Add DebugDrawer Interface

source/RobotAPI/interface/CMakeLists.txt

@@ -26,6 +26,9 @@ set(SLICE_FILES
     units/TCPControlUnit.ice
     units/TCPMoverUnitInterface.ice
     units/UnitInterface.ice
+
+    visualization/DebugDrawerInterface.ice
+
 )
 
 # generate the interface library

source/RobotAPI/interface/visualization/DebugDrawerInterface.ice

+/*
+ * 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    ArmarX::RobotAPI
+ * @author     Nikolaus Vahrenkamp
+ * @copyright  2014
+ * @license    http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_API_DEBUGDRAWERLAYER_SLICE_
+#define _ARMARX_API_DEBUGDRAWERLAYER_SLICE_
+
+#include <Core/interface/core/UserException.ice>
+#include <Core/interface/core/BasicTypes.ice>
+#include <RobotAPI/interface/robotstate/PoseBase.ice>
+
+module armarx
+{
+
+    /*!
+      * \brief A layered drawing interface.
+      * All drawing operations are identified with a layer name in order to distinguish different drawing entitties.
+      * The layered approach allows a visualizer GUI to enable/disable different layers according to the requested visualization.
+    */
+    interface DebugDrawerInterface
+    {
+
+        /*!
+         * \brief Draw or update a coordinate system.
+         * \param drawLayer A custom name to distinguish different drawing layers.
+         * \param poseName The internal name of the pose (can be used to update/disable the drawing).
+         * \param globalPose The pose in global coordinate syetem.
+         */
+        void setPoseLayerVisu(string layerName, string poseName, PoseBase globalPose);
+
+        /*!
+         * \brief setPoseVisu draws on the "debug" layer
+         * \param poseName
+         * \param globalPose
+         */
+        void setPoseDebugLayerVisu(string poseName, PoseBase globalPose);
+
+        /*!
+         * \brief Remove visualization of coordinate system.
+         * \param layerName The name of the drawing layer.
+         * \param poseName The name of the pose.
+         */
+        void removePoseLayerVisu(string layerName, string poseName);
+
+        /*!
+         * \brief Removes pose from the "debug" layer.
+         */
+        void removePoseDebugLayerVisu(string poseName);
+
+    };
+
+
+};
+
+#endif