aron_conversions.cpp

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#include "aron_conversions.h"
 
#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
 
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
 
 
namespace armarx::armem::robot
{
 
    /* Robot */
 
    void fromAron(const arondto::Robot& dto, Robot& bo)
    {
        // fromAron(dto.description, bo.description);
        fromAron(dto.state, bo.config);
    }
 
    void toAron(arondto::Robot& dto, const Robot& bo)
    {
        // toAron(dto.description, bo.description);
        toAron(dto.state, bo.config);
    }
 
    /* RobotDescription */
 
    void fromAron(const arondto::RobotDescription& dto, RobotDescription& bo)
    {
        aron::fromAron(dto.name, bo.name);
        fromAron(dto.xml, bo.xml);
    }
 
    void toAron(arondto::RobotDescription& dto, const RobotDescription& bo)
    {
        aron::toAron(dto.name, bo.name);
        toAron(dto.xml, bo.xml);
    }
 
    /* RobotState */
 
    void fromAron(const arondto::RobotState& dto, RobotState& bo)
    {
        aron::fromAron(dto.timestamp, bo.timestamp);
        aron::fromAron(dto.globalPose, bo.globalPose.matrix());
        aron::fromAron(dto.jointMap, bo.jointMap);
 
    }
 
    void toAron(arondto::RobotState& dto, const RobotState& bo)
    {
        aron::toAron(dto.timestamp, bo.timestamp);
        aron::toAron(dto.globalPose, bo.globalPose.matrix());
        aron::toAron(dto.jointMap, bo.jointMap);
 
    }
 
}  // namespace armarx::armem::robot
 
 
namespace armarx::armem
{
 
    void robot::fromAron(const arondto::ObjectClass& dto, RobotDescription& bo)
    {
        bo.name = aron::fromAron<armarx::ObjectID>(dto.id).str();
        fromAron(dto.articulatedSimoxXmlPath, bo.xml);
    }
 
    void robot::toAron(arondto::ObjectClass& dto, const RobotDescription& bo)
    {
        toAron(dto.id, ObjectID(bo.name));
        toAron(dto.articulatedSimoxXmlPath, bo.xml);
    }
 
 
    void robot::fromAron(const arondto::ObjectInstance& dto, RobotState& bo)
    {
        fromAron(dto.pose, bo);
    }
 
    void robot::toAron(arondto::ObjectInstance& dto, const RobotState& bo)
    {
        toAron(dto.pose, bo);
    }
 
 
    void robot::fromAron(const objpose::arondto::ObjectPose& dto, RobotState& bo)
    {
        aron::fromAron(dto.timestamp, bo.timestamp);
        aron::fromAron(dto.objectPoseGlobal, bo.globalPose);
        aron::fromAron(dto.objectJointValues, bo.jointMap);
 
    }
 
    void robot::toAron(objpose::arondto::ObjectPose& dto, const RobotState& bo)
    {
        aron::toAron(dto.timestamp, bo.timestamp);
        aron::toAron(dto.objectPoseGlobal, bo.globalPose.matrix());
        aron::toAron(dto.objectJointValues, bo.jointMap);
 
    }
    
 
}  // namespace armarx::armem