj->getMotionModel())
42  {
43  newObj->setMotionModel(oldObj->getMotionModel());
44  }
45 
46  return newObj;
47  }
48 
49 
50 } // namespace memoryx
memoryx
VirtualRobot headers.
Definition: CommonPlacesTester.cpp:48
MotionModelRestoreFusion.h
memoryx::EntityFusionMethod
Interface for fusion methods used for entities in working memory.
Definition: EntityFusionMethod.h:43
IceInternal::Handle< ObjectInstance >
memoryx::MotionModelRestoreFusion::MotionModelRestoreFusion
MotionModelRestoreFusion()
Definition: MotionModelRestoreFusion.cpp:31
AbstractMotionModel.h
memoryx::MotionModelRestoreFusion::fuseEntity
EntityBasePtr fuseEntity(const EntityBasePtr &, const EntityBasePtr &, const Ice::Current &) override
Definition: MotionModelRestoreFusion.cpp:36