HapticObserver: Offer individual components of a haptic matrix

source/RobotAPI/components/units/HapticObserver.cpp

@@ -61,6 +61,7 @@ void HapticObserver::reportSensorValues(const std::string& device, const std::st
     float max = eigenMatrix.maxCoeff();
     float mean = eigenMatrix.mean();
     std::string channelName = name;
+    Eigen::MatrixXf M = matrix->toEigen();
 
     if (!existsChannel(channelName))
     {
@@ -72,6 +73,17 @@ void HapticObserver::reportSensorValues(const std::string& device, const std::st
         offerDataFieldWithDefault(channelName, "mean", Variant(mean), "Mean value");
         offerDataFieldWithDefault(channelName, "timestamp", timestampPtr, "Timestamp");
         offerDataFieldWithDefault(channelName, "rate", Variant(0.0f), "Sample rate");
+
+        for (int i = 0; i < M.rows(); i++)
+        {
+            for (int j = 0; j < M.cols(); j++)
+            {
+                std::stringstream s;
+                s << "entry_" << i << "," << j;
+                offerDataFieldWithDefault(channelName, s.str(), Variant(M(i, j)), "Individual matrix entry");
+            }
+        }
+
         ARMARX_INFO << "Offering new channel: " << channelName;
     }
     else
@@ -82,6 +94,17 @@ void HapticObserver::reportSensorValues(const std::string& device, const std::st
         setDataField(channelName, "max", Variant(max));
         setDataField(channelName, "mean", Variant(mean));
         setDataField(channelName, "timestamp", timestampPtr);
+
+        for (int i = 0; i < M.rows(); i++)
+        {
+            for (int j = 0; j < M.cols(); j++)
+            {
+                std::stringstream s;
+                s << "entry_" << i << "," << j;
+                setDataField(channelName, s.str(), Variant(M(i, j)));
+            }
+        }
+
     }
 
     /*if(statistics.count(device) > 0)