ConverterRegistry.cpp

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#include "ConverterRegistry.h"
 
#include <SimoxUtility/algorithm/get_map_keys_values.h>
 
#include "Armar6Converter.h"
 
namespace armarx::armem::server::robot_state::proprioception
{
 
    ConverterRegistry::ConverterRegistry()
    {
        // TODO
        add<Armar6Converter>("Armar6");
        add<Armar6Converter>("ArmarDE");
        add<Armar6Converter>("Armar7");
        add<Armar6Converter>("Frankie");
        add<Armar6Converter>("BiFR3");
        add<Armar6Converter>("BiFR3_with_hand");
    }
 
    ConverterInterface*
    ConverterRegistry::get(const std::string& key) const
    {
        auto it = converters.find(key);
        return it != converters.end() ? it->second.get() : nullptr;
    }
 
    std::vector<std::string>
    ConverterRegistry::getKeys() const
    {
        return simox::alg::get_keys(converters);
    }
 
} // namespace armarx::armem::server::robot_state::proprioception