<commit_before>#include "iCubProprioception/ExtCADSuperimposer.h"

#include <exception>
#include <utility>

#include <iCub/ctrl/math.h>
#include <yarp/math/Math.h>
#include <yarp/os/LogStream.h>

using namespace yarp::dev;
using namespace yarp::math;
using namespace yarp::os;
using namespace yarp::sig;
using namespace iCub::ctrl;
using namespace iCub::iKin;


ExtCADSuperimposer::ExtCADSuperimposer(const ConstString& port_prefix, const ConstString& robot, const ConstString& camera,
                                       const SuperImpose::ObjFileMap& cad_hand, const ConstString& shader_path) :
    iKinCADSuperimposer(port_prefix, robot, camera, cad_hand, shader_path)
{
    yInfo() << log_ID_ << "Invoked ExtCADSuperimposer (derived class) ctor...";


    /* Get arm interfaces */
    if (!setArmRemoteControlboard())
    {
        yError() << log_ID_ << "Arm remote_controlboard errored!";
        throw std::runtime_error("remote_controlboard errored!");
    }


    /* Port for the external input (6D pose) */
    yInfo() << log_ID_ << "Opening ports for external end effector pose.";
    if (!inport_pose_ext_.open("/" + ID_ + "/cam/" + camera_ + "/hand/right_pose:i"))
    {
        yError() << log_ID_ << "Cannot open input port for external pose!";
        throw std::runtime_error("Cannot open input port for external pose!");
    }

    yInfo() << log_ID_ << "...ExtCADSuperimposer ctor completed!";
}
<commit_msg>Remove unneeded setArmRemoteControlboard call<commit_after>#include "iCubProprioception/ExtCADSuperimposer.h"

#include <exception>
#include <utility>

#include <iCub/ctrl/math.h>
#include <yarp/math/Math.h>
#include <yarp/os/LogStream.h>

using namespace yarp::dev;
using namespace yarp::math;
using namespace yarp::os;
using namespace yarp::sig;
using namespace iCub::ctrl;
using namespace iCub::iKin;


ExtCADSuperimposer::ExtCADSuperimposer(const ConstString& port_prefix, const ConstString& robot, const ConstString& camera,
                                       const SuperImpose::ObjFileMap& cad_hand, const ConstString& shader_path) :
    iKinCADSuperimposer(port_prefix, robot, camera, cad_hand, shader_path)
{
    yInfo() << log_ID_ << "Invoked ExtCADSuperimposer (derived class) ctor...";

    /* Port for the external input (6D pose) */
    yInfo() << log_ID_ << "Opening ports for external end effector pose.";
    if (!inport_pose_ext_.open("/" + ID_ + "/cam/" + camera_ + "/hand/right_pose:i"))
    {
        yError() << log_ID_ << "Cannot open input port for external pose!";
        throw std::runtime_error("Cannot open input port for external pose!");
    }

    yInfo() << log_ID_ << "...ExtCADSuperimposer ctor completed!";
}

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