Merge branch 'master' of https://gitlab.com/ArmarX/RobotAPI

source/RobotAPI/applications/BusInspectionUnitObserver/BusInspectionUnitObserverApp.h

-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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::applications
- * @author     Peter Kaiser (peter dot kaiser at kit dot edu)
- * @date       2015
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/components/units/BusInspectionUnitObserver.h>
-
-namespace armarx
-{
-    class BusInspectionUnitObserverApp :
-        virtual public armarx::Application
-    {
-        void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
-        {
-            registry->addObject(Component::create<BusInspectionUnitObserver>(properties));
-        }
-    };
-}
-
-
-

source/RobotAPI/applications/BusInspectionUnitObserver/CMakeLists.txt

@@ -11,6 +11,6 @@ endif()
 
 set(COMPONENT_LIBS RobotAPIUnits)
 
-set(EXE_SOURCE main.cpp BusInspectionUnitObserverApp.h)
+set(EXE_SOURCE main.cpp)
 
 armarx_add_component_executable("${EXE_SOURCE}")

source/RobotAPI/applications/BusInspectionUnitObserver/main.cpp

@@ -22,12 +22,13 @@
  *             GNU General Public License
  */
 
-#include "BusInspectionUnitObserverApp.h"
+#include <RobotAPI/components/units/BusInspectionUnitObserver.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/logging/Logging.h>
 
 int main(int argc, char* argv[])
 {
-    armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::BusInspectionUnitObserverApp>();
-    app->setName("BusInspectionUnitObserver");
-
-    return app->main(argc, argv);
+    return armarx::runSimpleComponentApp<armarx::BusInspectionUnitObserver>(argc, argv, "BusInspectionUnitObserver");
 }

source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt

@@ -11,6 +11,6 @@ endif()
 
 set(COMPONENT_LIBS RobotAPIUnits)
 
-set(EXE_SOURCE main.cpp ForceTorqueObserverApp.h)
+set(EXE_SOURCE main.cpp)
 
 armarx_add_component_executable("${EXE_SOURCE}")

source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h

-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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    ArmarXCore::applications
- * @author     Kai Welke (weöle dot at kit dot edu)
- * @date       2012
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/components/units/ForceTorqueObserver.h>
-
-namespace armarx
-{
-    class ForceTorqueObserverApp :
-        virtual public armarx::Application
-    {
-        void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
-        {
-            registry->addObject(Component::create<ForceTorqueObserver>(properties));
-        }
-    };
-}
-
-
-

source/RobotAPI/applications/ForceTorqueObserver/main.cpp

@@ -22,13 +22,13 @@
  *             GNU General Public License
  */
 
-#include "ForceTorqueObserverApp.h"
+#include <RobotAPI/components/units/ForceTorqueObserver.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/logging/Logging.h>
 
 int main(int argc, char* argv[])
 {
-    armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::ForceTorqueObserverApp>();
-    app->setName("ForceTorqueObserver");
-
-    return app->main(argc, argv);
+    return armarx::runSimpleComponentApp<armarx::ForceTorqueObserver>(argc, argv, "ForceTorqueObserver");
 }

source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt

@@ -10,6 +10,6 @@ endif()
 
 set(COMPONENT_LIBS RobotAPIUnits)
 
-set(SOURCES main.cpp ForceTorqueUnitSimulationApp.h)
+set(SOURCES main.cpp)
 
 armarx_add_component_executable("${SOURCES}")

source/RobotAPI/applications/ForceTorqueUnitSimulation/ForceTorqueUnitSimulationApp.h

-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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::applications
- * @author     Peter Kaiser
- * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/components/units/ForceTorqueUnitSimulation.h>
-
-namespace armarx
-{
-    /**
-     * Application for testing the armarx::ForceTorqueUnitSimulation
-     */
-    class ForceTorqueUnitSimulationApp :
-        virtual public armarx::Application
-    {
-        /**
-         * @see armarx::Application::setup()
-         */
-        void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
-        {
-            registry->addObject(Component::create<ForceTorqueUnitSimulation>(properties));
-        }
-    };
-}

source/RobotAPI/applications/ForceTorqueUnitSimulation/main.cpp

@@ -22,12 +22,13 @@
  *             GNU General Public License
  */
 
-#include "ForceTorqueUnitSimulationApp.h"
+#include <RobotAPI/components/units/ForceTorqueUnitSimulation.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/logging/Logging.h>
 
 int main(int argc, char* argv[])
 {
-    armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::ForceTorqueUnitSimulationApp>();
-    app->setName("ForceTorqueUnitSimulation");
-
-    return app->main(argc, argv);
+    return armarx::runSimpleComponentApp<armarx::ForceTorqueUnitSimulation>(argc, argv, "ForceTorqueUnitSimulation");
 }

source/RobotAPI/applications/HandUnitSimulation/HandUnitSimulationApp.h

-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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::HandUnitSimulation
- * @author     David Schiebener ( schiebener at kit dot edu )
- * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#ifndef _ARMARX_APPLICATION_RobotAPI_HandUnitSimulation_H
-#define _ARMARX_APPLICATION_RobotAPI_HandUnitSimulation_H
-
-
-#include <RobotAPI/components/units/HandUnitSimulation.h>
-
-#include <ArmarXCore/core/application/Application.h>
-
-namespace armarx
-{
-    /**
-     * @class HandUnitSimulationApp
-     * @brief A brief description
-     *
-     * Detailed Description
-     */
-    class HandUnitSimulationApp :
-        virtual public armarx::Application
-    {
-        /**
-         * @see armarx::Application::setup()
-         */
-        void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
-                   Ice::PropertiesPtr properties)
-        {
-            registry->addObject(Component::create<HandUnitSimulation>(properties));
-        }
-    };
-}
-
-#endif

source/RobotAPI/applications/HandUnitSimulation/main.cpp

@@ -22,13 +22,13 @@
  *             GNU General Public License
  */
 
-#include "HandUnitSimulationApp.h"
+#include <RobotAPI/components/units/HandUnitSimulation.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/logging/Logging.h>
 
 int main(int argc, char* argv[])
 {
-    armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::HandUnitSimulationApp > ();
-    app->setName("HandUnitSimulation");
-
-    return app->main(argc, argv);
+    return armarx::runSimpleComponentApp<armarx::HandUnitSimulation>(argc, argv, "HandUnitSimulation");
 }

source/RobotAPI/applications/HapticObserver/CMakeLists.txt

@@ -10,6 +10,6 @@ endif()
 
 set(COMPONENT_LIBS RobotAPIUnits)
 
-set(EXE_SOURCE main.cpp HapticObserverApp.h)
+set(EXE_SOURCE main.cpp)
 
 armarx_add_component_executable("${EXE_SOURCE}")

source/RobotAPI/applications/HapticObserver/HapticObserverApp.h

-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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::HapticObserver
- * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#ifndef _ARMARX_APPLICATION_RobotAPI_HapticObserver_H
-#define _ARMARX_APPLICATION_RobotAPI_HapticObserver_H
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/components/units/HapticObserver.h>
-
-namespace armarx
-{
-    /**
-     * @class HapticObserverApp
-     * @brief A brief description
-     *
-     * Detailed Description
-     */
-    class HapticObserverApp :
-        virtual public armarx::Application
-    {
-        /**
-         * @see armarx::Application::setup()
-         */
-        void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
-                   Ice::PropertiesPtr properties)
-        {
-            registry->addObject(Component::create<HapticObserver>(properties));
-        }
-    };
-}
-
-#endif

source/RobotAPI/applications/HapticObserver/main.cpp

@@ -22,13 +22,13 @@
  *             GNU General Public License
  */
 
-#include "HapticObserverApp.h"
+#include <RobotAPI/components/units/HapticObserver.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/logging/Logging.h>
 
 int main(int argc, char* argv[])
 {
-    armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::HapticObserverApp > ();
-    app->setName("HapticObserver");
-
-    return app->main(argc, argv);
+    return armarx::runSimpleComponentApp<armarx::HapticObserver>(argc, argv, "HapticObserver");
 }

source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt

@@ -17,6 +17,6 @@ include_directories(${Simox_INCLUDE_DIRS})
 
 set(COMPONENT_LIBS RobotAPIUnits)
 
-set(SOURCES main.cpp HeadIKUnitApp.h)
+set(SOURCES main.cpp)
 
 armarx_add_component_executable("${SOURCES}")

source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h

-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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    ArmarXCore::applications
- * @author     David Schiebener (schiebener at kit dot edu)
- * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/components/units/HeadIKUnit.h>
-
-namespace armarx
-{
-    class HeadIKUnitApp :
-        virtual public armarx::Application
-    {
-        void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
-        {
-            registry->addObject(Component::create<HeadIKUnit>(properties));
-        }
-    };
-}
-
-
-

source/RobotAPI/applications/HeadIKUnit/main.cpp

@@ -22,12 +22,13 @@
  *             GNU General Public License
  */
 
-#include "HeadIKUnitApp.h"
+#include <RobotAPI/components/units/HeadIKUnit.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/logging/Logging.h>
 
 int main(int argc, char* argv[])
 {
-    armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::HeadIKUnitApp>();
-    app->setName("HeadIKUnit");
-
-    return app->main(argc, argv);
+    return armarx::runSimpleComponentApp<armarx::HeadIKUnit>(argc, argv, "HeadIKUnit");
 }

source/RobotAPI/applications/InertialMeasurementUnitObserver/CMakeLists.txt

@@ -11,6 +11,6 @@ armarx_component_set_name("InertialMeasurementUnitObserverApp")
 
 set(COMPONENT_LIBS ArmarXCoreInterfaces ArmarXCore ArmarXCoreObservers  RobotAPIUnits)
 
-set(EXE_SOURCE InertialMeasurementUnitObserverApp.h main.cpp)
+set(EXE_SOURCE main.cpp)
 
 armarx_add_component_executable("${EXE_SOURCE}")

source/RobotAPI/applications/InertialMeasurementUnitObserver/InertialMeasurementUnitObserverApp.h

-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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::InertialMeasurementUnitObserver
- * @author     Markus Grotz ( markus-grotz at web dot de )
- * @date       2015
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-
-#ifndef _ARMARX_APPLICATION_RobotAPI_InertialMeasurementUnitObserver_H
-#define _ARMARX_APPLICATION_RobotAPI_InertialMeasurementUnitObserver_H
-
-
-#include <RobotAPI/components/units/InertialMeasurementUnitObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-
-
-namespace armarx
-{
-    /**
-     * @class InertialMeasurementUnitObserverApp
-     * @brief A brief description
-     *
-     * Detailed Description
-     */
-    class InertialMeasurementUnitObserverApp :
-        virtual public armarx::Application
-    {
-        /**
-         * @see armarx::Application::setup()
-         */
-        void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
-                   Ice::PropertiesPtr properties)
-        {
-            registry->addObject(Component::create<InertialMeasurementUnitObserver>(properties));
-        }
-    };
-}
-
-#endif

source/RobotAPI/applications/InertialMeasurementUnitObserver/main.cpp

@@ -22,13 +22,13 @@
  *             GNU General Public License
  */
 
-#include "InertialMeasurementUnitObserverApp.h"
+#include <RobotAPI/components/units/InertialMeasurementUnitObserver.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/logging/Logging.h>
 
 int main(int argc, char* argv[])
 {
-    armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::InertialMeasurementUnitObserverApp > ();
-    app->setName("InertialMeasurementUnitObserver");
-
-    return app->main(argc, argv);
+    return armarx::runSimpleComponentApp<armarx::InertialMeasurementUnitObserver>(argc, argv, "InertialMeasurementUnitObserver");
 }