aron_conversions.cpp
Go to the documentation of this file.
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#include "
aron_conversions.h
"
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#include <
RobotAPI/libraries/ArmarXObjects/aron_conversions.h
>
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#include <
RobotAPI/libraries/aron/common/aron_conversions.h
>
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namespace
armarx::armem::robot_state::description
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{
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void
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fromAron
(
const
arondto::ObjectClass& dto,
RobotDescription
&
bo
)
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{
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bo
.name = aron::fromAron<armarx::ObjectID>(dto.id).str();
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fromAron
(dto.articulatedSimoxXmlPath,
bo
.xml);
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}
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void
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toAron
(arondto::ObjectClass& dto,
const
RobotDescription
&
bo
)
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{
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toAron
(dto.id,
ObjectID
(
bo
.name));
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toAron
(dto.articulatedSimoxXmlPath,
bo
.xml);
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}
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}
// namespace armarx::armem::robot_state::description
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namespace
armarx::armem::robot_state
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{
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void
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fromAron
(
const
arondto::ObjectInstance& dto,
RobotState
&
bo
)
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{
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fromAron
(dto.pose,
bo
);
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}
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void
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toAron
(arondto::ObjectInstance& dto,
const
RobotState
&
bo
)
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{
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toAron
(dto.pose,
bo
);
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}
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void
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fromAron
(
const
objpose::arondto::ObjectPose& dto,
RobotState
&
bo
)
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{
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aron::fromAron
(dto.timestamp,
bo
.timestamp);
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aron::fromAron
(dto.objectPoseGlobal,
bo
.globalPose);
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aron::fromAron
(dto.objectJointValues,
bo
.jointMap);
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}
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void
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toAron
(objpose::arondto::ObjectPose& dto,
const
RobotState
&
bo
)
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{
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aron::toAron
(dto.timestamp,
bo
.timestamp);
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aron::toAron
(dto.objectPoseGlobal,
bo
.globalPose.matrix());
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aron::toAron
(dto.objectJointValues,
bo
.jointMap);
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}
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}
// namespace armarx::armem::robot_state
armarx::ObjectID
A known object ID of the form "Dataset/ClassName" or "Dataset/ClassName/InstanceName".
Definition:
ObjectID.h:11
armarx::armem::robot_state::fromAron
void fromAron(const arondto::ObjectInstance &dto, RobotState &bo)
Definition:
aron_conversions.cpp:27
armarx::armem::robot_state::description::RobotDescription
Definition:
types.h:44
armarx::armem::robot_state::description::fromAron
void fromAron(const arondto::ObjectClass &dto, RobotDescription &bo)
Definition:
aron_conversions.cpp:10
armarx::armem::robot_state::RobotState
Definition:
types.h:113
armarx::armem::robot_state
Definition:
RobotStatePredictionClient.cpp:42
armarx::armem::robot_state::description
Definition:
aron_conversions.cpp:6
armarx::armem::robot_state::description::toAron
void toAron(arondto::ObjectClass &dto, const RobotDescription &bo)
Definition:
aron_conversions.cpp:17
aron_conversions.h
armarx::aron::toAron
void toAron(T &dto, const T &bo)
Framework for converting ARON DTOs (Data Transfer Objects) to C++ BOs (Business Objects) and back.
Definition:
aron_conversions.h:74
armarx::aron::fromAron
void fromAron(const T &dto, T &bo)
Definition:
aron_conversions.h:79
armarx::armem::robot_state::toAron
void toAron(arondto::ObjectInstance &dto, const RobotState &bo)
Definition:
aron_conversions.cpp:33
aron_conversions.h
armarx::aron::bo
const std::optional< BoT > & bo
Definition:
aron_conversions.h:168
RobotAPI
libraries
armem_objects
client
articulated_object
aron_conversions.cpp
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