From 3a5bbf3a2d6c0a51f61d2ec8620e5106151cf971 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Mon, 3 Jan 2022 14:03:17 +0100
Subject: [PATCH] ArViz: Remove usage of enqueueLayer
---
.../BoxToGraspCandidatesWidgetController.cpp | 14 +++++++++-----
1 file changed, 9 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/BoxToGraspCandidates/BoxToGraspCandidatesWidgetController.cpp b/source/RobotAPI/gui-plugins/BoxToGraspCandidates/BoxToGraspCandidatesWidgetController.cpp
index 27cb74dad..1e8b97c14 100644
--- a/source/RobotAPI/gui-plugins/BoxToGraspCandidates/BoxToGraspCandidatesWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/BoxToGraspCandidates/BoxToGraspCandidatesWidgetController.cpp
@@ -296,10 +296,14 @@ namespace armarx
side_enabled_r[ba::neg_z_neg_y] = _ui.checkBoxGraspRNegZNegY->isChecked();
}
- auto layer_l = getArvizClient().layer("grasps_l");
- auto layer_r = getArvizClient().layer("grasps_r");
- auto layer_hand_vec = getArvizClient().layer("hand_vec");
- getArvizClient().enqueueLayerContaining("box", viz::Box{"box"}.set(box).transformPose(_robot->getGlobalPose()));
+ viz::Layer layer_l = arviz.layer("grasps_l");
+ viz::Layer layer_r = arviz.layer("grasps_r");
+ viz::Layer layer_hand_vec = arviz.layer("hand_vec");
+ viz::Layer layer_box = arviz.layer("box");
+ layer_box.add(viz::Box{"box"}
+ .set(box)
+ .transformPose(_robot->getGlobalPose())
+ );
gc_draw.draw(b2gc.side("Left"), layer_hand_vec);
gc_draw.draw(b2gc.side("Right"), layer_hand_vec);
@@ -318,7 +322,7 @@ namespace armarx
b2gc.center_grasps(box, "Left", lim, consume_l, side_enabled_l);
b2gc.center_grasps(box, "Right", lim, consume_r, side_enabled_r);
- getArvizClient().commit(layer_l, layer_r, layer_hand_vec);
+ arviz.commit({layer_l, layer_r, layer_hand_vec, layer_box});
_gc_topic->reportGraspCandidates(getName(), graps);
}
--
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