Skip to content
Snippets Groups Projects
Commit 1dcc0d4e authored by Mirko Wächter's avatar Mirko Wächter
Browse files

Made some forward declarations for VirtualRobot in ArmarPose

parent fd388fdf
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
Showing
with 84 additions and 51 deletions
source/RobotAPI/core/RobotStatechartContext.h
+ 2
− 2
View file @ 1dcc0d4e
......@@ -28,7 +28,7 @@
#include <Core/core/Component.h>
#include <Core/core/system/ImportExportComponent.h>
#include <Core/statechart/StatechartContext.h>
#include <RobotAPI/robotstate/remote/RemoteRobot.h>
#include <RobotAPI/robotstate/remote/ArmarPose.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
#include <RobotAPI/interface/units/HandUnitInterface.h>
......@@ -36,7 +36,7 @@
#include <RobotAPI/interface/units/HeadIKUnit.h>
#include <RobotAPI/units/KinematicUnitObserver.h>
//#include <VirtualRobot/VirtualRobot.h>
#include <IceUtil/Time.h>
namespace armarx
......
source/RobotAPI/motioncontrol/MotionControl.cpp
+ 2
− 0
View file @ 1dcc0d4e
......@@ -13,6 +13,8 @@
#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/MathTools.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/LinkedCoordinate.h>
#include <Eigen/src/Geometry/Quaternion.h>
......
source/RobotAPI/robotstate/CMakeLists.txt
+ 1
− 1
View file @ 1dcc0d4e
......@@ -14,7 +14,7 @@ set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
set(LIBS ArmarXInterfaces RobotAPIRemoteRobot
ArmarXCore ${Simox_LIBRARIES})
ArmarXCore)
set(LIB_FILES
RobotStateComponent.cpp
......
source/RobotAPI/robotstate/remote/ArmarPose.cpp
+ 53
− 1
View file @ 1dcc0d4e
......@@ -4,9 +4,12 @@
#include <boost/property_tree/ptree.hpp>
#include <boost/property_tree/xml_parser.hpp>
#include <Eigen/Geometry>
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/LinkedCoordinate.h>
#include <VirtualRobot/LinkedCoordinate.h>
#include <VirtualRobot/VirtualRobot.h>
using namespace Eigen;
using namespace std;
......@@ -42,6 +45,13 @@ namespace armarx
return v;
}
string Vector3::output(const Ice::Current &c) const
{
std::stringstream s;
s << toEigen();
return s.str();
}
int Vector3::readFromXML(const string &xmlData, const Ice::Current &c)
{
boost::property_tree::ptree pt = Variant::GetPropertyTree(xmlData);
......@@ -145,6 +155,13 @@ namespace armarx
return result;
}
string Quaternion::output(const Ice::Current &c) const
{
std::stringstream s;
s << toEigen();
return s.str();
}
int Quaternion::readFromXML(const string &xmlData, const Ice::Current &c)
{
boost::property_tree::ptree pt = Variant::GetPropertyTree(xmlData);
......@@ -247,6 +264,13 @@ namespace armarx
return m;
}
string Pose::output(const Ice::Current &c) const
{
std::stringstream s;
s << toEigen();
return s.str();
}
int Pose::readFromXML(const string &xmlData, const Ice::Current &c)
{
position->readFromXML(xmlData);
......@@ -321,6 +345,13 @@ namespace armarx
return result;
}
string FramedVector3::output(const Ice::Current &c) const
{
std::stringstream s;
s << toEigen() << std::endl << "frame: " << getFrame();
return s.str();
}
Eigen::Matrix4f FramedVector3::__GetRotationBetweenFrames(const std::string &oldFrame, const std::string &newFrame, VirtualRobot::RobotPtr robotState)
{
Eigen::Matrix4f toNewFrame = robotState->getRobotNode(oldFrame)->getTransformationTo(robotState->getRobotNode(newFrame));
......@@ -395,6 +426,13 @@ namespace armarx
return frame;
}
string FramedPose::output(const Ice::Current &c) const
{
std::stringstream s;
s << toEigen() << std::endl << "frame: " << getFrame();
return s.str();
}
int FramedPose::readFromXML(const string &xmlData, const Ice::Current &c){
boost::property_tree::ptree pt = Variant::GetPropertyTree(xmlData);
......@@ -463,6 +501,13 @@ namespace armarx
return this->frame;
}
string FramedPosition::output(const Ice::Current &c) const
{
std::stringstream s;
s << toEigen() << std::endl << "frame: " << getFrame();
return s.str();
}
int FramedPosition::readFromXML(const string &xmlData, const Ice::Current &c){
using namespace boost::property_tree;
ptree pt;
......@@ -533,6 +578,13 @@ namespace armarx
return this->frame;
}
string FramedOrientation::output(const Ice::Current &c) const
{
std::stringstream s;
s << toEigen() << std::endl << "frame: " << getFrame();
return s.str();
}
int FramedOrientation::readFromXML(const string &xmlData, const Ice::Current &c)
{
using namespace boost::property_tree;
......
source/RobotAPI/robotstate/remote/ArmarPose.h
+ 16
− 45
View file @ 1dcc0d4e
......@@ -27,14 +27,20 @@
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <RobotAPI/interface/robotstate/RobotState.h>
#include <Core/observers/variant/Variant.h>
#include <Core/observers/AbstractObjectSerializer.h>
#include <VirtualRobot/LinkedCoordinate.h>
#include <VirtualRobot/LinkedCoordinate.h>
#include <VirtualRobot/VirtualRobot.h>
#include <Core/core/exceptions/local/ExpressionException.h>
namespace VirtualRobot
{
class Robot;
typedef boost::shared_ptr<Robot> RobotPtr;
class LinkedCoordinate;
}
namespace armarx
{
namespace VariantType
......@@ -74,12 +80,7 @@ namespace armarx
{
return new Vector3(*this);
}
std::string output(const Ice::Current& c = ::Ice::Current()) const
{
std::stringstream s;
s << toEigen();
return s.str();
}
std::string output(const Ice::Current& c = ::Ice::Current()) const;
VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const
{
return VariantType::Vector3;
......@@ -146,12 +147,7 @@ namespace armarx
{
return new Quaternion(*this);
}
std::string output(const Ice::Current& c = ::Ice::Current()) const
{
std::stringstream s;
s << toEigen();
return s.str();
}
std::string output(const Ice::Current& c = ::Ice::Current()) const;
VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const
{
return VariantType::Quaternion;
......@@ -229,12 +225,7 @@ namespace armarx
{
return new Pose(*this);
}
std::string output(const Ice::Current& c = ::Ice::Current()) const
{
std::stringstream s;
s << toEigen();
return s.str();
}
std::string output(const Ice::Current& c = ::Ice::Current()) const;
VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const
{
return VariantType::Pose;
......@@ -312,12 +303,7 @@ namespace armarx
return new FramedPose(*this);
}
std::string output(const Ice::Current& c = ::Ice::Current()) const
{
std::stringstream s;
s << toEigen() << std::endl << "frame: " << getFrame();
return s.str();
}
std::string output(const Ice::Current& c = ::Ice::Current()) const;
VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const
{
......@@ -396,12 +382,7 @@ namespace armarx
{
return new FramedVector3(*this);
}
std::string output(const Ice::Current& c = ::Ice::Current()) const
{
std::stringstream s;
s << toEigen() << std::endl << "frame: " << getFrame();
return s.str();
}
std::string output(const Ice::Current& c = ::Ice::Current()) const;
VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const
{
return VariantType::FramedVector3;
......@@ -468,12 +449,7 @@ namespace armarx
{
return new FramedPosition(*this);
}
std::string output(const Ice::Current& c = ::Ice::Current()) const
{
std::stringstream s;
s << toEigen() << std::endl << "frame: " << getFrame();
return s.str();
}
std::string output(const Ice::Current& c = ::Ice::Current()) const;
VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const
{
return VariantType::FramedPosition;
......@@ -539,12 +515,7 @@ namespace armarx
{
return new FramedOrientation(*this);
}
std::string output(const Ice::Current& c = ::Ice::Current()) const
{
std::stringstream s;
s << toEigen() << std::endl << "frame: " << getFrame();
return s.str();
}
std::string output(const Ice::Current& c = ::Ice::Current()) const;
VariantTypeId getType(const Ice::Current& c = ::Ice::Current()) const
{
return VariantType::FramedOrientation;
......
source/RobotAPI/robotstate/remote/LinkedPose.cpp
+ 4
− 0
View file @ 1dcc0d4e
......@@ -9,6 +9,10 @@
#include <boost/property_tree/xml_parser.hpp>
#include <Eigen/Geometry>
#include <Eigen/Core>
#include <VirtualRobot/LinkedCoordinate.h>
#include <VirtualRobot/VirtualRobot.h>
namespace armarx {
......
source/RobotAPI/robotstate/remote/LinkedPose.h
+ 1
− 2
View file @ 1dcc0d4e
......@@ -35,8 +35,7 @@
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <VirtualRobot/LinkedCoordinate.h>
#include <VirtualRobot/VirtualRobot.h>
#include <sstream>
......
source/RobotAPI/statecharts/GraspingWithTorques/GraspingWithTorques.cpp
+ 1
− 0
View file @ 1dcc0d4e
......@@ -30,6 +30,7 @@
#include <Core/observers/variant/SingleTypeVariantList.h>
#include <RobotAPI/robotstate/remote/ArmarPose.h>
#include <VirtualRobot/IK/DifferentialIK.h>
#include <VirtualRobot/Robot.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
#include <RobotAPI/interface/units/HandUnitInterface.h>
......
source/RobotAPI/statecharts/OpenHand/OpenHand.cpp
+ 1
− 0
View file @ 1dcc0d4e
......@@ -30,6 +30,7 @@
#include <Core/observers/variant/SingleTypeVariantList.h>
#include <RobotAPI/robotstate/remote/ArmarPose.h>
#include <VirtualRobot/IK/DifferentialIK.h>
#include <VirtualRobot/Robot.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
......
source/RobotAPI/statecharts/PlaceObject/PlaceObject.cpp
+ 2
− 0
View file @ 1dcc0d4e
......@@ -28,7 +28,9 @@
#include <Core/observers/variant/ChannelRef.h>
#include <Core/observers/variant/SingleTypeVariantList.h>
#include <RobotAPI/robotstate/remote/ArmarPose.h>
#include <RobotAPI/robotstate/remote/RemoteRobot.h>
#include <VirtualRobot/IK/DifferentialIK.h>
#include <VirtualRobot/Robot.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
......
source/RobotAPI/units/HeadIKUnit.cpp
+ 1
− 0
View file @ 1dcc0d4e
......@@ -5,6 +5,7 @@
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/IK/GazeIK.h>
#include <VirtualRobot/LinkedCoordinate.h>
namespace armarx
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment