framed.h

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#pragma once
 
#include <RobotAPI/libraries/aron/common/aron/framed.aron.generated.h>
 
#include "../aron_conversions/framed.h"
 
namespace armarx
{
    // Helper methods for code generation to convert json/aron to bo and vice versa
    // UPDATE 29.06.2023 IT MAKES NO SENSE TO MERGE ARMARX::VARIANTS WITH ARON. THEREOFRE WE REMOVED THE ARMARX::VARIANTS.
    // AS SOON AS CHRISTIANS GEOMETRY PACKAGE IN SIMOX IS READY, THE ARON TYPES SHOULD BE REPLACED WITH CORE TYPES FROM SIMOX!
    // AND THESE METHODS NEED TO BE UPDATED!
    namespace aron
    {
        template <class ReaderT>
            requires data::isReader<ReaderT>
 
        void
        read(ReaderT& aron_r, typename ReaderT::InputType& input, armarx::FramedPosition& ret)
        {
            arondto::FramedPosition aron;
            aron.read(aron_r, input);
 
            armarx::fromAron(aron, ret);
        }
 
        template <class WriterT>
            requires data::isWriter<WriterT>
 
        void
        write(WriterT& aron_w,
              const armarx::FramedPosition& input,
              typename WriterT::ReturnType& ret,
              const armarx::aron::Path& aron_p = armarx::aron::Path())
        {
            arondto::FramedPosition aron;
            armarx::toAron(aron, input);
            ret = aron.write(aron_w, aron_p);
        }
 
        template <class ReaderT>
            requires data::isReader<ReaderT>
 
        void
        read(ReaderT& aron_r, typename ReaderT::InputType& input, armarx::FramedOrientation& ret)
        {
            arondto::FramedOrientation aron;
            aron.read(aron_r, input);
 
            armarx::fromAron(aron, ret);
        }
 
        template <class WriterT>
            requires data::isWriter<WriterT>
 
        void
        write(WriterT& aron_w,
              const armarx::FramedOrientation& input,
              typename WriterT::ReturnType& ret,
              const armarx::aron::Path& aron_p = armarx::aron::Path())
        {
            arondto::FramedOrientation aron;
            armarx::toAron(aron, input);
            ret = aron.write(aron_w, aron_p);
        }
 
        template <class ReaderT>
            requires data::isReader<ReaderT>
 
        void
        read(ReaderT& aron_r, typename ReaderT::InputType& input, armarx::FramedPose& ret)
        {
            arondto::FramedPose aron;
            aron.read(aron_r, input);
 
            armarx::fromAron(aron, ret);
        }
 
        template <class WriterT>
            requires data::isWriter<WriterT>
 
        void
        write(WriterT& aron_w,
              const armarx::FramedPose& input,
              typename WriterT::ReturnType& ret,
              const armarx::aron::Path& aron_p = armarx::aron::Path())
        {
            arondto::FramedPose aron;
            armarx::toAron(aron, input);
            ret = aron.write(aron_w, aron_p);
        }
    } // namespace aron
 
} // namespace armarx