Add support for getting NDArray values from remote gui and updating config

source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.cpp

@@ -57,10 +57,7 @@ namespace armarx
                                                     ARMARX_TRACE;
                                                     auto& config =
                                                             aron_component_config_plugin_->config_.getWriteBuffer();
-                                                    for (const auto& [key, value] : config.subMember.subsubMember.intDictMember)
-                                                    {
-                                                        ARMARX_INFO << key << value;
-                                                    }
+//                                                    ARMARX_INFO << VAROUT(config.orientation) << VAROUT(config.pose) << VAROUT(config.position);
                                                     config.intMember--;
                                                     aron_component_config_plugin_->config_.commitWrite();
                                                 }, 1000);

source/RobotAPI/libraries/aron_component_config/RemoteGuiVisitors.cpp

@@ -23,6 +23,7 @@
 #include "RemoteGuiVisitors.h"
 
 #include <SimoxUtility/math/convert/quat_to_rpy.h>
+#include <SimoxUtility/math/convert/rpy_to_quat.h>
 
 #include <ArmarXCore/util/CPPUtility/Iterator.h>
 
@@ -259,7 +260,7 @@ namespace armarx::aron::component_config
         auto group = RemoteGui::makeHBoxLayout(name + "_layout");
         group.addChild(RemoteGui::makeLabel(name + "_label").value(q->getPath().getLastElement()));
         group.addHSpacer();
-        group.addChild(RemoteGui::makeVector3fSpinBoxes(name).value(quat).min(-M_PI).max(M_PI).toolTip(name));
+        group.addChild(RemoteGui::makeVector3fSpinBoxes(name).value(quat).min(-M_PI).max(M_PI).steps(601).decimals(2).toolTip(name));
         group_hierarchy_.back()->addChild(group);
     }
 
@@ -519,6 +520,78 @@ namespace armarx::aron::component_config
     {
         return tab_rebuild_required_;
     }
+    void
+    GetValueFromMapVisitor::visitMatrix(std::shared_ptr<data::Variant>& o,
+                                        const std::shared_ptr<type::Variant>& t)
+    {
+        INPUT_GUARD(o);
+        auto value = data::NDArray::DynamicCastAndCheck(o);
+        auto type = type::Matrix::DynamicCastAndCheck(t);
+        const std::string name = pathToName(o);
+        const auto& cols = type->getCols();
+        const auto& rows = type->getRows();
+        // TODO: does double work here?
+        if (cols == 4 && rows == 4)
+        {
+            auto gui_value = proxy_->getValue<Eigen::Matrix4f>(name);
+            auto config_value = converter::AronEigenConverter::ConvertToMatrix4f(value);
+
+            if (config_value != gui_value.get())
+            {
+                if (proxy_->hasValueChanged(name))
+                {
+                    auto variant = converter::AronEigenConverter::ConvertFromMatrix(gui_value.get());
+                    value->setData(gui_value.get().size() * sizeof(float), variant->getData());
+                }
+                else
+                {
+                    proxy_->setValue(config_value, name);
+                }
+            }
+        } else if ((cols == 3 and rows == 1) or (cols == 1 and rows == 3))
+        {
+            auto gui_value = proxy_->getValue<Eigen::Vector3f>(name);
+            auto config_value = converter::AronEigenConverter::ConvertToVector3f(value);
+
+            if (config_value != gui_value.get())
+            {
+                if (proxy_->hasValueChanged(name))
+                {
+                    auto variant = converter::AronEigenConverter::ConvertFromMatrix(gui_value.get());
+                    value->setData(gui_value.get().size() * sizeof(float), variant->getData());
+                }
+                else
+                {
+                    proxy_->setValue(config_value, name);
+                }
+            }
+        }
+
+    }
+    void
+    GetValueFromMapVisitor::visitQuaternion(std::shared_ptr<data::Variant>& o,
+                                            const std::shared_ptr<type::Variant>& t)
+    {
+        INPUT_GUARD(o);
+        auto value = data::NDArray::DynamicCastAndCheck(o);
+        const std::string name = pathToName(o);
+        // TODO: does double work here?
+        auto gui_value = proxy_->getValue<Eigen::Vector3f>(name);
+        const auto& quat = simox::math::quat_to_rpy(converter::AronEigenConverter::ConvertToQuaternionf(value));
+        ARMARX_INFO << VAROUT(quat) << VAROUT(gui_value.get());
+        if (quat != gui_value.get())
+        {
+            if (proxy_->hasValueChanged(name))
+            {
+                auto variant = converter::AronEigenConverter::ConvertFromQuaternion(simox::math::rpy_to_quat(gui_value.get()));
+                value->setData(4 * sizeof(float), variant->getData());
+            }
+            else
+            {
+                proxy_->setValue(quat, name);
+            }
+        }
+    }
 
     void
     GetValueFromMapVisitor::visitDictOnEnter(std::shared_ptr<data::Variant>& o,

source/RobotAPI/libraries/aron_component_config/RemoteGuiVisitors.h

@@ -118,6 +118,8 @@ namespace armarx::aron::component_config
         void visitBool(DataInput&, TypeInput&) override;
 
         void visitString(DataInput&, TypeInput&) override;
+        void visitMatrix(DataInput& elementData, TypeInput& elementType) override;
+        void visitQuaternion(DataInput& elementData, TypeInput& elementType) override;
 
         bool tabRebuildRequired() const;