Add component DebugDrawerToArViz

source/RobotAPI/applications/CMakeLists.txt

@@ -52,4 +52,4 @@ add_subdirectory(MultiHandUnit)
 add_subdirectory(StatechartExecutorExample)
 
 
-add_subdirectory(NaturalIKTest)
+add_subdirectory(NaturalIKTest)
\ No newline at end of file

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)

source/RobotAPI/components/DebugDrawerToArViz/CMakeLists.txt

+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)
+

source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.cpp

+/*
+ * 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;
+    }
+
+
+
+}

source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.h

+/*
+ * 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;
+
+
+    };
+}

source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArVizComponent.cpp

+/*
+ * 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()));
+    }
+}

source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArVizComponent.h

+/*
+ * 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;
+
+    };
+}

source/RobotAPI/components/DebugDrawerToArViz/main.cpp

+/*
+ * 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");
+}

source/RobotAPI/components/DebugDrawerToArViz/test/CMakeLists.txt

+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore DebugDrawerToArViz)
+ 
+armarx_add_test(DebugDrawerToArVizTest DebugDrawerToArVizTest.cpp "${LIBS}")

source/RobotAPI/components/DebugDrawerToArViz/test/DebugDrawerToArVizTest.cpp

+/*
+ * 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);
+}