diff --git a/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTest.cpp b/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTest.cpp
index 4f8e861724ab6cd980c6ac187a0175c679f9696a..c3380bff11dd73768e9de647d33fe9b139067c86 100644
--- a/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTest.cpp
+++ b/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTest.cpp
@@ -42,7 +42,7 @@ namespace armarx
std::string robFile="Armar3/robotmodel/ArmarIII.xml";
std::string project="Armar3";
ARMARX_INFO << "adding robot visu";
- prxDD->setRobotVisu("TestVisu", "TestRobot", robFile, project);
+ prxDD->setRobotVisu("TestVisu", "TestRobot", robFile, project, DrawStyle::FullModel);
ARMARX_INFO << "setting robot position";
Eigen::Matrix4f p;
@@ -53,7 +53,7 @@ namespace armarx
prxDD->updateRobotPose("TestVisu", "TestRobot", gp);
ARMARX_INFO << "adding second robot visu";
- prxDD->setRobotVisu("TestVisu", "TestRobot2", robFile, project);
+ prxDD->setRobotVisu("TestVisu", "TestRobot2", robFile, project, DrawStyle::FullModel);
ARMARX_INFO << "setting second robot position";
p(0,3) = 3000.0f;
p(1,3) = 3000.0f;
@@ -84,7 +84,7 @@ namespace armarx
usleep (10000000);
ARMARX_INFO << "adding robot visu";
- prxDD->setRobotVisu("TestVisu", "TestRobot", robFile, project);
+ prxDD->setRobotVisu("TestVisu", "TestRobot", robFile, project, DrawStyle::FullModel);
ARMARX_INFO << "setting robot position 6000/1000";
p(0,3) = 6000.0f;
@@ -93,7 +93,7 @@ namespace armarx
prxDD->updateRobotPose("TestVisu", "TestRobot", gp3);
ARMARX_INFO << "adding second robot visu";
- prxDD->setRobotVisu("TestVisu", "TestRobot2", robFile, project);
+ prxDD->setRobotVisu("TestVisu", "TestRobot2", robFile, project, DrawStyle::FullModel);
ARMARX_INFO << "setting second robot position 6000/3000";
p(0,3) = 6000.0f;
p(1,3) = 3000.0f;
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
index a98352c735093bdce6d9649b3c6336209ffbfe77..fd1d3dbcf913a4ef92615e054ed2480ee433bea1 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
@@ -604,7 +604,13 @@ VirtualRobot::RobotPtr DebugDrawerComponent::requestRobot(const DebugDrawerCompo
m->setOverride(false);
sep->addChild(m);
- boost::shared_ptr<CoinVisualization> robVisu = result->getVisualization<CoinVisualization>(VirtualRobot::SceneObject::Full);
+
+
+ VirtualRobot::SceneObject::VisualizationType visuType = VirtualRobot::SceneObject::Full;
+ if (d.drawStyle == DrawStyle::CollisionModel)
+ visuType = VirtualRobot::SceneObject::Collision;
+
+ boost::shared_ptr<CoinVisualization> robVisu = result->getVisualization<CoinVisualization>(visuType);
if (robVisu)
{
SoNode *sepRob = robVisu->getCoinVisualization();
@@ -1233,7 +1239,7 @@ void DebugDrawerComponent::removeArrowDebugLayerVisu(const std::string &arrowNam
removeArrowVisu(DEBUG_LAYER_NAME, arrowName);
}
-void DebugDrawerComponent::setRobotVisu(const std::string &layerName, const std::string &robotName, const std::string &robotFile, const std::string &armarxProject, const Ice::Current &)
+void DebugDrawerComponent::setRobotVisu(const std::string &layerName, const std::string &robotName, const std::string &robotFile, const std::string &armarxProject, DrawStyle drawStyle, const Ice::Current &)
{
ScopedRecursiveLockPtr l = getScopedAccumulatedDataLock();
std::string entryName = "__" + layerName + "__" + robotName + "__";
@@ -1242,6 +1248,7 @@ void DebugDrawerComponent::setRobotVisu(const std::string &layerName, const std:
d.robotFile = robotFile;
d.armarxProject = armarxProject;
+ d.drawStyle = drawStyle;
d.layerName = layerName;
d.name = robotName;
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
index dec6e0f66b429282e017e32e54ec4f661e14647e..2ab7be5683a2c7f7a0bb686da009678d75f9749e 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
@@ -186,9 +186,10 @@ public:
* \param layerName The layer
* \param robotName The identifier of the robot
* \param robotFile The filename of the robot. The robot must be locally present in a project.
+ * \param DrawStyle Either FullModel ior CollisionModel.
* \param armarxProject Additional armarx project that should be used to search the robot. Must be locally available and accessible through the armarx cmake search procedure.
*/
- virtual void setRobotVisu(const std::string &layerName, const std::string &robotName, const std::string &robotFile, const std::string &armarxProject, const ::Ice::Current& = ::Ice::Current());
+ virtual void setRobotVisu(const std::string &layerName, const std::string &robotName, const std::string &robotFile, const std::string &armarxProject, DrawStyle drawStyle, const ::Ice::Current& = ::Ice::Current());
virtual void updateRobotPose(const std::string &layerName, const std::string &robotName, const ::armarx::PoseBasePtr &globalPose, const ::Ice::Current& = ::Ice::Current());
virtual void updateRobotConfig(const std::string &layerName, const std::string &robotName, const std::map< std::string, float> &configuration, const ::Ice::Current& = ::Ice::Current());
/*!
@@ -323,6 +324,8 @@ protected:
bool updateConfig;
std::map < std::string, float > configuration;
+
+ armarx::DrawStyle drawStyle;
};
struct UpdateData
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
index c0f6a69bdc8d58da32b0afc3ddc85b9a93f6761e..eeb89f8db30dc69883ee957107ded4a680076d97 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
@@ -126,10 +126,12 @@ void RobotViewerWidgetController::onConnectComponent()
CMakePackageFinder project(projectName);
StringList projectIncludePaths;
auto pathsString = project.getDataDir();
+ ARMARX_VERBOSE << "Data paths of ArmarX package " << projectName << ": " << pathsString;
boost::split(projectIncludePaths,
pathsString,
boost::is_any_of(";,"),
boost::token_compress_on);
+ ARMARX_VERBOSE << "Result: Data paths of ArmarX package " << projectName << ": " << projectIncludePaths;
includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
}
diff --git a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
index 3711852621633b7d1533986c2b29c382d5dfabf6..8bc72229b36ef5e763f6342e3f679593dbc5bf59 100644
--- a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
+++ b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
@@ -67,6 +67,8 @@ module armarx
sequence< Vector3Base > PolygonPointList;
+ enum DrawStyle { FullModel, CollisionModel };
+
/*!
* \brief A layered drawing interface.
* All drawing operations are identified with a layer name in order to distinguish different drawing entitties.
@@ -100,9 +102,11 @@ module armarx
* \param layerName The layer
* \param robotName The identifier of the robot
* \param robotFile The filename of the robot. The robot must be locally present in a project.
+ * \param drawStyleType Either full or collision model.
* \param armarxProject Additional armarx project that should be used to search the robot. Must be locally available and accessible through the armarx cmake search procedure.
*/
- void setRobotVisu(string layerName, string robotName, string robotFile, string armarxProject);
+
+ void setRobotVisu(string layerName, string robotName, string robotFile, string armarxProject, DrawStyle drawStyleType);
void updateRobotPose(string layerName, string robotName, PoseBase globalPose);
void updateRobotConfig(string layerName, string robotName, NameValueMap configuration);
/*!