void RobotConfiguration::serialize(ObjectData& data, IdContext& /*context*/) {
/*Serializable::serialize(data,context);*/
data.setString("name", _name);
data.setString("baseReferenceFrameId", _baseReferenceFrameId);
ArrayData* frameArray = new ArrayData;
for (std::map<std::string, ReferenceFrame*>::iterator it = _frameMap.begin(); it!=_frameMap.end(); it++){
ReferenceFrame* frame=it->second;
frameArray->add(new PointerData(frame));
cerr << "adding frame:" << it->second->name() << endl;
}
data.setField("frames", frameArray);
ArrayData* sensorArray = new ArrayData;
for (std::map<std::string, BaseSensor*>::iterator it = _sensorMap.begin(); it!=_sensorMap.end(); it++){
BaseSensor* sensor=it->second;
sensorArray->add(new PointerData(sensor));
cerr << "adding sensor:" << it->second->topic() << endl;
}
data.setField("sensors", sensorArray);
}
