ObjectPoseClientPlugin.cpp

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#include "ObjectPoseClientPlugin.h"
 
#include <ArmarXCore/core/Component.h>
 
namespace armarx::plugins
{
    void
    ObjectPoseClientPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
    {
        if (!properties->hasDefinition(makePropertyName(PROPERTY_NAME)))
        {
            properties->defineOptionalProperty<std::string>(
                makePropertyName(PROPERTY_NAME), "ObjectMemory", "Name of the object memory.");
        }
    }
 
    void
    ObjectPoseClientPlugin::preOnInitComponent()
    {
        parent<Component>().usingProxyFromProperty(makePropertyName(PROPERTY_NAME));
    }
 
    void
    ObjectPoseClientPlugin::preOnConnectComponent()
    {
        _objectPoseStorage = createObjectPoseStorage();
    }
 
    objpose::ObjectPoseStorageInterfacePrx
    ObjectPoseClientPlugin::createObjectPoseStorage()
    {
        return parent<Component>().getProxyFromProperty<objpose::ObjectPoseStorageInterfacePrx>(
            makePropertyName(PROPERTY_NAME));
    }
 
    objpose::ObjectPoseClient
    ObjectPoseClientPlugin::createClient()
    {
        return objpose::ObjectPoseClient(createObjectPoseStorage(), getObjectFinder());
    }
 
    const ObjectFinder&
    ObjectPoseClientPlugin::setObjectFinderPath(const std::string& path)
    {
        _finder.setPath(path);
        return _finder;
    }
 
    const ObjectFinder&
    ObjectPoseClientPlugin::getObjectFinder() const
    {
        return _finder;
    }
} // namespace armarx::plugins
 
namespace armarx
{
    ObjectPoseClientPluginUser::ObjectPoseClientPluginUser()
    {
        addPlugin(plugin);
    }
 
    objpose::ObjectPoseStorageInterfacePrx
    ObjectPoseClientPluginUser::createObjectPoseStorage()
    {
        return plugin->createObjectPoseStorage();
    }
 
    objpose::ObjectPoseClient
    ObjectPoseClientPluginUser::getClient() const
    {
        return plugin->createClient();
    }
 
    objpose::ObjectPoseSeq
    ObjectPoseClientPluginUser::getObjectPoses()
    {
        return getClient().fetchObjectPoses();
    }
 
    objpose::ObjectPoseSeq
    ObjectPoseClientPluginUser::getObjectPosesByProvider(const std::string& providerName)
    {
        return getClient().fetchObjectPosesFromProvider(providerName);
    }
 
    plugins::ObjectPoseClientPlugin&
    ObjectPoseClientPluginUser::getObjectPoseClientPlugin()
    {
        return *plugin;
    }
 
    const plugins::ObjectPoseClientPlugin&
    ObjectPoseClientPluginUser::getObjectPoseClientPlugin() const
    {
        return *plugin;
    }
 
    const ObjectFinder&
    ObjectPoseClientPluginUser::getObjectFinder() const
    {
        return plugin->getObjectFinder();
    }
} // namespace armarx