diff --git a/data/VariantInfo-RobotAPI.xml b/data/RobotAPI/VariantInfo-RobotAPI.xml
similarity index 91%
rename from data/VariantInfo-RobotAPI.xml
rename to data/RobotAPI/VariantInfo-RobotAPI.xml
index a9c6ecada350cb38d7d4d78d146229dc56168bd6..e74f767f7b603be9ed4e7b87267c1bcfd79ee2f6 100644
--- a/data/VariantInfo-RobotAPI.xml
+++ b/data/RobotAPI/VariantInfo-RobotAPI.xml
@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="utf-8"?>
<VariantInfo>
<Lib name="RobotAPIRemoteRobot">
- <VariantFactory include="RobotAPI/robotstate/remote/RobotStateObjectFactories.h" />
+ <VariantFactory include="RobotAPI/libraries/robotstate/remote/RobotStateObjectFactories.h" />
<Variant baseType="::armarx::Vector3Base" dataType="::armarx::Vector3" humanName="Vector3" />
<Variant baseType="::armarx::QuaternionBase" dataType="::armarx::Quaternion" humanName="Quaternion" />
<Variant baseType="::armarx::PoseBase" dataType="::armarx::Pose" humanName="Pose" />
diff --git a/scenarios/MotionControlTest/config/KinematicUnitObserver.cfg b/scenarios/MotionControlTest/config/KinematicUnitObserver.cfg
index ff20d3f9f5d3510f0ed52a198f1bde249e6b423d..c65656adb4480da37c3c1a7e90ca3656c1fd2e93 100644
--- a/scenarios/MotionControlTest/config/KinematicUnitObserver.cfg
+++ b/scenarios/MotionControlTest/config/KinematicUnitObserver.cfg
@@ -60,7 +60,7 @@
# Attributes:
# - Case sensitivity: no
# - Required: yes
-ArmarX.KinematicUnitObserver.RobotFileName = /Armar4/data/robotmodel/ArmarIV.xml
+ArmarX.KinematicUnitObserver.RobotFileName = Armar4/robotmodel/ArmarIV.xml
# ArmarX.KinematicUnitObserver.RobotNodeSetName: Robot node name
diff --git a/scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg b/scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg
index 6ade9a04de8653467979ae6146852bb04f888c4d..f60ff6fe4b6f116913e7d295350ceb58c9eaf3ea 100644
--- a/scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg
+++ b/scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg
@@ -68,7 +68,7 @@
# Attributes:
# - Case sensitivity: no
# - Required: yes
-ArmarX.KinematicUnitSimulation.RobotFileName = /Armar4/data/robotmodel/ArmarIV.xml
+ArmarX.KinematicUnitSimulation.RobotFileName = Armar4/robotmodel/ArmarIV.xml
# ArmarX.KinematicUnitSimulation.RobotNodeSetName: Robot node name
diff --git a/scenarios/MotionControlTest/config/RobotStateComponent.cfg b/scenarios/MotionControlTest/config/RobotStateComponent.cfg
index ab75dab24fe5f81bf8fc3698de37537c7c75009c..2ef0e94eb03f9228ee75236df3245518d6424822 100644
--- a/scenarios/MotionControlTest/config/RobotStateComponent.cfg
+++ b/scenarios/MotionControlTest/config/RobotStateComponent.cfg
@@ -1,4 +1,4 @@
-ArmarX.RobotStateComponent.RobotFileName=/Armar4/data/robotmodel/ArmarIV.xml # model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.RobotStateComponent.RobotFileName=Armar4/robotmodel/ArmarIV.xml # model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
ArmarX.RobotStateComponent.RobotNodeSetName=Robot # node set name
ArmarX.RobotStateComponent.ObjectName=RobotStateComponent # name of the ICE adapter
diff --git a/scenarios/RemoteRobotTest/configs/HeadUnit.cfg b/scenarios/RemoteRobotTest/configs/HeadUnit.cfg
index 4d5461f65d9b3b5c262485c291c219e0684c0987..bb8a9072dac5632642fb8a4c5d2ec124873ecbc9 100644
--- a/scenarios/RemoteRobotTest/configs/HeadUnit.cfg
+++ b/scenarios/RemoteRobotTest/configs/HeadUnit.cfg
@@ -1,5 +1,5 @@
# test config file for KinematicUnit configured to be a Head
-ArmarX.KinematicUnitSimulation.RobotFileName=${ArmarXHome_DIR}/Armar3/data/robotmodel/ArmarIII-Head.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitSimulation.RobotFileName=Armar3/data/robotmodel/ArmarIII-Head.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
ArmarX.KinematicUnitSimulation.RobotNodeSetName=Head # node set name
ArmarX.KinematicUnitSimulation.AdapterName=HeadKinematicUnit # name of the Ice adapter
diff --git a/scenarios/RemoteRobotTest/configs/HeadUnitObserver.cfg b/scenarios/RemoteRobotTest/configs/HeadUnitObserver.cfg
index 39353728c0e190eb24f1e6733daef3c35002c45e..4e6024cdfde8e85b37b66a1c2ecc48719b7b1004 100644
--- a/scenarios/RemoteRobotTest/configs/HeadUnitObserver.cfg
+++ b/scenarios/RemoteRobotTest/configs/HeadUnitObserver.cfg
@@ -1,5 +1,5 @@
# test config file for KinematicUnit configured to be a Head
-ArmarX.KinematicUnitObserver.RobotFileName=${ArmarXHome_DIR}/Armar3/data/robotmodel/ArmarIII-Head.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitObserver.RobotFileName=Armar3/data/robotmodel/ArmarIII-Head.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
ArmarX.KinematicUnitObserver.RobotNodeSetName=Head # node set name
ArmarX.KinematicUnitObserver.AdapterName=HeadKinematicUnitObserver # name of the Ice adapter
diff --git a/scenarios/RemoteRobotTest/configs/RobotStateComponent.cfg b/scenarios/RemoteRobotTest/configs/RobotStateComponent.cfg
index 46260981c2de37a0dc21938875fdcf57797d5778..d1c56fea054978b252a0ea27a92e63fa4f20ba9d 100644
--- a/scenarios/RemoteRobotTest/configs/RobotStateComponent.cfg
+++ b/scenarios/RemoteRobotTest/configs/RobotStateComponent.cfg
@@ -1,5 +1,5 @@
# test config file for KinematicUnit configured to be a Head
-ArmarX.RobotStateComponent.RobotFileName=${ArmarXHome_DIR}/Armar3/data/robotmodel/ArmarIII-LeftArm.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.RobotStateComponent.RobotFileName=Armar3/data/robotmodel/ArmarIII-LeftArm.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
ArmarX.RobotStateComponent.RobotNodeSetName=LeftArm # node set name
ArmarX.RobotStateComponent.AdapterName=RobotStateComponent # name of the Ice adapter
diff --git a/scenarios/TCPMoverScenario/configs/ArmarXGui.cfg b/scenarios/TCPMoverScenario/configs/ArmarXGui.cfg
index 510feb9a8f61aa560bfa61d31a2e34f9f8e72303..5b3fa85c73ebf0fa00552b6579cdc64e0702838b 100644
--- a/scenarios/TCPMoverScenario/configs/ArmarXGui.cfg
+++ b/scenarios/TCPMoverScenario/configs/ArmarXGui.cfg
@@ -5,7 +5,7 @@ ArmarX.DisableLogging=False
ArmarX.KinematicUnitGuiPlugin.MinimumLoggingLevel=Info
-ArmarX.KinematicUnitGuiPlugin.RobotFileName=${ArmarXHome_DIR}/Armar4/data/robotmodel/ArmarIV.xml
+ArmarX.KinematicUnitGuiPlugin.RobotFileName=Armar4/robotmodel/ArmarIV.xml
ArmarX.KinematicUnitGuiPlugin.RobotNodeSetName=Robot
ArmarX.KinematicUnitGuiPlugin.KinematicUnitName=RobotKinematicUnit
#ArmarX.MdiPlugin.Profile=TCPMover
diff --git a/scenarios/TCPMoverScenario/configs/HeadUnit.cfg b/scenarios/TCPMoverScenario/configs/HeadUnit.cfg
index fdc0834859cb4c1bab784ecd3d10eef2cf80d89e..950a3fc0ddbcccc3569676bcf020a4be0ee8e01f 100644
--- a/scenarios/TCPMoverScenario/configs/HeadUnit.cfg
+++ b/scenarios/TCPMoverScenario/configs/HeadUnit.cfg
@@ -1,6 +1,6 @@
# test config file for KinematicUnit configured to be a Head
-ArmarX.KinematicUnitSimulation.RobotFileName=${ArmarXHome_DIR}/Armar4/data/robotmodel/ArmarIV.xml
+ArmarX.KinematicUnitSimulation.RobotFileName=Armar4/robotmodel/ArmarIV.xml
ArmarX.KinematicUnitSimulation.RobotNodeSetName=Robot # node set name vorher Head
ArmarX.KinematicUnitSimulation.AdapterName=RobotKinematicUnit # name of the Ice adapter vorher HeadKinematicUnit
diff --git a/scenarios/TCPMoverScenario/configs/RobotUnit.cfg b/scenarios/TCPMoverScenario/configs/RobotUnit.cfg
index 570dc025f13903ade94afc6aa47addc3742e65e6..d77b04851b1909223d8cf41d24ba024285a994ba 100644
--- a/scenarios/TCPMoverScenario/configs/RobotUnit.cfg
+++ b/scenarios/TCPMoverScenario/configs/RobotUnit.cfg
@@ -1,6 +1,6 @@
# A test config file for KinematicUnit configured to be a Head
-ArmarX.KinematicUnitSimulation.RobotFileName=${ArmarXHome_DIR}/Armar4/data/robotmodel/ArmarIV.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitSimulation.RobotFileName=Armar4/robotmodel/ArmarIV.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
ArmarX.KinematicUnitSimulation.RobotNodeSetName=Robot # node set name vorher Head
ArmarX.KinematicUnitSimulation.AdapterName=RobotKinematicUnit # name of the Ice adapter vorher HeadKinematicUnit
diff --git a/scenarios/TCPMoverScenario/configs/RobotUnitObserver.cfg b/scenarios/TCPMoverScenario/configs/RobotUnitObserver.cfg
index 9b84969c59bb31c3c3026f641a655e42e7a52896..88747008734c236aa778d61456da4c5ca9402e8c 100644
--- a/scenarios/TCPMoverScenario/configs/RobotUnitObserver.cfg
+++ b/scenarios/TCPMoverScenario/configs/RobotUnitObserver.cfg
@@ -1,5 +1,5 @@
# test config file for KinematicUnit configured to be a Head
-ArmarX.KinematicUnitObserver.RobotFileName=${ArmarXHome_DIR}/Armar4/data/robotmodel/ArmarIV.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitObserver.RobotFileName=Armar4/robotmodel/ArmarIV.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
ArmarX.KinematicUnitObserver.RobotNodeSetName=Robot # node set name
ArmarX.KinematicUnitObserver.AdapterName=RobotKinematicUnitObserver # name of the Ice adapter
diff --git a/source/RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.h b/source/RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.h
index fa115ec5f3d86b799d95a11e85f8870135a37783..924d8f541988a799950633f29566974f2458d9aa 100644
--- a/source/RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.h
+++ b/source/RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.h
@@ -28,7 +28,7 @@
#include <Core/core/Component.h>
#include <RobotAPI/interface/units/HapticUnit.h>
#include <Core/util/variants/eigen3/MatrixVariant.h>
-#include <Core/util/variants/eigen3/VariantObjectFactories.h>
+#include <Core/util/variants/eigen3/Eigen3VariantObjectFactories.h>
namespace armarx
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.cpp b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
index 6a2cc20da6eb92415840758b046186264790abe5..fb9f58a4d831296bf6cce3ee2b0b7da8ca05a651 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.cpp
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
@@ -90,21 +90,16 @@ void ForceTorqueObserver::offerValue(std::string channelName, const std::string
channelName += "_pod";
- if(!existsChannel(channelName))
- {
- offerChannel(channelName, type + " on " + channelName);
- offerDataFieldWithDefault(channelName, type + "_x", Variant(vec->x), type + " on X axis");
- offerDataFieldWithDefault(channelName, type + "_y", Variant(vec->y), type + " on Y axis");
- offerDataFieldWithDefault(channelName, type + "_z", Variant(vec->z), type + " on Z axis");
- offerDataFieldWithDefault(channelName, type + "_frame", Variant(vec->frame), "Frame of " + value);
- }
- else
+ if(!existsChannel(channelName) )
{
- setDataField(channelName, type + "_x", Variant(vec->x));
- setDataField(channelName, type + "_y", Variant(vec->y));
- setDataField(channelName, type + "_z", Variant(vec->z));
- setDataField(channelName, type + "_frame", Variant(vec->frame));
+ offerChannel(channelName, identifier + " on " + channelName);
}
+ offerOrUpdateDataField(channelName, identifier + "_x", Variant(vec->x), type + " on X axis");
+ offerOrUpdateDataField(channelName, identifier + "_y", Variant(vec->y), type + " on Y axis");
+ offerOrUpdateDataField(channelName, identifier + "_z", Variant(vec->z), type + " on Z axis");
+ offerOrUpdateDataField(channelName, identifier + "_frame", Variant(vec->frame), "Frame of " + value->frame);
+
+
updateChannel(channelName);
diff --git a/source/RobotAPI/components/units/HapticObserver.h b/source/RobotAPI/components/units/HapticObserver.h
index 0ef0de0142ec4a8f2cfa35231d83ebde9e75a99d..71c19b9e9b1172c87601ad2d64c0fc985d0ec0fc 100644
--- a/source/RobotAPI/components/units/HapticObserver.h
+++ b/source/RobotAPI/components/units/HapticObserver.h
@@ -27,7 +27,8 @@
#include <RobotAPI/interface/units/HapticUnit.h>
#include <Core/observers/Observer.h>
#include <Core/util/variants/eigen3/MatrixVariant.h>
-#include <Core/util/variants/eigen3/VariantObjectFactories.h>
+//#include <Core/util/variants/eigen3/Eigen3LibRegistry.h>
+#include <Core/util/variants/eigen3/Eigen3VariantObjectFactories.h>
#include <Core/core/services/tasks/PeriodicTask.h>
namespace armarx
diff --git a/source/RobotAPI/components/units/HeadIKUnit.cpp b/source/RobotAPI/components/units/HeadIKUnit.cpp
index 8be25d158f340b27dcc197705950d3a7690d1792..e3bdc087d7d95141b9579efabd86fb953842865e 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.cpp
+++ b/source/RobotAPI/components/units/HeadIKUnit.cpp
@@ -44,7 +44,7 @@ namespace armarx
//std::string robotModelFile;
- //ArmarXDataPath::getAbsolutePath("Armar3/data/robotmodel/ArmarIII.xml", robotModelFile);
+ //ArmarXDataPath::getAbsolutePath("Armar3/robotmodel/ArmarIII.xml", robotModelFile);
//localRobot = VirtualRobot::RobotIO::loadRobot(robotModelFile.c_str(), VirtualRobot::RobotIO::eStructure);
//VirtualRobot::RobotPtr robotSnapshot(new RemoteRobot(remoteRobotPrx));
//localRobot->setConfig(robotSnapshot->getConfig());
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index c15a6d81059298ac07c2c70a3c068486ac02c2bd..b50dd28c75939123a777a87c491e503ab6133ad9 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -26,6 +26,9 @@ set(SLICE_FILES
units/TCPControlUnit.ice
units/TCPMoverUnitInterface.ice
units/UnitInterface.ice
+
+ visualization/DebugDrawerInterface.ice
+
)
# generate the interface library
diff --git a/source/RobotAPI/interface/robotstate/RobotState.ice b/source/RobotAPI/interface/robotstate/RobotState.ice
index e254732b9d7d01d50683b8184e34421c0f99c137..d58c6fdd691857a4d48867845001a1ddd11218a5 100644
--- a/source/RobotAPI/interface/robotstate/RobotState.ice
+++ b/source/RobotAPI/interface/robotstate/RobotState.ice
@@ -120,10 +120,16 @@ module armarx
* @return proxy to the shared robot which constantly updates all joint values
*/
SharedRobotInterface* getSynchronizedRobot();
+
/**
* @return proxy to a copy of the shared robot with non updating joint values
*/
SharedRobotInterface* getRobotSnapshot(string time);
+
+ /**
+ * @return the robot xml filename as specified in the configuration
+ */
+ string getRobotFilename();
};
};
diff --git a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
new file mode 100644
index 0000000000000000000000000000000000000000..71917f98f3429a4fdbeaa05598235379f4db6bb7
--- /dev/null
+++ b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
@@ -0,0 +1,74 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package ArmarX::RobotAPI
+ * @author Nikolaus Vahrenkamp
+ * @copyright 2014
+ * @license http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_API_DEBUGDRAWERLAYER_SLICE_
+#define _ARMARX_API_DEBUGDRAWERLAYER_SLICE_
+
+#include <Core/interface/core/UserException.ice>
+#include <Core/interface/core/BasicTypes.ice>
+#include <RobotAPI/interface/robotstate/PoseBase.ice>
+
+module armarx
+{
+
+ /*!
+ * \brief A layered drawing interface.
+ * All drawing operations are identified with a layer name in order to distinguish different drawing entitties.
+ * The layered approach allows a visualizer GUI to enable/disable different layers according to the requested visualization.
+ */
+ interface DebugDrawerInterface
+ {
+
+ /*!
+ * \brief Draw or update a coordinate system.
+ * \param drawLayer A custom name to distinguish different drawing layers.
+ * \param poseName The internal name of the pose (can be used to update/disable the drawing).
+ * \param globalPose The pose in global coordinate syetem.
+ */
+ void setPoseLayerVisu(string layerName, string poseName, PoseBase globalPose);
+
+ /*!
+ * \brief setPoseVisu draws on the "debug" layer
+ * \param poseName
+ * \param globalPose
+ */
+ void setPoseDebugLayerVisu(string poseName, PoseBase globalPose);
+
+ /*!
+ * \brief Remove visualization of coordinate system.
+ * \param layerName The name of the drawing layer.
+ * \param poseName The name of the pose.
+ */
+ void removePoseLayerVisu(string layerName, string poseName);
+
+ /*!
+ * \brief Removes pose from the "debug" layer.
+ */
+ void removePoseDebugLayerVisu(string poseName);
+
+ };
+
+
+};
+
+#endif
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.h
index acfaad733b767ab7242f0135761854145ae017c4..65c9076d60537260d7c2cc40fe04be02e987afef 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.h
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.h
@@ -6,7 +6,8 @@
#include "SerialInterface.h"
#include "TactileSensor.h"
#include <RobotAPI/interface/units/HapticUnit.h>
-#include <Core/util/variants/eigen3/VariantObjectFactories.h>
+#include <Core/util/variants/eigen3/Eigen3VariantObjectFactories.h>
+//#include <Core/util/variants/eigen3/Eigen3LibRegistry.h>
#include "TextWriter.h"
#include <Core/observers/variant/TimestampVariant.h>
#include <Core/util/variants/eigen3/MatrixVariant.h>
diff --git a/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp b/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp
index cc50f66c194cd211365af7e739068e61c972ad3e..d5c81c859aab268f61e8f2de3d47f6858a472b3c 100644
--- a/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp
+++ b/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp
@@ -151,7 +151,12 @@ namespace armarx
// ARMARX_VERBOSE_S << "duration: " << (IceUtil::Time::now() - start).toMilliSeconds() << " ms";
}
-
+ std::string RobotStateComponent::getRobotFilename(const Ice::Current&)
+ {
+ std::string robotFile = getProperty<std::string>("RobotFileName").getValue();
+ return robotFile;
+ }
+
void RobotStateComponent::reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged,const Current& c){}
void RobotStateComponent::reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged,const Current& c){}
void RobotStateComponent::reportJointTorques(const NameValueMap& jointTorques, bool aValueChanged,const Current& c){}
diff --git a/source/RobotAPI/libraries/robotstate/RobotStateComponent.h b/source/RobotAPI/libraries/robotstate/RobotStateComponent.h
index d4dafacca64b65902fa00f4007275fcca091598e..8b1bc656aa501878b48d87da7b4363521f510eed 100644
--- a/source/RobotAPI/libraries/robotstate/RobotStateComponent.h
+++ b/source/RobotAPI/libraries/robotstate/RobotStateComponent.h
@@ -91,7 +91,11 @@ namespace armarx
* \return clone of the internal synchronized robot
*/
virtual SharedRobotInterfacePrx getRobotSnapshot(const std::string & time, const Ice::Current&);
-
+
+ /**
+ * \return the robot xml filename as specified in the configuration
+ */
+ virtual std::string getRobotFilename(const Ice::Current&);
/**
* Create an instance of RobotStatePropertyDefinitions.
diff --git a/source/RobotAPI/libraries/robotstate/remote/ArmarPose.h b/source/RobotAPI/libraries/robotstate/remote/ArmarPose.h
index 2bec17a53d0521fcc8a97908b94838f6af22852b..32c7155cd7e3ad127d30c339f07a157bd87fb645 100644
--- a/source/RobotAPI/libraries/robotstate/remote/ArmarPose.h
+++ b/source/RobotAPI/libraries/robotstate/remote/ArmarPose.h
@@ -49,8 +49,8 @@ namespace armarx
const VariantTypeId Vector3 = Variant::addTypeName("::armarx::Vector3Base");
const VariantTypeId Quaternion = Variant::addTypeName("::armarx::QuaternionBase");
const VariantTypeId Pose = Variant::addTypeName("::armarx::PoseBase");
- const VariantTypeId FramedVector3 = Variant::addTypeName("::armarx::FramedVector3Base");
const VariantTypeId FramedPose = Variant::addTypeName("::armarx::FramedPoseBase");
+ const VariantTypeId FramedVector3 = Variant::addTypeName("::armarx::FramedVector3Base");
const VariantTypeId FramedPosition = Variant::addTypeName("::armarx::FramedPositionBase");
const VariantTypeId FramedOrientation = Variant::addTypeName("::armarx::FramedOrientationBase");
}
diff --git a/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp b/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
index 2a7e0d7715bdfb4fce8f3ec2c9a381f252ea2d18..dcbdd72b4404d9bccf3c68c5b8223a761d44628c 100644
--- a/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
+++ b/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
@@ -500,8 +500,8 @@ void CalculateJointAngleConfiguration::run()
// TODO: with the following line, the IK doesn't find a solution, so this terrible hack must be used. Fix it!!!
//VirtualRobot::RobotPtr robot = robotPtr->clone("CalculateTCPPoseClone");
//std::string robotModelFile;
- //ArmarXDataPath::getAbsolutePath("Armar4/data/Armar4/ArmarIV.xml", robotModelFile);
- //ArmarXDataPath::getAbsolutePath("Armar3/data/robotmodel/ArmarIII.xml", robotModelFile);
+ //ArmarXDataPath::getAbsolutePath("Armar4/robotmodel/ArmarIV.xml", robotModelFile);
+ //ArmarXDataPath::getAbsolutePath("Armar3/robotmodel/ArmarIII.xml", robotModelFile);
//VirtualRobot::RobotPtr robot = VirtualRobot::RobotIO::loadRobot(robotModelFile.c_str());
std::string kinChainName = getInput<std::string>("kinematicChainName");
@@ -1043,7 +1043,7 @@ void CalculateHeadIK::run()
//VirtualRobot::RobotPtr robot = robotPtr->clone("CalculateTCPPoseClone");
VirtualRobot::RobotConfigPtr robotSnapshotConfig = robotSnapshot->getConfig();
std::string robotModelFile;
- ArmarXDataPath::getAbsolutePath("Armar3/data/robotmodel/ArmarIII.xml", robotModelFile);
+ ArmarXDataPath::getAbsolutePath("Armar3/robotmodel/ArmarIII.xml", robotModelFile);
VirtualRobot::RobotPtr robot = VirtualRobot::RobotIO::loadRobot(robotModelFile.c_str(), VirtualRobot::RobotIO::eStructure);
robot->setConfig(robotSnapshotConfig);