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Commit 28c6c7f8 authored by Peter Kaiser's avatar Peter Kaiser
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Removed HandUnitObserver

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source/RobotAPI/applications/CMakeLists.txt
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......@@ -16,7 +16,6 @@ add_subdirectory(PlatformUnitSimulation)
add_subdirectory(PlatformUnitObserver)
add_subdirectory(RobotStateComponent)
add_subdirectory(RobotIK)
add_subdirectory(HandUnitObserver)
add_subdirectory(HandUnitSimulation)
add_subdirectory(ForceTorqueUnitSimulation)
......
source/RobotAPI/applications/HandUnitObserver/CMakeLists.txt deleted 100644 → 0
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armarx_component_set_name("HandUnitObserverApp")
#find_package(MyLib QUIET)
#armarx_build_if(MyLib_FOUND "MyLib not available")
#
# all include_directories must be guarded by if(Xyz_FOUND)
# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
#if(MyLib_FOUND)
# include_directories(${MyLib_INCLUDE_DIRS})
#endif()
set(COMPONENT_LIBS RobotAPIUnits ArmarXInterfaces ArmarXCore)
set(EXE_SOURCE main.cpp)
armarx_add_component_executable("${EXE_SOURCE}")
source/RobotAPI/applications/HandUnitObserver/HandUnitObserverApp.h deleted 100644 → 0
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/*
* 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 RobotAPI::application::HandUnitObserver
* @author Mirko Waechter ( mirko dot waechter at kit dot edu )
* @date 2014
* @copyright http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
*/
#ifndef _ARMARX_APPLICATION_RobotAPI_HandUnitObserver_H
#define _ARMARX_APPLICATION_RobotAPI_HandUnitObserver_H
#include <RobotAPI/components/units/HandUnitObserver.h>
#include <Core/core/application/Application.h>
namespace armarx
{
/**
* @class HandUnitObserverApp
* @brief A brief description
*
* Detailed Description
*/
class HandUnitObserverApp :
virtual public armarx::Application
{
/**
* @see armarx::Application::setup()
*/
void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
Ice::PropertiesPtr properties)
{
registry->addObject( Component::create<HandUnitObserver>(properties) );
}
};
}
#endif
source/RobotAPI/applications/HandUnitObserver/main.cpp deleted 100644 → 0
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View file @ 319de4ef
/*
* 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 RobotAPI::application::HandUnitObserver
* @author Mirko Waechter ( mirko dot waechter at kit dot edu )
* @date 2014
* @copyright http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
*/
#include "HandUnitObserverApp.h"
#include <Core/core/logging/Logging.h>
int main(int argc, char* argv[])
{
armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::HandUnitObserverApp > ();
app->setName("HandUnitObserver");
return app->main(argc, argv);
}
source/RobotAPI/components/units/CMakeLists.txt
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View file @ 28c6c7f8
......@@ -36,7 +36,6 @@ set(LIB_HEADERS
TCPControlUnitObserver.h
HandUnit.h
HandUnitObserver.h
HandUnitSimulation.h
BusInspectionUnit.h
KinematicUnit.h
......@@ -61,7 +60,6 @@ set(LIB_FILES
TCPControlUnitObserver.cpp
HandUnit.cpp
HandUnitObserver.cpp
HandUnitSimulation.cpp
BusInspectionUnit.cpp
KinematicUnit.cpp
......
source/RobotAPI/components/units/HandUnitObserver.cpp deleted 100644 → 0
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View file @ 319de4ef
#include "HandUnitObserver.h"
#include <Core/observers/checks/ConditionCheckEquals.h>
#include <Core/observers/checks/ConditionCheckUpdated.h>
using namespace armarx;
void HandUnitObserver::onInitObserver()
{
/*usingTopic("LeftHandState");
usingTopic("RightHandState");
offerChannel("leftHand", "Gives information about the state of the left robot hand.");
offerDataField("leftHand", "isOpen", VariantType::Bool, "Is true when the hand is open, false if not.");
setDataField("leftHand", "isOpen", false);
offerDataField("leftHand", "isClosed", VariantType::Bool, "Is true when the hand is closed, false if not.");
setDataField("leftHand", "isClosed", false);
offerDataField("leftHand", "shapeName", VariantType::String, "Contains the name of the current hand shape.");
setDataField("leftHand", "shapeName", "unknown");
updateChannel("leftHand");
offerChannel("rightHand", "Gives information about the state of the right robot hand.");
offerDataField("rightHand", "isOpen", VariantType::Bool, "Is true when the hand is open, false if not.");
setDataField("rightHand", "isOpen", false);
offerDataField("rightHand", "isClosed", VariantType::Bool, "Is true when the hand is closed, false if not.");
setDataField("rightHand", "isClosed", false);
offerDataField("rightHand", "shapeName", VariantType::String, "Contains the name of the current hand shape.");
setDataField("rightHand", "shapeName", "unknown");
updateChannel("rightHand");
offerConditionCheck("equals", new armarx::ConditionCheckEquals());
offerConditionCheck("updated", new armarx::ConditionCheckUpdated());*/
}
void HandUnitObserver::onConnectObserver()
{
}
void HandUnitObserver::onExitObserver()
{
}
/*
void HandUnitObserver::reportHandClosed(bool isLeftHand, const Ice::Current&)
{
if (isLeftHand)
{
setDataField("leftHand", "isOpen", false);
setDataField("leftHand", "isClosed", true);
updateChannel("leftHand");
}
else
{
setDataField("rightHand", "isOpen", false);
setDataField("rightHand", "isClosed", true);
updateChannel("rightHand");
}
}
void HandUnitObserver::reportHandOpened(bool isLeftHand, const Ice::Current&)
{
if (isLeftHand)
{
setDataField("leftHand", "isOpen", true);
setDataField("leftHand", "isClosed", false);
updateChannel("leftHand");
}
else
{
setDataField("rightHand", "isOpen", true);
setDataField("rightHand", "isClosed", false);
updateChannel("rightHand");
}
}
*/
void HandUnitObserver::reportHandShaped(const std::string &handName, const std::string &shapeName, const Ice::Current&)
{
// todo
/*if (isLeftHand)
{
setDataField("leftHand", "isOpen", false);
setDataField("leftHand", "isClosed", false);
updateChannel("leftHand");
}
else
{
setDataField("rightHand", "isOpen", false);
setDataField("rightHand", "isClosed", false);
updateChannel("rightHand");
}*/
}
void HandUnitObserver::reportNewHandShapeName(const std::string &handName, const std::string& handShapeName, const Ice::Current&)
{
// todo
/*if (isLeftHand)
{
setDataField("leftHand", "shapeName", handShapeName);
updateChannel("leftHand");
}
else
{
setDataField("rightHand", "shapeName", handShapeName);
updateChannel("rightHand");
}*/
}
void armarx::HandUnitObserver::reportJointAngles(const armarx::NameValueMap &actualJointAngles, const Ice::Current &)
{
}
void HandUnitObserver::reportJointPressures(const NameValueMap &actualJointPressures, const Ice::Current &)
{
}
source/RobotAPI/components/units/HandUnitObserver.h deleted 100644 → 0
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− 82
View file @ 319de4ef
/*
* 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 RobotAPI::units
* @author David Schiebener <schiebener at kit dot edu>
* @date 2014
* @copyright http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
*/
#ifndef _ARMARX_ROBOTAPI_HAND_UNIT_OBSERVER_H
#define _ARMARX_ROBOTAPI_HAND_UNIT_OBSERVER_H
#include <RobotAPI/interface/units/HandUnitInterface.h>
#include <Core/observers/Observer.h>
namespace armarx
{
class HandUnitObserverPropertyDefinitions:
public ComponentPropertyDefinitions
{
public:
HandUnitObserverPropertyDefinitions(std::string prefix):
ComponentPropertyDefinitions(prefix)
{
//defineRequiredProperty<std::string>("HapticTopicName", "Name of the HapticUnit Topic");
}
};
// TODO !!!
/**
* @class HandUnitObserver
* @ingroup RobotAPI-SensorActorUnits-observers
* @brief The HandUnitObserver class
*/
class HandUnitObserver :
virtual public Observer,
virtual public HandUnitObserverInterface
{
public:
HandUnitObserver(){}
// framework hooks
virtual std::string getDefaultName() const { return "HandUnitObserver"; }
virtual void onInitObserver();
virtual void onConnectObserver();
virtual void onExitObserver();
// observer interface
// implementation: todo...
virtual void reportHandShaped(const std::string &handName, const std::string &shapeName, const ::Ice::Current& = ::Ice::Current());
virtual void reportNewHandShapeName(const std::string &handName, const ::std::string& handShapeName, const ::Ice::Current& = ::Ice::Current());
void reportJointAngles(const NameValueMap &actualJointAngles, const Ice::Current& = ::Ice::Current());
void reportJointPressures(const NameValueMap &actualJointPressures, const Ice::Current& = ::Ice::Current());
/**
* @see PropertyUser::createPropertyDefinitions()
*/
//virtual PropertyDefinitionsPtr createPropertyDefinitions();
private:
};
}
#endif
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