From 332fb067c07e4575442757c807047061fa9cdad8 Mon Sep 17 00:00:00 2001
From: Peter Kaiser <peter.kaiser@kit.edu>
Date: Sun, 7 Feb 2016 21:31:37 +0100
Subject: [PATCH] HeadIK: Make head target visualization optional
---
source/RobotAPI/components/units/HeadIKUnit.cpp | 4 ++--
source/RobotAPI/components/units/HeadIKUnit.h | 1 +
2 files changed, 3 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/units/HeadIKUnit.cpp b/source/RobotAPI/components/units/HeadIKUnit.cpp
index 46dcd0ab5..c7ccaca52 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.cpp
+++ b/source/RobotAPI/components/units/HeadIKUnit.cpp
@@ -121,7 +121,7 @@ namespace armarx
this->targetPosition->frame = targetPosition->frame;
FramedPositionPtr globalTarget = FramedPositionPtr::dynamicCast(targetPosition)->toGlobal(robotStateComponentPrx->getSynchronizedRobot());
- if (drawer)
+ if (drawer && getProperty<bool>("VisualizeIKTarget").getValue())
{
drawer->setSphereDebugLayerVisu("HeadViewTarget",
globalTarget,
@@ -295,7 +295,7 @@ namespace armarx
ARMARX_DEBUG << "Solution found";
- if (drawer && localRobot->hasRobotNode("Cameras"))
+ if (drawer && localRobot->hasRobotNode("Cameras") && getProperty<bool>("VisualizeIKTarget").getValue())
{
Vector3Ptr startPos = new Vector3(localRobot->getRobotNode("Cameras")->getGlobalPose());
drawer->setSphereDebugLayerVisu("HeadViewTargetSolution",
diff --git a/source/RobotAPI/components/units/HeadIKUnit.h b/source/RobotAPI/components/units/HeadIKUnit.h
index 6deff5a7a..f76b57c7d 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.h
+++ b/source/RobotAPI/components/units/HeadIKUnit.h
@@ -50,6 +50,7 @@ namespace armarx
defineOptionalProperty<std::string>("RobotStateTopicName", "RobotState", "Name of the RobotComponent State topic.");
defineOptionalProperty<std::string>("HeadIKUnitTopicName", "HeadIKUnitTopic", "Name of the HeadIKUnit Topic");
defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the RobotStateComponent that should be used");
+ defineOptionalProperty<bool>("VisualizeIKTarget", true, "Visualize the current IK target using the debug drawer");
defineOptionalProperty<int>("CycleTime", 30, "Cycle time of the tcp control in ms");
}
};
--
GitLab