From 3018bc30045e6195f490ba26b49a471c14b2e250 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 23 Apr 2020 10:57:30 +0200
Subject: [PATCH] Add component DebugDrawerToArViz
---
source/RobotAPI/applications/CMakeLists.txt | 2 +-
source/RobotAPI/components/CMakeLists.txt | 1 +
.../DebugDrawerToArViz/CMakeLists.txt | 38 +++++
.../DebugDrawerToArViz/DebugDrawerToArViz.cpp | 36 ++++
.../DebugDrawerToArViz/DebugDrawerToArViz.h | 154 ++++++++++++++++++
.../DebugDrawerToArVizComponent.cpp | 69 ++++++++
.../DebugDrawerToArVizComponent.h | 89 ++++++++++
.../components/DebugDrawerToArViz/main.cpp | 32 ++++
.../DebugDrawerToArViz/test/CMakeLists.txt | 5 +
.../test/DebugDrawerToArVizTest.cpp | 37 +++++
10 files changed, 462 insertions(+), 1 deletion(-)
create mode 100644 source/RobotAPI/components/DebugDrawerToArViz/CMakeLists.txt
create mode 100644 source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.cpp
create mode 100644 source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.h
create mode 100644 source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArVizComponent.cpp
create mode 100644 source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArVizComponent.h
create mode 100644 source/RobotAPI/components/DebugDrawerToArViz/main.cpp
create mode 100644 source/RobotAPI/components/DebugDrawerToArViz/test/CMakeLists.txt
create mode 100644 source/RobotAPI/components/DebugDrawerToArViz/test/DebugDrawerToArVizTest.cpp
diff --git a/source/RobotAPI/applications/CMakeLists.txt b/source/RobotAPI/applications/CMakeLists.txt
index b8d05894a..8af364a4a 100644
--- a/source/RobotAPI/applications/CMakeLists.txt
+++ b/source/RobotAPI/applications/CMakeLists.txt
@@ -52,4 +52,4 @@ add_subdirectory(MultiHandUnit)
add_subdirectory(StatechartExecutorExample)
-add_subdirectory(NaturalIKTest)
\ No newline at end of file
+add_subdirectory(NaturalIKTest)
diff --git a/source/RobotAPI/components/CMakeLists.txt b/source/RobotAPI/components/CMakeLists.txt
index 34bc50559..72d06605c 100644
--- a/source/RobotAPI/components/CMakeLists.txt
+++ b/source/RobotAPI/components/CMakeLists.txt
@@ -3,6 +3,7 @@ add_subdirectory(units)
add_subdirectory(ArViz)
add_subdirectory(CyberGloveObserver)
add_subdirectory(DebugDrawer)
+add_subdirectory(DebugDrawerToArViz)
add_subdirectory(DummyTextToSpeech)
add_subdirectory(EarlyVisionGraph)
add_subdirectory(FrameTracking)
diff --git a/source/RobotAPI/components/DebugDrawerToArViz/CMakeLists.txt b/source/RobotAPI/components/DebugDrawerToArViz/CMakeLists.txt
new file mode 100644
index 000000000..916f4381d
--- /dev/null
+++ b/source/RobotAPI/components/DebugDrawerToArViz/CMakeLists.txt
@@ -0,0 +1,38 @@
+armarx_component_set_name("DebugDrawerToArViz")
+
+
+set(COMPONENT_LIBS
+ ArmarXCore
+
+ ${PROJECT_NAME}Interfaces
+ RobotAPIComponentPlugins
+)
+
+set(SOURCES
+ DebugDrawerToArViz.cpp
+ DebugDrawerToArVizComponent.cpp
+)
+set(HEADERS
+ DebugDrawerToArViz.h
+ DebugDrawerToArVizComponent.h
+)
+
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+# all target_include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+# target_include_directories(DebugDrawerToArViz PUBLIC ${MyLib_INCLUDE_DIRS})
+#endif()
+
+# add unit tests
+add_subdirectory(test)
+
+
+armarx_component_set_name("DebugDrawerToArVizApp")
+set(COMPONENT_LIBS DebugDrawerToArViz)
+armarx_add_component_executable(main.cpp)
+
diff --git a/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.cpp b/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.cpp
new file mode 100644
index 000000000..602a4917e
--- /dev/null
+++ b/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.cpp
@@ -0,0 +1,36 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * 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 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::ArmarXObjects::DebugDrawerToArViz
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "DebugDrawerToArViz.h"
+
+
+namespace armarx
+{
+
+ void DebugDrawerToArViz::setArViz(viz::Client arviz)
+ {
+ this->arviz = arviz;
+ }
+
+
+
+}
diff --git a/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.h b/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.h
new file mode 100644
index 000000000..b243d6f23
--- /dev/null
+++ b/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.h
@@ -0,0 +1,154 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * 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 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::ArmarXObjects::DebugDrawerToArViz
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+
+#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
+#include <RobotAPI/components/ArViz/Client/Client.h>
+
+
+namespace armarx
+{
+
+ /**
+ * @brief Passes updates to DebugDrawerInterface to ArViz.
+ */
+ class DebugDrawerToArViz :
+ virtual public armarx::DebugDrawerInterface
+ {
+ public:
+
+ void setArViz(viz::Client arviz)
+ {
+ this->arviz = arviz;
+ }
+
+
+
+ // DebugDrawerInterface interface
+ public:
+
+ void exportScene(const std::string& filename, const Ice::Current& = Ice::emptyCurrent) override;
+ void exportLayer(const std::string& filename, const std::string& layerName, const Ice::Current& = Ice::emptyCurrent) override;
+
+ void setPoseVisu(const std::string& layer, const std::string& name, const PoseBasePtr& globalPose, const Ice::Current& = Ice::emptyCurrent) override;
+ void setScaledPoseVisu(const std::string& layer, const std::string& name, const PoseBasePtr& globalPose, Ice::Float scale, const Ice::Current& = Ice::emptyCurrent) override;
+ void setLineVisu(const std::string& layer, const std::string& name, const Vector3BasePtr& globalPosition1, const Vector3BasePtr& globalPosition2, Ice::Float lineWidth, const DrawColor& color, const Ice::Current& = Ice::emptyCurrent) override;
+ void setLineSetVisu(const std::string& layer, const std::string& name, const DebugDrawerLineSet& lineSet, const Ice::Current& = Ice::emptyCurrent) override;
+ void setBoxVisu(const std::string& layer, const std::string& name, const PoseBasePtr& globalPose, const Vector3BasePtr& dimensions, const DrawColor& color, const Ice::Current& = Ice::emptyCurrent) override;
+ void setTextVisu(const std::string& layer, const std::string& name, const std::string& text, const Vector3BasePtr& globalPosition, const DrawColor& color, Ice::Int size, const Ice::Current& = Ice::emptyCurrent) override;
+ void setSphereVisu(const std::string& layer, const std::string& name, const Vector3BasePtr& globalPosition, const DrawColor& color, Ice::Float radius, const Ice::Current& = Ice::emptyCurrent) override;
+ void setPointCloudVisu(const std::string& layer, const std::string& name, const DebugDrawerPointCloud& pointCloud, const Ice::Current& = Ice::emptyCurrent) override;
+ void setColoredPointCloudVisu(const std::string& layer, const std::string& name, const DebugDrawerColoredPointCloud& pointCloud, const Ice::Current& = Ice::emptyCurrent) override;
+ void set24BitColoredPointCloudVisu(const std::string& layer, const std::string& name, const DebugDrawer24BitColoredPointCloud& pointCloud, const Ice::Current& = Ice::emptyCurrent) override;
+ void setPolygonVisu(const std::string& layer, const std::string& name, const PolygonPointList& polygonPoints, const DrawColor& colorInner, const DrawColor& colorBorder, Ice::Float lineWidth, const Ice::Current& = Ice::emptyCurrent) override;
+ void setTriMeshVisu(const std::string& layer, const std::string& name, const DebugDrawerTriMesh& triMesh, const Ice::Current& = Ice::emptyCurrent) override;
+ void setArrowVisu(const std::string& layer, const std::string& name, const Vector3BasePtr& position, const Vector3BasePtr& direction, const DrawColor& color, Ice::Float length, Ice::Float width, const Ice::Current& = Ice::emptyCurrent) override;
+ void setCylinderVisu(const std::string& layer, const std::string& name, const Vector3BasePtr& globalPosition, const Vector3BasePtr& direction, Ice::Float length, Ice::Float radius, const DrawColor& color, const Ice::Current& = Ice::emptyCurrent) override;
+ void setCircleArrowVisu(const std::string& layer, const std::string& name, const Vector3BasePtr& globalPosition, const Vector3BasePtr& directionVec, Ice::Float radius, Ice::Float circleCompletion, Ice::Float width, const DrawColor& color, const Ice::Current& = Ice::emptyCurrent) override;
+
+ void setRobotVisu(const std::string& layer, const std::string& name, const std::string&, const std::string&, DrawStyle, const Ice::Current& = Ice::emptyCurrent) override;
+ void updateRobotPose(const std::string& layer, const std::string& name, const PoseBasePtr&, const Ice::Current& = Ice::emptyCurrent) override;
+ void updateRobotConfig(const std::string& layer, const std::string& name, const NameValueMap&, const Ice::Current& = Ice::emptyCurrent) override;
+ void updateRobotColor(const std::string& layer, const std::string& name, const DrawColor& color, const Ice::Current& = Ice::emptyCurrent) override;
+ void updateRobotNodeColor(const std::string& layer, const std::string& name, const std::string&, const DrawColor& color, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeRobotVisu(const std::string& layer, const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+
+ void setPoseDebugLayerVisu(const std::string& name, const PoseBasePtr& globalPose, const Ice::Current& = Ice::emptyCurrent) override;
+ void setScaledPoseDebugLayerVisu(const std::string& name, const PoseBasePtr& globalPose, Ice::Float scale, const Ice::Current& = Ice::emptyCurrent) override;
+ void setLineDebugLayerVisu(const std::string& name, const Vector3BasePtr& globalPosition1, const Vector3BasePtr& globalPosition2, Ice::Float lineWidth, const DrawColor& color, const Ice::Current& = Ice::emptyCurrent) override;
+ void setLineSetDebugLayerVisu(const std::string& name, const DebugDrawerLineSet& lineSet, const Ice::Current& = Ice::emptyCurrent) override;
+ void setBoxDebugLayerVisu(const std::string& name, const PoseBasePtr& globalPose, const Vector3BasePtr& dimensions, const DrawColor& color, const Ice::Current& = Ice::emptyCurrent) override;
+ void setTextDebugLayerVisu(const std::string& name, const std::string& text, const Vector3BasePtr& globalPosition, const DrawColor& color, Ice::Int size, const Ice::Current& = Ice::emptyCurrent) override;
+ void setSphereDebugLayerVisu(const std::string& name, const Vector3BasePtr& globalPosition, const DrawColor& color, Ice::Float radius, const Ice::Current& = Ice::emptyCurrent) override;
+ void setPointCloudDebugLayerVisu(const std::string& name, const DebugDrawerPointCloud& pointCloud, const Ice::Current& = Ice::emptyCurrent) override;
+ void set24BitColoredPointCloudDebugLayerVisu(const std::string& name, const DebugDrawer24BitColoredPointCloud& pointCloud, const Ice::Current& = Ice::emptyCurrent) override;
+ void setPolygonDebugLayerVisu(const std::string& name, const PolygonPointList& polygonPoints, const DrawColor& colorInner, const DrawColor& colorBorder, Ice::Float lineWidth, const Ice::Current& = Ice::emptyCurrent) override;
+ void setTriMeshDebugLayerVisu(const std::string& name, const DebugDrawerTriMesh& triMesh, const Ice::Current& = Ice::emptyCurrent) override;
+ void setArrowDebugLayerVisu(const std::string& name, const Vector3BasePtr& position, const Vector3BasePtr& direction, const DrawColor& color, Ice::Float length, Ice::Float width, const Ice::Current& = Ice::emptyCurrent) override;
+ void setCylinderDebugLayerVisu(const std::string& name, const Vector3BasePtr& globalPosition, const Vector3BasePtr& direction, Ice::Float length, Ice::Float radius, const DrawColor& color, const Ice::Current& = Ice::emptyCurrent) override;
+ void setCircleDebugLayerVisu(const std::string& name, const Vector3BasePtr& globalPosition, const Vector3BasePtr& directionVec, Ice::Float radius, Ice::Float circleCompletion, Ice::Float width, const DrawColor& color, const Ice::Current& = Ice::emptyCurrent) override;
+
+ void removePoseVisu(const std::string& layer, const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeLineVisu(const std::string& layer, const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeLineSetVisu(const std::string& layer, const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeBoxVisu(const std::string& layer, const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeTextVisu(const std::string& layer, const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeSphereVisu(const std::string& layer, const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removePointCloudVisu(const std::string& layer, const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeColoredPointCloudVisu(const std::string& layer, const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void remove24BitColoredPointCloudVisu(const std::string& layer, const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removePolygonVisu(const std::string& layer, const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeTriMeshVisu(const std::string& layer, const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeArrowVisu(const std::string& layer, const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeCylinderVisu(const std::string& layer, const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeCircleVisu(const std::string& layer, const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+
+ void removePoseDebugLayerVisu(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeLineDebugLayerVisu(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeLineSetDebugLayerVisu(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeBoxDebugLayerVisu(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeTextDebugLayerVisu(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeSphereDebugLayerVisu(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removePointCloudDebugLayerVisu(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeColoredPointCloudDebugLayerVisu(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void remove24BitColoredPointCloudDebugLayerVisu(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removePolygonDebugLayerVisu(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeTriMeshDebugLayerVisu(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeArrowDebugLayerVisu(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeCylinderDebugLayerVisu(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeCircleDebugLayerVisu(const std::string& name, const Ice::Current& = Ice::emptyCurrent) override;
+
+ void clearAll(const Ice::Current& = Ice::emptyCurrent) override;
+ void clearLayer(const std::string& layer, const Ice::Current& = Ice::emptyCurrent) override;
+ void clearDebugLayer(const Ice::Current& = Ice::emptyCurrent) override;
+
+ void enableLayerVisu(const std::string& layer, bool visible, const Ice::Current& = Ice::emptyCurrent) override;
+ void enableDebugLayerVisu(bool visible, const Ice::Current& = Ice::emptyCurrent) override;
+
+ Ice::StringSeq layerNames(const Ice::Current& = Ice::emptyCurrent) override;
+ LayerInformationSequence layerInformation(const Ice::Current& = Ice::emptyCurrent) override;
+
+ bool hasLayer(const std::string&, const Ice::Current& = Ice::emptyCurrent) override;
+ void removeLayer(const std::string&, const Ice::Current& = Ice::emptyCurrent) override;
+
+ void disableAllLayers(const Ice::Current& = Ice::emptyCurrent) override;
+ void enableAllLayers(const Ice::Current& = Ice::emptyCurrent) override;
+
+ void enableSelections(const std::string&, const Ice::Current& = Ice::emptyCurrent) override;
+ void disableSelections(const std::string&, const Ice::Current& = Ice::emptyCurrent) override;
+ void clearSelections(const std::string&, const Ice::Current& = Ice::emptyCurrent) override;
+
+ void select(const std::string& layer, const std::string& elementName, const Ice::Current& = Ice::emptyCurrent) override;
+ void deselect(const std::string& layer, const std::string& elementName, const Ice::Current& = Ice::emptyCurrent) override;
+
+ DebugDrawerSelectionList getSelections(const Ice::Current& = Ice::emptyCurrent) override;
+
+
+ private:
+
+ viz::Client arviz;
+
+
+ };
+}
diff --git a/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArVizComponent.cpp b/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArVizComponent.cpp
new file mode 100644
index 000000000..9dd044100
--- /dev/null
+++ b/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArVizComponent.cpp
@@ -0,0 +1,69 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * 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 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::ArmarXObjects::DebugDrawerToArViz
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "DebugDrawerToArVizComponent.h"
+
+
+namespace armarx
+{
+ DebugDrawerToArVizPropertyDefinitions::DebugDrawerToArVizPropertyDefinitions(std::string prefix) :
+ armarx::ComponentPropertyDefinitions(prefix)
+ {
+ defineOptionalProperty<std::string>("DebugDrawerTopicName", "DebugDrawerUpdates",
+ "Name of the topic the DebugDrawer listens to.");
+ }
+
+
+ std::string DebugDrawerToArVizComponent::getDefaultName() const
+ {
+ return "DebugDrawerToArViz";
+ }
+
+
+ void DebugDrawerToArVizComponent::onInitComponent()
+ {
+ usingTopicFromProperty("DebugDrawerTopicName");
+ }
+
+
+ void DebugDrawerToArVizComponent::onConnectComponent()
+ {
+ DebugDrawerToArViz::setArViz(ArVizComponentPluginUser::arviz);
+ }
+
+
+ void DebugDrawerToArVizComponent::onDisconnectComponent()
+ {
+ }
+
+
+ void DebugDrawerToArVizComponent::onExitComponent()
+ {
+ }
+
+
+ armarx::PropertyDefinitionsPtr DebugDrawerToArVizComponent::createPropertyDefinitions()
+ {
+ return armarx::PropertyDefinitionsPtr(new DebugDrawerToArVizPropertyDefinitions(
+ getConfigIdentifier()));
+ }
+}
diff --git a/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArVizComponent.h b/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArVizComponent.h
new file mode 100644
index 000000000..b7af1a027
--- /dev/null
+++ b/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArVizComponent.h
@@ -0,0 +1,89 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * 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 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::ArmarXObjects::DebugDrawerToArViz
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+
+#include <ArmarXCore/core/Component.h>
+
+#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
+
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+
+#include "DebugDrawerToArViz.h"
+
+
+namespace armarx
+{
+ /**
+ * @class DebugDrawerToArVizPropertyDefinitions
+ * @brief Property definitions of `DebugDrawerToArViz`.
+ */
+ class DebugDrawerToArVizPropertyDefinitions :
+ public armarx::ComponentPropertyDefinitions
+ {
+ public:
+ DebugDrawerToArVizPropertyDefinitions(std::string prefix);
+ };
+
+
+ /**
+ * @defgroup Component-DebugDrawerToArViz DebugDrawerToArViz
+ * @ingroup RobotAPI-Components
+ * A description of the component DebugDrawerToArViz.
+ *
+ * @class DebugDrawerToArViz
+ * @ingroup Component-DebugDrawerToArViz
+ * @brief Brief description of class DebugDrawerToArViz.
+ *
+ * Detailed description of class DebugDrawerToArViz.
+ */
+ class DebugDrawerToArVizComponent :
+ virtual public armarx::Component,
+ virtual public armarx::ArVizComponentPluginUser,
+ virtual public armarx::DebugDrawerToArViz // Implements armarx::DebugDrawerInterface
+ {
+ public:
+
+ /// @see armarx::ManagedIceObject::getDefaultName()
+ std::string getDefaultName() const override;
+
+
+ protected:
+
+ /// @see armarx::ManagedIceObject::onInitComponent()
+ void onInitComponent() override;
+
+ /// @see armarx::ManagedIceObject::onConnectComponent()
+ void onConnectComponent() override;
+
+ /// @see armarx::ManagedIceObject::onDisconnectComponent()
+ void onDisconnectComponent() override;
+
+ /// @see armarx::ManagedIceObject::onExitComponent()
+ void onExitComponent() override;
+
+ /// @see PropertyUser::createPropertyDefinitions()
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+ };
+}
diff --git a/source/RobotAPI/components/DebugDrawerToArViz/main.cpp b/source/RobotAPI/components/DebugDrawerToArViz/main.cpp
new file mode 100644
index 000000000..a498c8dc5
--- /dev/null
+++ b/source/RobotAPI/components/DebugDrawerToArViz/main.cpp
@@ -0,0 +1,32 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * 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 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::DebugDrawerToArViz
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArVizComponent.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+ return armarx::runSimpleComponentApp < armarx::DebugDrawerToArVizComponent > (argc, argv, "DebugDrawerToArViz");
+}
diff --git a/source/RobotAPI/components/DebugDrawerToArViz/test/CMakeLists.txt b/source/RobotAPI/components/DebugDrawerToArViz/test/CMakeLists.txt
new file mode 100644
index 000000000..9fc18bead
--- /dev/null
+++ b/source/RobotAPI/components/DebugDrawerToArViz/test/CMakeLists.txt
@@ -0,0 +1,5 @@
+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore DebugDrawerToArViz)
+
+armarx_add_test(DebugDrawerToArVizTest DebugDrawerToArVizTest.cpp "${LIBS}")
diff --git a/source/RobotAPI/components/DebugDrawerToArViz/test/DebugDrawerToArVizTest.cpp b/source/RobotAPI/components/DebugDrawerToArViz/test/DebugDrawerToArVizTest.cpp
new file mode 100644
index 000000000..42047e6b0
--- /dev/null
+++ b/source/RobotAPI/components/DebugDrawerToArViz/test/DebugDrawerToArVizTest.cpp
@@ -0,0 +1,37 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * 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 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::ArmarXObjects::DebugDrawerToArViz
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXObjects::DebugDrawerToArViz
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include <RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArVizComponent.h>
+
+#include <iostream>
+
+BOOST_AUTO_TEST_CASE(testExample)
+{
+ armarx::DebugDrawerToArVizComponent instance;
+
+ BOOST_CHECK_EQUAL(true, true);
+}
--
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