diff --git a/source/RobotAPI/applications/RobotControlUI/RobotControlUI.h b/source/RobotAPI/applications/RobotControlUI/RobotControlUI.h
index 87cbd26d140455ccd54623b6a7106781dcd975f4..d402525e5c3cac9756c1c4537460637f09576a15 100644
--- a/source/RobotAPI/applications/RobotControlUI/RobotControlUI.h
+++ b/source/RobotAPI/applications/RobotControlUI/RobotControlUI.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_SIMPLECOMPONENTTEST_H
-#define _ARMARX_SIMPLECOMPONENTTEST_H
+#pragma once
// ArmarXCore
#include <ArmarXCore/core/Component.h>
@@ -53,4 +52,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/applications/ViewSelection/ViewSelectionApp.h b/source/RobotAPI/applications/ViewSelection/ViewSelectionApp.h
index c234e3c9381942e4343f6e732db6fe9e504ee0ed..8d19a221169e041eb312a4b1e17889f238014d99 100644
--- a/source/RobotAPI/applications/ViewSelection/ViewSelectionApp.h
+++ b/source/RobotAPI/applications/ViewSelection/ViewSelectionApp.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_APPLICATION_RobotComponents_ViewSelection_H
-#define _ARMARX_APPLICATION_RobotComponents_ViewSelection_H
+#pragma once
#include <ArmarXCore/core/application/Application.h>
@@ -51,4 +50,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/applications/WeissHapticUnit/WeissHapticUnitApp.h b/source/RobotAPI/applications/WeissHapticUnit/WeissHapticUnitApp.h
index de2d0c52c0266fceac0a661e0c3ae2ebb55a1c4b..f9e9ea0a98d92c081469733377931e6bb348c973 100644
--- a/source/RobotAPI/applications/WeissHapticUnit/WeissHapticUnitApp.h
+++ b/source/RobotAPI/applications/WeissHapticUnit/WeissHapticUnitApp.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_APPLICATION_RobotAPI_WeissHapticUnit_H
-#define _ARMARX_APPLICATION_RobotAPI_WeissHapticUnit_H
+#pragma once
#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/components/units/HapticObserver.h>
@@ -52,4 +51,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
index c18fd24a02f84f74beb2474ef1204637a436066a..cd2d8579c9a3f4fc7f9a8de8605ba6e5aea8df8c 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
@@ -23,8 +23,7 @@
* GNU General Public License
*/
-#ifndef __ARMARX_DEBUGDRAWERCOMPONENT_H__
-#define __ARMARX_DEBUGDRAWERCOMPONENT_H__
+#pragma once
// Coin3D & SoQt
@@ -588,4 +587,3 @@ namespace armarx
}
-#endif
diff --git a/source/RobotAPI/components/EarlyVisionGraph/GraphGenerator.h b/source/RobotAPI/components/EarlyVisionGraph/GraphGenerator.h
index 7904916daf5bb2f4c16f0c7f3abdf43b9b31c4b9..624c60090937fe63f908d6a1f819f577ca4fbd05 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/GraphGenerator.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/GraphGenerator.h
@@ -7,8 +7,7 @@
// Date: 08.07.2008
// *****************************************************************
-#ifndef _GRAPH_GENERATOR_H_
-#define _GRAPH_GENERATOR_H_
+#pragma once
// *****************************************************************
// includes
@@ -82,4 +81,3 @@ private:
static vector<Face> m_Faces;
};
-#endif /* _GRAPH_GENERATOR_H_ */
diff --git a/source/RobotAPI/components/EarlyVisionGraph/GraphLookupTable.h b/source/RobotAPI/components/EarlyVisionGraph/GraphLookupTable.h
index b97a195b358bbc858b11fd2f3afc0bd8a52fe219..e64f1ee45ec87f4e40bd4b58930ea34add4b369d 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/GraphLookupTable.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/GraphLookupTable.h
@@ -7,8 +7,7 @@
// Date: 10.10.2008
// *****************************************************************
-#ifndef _GRAPH_LOOKUP_TABLE_H_
-#define _GRAPH_LOOKUP_TABLE_H_
+#pragma once
// *****************************************************************
// includes
@@ -62,4 +61,3 @@ private:
};
-#endif /* _GRAPH_LOOKUP_TABLE_H_ */
diff --git a/source/RobotAPI/components/EarlyVisionGraph/GraphMap.h b/source/RobotAPI/components/EarlyVisionGraph/GraphMap.h
index e8533388a4fad98b6e06ab2c26e6cddf45b6dee3..d6ba662e13cc553d21b2b4d849f8b96966368e91 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/GraphMap.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/GraphMap.h
@@ -7,8 +7,7 @@
// Date: 12.06.2007
// *****************************************************************
-#ifndef _GRAPH_MAP_H_
-#define _GRAPH_MAP_H_
+#pragma once
// *****************************************************************
// includes
@@ -71,4 +70,3 @@ private:
};
-#endif /* _GRAPH_MAP_H_ */
diff --git a/source/RobotAPI/components/EarlyVisionGraph/GraphProcessor.h b/source/RobotAPI/components/EarlyVisionGraph/GraphProcessor.h
index 2a609783b07cef5c6b4f4c77794adde38c0cc017..f8ef20486d22e85ddd813cbfd6b2f4350744355b 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/GraphProcessor.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/GraphProcessor.h
@@ -7,8 +7,7 @@
// Date: 12.06.2007
// *****************************************************************
-#ifndef _GRAPH_PROCESSOR_H_
-#define _GRAPH_PROCESSOR_H_
+#pragma once
// *****************************************************************
// forward declarations
@@ -47,4 +46,3 @@ namespace GraphProcessor
bool getCircumcircle(CSphericalGraph* pGraph, int nIndex1, int nIndex2, int nIndex3, TSphereCoord& center, float& fRadius);
};
-#endif /* _GRAPH_PROCESSOR_H_ */
diff --git a/source/RobotAPI/components/EarlyVisionGraph/GraphPyramidLookupTable.h b/source/RobotAPI/components/EarlyVisionGraph/GraphPyramidLookupTable.h
index b871f1d0ae2ec49ec8c078e227b6934c812c593c..932c2ec44b75ec7078e273f097f1619acd01c69c 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/GraphPyramidLookupTable.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/GraphPyramidLookupTable.h
@@ -7,8 +7,7 @@
// Date: 10.10.2008
// *****************************************************************
-#ifndef _GRAPH_PYRAMID_LOOKUP_TABLE_H_
-#define _GRAPH_PYRAMID_LOOKUP_TABLE_H_
+#pragma once
// *****************************************************************
// includes
@@ -49,4 +48,3 @@ private:
};
-#endif /* _GRAPH_PYRAMID_LOOKUP_TABLE_H_ */
diff --git a/source/RobotAPI/components/EarlyVisionGraph/GraphTriangulation.h b/source/RobotAPI/components/EarlyVisionGraph/GraphTriangulation.h
index 62e3dadc5ea464bd731f3c4ac1e364182d5bc171..d7296293429d8fc37d9878f10cdc5cc4e612717a 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/GraphTriangulation.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/GraphTriangulation.h
@@ -7,8 +7,7 @@
// Date: 12.06.2007
// *****************************************************************
-#ifndef _GRAPH_TRIANGULATION_H_
-#define _GRAPH_TRIANGULATION_H_
+#pragma once
// *****************************************************************
// forward declarations
@@ -49,4 +48,3 @@ private:
};
-#endif /* _GRAPH_TRIANGULATION_H_ */
diff --git a/source/RobotAPI/components/EarlyVisionGraph/IntensityGraph.h b/source/RobotAPI/components/EarlyVisionGraph/IntensityGraph.h
index 84460e1b2e2db23cbe3c5aba0a775b1043a1a125..9b7081e69a607fcc6415c3536f2d5cfcdee892da 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/IntensityGraph.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/IntensityGraph.h
@@ -7,8 +7,7 @@
// Date: 12.06.2008
// *****************************************************************
-#ifndef _INTENSITY_GRAPH_H_
-#define _INTENSITY_GRAPH_H_
+#pragma once
// *****************************************************************
// includes
@@ -94,4 +93,3 @@ public:
};
-#endif // _INTENSITY_GRAPH_H_
diff --git a/source/RobotAPI/components/EarlyVisionGraph/MathTools.h b/source/RobotAPI/components/EarlyVisionGraph/MathTools.h
index 336629401bf50aed9f10fe1b24b6e04904e8fd0a..a42bd392f8e7a871167bdc38296100a4805116ac 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/MathTools.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/MathTools.h
@@ -7,8 +7,7 @@
// Date: 12.06.2007
// *****************************************************************
-#ifndef _MATH_TOOLS_H_
-#define _MATH_TOOLS_H_
+#pragma once
// *****************************************************************
// defines
@@ -69,4 +68,3 @@ public:
};
-#endif /* _MATH_TOOLS_H_ */
diff --git a/source/RobotAPI/components/EarlyVisionGraph/SphericalGraph.h b/source/RobotAPI/components/EarlyVisionGraph/SphericalGraph.h
index fc8ffdbe823dbec9f5e7864216020f11fe5aabb1..53362a758d822f56834f27300dd92336f2c556f1 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/SphericalGraph.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/SphericalGraph.h
@@ -7,8 +7,7 @@
// Date: 12.06.2007
// *****************************************************************
-#ifndef _SPHERICAL_GRAPH_H_
-#define _SPHERICAL_GRAPH_H_
+#pragma once
// *****************************************************************
// includes
@@ -162,4 +161,3 @@ protected:
};
-#endif /* _SPHERICAL_GRAPH_H_ */
diff --git a/source/RobotAPI/components/EarlyVisionGraph/Structs.h b/source/RobotAPI/components/EarlyVisionGraph/Structs.h
index 64e071bcddd59b4dc5bb7517a8d8611a95a04f76..4b399341466e43ba74b14e449b52eca80412bb57 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/Structs.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/Structs.h
@@ -7,8 +7,7 @@
// Date: 12.06.2007
// *****************************************************************
-#ifndef _STRUCTS_H_
-#define _STRUCTS_H_
+#pragma once
#include <vector>
#include <Eigen/Core>
@@ -82,4 +81,3 @@ struct THypothesis
-#endif /* _STRUCTS_H_ */
diff --git a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
index fb208fa431dc64cc6143d9cb2acb0f73629efca7..2614a96fff87084ee3383bd705c05e6c2c6bbc5f 100644
--- a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
+++ b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_RobotAPI_GamepadControlUnit_H
-#define _ARMARX_COMPONENT_RobotAPI_GamepadControlUnit_H
+#pragma once
#include <ArmarXCore/core/Component.h>
@@ -114,4 +113,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/RobotNameService/RobotNameService.h b/source/RobotAPI/components/RobotNameService/RobotNameService.h
index 52e49da46ed37c7035ad21b265b746a4119709ce..92f5942342302f8fcb9db72830179552cc0188f8 100644
--- a/source/RobotAPI/components/RobotNameService/RobotNameService.h
+++ b/source/RobotAPI/components/RobotNameService/RobotNameService.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_RobotAPI_RobotNameService_H
-#define _ARMARX_COMPONENT_RobotAPI_RobotNameService_H
+#pragma once
#include <ArmarXCore/core/Component.h>
@@ -95,4 +94,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.h b/source/RobotAPI/components/RobotState/RobotStateComponent.h
index 6429cc2677066c2f6f61024a5d60be9fa4beaeae..95b5680f2e07aa2d22e5059e930d52da7223551b 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.h
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_RobotStateComponent_RobotStateComponent_H
-#define _ARMARX_COMPONENT_RobotStateComponent_RobotStateComponent_H
+#pragma once
#include "SharedRobotServants.h"
@@ -190,4 +189,3 @@ namespace armarx
}
-#endif
diff --git a/source/RobotAPI/components/RobotState/SharedRobotServants.h b/source/RobotAPI/components/RobotState/SharedRobotServants.h
index f27bda005256303f2b33134b332eddf7017c59bd..b01b94f561cac8f14fc77fee19971df7cfe0b5de 100644
--- a/source/RobotAPI/components/RobotState/SharedRobotServants.h
+++ b/source/RobotAPI/components/RobotState/SharedRobotServants.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef __SHARED_ROBOT_SERVANTS_H__
-#define __SHARED_ROBOT_SERVANTS_H__
+#pragma once
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
@@ -161,4 +160,3 @@ namespace armarx
typedef IceInternal::Handle<SharedRobotServant> SharedRobotServantPtr;
}
-#endif
diff --git a/source/RobotAPI/components/ViewSelection/ViewSelection.h b/source/RobotAPI/components/ViewSelection/ViewSelection.h
index d945aa4607ffd309a6c1abfe144e1018bf701cc0..c0ee88d25daa4e858df4fcd7db946a39faf555e3 100644
--- a/source/RobotAPI/components/ViewSelection/ViewSelection.h
+++ b/source/RobotAPI/components/ViewSelection/ViewSelection.h
@@ -23,8 +23,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_RobotComponents_ViewSelection_H
-#define _ARMARX_COMPONENT_RobotComponents_ViewSelection_H
+#pragma once
#include <ArmarXCore/core/Component.h>
@@ -233,4 +232,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/ATINetFTUnit.h b/source/RobotAPI/components/units/ATINetFTUnit.h
index ad0e1215960bf0f8358b27859e6a05f097a73169..e8fdfc296819d86815fbaff429aa318dd83e568a 100644
--- a/source/RobotAPI/components/units/ATINetFTUnit.h
+++ b/source/RobotAPI/components/units/ATINetFTUnit.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ROBOTAPI_UNITS_ATINetFTUnit_H
-#define _ROBOTAPI_UNITS_ATINetFTUnit_H
+#pragma once
#include <ArmarXCore/core/Component.h>
@@ -186,4 +185,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.h b/source/RobotAPI/components/units/ForceTorqueObserver.h
index 89734e7f44bf0119a1a80cf5c3043b06cb182aeb..24c031200b51613c9b3409129df79b2804d7a48b 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.h
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_FORCETORQUEOBSERVER_H
-#define _ARMARX_ROBOTAPI_FORCETORQUEOBSERVER_H
+#pragma once
#include <RobotAPI/interface/units/ForceTorqueUnit.h>
#include <RobotAPI/libraries/core/FramedPose.h>
@@ -122,4 +121,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/ForceTorqueUnit.h b/source/RobotAPI/components/units/ForceTorqueUnit.h
index c6dd29bdb1722c367dba71256cd03ac203e636c1..30dcf8952b25685214accbd78eb108954a2378a8 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnit.h
+++ b/source/RobotAPI/components/units/ForceTorqueUnit.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_FORCE_TORQUE_UNIT_H
-#define _ARMARX_COMPONENT_FORCE_TORQUE_UNIT_H
+#pragma once
#include <ArmarXCore/core/Component.h>
@@ -96,4 +95,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h b/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
index 0846cc891d7889bb3f15f50a7fb665b6cb1fbebd..a52d64e37776d0d499af4099d7cd35f88a2e6b69 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
+++ b/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef ARMARX_COMPONENT_FORCE_TORQUE_UNIT_SIMULATION_H
-#define ARMARX_COMPONENT_FORCE_TORQUE_UNIT_SIMULATION_H
+#pragma once
#include "ForceTorqueUnit.h"
@@ -100,4 +99,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/GamepadUnitObserver.h b/source/RobotAPI/components/units/GamepadUnitObserver.h
index 7edd3c2f141d18ec244a18e31c7eea5c641eb147..fcccf65fc017cda9f3cc69e89a2eebb747df61cc 100644
--- a/source/RobotAPI/components/units/GamepadUnitObserver.h
+++ b/source/RobotAPI/components/units/GamepadUnitObserver.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_GAMEPAD_OBSERVER_H
-#define _ARMARX_ROBOTAPI_GAMEPAD_OBSERVER_H
+#pragma once
#include <RobotAPI/interface/units/GamepadUnit.h>
#include <ArmarXCore/observers/Observer.h>
@@ -90,4 +89,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/HandUnit.h b/source/RobotAPI/components/units/HandUnit.h
index 35e9aa8ce141c392c02c706922c7c49ec3e8a45b..9a6d2bcecf8cc5e3498f8e8ae52a4788bba79fa1 100644
--- a/source/RobotAPI/components/units/HandUnit.h
+++ b/source/RobotAPI/components/units/HandUnit.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_CORE_UNITS_HANDUNIT_H
-#define _ARMARX_CORE_UNITS_HANDUNIT_H
+#pragma once
#include <RobotAPI/components/units/SensorActorUnit.h>
@@ -185,4 +184,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/HandUnitSimulation.h b/source/RobotAPI/components/units/HandUnitSimulation.h
index 308223c3b9b98ccc42d307f672e2f89c0a383b1e..1c02fd686c7a39512cd4ed6f732a8d879904a2ba 100644
--- a/source/RobotAPI/components/units/HandUnitSimulation.h
+++ b/source/RobotAPI/components/units/HandUnitSimulation.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_CORE_UNITS_HANDUNITSIMULATION_H
-#define _ARMARX_CORE_UNITS_HANDUNITSIMULATION_H
+#pragma once
#include "HandUnit.h"
@@ -90,4 +89,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/HapticObserver.h b/source/RobotAPI/components/units/HapticObserver.h
index d1c3a4a819fa6d423f7f5ac07a5c8a53980a6560..e6b31b334d2b3b2bf6263d25c3e17918029810d8 100644
--- a/source/RobotAPI/components/units/HapticObserver.h
+++ b/source/RobotAPI/components/units/HapticObserver.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_HAPTIC_OBSERVER_H
-#define _ARMARX_ROBOTAPI_HAPTIC_OBSERVER_H
+#pragma once
#include <RobotAPI/interface/units/HapticUnit.h>
#include <ArmarXCore/observers/Observer.h>
@@ -158,4 +157,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/HapticUnit.h b/source/RobotAPI/components/units/HapticUnit.h
index 555b4bd516fbca7471caad8904bba3ccad471e3a..df548dc31d42f481da979f56968d25ae89988fa9 100644
--- a/source/RobotAPI/components/units/HapticUnit.h
+++ b/source/RobotAPI/components/units/HapticUnit.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_HAPTIC_UNIT_H
-#define _ARMARX_COMPONENT_HAPTIC_UNIT_H
+#pragma once
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/application/properties/Properties.h>
@@ -85,4 +84,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/HeadIKUnit.h b/source/RobotAPI/components/units/HeadIKUnit.h
index 775d9bdc1ffb2af59d8365046cb63971422d1d6c..bbdd75e22205b8e8f4b966cac6543b3d2047a517 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.h
+++ b/source/RobotAPI/components/units/HeadIKUnit.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_HEADIKUNIT_H
-#define _ARMARX_HEADIKUNIT_H
+#pragma once
#include <ArmarXCore/core/Component.h>
@@ -119,4 +118,3 @@ namespace armarx
}
-#endif // _ARMARX_HEADIKUNIT_H
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnit.h b/source/RobotAPI/components/units/InertialMeasurementUnit.h
index af78c268077635ec0feeee0bbc5448f3bb25d863..2e5e956ad4944065fcd8a4457242b8f8d6901ca3 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnit.h
+++ b/source/RobotAPI/components/units/InertialMeasurementUnit.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_RobotAPI_InertialMeasurementUnit_H
-#define _ARMARX_COMPONENT_RobotAPI_InertialMeasurementUnit_H
+#pragma once
#include "SensorActorUnit.h"
@@ -103,4 +102,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
index 7082e8e8993d3dd137278d06f7efea1b29941c55..1ceba2cf5f084d2f2f47e2ecf4fd0ec5e5a14679 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
+++ b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_IMU_OBSERVER_H
-#define _ARMARX_ROBOTAPI_IMU_OBSERVER_H
+#pragma once
#include <RobotAPI/interface/units/InertialMeasurementUnit.h>
#include <ArmarXCore/observers/Observer.h>
@@ -91,4 +90,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/KinematicUnit.h b/source/RobotAPI/components/units/KinematicUnit.h
index 988c39634ca092b835cdced73d390db677b08705..64b65dd2b8a13519400fa309ce263f3177f3b6f7 100644
--- a/source/RobotAPI/components/units/KinematicUnit.h
+++ b/source/RobotAPI/components/units/KinematicUnit.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_KINEMATIC_UNIT_H
-#define _ARMARX_COMPONENT_KINEMATIC_UNIT_H
+#pragma once
#include <RobotAPI/components/units/SensorActorUnit.h>
@@ -144,4 +143,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/KinematicUnitObserver.h b/source/RobotAPI/components/units/KinematicUnitObserver.h
index d1f44cba5bebf220956153c44f1566e209cd2f02..1f306d6863f85f203d9cd24db6486494ff15fd8f 100644
--- a/source/RobotAPI/components/units/KinematicUnitObserver.h
+++ b/source/RobotAPI/components/units/KinematicUnitObserver.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_H
-#define _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_H
+#pragma once
#include <ArmarXCore/core/system/ImportExport.h>
#include <ArmarXCore/core/Component.h>
@@ -214,4 +213,3 @@ namespace armarx
}
-#endif
diff --git a/source/RobotAPI/components/units/KinematicUnitSimulation.h b/source/RobotAPI/components/units/KinematicUnitSimulation.h
index be76cca882e340b8c372eedfc7d128f7b1870049..27c7158eac15241741c7e06817f8753084b7ea01 100644
--- a/source/RobotAPI/components/units/KinematicUnitSimulation.h
+++ b/source/RobotAPI/components/units/KinematicUnitSimulation.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_KINEMATIC_UNIT_SIMULATION_H
-#define _ARMARX_COMPONENT_KINEMATIC_UNIT_SIMULATION_H
+#pragma once
#include "KinematicUnit.h"
@@ -191,4 +190,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/LaserScannerUnitObserver.h b/source/RobotAPI/components/units/LaserScannerUnitObserver.h
index 7981b89b6279bd5315dcb7b37635310a300f2b5b..4b093eb49cc12f3d07b457f744f3fda78e8872c0 100644
--- a/source/RobotAPI/components/units/LaserScannerUnitObserver.h
+++ b/source/RobotAPI/components/units/LaserScannerUnitObserver.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_LASER_SCANNER_UNIT_OBSERVER_H
-#define _ARMARX_ROBOTAPI_LASER_SCANNER_UNIT_OBSERVER_H
+#pragma once
#include <RobotAPI/interface/units/LaserScannerUnit.h>
#include <ArmarXCore/observers/Observer.h>
@@ -84,4 +83,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/MetaWearIMUObserver.h b/source/RobotAPI/components/units/MetaWearIMUObserver.h
index 57011afb71f4d4adcc0030c0e7452776504eb37d..6dba1f74653563fc132706e39d23036b2595ae4a 100644
--- a/source/RobotAPI/components/units/MetaWearIMUObserver.h
+++ b/source/RobotAPI/components/units/MetaWearIMUObserver.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_META_WEAR_IMU_OBSERVER_H
-#define _ARMARX_ROBOTAPI_META_WEAR_IMU_OBSERVER_H
+#pragma once
#include <RobotAPI/interface/units/MetaWearIMU.h>
#include <ArmarXCore/observers/Observer.h>
@@ -84,4 +83,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/OptoForceUnitObserver.h b/source/RobotAPI/components/units/OptoForceUnitObserver.h
index fec71d82cbc1c5fe94e04d1b3ffe1540b994cbd7..1fcdb266986b47dc46f1dd135ffe9b964890961d 100644
--- a/source/RobotAPI/components/units/OptoForceUnitObserver.h
+++ b/source/RobotAPI/components/units/OptoForceUnitObserver.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_OptoForce_OBSERVER_H
-#define _ARMARX_ROBOTAPI_OptoForce_OBSERVER_H
+#pragma once
#include <RobotAPI/interface/units/OptoForceUnit.h>
#include <ArmarXCore/observers/Observer.h>
@@ -90,4 +89,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.h b/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.h
index 14585223a1a589f45859167ac65121e487982fb6..033f9cd08bd4f82bf399eb33df20eb2ac5a4956c 100644
--- a/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.h
+++ b/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_IMU_OBSERVER_H
-#define _ARMARX_ROBOTAPI_IMU_OBSERVER_H
+#pragma once
#include <RobotAPI/interface/units/OrientedTactileSensorUnit.h>
#include <ArmarXCore/observers/Observer.h>
@@ -86,4 +85,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/PlatformUnit.h b/source/RobotAPI/components/units/PlatformUnit.h
index afa1a29bed91b9857abdf5f8f1e1607fe99a9ed9..119f4a2249b94538ed25abb4dbb173432e595d5d 100644
--- a/source/RobotAPI/components/units/PlatformUnit.h
+++ b/source/RobotAPI/components/units/PlatformUnit.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_CORE_UNITS_PLATFROMUNIT_H
-#define _ARMARX_CORE_UNITS_PLATFROMUNIT_H
+#pragma once
#include <RobotAPI/components/units/SensorActorUnit.h>
@@ -126,4 +125,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/PlatformUnitObserver.h b/source/RobotAPI/components/units/PlatformUnitObserver.h
index c36aa4264bcb24e63526d538eb6a2f909608d122..47d86bbefffc0824ea357be9fdaf5a9af25e321c 100644
--- a/source/RobotAPI/components/units/PlatformUnitObserver.h
+++ b/source/RobotAPI/components/units/PlatformUnitObserver.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_CORE_PLATFORM_UNIT_OBSERVER_H
-#define _ARMARX_CORE_PLATFORM_UNIT_OBSERVER_H
+#pragma once
#include <ArmarXCore/core/system/ImportExport.h>
#include <ArmarXCore/core/Component.h>
@@ -152,4 +151,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/components/units/PlatformUnitSimulation.h b/source/RobotAPI/components/units/PlatformUnitSimulation.h
index b21bf16cfe36322fd9cbab4687384138946a44a6..a4ba66acbd58aa3c740471b79bfcbf658953f5c6 100644
--- a/source/RobotAPI/components/units/PlatformUnitSimulation.h
+++ b/source/RobotAPI/components/units/PlatformUnitSimulation.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_PLATFORM_UNIT_SIMULATION_H
-#define _ARMARX_COMPONENT_PLATFORM_UNIT_SIMULATION_H
+#pragma once
#include "PlatformUnit.h"
@@ -138,4 +137,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotPoseUnit.h b/source/RobotAPI/components/units/RobotPoseUnit.h
index 457edcdf74c32cb67cd4171cba82c782ffcd5193..d620765925628a8820355ab2c45dc7f8ec828b7b 100644
--- a/source/RobotAPI/components/units/RobotPoseUnit.h
+++ b/source/RobotAPI/components/units/RobotPoseUnit.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_CORE_UNITS_ROBOTPOSEUNIT_H
-#define _ARMARX_CORE_UNITS_ROBOTPOSEUNIT_H
+#pragma once
#include <RobotAPI/components/units/SensorActorUnit.h>
@@ -128,4 +127,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/BasicControllers.h b/source/RobotAPI/components/units/RobotUnit/BasicControllers.h
index 74027102b44d0730046e96447e5bcd78d627b9fa..ff0592b4bc97a55cac6962ebf6d158704fc32a3e 100644
--- a/source/RobotAPI/components/units/RobotUnit/BasicControllers.h
+++ b/source/RobotAPI/components/units/RobotUnit/BasicControllers.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_BasicControllers_H
-#define _ARMARX_LIB_RobotAPI_BasicControllers_H
+#pragma once
#include <cmath>
#include <type_traits>
@@ -287,4 +286,3 @@ namespace armarx
float positionPeriodLo, float positionPeriodHi);
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Constants.h b/source/RobotAPI/components/units/RobotUnit/Constants.h
index a56fce762581992a0e915d79f2a5a47efd29c3a7..6ee2be06c382cd7246c60367e5a0a84244e509ea 100644
--- a/source/RobotAPI/components/units/RobotUnit/Constants.h
+++ b/source/RobotAPI/components/units/RobotUnit/Constants.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_ControllerConstants_H
-#define _ARMARX_LIB_RobotAPI_ControllerConstants_H
+#pragma once
#include <cmath>
#include <string>
@@ -37,4 +36,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/ControlModes.h b/source/RobotAPI/components/units/RobotUnit/ControlModes.h
index 6b2f856d4e9b0ea9c60088b9221c5d29b8e60825..ffc95e5c900e34512261e04325324a51daa1c8b8 100644
--- a/source/RobotAPI/components/units/RobotUnit/ControlModes.h
+++ b/source/RobotAPI/components/units/RobotUnit/ControlModes.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_ControlModes_H
-#define _ARMARX_LIB_RobotAPI_ControlModes_H
+#pragma once
#include <string>
@@ -60,4 +59,3 @@ namespace armarx
static const std::string HolonomicPlatformVelocity = "HolonomicPlatformVelocity";
}
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h
index bd87e5658d387b8cdaf87b87fd907ec1350dfa28..640bd4f88fa337ce1629634e3449554e315b1a61 100644
--- a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h
+++ b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_ControlTarget1DoFActuator_H
-#define _ARMARX_LIB_RobotAPI_ControlTarget1DoFActuator_H
+#pragma once
#include "ControlTargetBase.h"
#include <ArmarXCore/observers/variant/Variant.h>
@@ -129,4 +128,3 @@ namespace armarx
#undef make_ControlTarget1DoFActuator
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetBase.h b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetBase.h
index 0283c00ab5ff77b626db90bf13217eb97dffbd39..af8fa62e0e08a2c967c442c3601337a239278d26 100644
--- a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetBase.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_JointControlTargetBase_H
-#define _ARMARX_LIB_RobotAPI_JointControlTargetBase_H
+#pragma once
#include <memory>
#include <string>
@@ -181,4 +180,3 @@ namespace armarx
make_DummyControlTarget(StopMovement, ControlModes::StopMovement);
#undef make_DummyControlTarget
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetHolonomicPlatformVelocity.h b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetHolonomicPlatformVelocity.h
index db3b57e37e9cc7773e0b5f8e798c02ebe4e6293e..2a8c9b454c928dd1ebbbfd45d16ac45512f3372a 100644
--- a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetHolonomicPlatformVelocity.h
+++ b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetHolonomicPlatformVelocity.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_ControlTargetHolonomicPlatformVelocity_H
-#define _ARMARX_LIB_RobotAPI_ControlTargetHolonomicPlatformVelocity_H
+#pragma once
#include "ControlTargetBase.h"
#include <ArmarXCore/observers/variant/Variant.h>
@@ -72,4 +71,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/DefaultWidgetDescriptions.h b/source/RobotAPI/components/units/RobotUnit/DefaultWidgetDescriptions.h
index 9cb801659335b578ee9909efd026403e8a059457..cc70c31ce6d316536ce51539358e255b783dc1b1 100644
--- a/source/RobotAPI/components/units/RobotUnit/DefaultWidgetDescriptions.h
+++ b/source/RobotAPI/components/units/RobotUnit/DefaultWidgetDescriptions.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_UNIT_RobotAPI_DefaultWidgetDescriptions_H
-#define _ARMARX_UNIT_RobotAPI_DefaultWidgetDescriptions_H
+#pragma once
#include <string>
#include <set>
@@ -91,4 +90,3 @@ namespace armarx
}
}
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h b/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h
index 8eea2a8751b237bf206576b0e029127452945bfd..bd9507336914ecf5d6e9c5681f928f0be38f98b2 100644
--- a/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h
+++ b/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_ControlDevice_H
-#define _ARMARX_LIB_RobotAPI_ControlDevice_H
+#pragma once
#include <string>
#include <memory>
@@ -173,4 +172,3 @@ namespace armarx
inline void ControlDevice::rtWriteTargetValues(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) {}
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Devices/DeviceBase.h b/source/RobotAPI/components/units/RobotUnit/Devices/DeviceBase.h
index 58a76c9c59064373680a15296ee8b774ecb0c0ac..fd54ec24552f10ddd1cf12a31c30145cd2785776 100644
--- a/source/RobotAPI/components/units/RobotUnit/Devices/DeviceBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/Devices/DeviceBase.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_DeviceBase_H
-#define _ARMARX_LIB_RobotAPI_DeviceBase_H
+#pragma once
#include "../util.h"
@@ -78,4 +77,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Devices/RTThreadTimingsSensorDevice.h b/source/RobotAPI/components/units/RobotUnit/Devices/RTThreadTimingsSensorDevice.h
index a7d8324cb83d3fa00a42ca35ebf98b1b4e7d3103..734907c05b46755a12ae06def73b07727e56fa98 100644
--- a/source/RobotAPI/components/units/RobotUnit/Devices/RTThreadTimingsSensorDevice.h
+++ b/source/RobotAPI/components/units/RobotUnit/Devices/RTThreadTimingsSensorDevice.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_RTThreadTimingsSensorDevice_H
-#define _ARMARX_LIB_RobotAPI_RTThreadTimingsSensorDevice_H
+#pragma once
#include"SensorDevice.h"
#include "../SensorValues/SensorValueRTThreadTimings.h"
@@ -144,4 +143,3 @@ namespace armarx
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h b/source/RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h
index e6b582298635b2e6754577d0da31e34a9d598bbc..7ec5bc038348177922c579fd3895a69064ebe774 100644
--- a/source/RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h
+++ b/source/RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_SensorDevice_H
-#define _ARMARX_LIB_RobotAPI_SensorDevice_H
+#pragma once
#include"DeviceBase.h"
#include "../SensorValues/SensorValueBase.h"
@@ -92,4 +91,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h b/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h
index bd620f6aa537ae8d8f804eedda70a7860b06807c..1fdb7fe24cb99964f5ae9ad019154d40ce062b6d 100644
--- a/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h
+++ b/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_JointController_H
-#define _ARMARX_LIB_RobotAPI_JointController_H
+#pragma once
#include "../ControlTargets/ControlTargetBase.h"
#include "../util.h"
@@ -176,4 +175,3 @@ namespace armarx
return &controlTarget;
}
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
index 6e3f56c374220da7504acda1e82e123fb5f34bc2..b9fbd1980f0097db0d22db4b74fbfd32f11c28aa 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_NJointController_H
-#define _ARMARX_LIB_RobotAPI_NJointController_H
+#pragma once
#include <map>
#include <atomic>
@@ -534,4 +533,3 @@ namespace armarx
}
}
#include "NJointController.hpp"
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h
index 112a15faae07ea609c75d560506cfef709346c0b..8cc71e9189a91e84d3f6a2965a129932e0cff580 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_NJointHolonomicPlatformUnitVelocityPassThroughController_H
-#define _ARMARX_LIB_RobotAPI_NJointHolonomicPlatformUnitVelocityPassThroughController_H
+#pragma once
#include <VirtualRobot/Robot.h>
@@ -81,4 +80,3 @@ namespace armarx
NJointHolonomicPlatformUnitVelocityPassThroughControllerControlData initialSettings;
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h
index bea46eacc2b667be6d723d88e724c85525fc2f94..159440d3f120b7a4f1e8b3469a3849e6315c2a1f 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_NJointKinematicUnitPassThroughController_H
-#define _ARMARX_LIB_RobotAPI_NJointKinematicUnitPassThroughController_H
+#pragma once
#include <atomic>
@@ -101,4 +100,3 @@ namespace armarx
void onConnectComponent() override {}
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.h
index 54d065ca97d1122b5d79f040332ebb2f220dde9a..5de238702fdc2b06dc40b84d6a9315a0e0b1fc9b 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.h
@@ -1,5 +1,4 @@
-#ifndef ARMARX_NJointTRAJECTORYCONTROLLER_H
-#define ARMARX_NJointTRAJECTORYCONTROLLER_H
+#pragma once
#include "NJointController.h"
#include <VirtualRobot/Robot.h>
@@ -69,4 +68,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/PDController.h b/source/RobotAPI/components/units/RobotUnit/PDController.h
index 7f0e64be5251b593eab9fde1dd9fe9d8a91ec0b7..eabc9410c057bad53047235ab953635c2d47fa60 100644
--- a/source/RobotAPI/components/units/RobotUnit/PDController.h
+++ b/source/RobotAPI/components/units/RobotUnit/PDController.h
@@ -19,8 +19,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef _ARMARX_UNIT_RobotAPI_RobotUnit_PDController_H
-#define _ARMARX_UNIT_RobotAPI_RobotUnit_PDController_H
+#pragma once
#include <algorithm>
#include <cmath>
@@ -344,4 +343,3 @@ namespace armarx
return out;
}
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotSynchronization.h b/source/RobotAPI/components/units/RobotUnit/RobotSynchronization.h
index 5e0aa926b15d58bdfcb4ad72ab57a7a228b144b4..2b65c5f57414e5ef8ba15d1d8ed2230325814090 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotSynchronization.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotSynchronization.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_UNIT_RobotAPI_RobotSynchronization_H
-#define _ARMARX_UNIT_RobotAPI_RobotSynchronization_H
+#pragma once
#include <VirtualRobot/Robot.h>
#include "Devices/SensorDevice.h"
@@ -51,4 +50,3 @@ namespace armarx
VirtualRobot::RobotPtr robot;
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnit.h b/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
index 706aaced3a35587de78901128118bae076efc038..006fcf0cdf65580fab63759bd811faafd138a8f6 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_UNIT_RobotAPI_RobotUnit_H
-#define _ARMARX_UNIT_RobotAPI_RobotUnit_H
+#pragma once
#include <thread>
#include <atomic>
@@ -929,4 +928,3 @@ namespace armarx
}
#include "RobotUnit.ipp"
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnit.ipp b/source/RobotAPI/components/units/RobotUnit/RobotUnit.ipp
index 9e462648eded545d67df2f99eced29761b03ab33..df0a0e814d6c1de57f826e7d5624bc5e7ecadca2 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnit.ipp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnit.ipp
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_UNIT_RobotAPI_RobotUnit_IPP
-#define _ARMARX_UNIT_RobotAPI_RobotUnit_IPP
+#pragma once
#include "RobotUnit.h"
@@ -397,4 +396,3 @@ namespace armarx
nJointCtrl->deactivatePublish(draw, observer);
}
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitObserver.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitObserver.h
index b190707360fb0cf60319ed82311f7ca976917151..499f042b367a77303f9cf69a451438836e1e7da8 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitObserver.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitObserver.h
@@ -1,5 +1,4 @@
-#ifndef _ARMARX_ROBOTUNITOBSERVER_H
-#define _ARMARX_ROBOTUNITOBSERVER_H
+#pragma once
#include <ArmarXCore/observers/Observer.h>
@@ -33,4 +32,3 @@ namespace armarx
} // namespace armarx
-#endif // ARMARX_ROBOTUNITOBSERVER_H
diff --git a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h
index 274192eed9fe57b427979e11318383270c730f18..23e427b8d18915720554512347b11bade7b5a734 100644
--- a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h
+++ b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h
@@ -19,8 +19,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_SensorValue1DoFActuator_H
-#define _ARMARX_LIB_RobotAPI_SensorValue1DoFActuator_H
+#pragma once
#include "SensorValueBase.h"
@@ -184,4 +183,3 @@ namespace armarx
}
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h
index 50f09acea69d71ac4ef56eb8d7c651b9553574db..293880b631ed97978cc2955ec1a14b8bbd254443 100644
--- a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h
@@ -19,8 +19,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_SensorValueBase_H
-#define _ARMARX_LIB_RobotAPI_SensorValueBase_H
+#pragma once
#include <typeinfo>
#include <memory>
@@ -175,4 +174,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueForceTorque.h b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueForceTorque.h
index ab8f4e08f7976dfcbbb06ebbe55a8bc6a12ec976..f60f7b8bc9319a6d678428afb4f887c91cd3fac2 100644
--- a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueForceTorque.h
+++ b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueForceTorque.h
@@ -19,8 +19,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_SensorValueForceTorque_H
-#define _ARMARX_LIB_RobotAPI_SensorValueForceTorque_H
+#pragma once
#include "Eigen/Core"
#include "SensorValueBase.h"
@@ -50,4 +49,3 @@ namespace armarx
}
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueHolonomicPlatform.h b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueHolonomicPlatform.h
index 6e1a1a6a38730a0cbbc6128694bf81762e9dddb0..1c98f1ef7cce82e876a117de3aacf494a813acd6 100644
--- a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueHolonomicPlatform.h
+++ b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueHolonomicPlatform.h
@@ -19,8 +19,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_SensorValueHolonomicPlatformVelocity_H
-#define _ARMARX_LIB_RobotAPI_SensorValueHolonomicPlatformVelocity_H
+#pragma once
#include "SensorValueBase.h"
@@ -140,4 +139,3 @@ namespace armarx
}
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueIMU.h b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueIMU.h
index 5b1fa90bf19a136e94d70a9a9663a523c027f2f5..6108b2b55f16d56b4448987fe31a4fb8f0852a13 100644
--- a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueIMU.h
+++ b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueIMU.h
@@ -19,8 +19,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_SensorValueIMU_H
-#define _ARMARX_LIB_RobotAPI_SensorValueIMU_H
+#pragma once
#include <Eigen/Core>
#include <Eigen/Geometry>
@@ -51,4 +50,3 @@ namespace armarx
}
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueRTThreadTimings.h b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueRTThreadTimings.h
index 5cdf78bb32156a26e0c899a02313c0b85370488d..7c1ff7bae52cf07cf9075aa523869ea655b01bcc 100644
--- a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueRTThreadTimings.h
+++ b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueRTThreadTimings.h
@@ -19,8 +19,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_SensorValueRTThreadTimings_H
-#define _ARMARX_LIB_RobotAPI_SensorValueRTThreadTimings_H
+#pragma once
#include "SensorValueBase.h"
@@ -87,4 +86,3 @@ namespace armarx
}
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/ForceTorqueSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/ForceTorqueSubUnit.h
index 983655a0a37e754f494b7acd1f1f652c6d922538..74344e31aaf1b187f4f579ae5e50ed840ca810cc 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/ForceTorqueSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/ForceTorqueSubUnit.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_ForceTorqueSubUnit_H
-#define _ARMARX_LIB_RobotAPI_ForceTorqueSubUnit_H
+#pragma once
#include "RobotUnitSubUnit.h"
@@ -60,4 +59,3 @@ namespace armarx
std::string agentName;
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/InertialMeasurementSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/InertialMeasurementSubUnit.h
index 4aa002816753ce27ce0e30e3063dfcc9907a041c..8e38eac852a14ed9c2bd11c20b0f1b14a845b42a 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/InertialMeasurementSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/InertialMeasurementSubUnit.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_InertialMeasurementSubUnit_H
-#define _ARMARX_LIB_RobotAPI_InertialMeasurementSubUnit_H
+#pragma once
#include "RobotUnitSubUnit.h"
@@ -50,4 +49,3 @@ namespace armarx
std::map<std::string, std::size_t> devs;
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/KinematicSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/KinematicSubUnit.h
index dec997ae384ecce6fb2e9224e788057c7a1ce7b1..ea17140882f751e83b18b4210bca26c19e7457ee 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/KinematicSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/KinematicSubUnit.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_KinematicSubUnit_H
-#define _ARMARX_LIB_RobotAPI_KinematicSubUnit_H
+#pragma once
#include <mutex>
@@ -123,4 +122,3 @@ namespace armarx
}
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
index 35a9635b457b1b5e49ac047b18737bea6c5d25e3..1b75e30f38acdf2ffd7b67b3ebe3bb32454ba6d4 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_PlatformSubUnit_H
-#define _ARMARX_LIB_RobotAPI_PlatformSubUnit_H
+#pragma once
#include <mutex>
@@ -83,4 +82,3 @@ namespace armarx
Eigen::Matrix4f positionCorrection = Eigen::Matrix4f::Identity();
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/RobotUnitSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/RobotUnitSubUnit.h
index 78e2a0283ce26ea81290cda1327cd01eda6d1c71..74d52cb225de13b3b027a800d8f979523a931f69 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/RobotUnitSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/RobotUnitSubUnit.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_RobotUnitSubUnit_H
-#define _ARMARX_LIB_RobotAPI_RobotUnitSubUnit_H
+#pragma once
#include <ArmarXCore/core/ManagedIceObject.h>
@@ -39,4 +38,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h
index 433c1624c97353a256ca768fe3bb6eff05eeb493..7ba8b05af8bdf2e7a4ca3d271a5cf0e68cedecc7 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_TCPControllerSubUnit_H
-#define _ARMARX_LIB_RobotAPI_TCPControllerSubUnit_H
+#pragma once
#include <RobotAPI/interface/units/TCPControlUnit.h>
#include "../RobotSynchronization.h"
@@ -96,4 +95,3 @@ namespace armarx
void reportJointStatuses(const NameStatusMap&, Ice::Long, bool, const Ice::Current&) override {}
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h
index d8fe66d5663a34aa4950305bf5d51cadd9d2894c..f5c0170911f01d3c6b0c0c42fc197a56ee73d593 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_TrajectoryControllerSubUnit_H
-#define _ARMARX_LIB_RobotAPI_TrajectoryControllerSubUnit_H
+#pragma once
#include "RobotUnitSubUnit.h"
@@ -166,4 +165,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util.h b/source/RobotAPI/components/units/RobotUnit/util.h
index e9bc00916c61b211b5e98f36ebe197ecd8ff090e..c83cc4b68ab1a4a92c370f3cb3c8c442dbc82b99 100644
--- a/source/RobotAPI/components/units/RobotUnit/util.h
+++ b/source/RobotAPI/components/units/RobotUnit/util.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_UNIT_RobotAPI_RobotUnit_util_H
-#define _ARMARX_UNIT_RobotAPI_RobotUnit_util_H
+#pragma once
#include <ArmarXCore/core/util/PropagateConst.h>
#include <ArmarXCore/core/ManagedIceObject.h>
@@ -34,4 +33,3 @@
#include <type_traits>
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/AtomicWrapper.h b/source/RobotAPI/components/units/RobotUnit/util/AtomicWrapper.h
index d860476e4a274b9b28973b98d42945d85fa566bd..0ad2e3cc01e3ee0a41710acfa186bc6e8093fa5a 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/AtomicWrapper.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/AtomicWrapper.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef ARMARX_AtomicWrapper_H
-#define ARMARX_AtomicWrapper_H
+#pragma once
#include <atomic>
namespace armarx
@@ -59,4 +58,3 @@ namespace armarx
}
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h
index af9e0bd0e1bae0ba789e329840d76ff5fbb19abf..37a705e273c0f816f27d49aa5f5f125a96eb466a 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_UNIT_RobotAPI_RobotUnit_ControlThreadOutputBuffer_H
-#define _ARMARX_UNIT_RobotAPI_RobotUnit_ControlThreadOutputBuffer_H
+#pragma once
#include <memory>
#if __GNUC__< 5
@@ -434,4 +433,3 @@ namespace armarx
return entry;
}
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/EigenForwardDeclarations.h b/source/RobotAPI/components/units/RobotUnit/util/EigenForwardDeclarations.h
index 7ed9b4cd276e4c5d9ab43a1255d53562be6502ab..2ebf88ed457db4146fca7ce9353c72f690f38f70 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/EigenForwardDeclarations.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/EigenForwardDeclarations.h
@@ -19,8 +19,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef ARMARX_EigenForwardDeclarations_H
-#define ARMARX_EigenForwardDeclarations_H
+#pragma once
namespace Eigen
{
@@ -62,4 +61,3 @@ namespace Eigen
typedef Quaternion<float, 0> Quaternionf;
typedef Quaternion<double, 0> Quaterniond;
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/JointAndNJointControllers.h b/source/RobotAPI/components/units/RobotUnit/util/JointAndNJointControllers.h
index 602961a955572474ad6c5f47d094169664aae722..37193e2728bb695eea96d2678c01f402fc7681d3 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/JointAndNJointControllers.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/JointAndNJointControllers.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_UNIT_RobotAPI_RobotUnit_JointAndNJointControllers_H
-#define _ARMARX_UNIT_RobotAPI_RobotUnit_JointAndNJointControllers_H
+#pragma once
#include <vector>
@@ -54,4 +53,3 @@ namespace armarx
}
};
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/KeyValueVector.h b/source/RobotAPI/components/units/RobotUnit/util/KeyValueVector.h
index 44f5614761ba6696ee7de2d3acc20037dc78e9e5..799baf84595d6a6eb042cbc5f7d6c52755b640ad 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/KeyValueVector.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/KeyValueVector.h
@@ -19,8 +19,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef ARMARX_KeyValueVector_H
-#define ARMARX_KeyValueVector_H
+#pragma once
#include <ArmarXCore/core/util/TemplateMetaProgramming.h>
#include <vector>
@@ -242,4 +241,3 @@ namespace armarx
return ": " + to_string(*key);
}
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/Time.h b/source/RobotAPI/components/units/RobotUnit/util/Time.h
index 5078217fbe0bdfc0db72b2fd9c938820d8cc80ff..832ca38dd001f3ad890897adf95bf67d0b17f462 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/Time.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/Time.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef ARMARX_STOPWATCH_H
-#define ARMARX_STOPWATCH_H
+#pragma once
#include <chrono>
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/observers/variant/TimestampVariant.h>
@@ -124,4 +123,3 @@ namespace armarx
}
#define ARMARX_STOPWATCH(...) ::armarx::detail::TimerTag<__VA_ARGS__>{} *[&]
#define ARMARX_VIRTUAL_STOPWATCH(...) ::armarx::detail::VirtualTimerTag<__VA_ARGS__>{} *[&]
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h b/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h
index 4505e8f273afb1ccbafd9d582781b397dd6e4ebd..fc17efbbb5d3fb443410c50cf4b4a0473b7a5362 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef ARMARX_ClassMemberInfo_H
-#define ARMARX_ClassMemberInfo_H
+#pragma once
#include <ArmarXCore/core/util/algorithm.h>
#include "ClassMemberInfoEntry.h"
@@ -205,4 +204,3 @@ namespace armarx
}
}
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfoEntry.h b/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfoEntry.h
index 0059613d948b45b600284e16034fa7c8dbd2d23c..c682df829d3ecc30bad2e4793f989914ab488953 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfoEntry.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfoEntry.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef ARMARX_ClassMemberInfoEntry_H
-#define ARMARX_ClassMemberInfoEntry_H
+#pragma once
#include "DataFieldsInfo.h"
namespace armarx
@@ -238,4 +237,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h b/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h
index b39df93ca7e7a5ec87ea9e1da12bb06caea603c5..8d902d9737de36042bf0eb4ccda80096f21d9120 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef ARMARX_DataFieldsInfo_H
-#define ARMARX_DataFieldsInfo_H
+#pragma once
#include "../EigenForwardDeclarations.h"
#include <string>
#include <chrono>
@@ -250,4 +249,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/components/units/SensorActorUnit.h b/source/RobotAPI/components/units/SensorActorUnit.h
index ea5faa31114f9729ae5fb8cf72331dbc055e4abe..e41418d70f7f4a5beb3bcd4b847d0cc65c2322d3 100644
--- a/source/RobotAPI/components/units/SensorActorUnit.h
+++ b/source/RobotAPI/components/units/SensorActorUnit.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef SENSOR_ACTOR_UNIT_H
-#define SENSOR_ACTOR_UNIT_H
+#pragma once
#include <ArmarXCore/core/system/ImportExport.h>
#include <ArmarXCore/core/Component.h>
@@ -131,4 +130,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index b8e6ec97d2b9168b34407c961318a3165d9cb88f..263b92b64799dcd0ea825e491feb14f026fc58ad 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_TCPCONTROLUNIT_H
-#define _ARMARX_TCPCONTROLUNIT_H
+#pragma once
#include <RobotAPI/interface/units/TCPControlUnit.h>
#include <RobotAPI/libraries/core/FramedPose.h>
@@ -280,4 +279,3 @@ namespace armarx
}
-#endif
diff --git a/source/RobotAPI/components/units/TCPControlUnitObserver.h b/source/RobotAPI/components/units/TCPControlUnitObserver.h
index d31dfb9c8afc8d44f365fff0a110d173a67e71e0..e62e4377e6b076d6da3adcd464952a97cc5bb01f 100644
--- a/source/RobotAPI/components/units/TCPControlUnitObserver.h
+++ b/source/RobotAPI/components/units/TCPControlUnitObserver.h
@@ -19,8 +19,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef _ARMARX_TCPCONTROLUNITOBSERVER_H
-#define _ARMARX_TCPCONTROLUNITOBSERVER_H
+#pragma once
#include <ArmarXCore/observers/Observer.h>
#include <RobotAPI/interface/units/TCPControlUnit.h>
@@ -82,4 +81,3 @@ namespace armarx
}
-#endif
diff --git a/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h b/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h
index 38d3c2ef70e7b5d74567fd4e55fbcc4b9bd0c48d..1db681dc79cdb0b5a071390a63b0b72828692311 100644
--- a/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h
+++ b/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_RobotAPI_GamepadUnit_H
-#define _ARMARX_COMPONENT_RobotAPI_GamepadUnit_H
+#pragma once
#include<linux/joystick.h>
#include<sys/stat.h>
@@ -113,4 +112,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/drivers/GamepadUnit/Joystick.h b/source/RobotAPI/drivers/GamepadUnit/Joystick.h
index e8e3e4e7d9ab221b45abc72cef9c9d3761e99b81..132bb751dc2eb7d78c978532c3179b6644e3f2ca 100644
--- a/source/RobotAPI/drivers/GamepadUnit/Joystick.h
+++ b/source/RobotAPI/drivers/GamepadUnit/Joystick.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_RobotAPI_Joystick_H
-#define _ARMARX_COMPONENT_RobotAPI_Joystick_H
+#pragma once
#include<linux/joystick.h>
#include<sys/stat.h>
@@ -91,4 +90,3 @@ namespace armarx
}
};
}
-#endif
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
index b8669a660170362c1b5c0a07b63e5813c62242ea..78feddf97de34cf24143eddec3c311a81c5c6a69 100644
--- a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_RobotAPI_HokuyoLaserUnit_H
-#define _ARMARX_COMPONENT_RobotAPI_HokuyoLaserUnit_H
+#pragma once
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
@@ -129,4 +128,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/drivers/MetaWearIMU/MetaWearIMU.h b/source/RobotAPI/drivers/MetaWearIMU/MetaWearIMU.h
index 5f15bb2c6e0ee884c0ae5bb4491dbe5206ec2625..39d30c9f5f2ace0e8a6d1686fffdfe4195e4ed09 100644
--- a/source/RobotAPI/drivers/MetaWearIMU/MetaWearIMU.h
+++ b/source/RobotAPI/drivers/MetaWearIMU/MetaWearIMU.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_RobotAPI_MetaWearIMU_H
-#define _ARMARX_COMPONENT_RobotAPI_MetaWearIMU_H
+#pragma once
#include <ArmarXCore/core/Component.h>
@@ -105,4 +104,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/drivers/OptoForce/OptoForce.h b/source/RobotAPI/drivers/OptoForce/OptoForce.h
index 1665b6fa4fc639cb02438de59c093f4eeae44558..4c4724b3988d621357433d4011bb686e87af65d3 100644
--- a/source/RobotAPI/drivers/OptoForce/OptoForce.h
+++ b/source/RobotAPI/drivers/OptoForce/OptoForce.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_RobotAPI_OptoForce_H
-#define _ARMARX_COMPONENT_RobotAPI_OptoForce_H
+#pragma once
#include <ArmarXCore/core/Component.h>
@@ -96,4 +95,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.h b/source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.h
index 903404963d7ad81e2237c9e2307571f5ff7d3ecd..baef34563484821af081b2ea82b12d6072d7f29b 100644
--- a/source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.h
+++ b/source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_RobotAPI_OptoForceUnit_H
-#define _ARMARX_COMPONENT_RobotAPI_OptoForceUnit_H
+#pragma once
#include <ArmarXCore/core/Component.h>
@@ -143,4 +142,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h b/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h
index 9e8a653a3b6490b824a1417b4fb335168007caa1..d8a1c3496194a4b1fa3850a67e9b53159a683bc2 100644
--- a/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h
+++ b/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h
@@ -1,5 +1,4 @@
-#ifndef SENSORPACKAGEUNIT_H
-#define SENSORPACKAGEUNIT_H
+#pragma once
#include <ArmarXCore/core/Component.h>
#include <RobotAPI/interface/units/UnitInterface.h>
@@ -161,4 +160,3 @@ namespace armarx
std::string prefix;
};
}
-#endif // SENSORPACKAGEUNIT_H
diff --git a/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h.orig b/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h.orig
deleted file mode 100644
index a10822f8e98f1bcbb85d4ed3fd76c2a5810497b6..0000000000000000000000000000000000000000
--- a/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h.orig
+++ /dev/null
@@ -1,169 +0,0 @@
-#ifndef SENSORPACKAGEUNIT_H
-#define SENSORPACKAGEUNIT_H
-
-#include <ArmarXCore/core/Component.h>
-#include <RobotAPI/interface/units/UnitInterface.h>
-#include <RobotAPI/interface/units/OrientedTactileSensorUnit.h>
-#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
-#include <ArmarXCore/core/services/tasks/RunningTask.h>
-#include <netinet/in.h>
-#include <iostream>
-#include <fstream>
-#include <stdio.h>
-#include <boost/date_time/posix_time/posix_time.hpp>
-#include <Eigen/Dense>
-#include <RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLogger.h>
-
-namespace armarx
-{
- class OrientedTactileSensorUnitPropertyDefinitions:
- public ComponentPropertyDefinitions
- {
- public:
- OrientedTactileSensorUnitPropertyDefinitions(std::string prefix):
- ComponentPropertyDefinitions(prefix)
- {
- defineOptionalProperty<std::string>(
- "SerialInterfaceDevice",
- "/dev/ttyACM0",
- "The serial device the arduino is connected to.");
-
- defineOptionalProperty<std::string>(
- "TopicName",
- "OrientedTactileSensorValues",
- "Name of the topic on which the sensor values are provided");
-
- defineOptionalProperty<std::string>(
- "CalibrationData",
- "65524 3 12 65534 65534 1 1208 119 58726 1000 943 ",
- "Sensor Register Data to calibrate the sensor");
-
- defineOptionalProperty<std::size_t>(
- "SamplesRotation",
- 20,
- "number of orientation values to differentiate");
-
- defineOptionalProperty<std::size_t>(
- "SamplesPressure",
- 10,
- "number of pressure values to differentiate");
-
- defineOptionalProperty<std::size_t>(
- "SamplesAcceleration",
- 20,
- "number of pressure values to differentiate");
-
- defineOptionalProperty<bool>(
- "logData",
- "false",
- "log data from sensor");
- defineOptionalProperty<bool>(
- "calibrateSensor",
- "false"
- "Set true to calibrate the sensor and get calibration data and false to use existent calibration data");
- }
-
- };
-
- /**
- * @class OrientedTactileSensorUnit
- * @brief ArmarX wrapper for an arduino due with one BNO055 IMU and one BMP280 pressure sensor
- *
- */
- class OrientedTactileSensorUnit:
- virtual public armarx::Component
- //TODO: needs interface to send calibration data
- {
- public:
- OrientedTactileSensorUnit();
-
- virtual std::string getDefaultName() const
- {
- return "OrientedTactileSensorUnit";
- }
-
- struct SensorData
- {
- int id;
- float pressure;
- float qw, qx, qy, qz;
- float accelx, accely, accelz;
- };
-
- struct CalibrationData
- {
- int accel_offset_x, accel_offset_y, accel_offset_z, gyro_offset_x, gyro_offset_y, gyro_offset_z, mag_offset_x, mag_offset_y, mag_offset_z, accel_radius, mag_radius;
- };
-
- struct PressureRate
- {
- IceUtil::Time timestamp;
- float pressure;
- };
-
- struct RotationRate
- {
- IceUtil::Time timestamp;
- Eigen::Quaternionf orientation;
- };
-
- struct AccelerationRate
- {
- IceUtil::Time timestamp;
- float rotationRate;
- };
- struct LinAccRate
- {
- IceUtil::Time timestamp;
- float accx, accy, accz;
- };
-
- protected:
- virtual void onInitComponent();
- virtual void onConnectComponent();
-
- virtual PropertyDefinitionsPtr createPropertyDefinitions();
-
- private:
- std::ifstream arduinoIn;
- std::ofstream arduinoOut;
- RunningTask<OrientedTactileSensorUnit>::pointer_type readTask;
- OrientedTactileSensorUnitListenerPrx topicPrx;
- OrientedTactileSensorUnitInterfacePrx interfacePrx;
-
- void run();
- SensorData getValues(std::string line);
- bool getCalibrationValues(std::string line);
- bool loadCalibration();
- int fd;
- CalibrationData calibration;
-
- Eigen::Quaternionf inverseOrientation;
- std::vector<RotationRate> samplesRotation;
- std::vector<PressureRate> samplesPressure;
- std::vector<AccelerationRate> samplesAcceleration;
-<<<<<<< HEAD
- std::vector<float> pressureRates;
- int maxSamplesRotation;
- int sampleIndexRotation;
- int maxSamplesPressure;
- int sampleIndexPressure;
- int maxSamplesAcceleration;
- int sampleIndexAcceleration;
- int sampleIndexPressureRate;
- float sumPressureRates;
- bool first;
- int i = 0;
- SimpleJsonLoggerPtr logger;
- std::string prefix;
-=======
- std::size_t maxSamplesRotation;
- std::size_t sampleIndexRotation;
- std::size_t maxSamplesPressure;
- std::size_t sampleIndexPressure;
- std::size_t maxSamplesAcceleration;
- std::size_t sampleIndexAcceleration;
->>>>>>> master
- };
-}
-#endif // SENSORPACKAGEUNIT_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h
index cb6205e4d902cb7df30e319f6134d5288506fbe6..a5a60bef47870aeeaa7d815f09e54ec425735dd4 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef ABSTRACTINTERFACE_H
-#define ABSTRACTINTERFACE_H
+#pragma once
#include <string>
#include "Types.h"
@@ -88,4 +87,3 @@ private:
std::ostream& operator<<(std::ostream& strm, const AbstractInterface& a);
-#endif // ABSTRACTINTERFACE_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h
index ca6197e93ecfb66427efc0a1e0fe96381957b8c8..d2a05bc19c54f0022ecde8b6d78b9071a51e0f4e 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef BINARYLOGGER_H
-#define BINARYLOGGER_H
+#pragma once
#include <fstream>
@@ -40,4 +39,3 @@ private:
std::ofstream log;
};
-#endif // BINARYLOGGER_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h
index 8bcfb8d92486416b572f1cc23208674e4e78e7c5..019f6cdf73ab9b32b7f0382b0ea0f0e660d13211 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef CALIBRATIONHELPER_H
-#define CALIBRATIONHELPER_H
+#pragma once
#include <vector>
#include <Eigen/Core>
@@ -56,4 +55,3 @@ namespace armarx
};
}
-#endif // CALIBRATIONHELPER_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h
index 1590038402bdb81915c4a676113f1fc557817eb4..8f3874cdfc999e7a4cdac7bb9a769e49e8ab006e 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef CALIBRATIONINFO_H
-#define CALIBRATIONINFO_H
+#pragma once
#include <Eigen/Core>
namespace armarx
@@ -43,4 +42,3 @@ namespace armarx
};
}
-#endif // CALIBRATIONINFO_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Checksum.h b/source/RobotAPI/drivers/WeissHapticSensor/Checksum.h
index 2da831ea477ab32e9656ca7045134d9afe4bdcc0..fefd7838de70c65ea979ca420835a445fc4ac1a9 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/Checksum.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/Checksum.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef CHECKSUM_H
-#define CHECKSUM_H
+#pragma once
class Checksum
{
@@ -34,4 +33,3 @@ private:
static const unsigned short CRC_TABLE_CCITT16[256];
};
-#endif // CHECKSUM_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Response.h b/source/RobotAPI/drivers/WeissHapticSensor/Response.h
index cd8493bffc97da75729b86a96de1c58d610a2ee9..3e03fe1907f09124e04683f6366cfb7e715a1579 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/Response.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/Response.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef RESPONSE_H
-#define RESPONSE_H
+#pragma once
#include "Types.h"
#include "TransmissionException.h"
@@ -192,4 +191,3 @@ public:
}
};
-#endif // RESPONSE_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
index 1088ebcf4751195dab78e7941ae6d5ba2e641427..883e3a96eece51ee8bcce3af569d926f149a6c38 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef SERIALINTERFACE_H
-#define SERIALINTERFACE_H
+#pragma once
#include "AbstractInterface.h"
#include <iostream>
@@ -51,4 +50,3 @@ private:
int blockingReadAll(unsigned char* buf, unsigned int len);
};
-#endif // SERIALINTERFACE_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h
index 4ca900d6422f029feb6373cb5f345d95eb20ecb7..13e93c7b56338809dcb268a0db9c21baf5ad840b 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef TACTILESENSOR_H
-#define TACTILESENSOR_H
+#pragma once
#include "AbstractInterface.h"
using namespace std;
@@ -125,4 +124,3 @@ private:
std::ostream& operator<<(std::ostream& strm, const TactileSensor& a);
-#endif // TACTILESENSOR_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h b/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h
index bc19a4c861b0953905606bb2381a28f7c88389e9..37a03936ef1a7bd500a7c5f82c6761eae9e298eb 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef TEXTWRITER_H
-#define TEXTWRITER_H
+#pragma once
#include <fstream>
@@ -41,4 +40,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h b/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h
index 82e3bf15db12b9de0aba0f9c629d174a67007ed9..b7f033a9aa0d5c40999a95520e1839b4cb04ca95 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef TRANSMISSIONEXCEPTION_H
-#define TRANSMISSIONEXCEPTION_H
+#pragma once
#include <stdexcept>
@@ -42,4 +41,3 @@ public:
{ }
};
-#endif // TRANSMISSIONEXCEPTION_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Types.h b/source/RobotAPI/drivers/WeissHapticSensor/Types.h
index 495fc4b2bc45b1e6369f1894fb0d2bd17ef09a10..14a8cadbed7c9bdfaf78568094d6f0708d568cdd 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/Types.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/Types.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef TYPES_H
-#define TYPES_H
+#pragma once
#include <vector>
@@ -72,4 +71,3 @@ typedef enum
const char* status_to_str(status_t status);
-#endif // TYPES_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
index e432f622318f4ab04189699a27cf1fab520fb5c7..7f1ee4d4d4afedcc9cf52a9e4dc9ae85143c08fe 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef WEISSHAPTICSENSOR_H
-#define WEISSHAPTICSENSOR_H
+#pragma once
#include <ArmarXCore/core/services/tasks/RunningTask.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
@@ -79,4 +78,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticUnit.h b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticUnit.h
index 80f9298ca75a6aea81111b56481001a72a39086f..b89a7da4e92d122ceb07c31d3f4d91ab1e6b3466 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticUnit.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticUnit.h
@@ -23,8 +23,7 @@
* GNU General Public License
*/
-#ifndef ARMAR4_FT_UNIT_ARMAR4_H
-#define ARMAR4_FT_UNIT_ARMAR4_H
+#pragma once
#include <RobotAPI/components/units/HapticUnit.h>
#include <RobotAPI/interface/units/WeissHapticUnit.h>
@@ -87,4 +86,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/IIMUEventDispatcher.h b/source/RobotAPI/drivers/XsensIMU/IMU/IIMUEventDispatcher.h
index d5a073128d0fa9726e3e7fc47a43d38b854c1b28..862be33c708ade3ab88fd9a572b8f43d550f6bb8 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/IIMUEventDispatcher.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/IIMUEventDispatcher.h
@@ -6,8 +6,7 @@
* Mail: david.gonzalez@kit.edu
*/
-#ifndef IIMUEVENTDISPATCHER_H_
-#define IIMUEVENTDISPATCHER_H_
+#pragma once
#include "Includes.h"
#include "IMUEvent.h"
@@ -97,4 +96,3 @@ namespace IMU
};
}
-#endif
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/IMU.h b/source/RobotAPI/drivers/XsensIMU/IMU/IMU.h
index 0eb554c34a855467d284dc3108c94e0027a0c459..96fe244e7ee7d0acb1c2e7a4277cf5bc4c218a79 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/IMU.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/IMU.h
@@ -6,12 +6,10 @@
* Mail: david.gonzalez@kit.edu
*/
-#ifndef IMU_H_
-#define IMU_H_
+#pragma once
#include "IMUDeducedReckoning.h"
#include "IMUDevice.h"
#include "IMUEvent.h"
#include "IMUState.h"
-#endif /* IMU_H_ */
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/IMUDeducedReckoning.h b/source/RobotAPI/drivers/XsensIMU/IMU/IMUDeducedReckoning.h
index 94ea5b8ca4642b17ef1dcd4127ad166ff24d3a58..3c04ea058e2f08bb899638cede12a150f9b2119a 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/IMUDeducedReckoning.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/IMUDeducedReckoning.h
@@ -6,8 +6,7 @@
* Mail: david.gonzalez@kit.edu
*/
-#ifndef IMUDEDUCEDRECKONING_H_
-#define IMUDEDUCEDRECKONING_H_
+#pragma once
#include "IIMUEventDispatcher.h"
#include "IMUState.h"
@@ -63,4 +62,3 @@ namespace IMU
};
}
-#endif
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/IMUDevice.h b/source/RobotAPI/drivers/XsensIMU/IMU/IMUDevice.h
index 0eccbad7e60cea8d40ccc3559dd83bd22b31eed1..b3e925211346d9233138586c94c9c0018a9bcf59 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/IMUDevice.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/IMUDevice.h
@@ -6,8 +6,7 @@
* Mail: david.gonzalez@kit.edu
*/
-#ifndef IMUDEVICE_H_
-#define IMUDEVICE_H_
+#pragma once
#include "Includes.h"
#include "IMUHelpers.h"
@@ -216,4 +215,3 @@ namespace IMU
};
}
-#endif
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/IMUEvent.h b/source/RobotAPI/drivers/XsensIMU/IMU/IMUEvent.h
index b342fb84fd69801ae8d3e477673a079185e42564..ea70d2a91c457996f7db3440cabd18295ddfa08d 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/IMUEvent.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/IMUEvent.h
@@ -6,8 +6,7 @@
* Mail: david.gonzalez@kit.edu
*/
-#ifndef IMUEVENT_H_
-#define IMUEVENT_H_
+#pragma once
#include "IMUHelpers.h"
#include "IMUState.h"
@@ -68,4 +67,3 @@ namespace IMU
};
}
-#endif
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/IMUHelpers.h b/source/RobotAPI/drivers/XsensIMU/IMU/IMUHelpers.h
index 8e5dd202c1836cef6068fd9be94e6faf27004e79..40be79b0ace0b6594c5b3ef9688757b2d0a141dd 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/IMUHelpers.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/IMUHelpers.h
@@ -6,8 +6,7 @@
* Mail: david.gonzalez@kit.edu
*/
-#ifndef IMUHELPERS_H_
-#define IMUHELPERS_H_
+#pragma once
#include "Includes.h"
@@ -74,4 +73,3 @@ namespace IMU
}
-#endif
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/IMUState.h b/source/RobotAPI/drivers/XsensIMU/IMU/IMUState.h
index f1f3df1c3d0100b2f190feb4a09fd5cc03187c94..0203e532f81187201a36c668b370c6d671ed5902 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/IMUState.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/IMUState.h
@@ -6,8 +6,7 @@
* Mail: david.gonzalez@kit.edu
*/
-#ifndef IMUSTATE_H_
-#define IMUSTATE_H_
+#pragma once
#include "Includes.h"
@@ -63,4 +62,3 @@ namespace IMU
};
}
-#endif
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/Includes.h b/source/RobotAPI/drivers/XsensIMU/IMU/Includes.h
index 364db5615867220318bb2195ed6df24e8ac86923..c934806a5001994c531aea93116e306da7a8177c 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/Includes.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/Includes.h
@@ -6,8 +6,7 @@
* Mail: david.gonzalez@kit.edu
*/
-#ifndef INCLUDES_H_
-#define INCLUDES_H_
+#pragma once
/////////////////////////////////////////////////////////////////////////////
//GENERAL INFORMATION
@@ -52,4 +51,3 @@
#define _IMU_USE_XSENS_DEVICE_
/////////////////////////////////////////////////////////////////////////////
-#endif /* INCLUDES_H_ */
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/Xsens/Xsens.h b/source/RobotAPI/drivers/XsensIMU/IMU/Xsens/Xsens.h
index 3f7c4fe033b81dea8242dab459a91e0c59d5315a..231cc06183b419223f6e2cd350493d72e9bcb47e 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/Xsens/Xsens.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/Xsens/Xsens.h
@@ -5,8 +5,7 @@
* Author: gonzalez
*/
-#ifndef XSENS_H_
-#define XSENS_H_
+#pragma once
#include "../Includes.h"
#include "../IMUState.h"
@@ -36,4 +35,3 @@ namespace IMU
#endif
-#endif
diff --git a/source/RobotAPI/drivers/XsensIMU/XsensIMU.h b/source/RobotAPI/drivers/XsensIMU/XsensIMU.h
index 5ba920184024aa0f387e69429983f377767c6c0a..017a53ba1177caaa2a6ef0274a919fdc95c63295 100644
--- a/source/RobotAPI/drivers/XsensIMU/XsensIMU.h
+++ b/source/RobotAPI/drivers/XsensIMU/XsensIMU.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_RobotAPI_XsensIMU_H
-#define _ARMARX_COMPONENT_RobotAPI_XsensIMU_H
+#pragma once
#include <ArmarXCore/core/Component.h>
@@ -105,4 +104,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h
index 4dc7932a617d5b7a48f00e7fa0f372904e91d6c4..89910ac2ba9963fbda9e67052bae1a906d7cf60a 100644
--- a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_DebugDrawerViewer_GuiPlugin_H
-#define _ARMARX_RobotAPI_DebugDrawerViewer_GuiPlugin_H
+#pragma once
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
@@ -53,4 +52,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.h b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.h
index 9ddf8f5566a34fcd8a725a7442b5ff5ca094f50a..baf1ca3bacce805855ca7e450e04f6d3260f59c6 100644
--- a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.h
+++ b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_DebugDrawerViewer_WidgetController_H
-#define _ARMARX_RobotAPI_DebugDrawerViewer_WidgetController_H
+#pragma once
#include "ui_DebugDrawerViewerWidget.h"
@@ -129,4 +128,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h
index 3275f61fc7a0de73687f59a081f1663572166185..74fc9a145aba93485aba286ef7e66c90eb171028 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARXGUI_PLUGINS_HANDUNITCONFIGDIALOG_H
-#define _ARMARXGUI_PLUGINS_HANDUNITCONFIGDIALOG_H
+#pragma once
#include <QDialog>
@@ -66,4 +65,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
index 6d816d1c421c83483757f5088e548a88a49be41c..dce60f10516c9bbd91baa11173d360d7a0167056 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
@@ -21,8 +21,7 @@
*/
-#ifndef _ROBOTAPI_ARMARXGUI_PLUGINS_HANDUNITWIDGET_H
-#define _ROBOTAPI_ARMARXGUI_PLUGINS_HANDUNITWIDGET_H
+#pragma once
/* ArmarX headers */
#include "ui_HandUnitGuiPlugin.h"
@@ -155,4 +154,3 @@ namespace armarx
typedef boost::shared_ptr<HandUnitWidget> HandUnitGuiPluginPtr;
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.h
index a21d576a1ca8e0ea9d770e81363a70f2a202a183..ba318632ec9c8b70e4662f36e128152cc372eefd 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARXGUI_PLUGINS_HapticUnitCONFIGDIALOG_H
-#define _ARMARXGUI_PLUGINS_HapticUnitCONFIGDIALOG_H
+#pragma once
#include <QDialog>
@@ -48,4 +47,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
index dfee031bbc56a5298f67b27ca797d2daf84e3e82..993bb2aa484c557063c43904556e3fd93afcd2c3 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
@@ -21,8 +21,7 @@
*/
-#ifndef _ARMARXGUI_PLUGINS_HapticUnitWIDGET_H
-#define _ARMARXGUI_PLUGINS_HapticUnitWIDGET_H
+#pragma once
/* ArmarX headers */
#include "ui_HapticUnitGuiPlugin.h"
@@ -135,4 +134,3 @@ namespace armarx
//typedef boost::shared_ptr<HapticUnitWidget> HapticUnitGuiPluginPtr;
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h
index ce2f39cce4618421cf97f1589d88f880d1c9901f..8ea0c076efaa4c73f0f0e516235060b395c18080 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef MATRIXDATAFIELDDISPLAYWIDGET_H
-#define MATRIXDATAFIELDDISPLAYWIDGET_H
+#pragma once
#include <QWidget>
#include <QMutex>
@@ -95,4 +94,3 @@ namespace armarx
};
}
-#endif // MATRIXDISPLAYWIDGET_H
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h
index 13e889f8a14676143fd1244c70790de3c517ceb4..1c09b0b5c18ce6af4917da48c1254d3358a1bc82 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef MATRIXDISPLAYWIDGET_H
-#define MATRIXDISPLAYWIDGET_H
+#pragma once
#include <QWidget>
#include <QMutex>
@@ -89,4 +88,3 @@ namespace armarx
};
}
-#endif // MATRIXDISPLAYWIDGET_H
diff --git a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.h b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.h
index 7d54a3399171d0626fdddcf5968e0cda748cf6dc..61298f432f0dcb17d7379c0ff91bd9f819f41b03 100644
--- a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_HomogeneousMatrixCalculator_GuiPlugin_H
-#define _ARMARX_RobotAPI_HomogeneousMatrixCalculator_GuiPlugin_H
+#pragma once
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
@@ -53,4 +52,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.h b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.h
index d3d87d89b47eef5e998c416660bf484c70121231..50f8d3aece89c8cc4970c848c7a2f913edb9201b 100644
--- a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_HomogeneousMatrixCalculator_WidgetController_H
-#define _ARMARX_RobotAPI_HomogeneousMatrixCalculator_WidgetController_H
+#pragma once
#include "ui_HomogeneousMatrixCalculatorWidget.h"
@@ -133,4 +132,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
index ddd0e9c59e6209c6ed071f77047b724771b64ab9..a3fee64e230937b74c5861176f17f11e7f3e0097 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef KINEMATICUNITCONFIGDIALOG_H
-#define KINEMATICUNITCONFIGDIALOG_H
+#pragma once
#include <QDialog>
#include <QFileDialog>
@@ -78,4 +77,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 1ed5f04bb42bd3ad5a60416881f2aef3685446b2..61162d6b488307af70eccc6be25ac69545be8f7c 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -21,8 +21,7 @@
*/
-#ifndef ARMARX_COMPONENT_GUIHANDLERKINEMATICUNIT_GUI_H
-#define ARMARX_COMPONENT_GUIHANDLERKINEMATICUNIT_GUI_H
+#pragma once
/* ArmarX headers */
#include <RobotAPI/gui-plugins/KinematicUnitPlugin/ui_kinematicunitguiplugin.h>
@@ -334,4 +333,3 @@ namespace armarx
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h
index 29630e9e5923531d7f4468caede62c65d4473fd7..8c77c21fa878af5ff2d134f7c34683801dbba4f2 100644
--- a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_LaserScannerPlugin_GuiPlugin_H
-#define _ARMARX_RobotAPI_LaserScannerPlugin_GuiPlugin_H
+#pragma once
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
@@ -53,4 +52,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
index 2cd057674cc860796da63cfd32954bc70ca0cd2d..194e9903c3742828147d465198436f684781d90a 100644
--- a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_LaserScannerPlugin_WidgetController_H
-#define _ARMARX_RobotAPI_LaserScannerPlugin_WidgetController_H
+#pragma once
#include <RobotAPI/gui-plugins/LaserScannerPlugin/ui_LaserScannerPluginWidget.h>
@@ -129,4 +128,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h
index 1bfcd908338af72463a264b860b098393d0cb5b2..028d5e2563ccc7015b0253ad3ab3711d710c205e 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARXGUI_PLUGINS_PLATFORMUNITCONFIGDIALOG_H
-#define _ARMARXGUI_PLUGINS_PLATFORMUNITCONFIGDIALOG_H
+#pragma once
#include <QDialog>
@@ -61,4 +60,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
index b8d143e897e2d9d7e7033a392027674b402ff62b..18cde3712947371be73aa4677f6c0b9093852997 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
@@ -21,8 +21,7 @@
*/
-#ifndef _ARMARXGUI_PLUGINS_PLATFORMUNITWIDGET_H
-#define _ARMARXGUI_PLUGINS_PLATFORMUNITWIDGET_H
+#pragma once
/* ArmarX headers */
#include "ui_PlatformUnitGuiPlugin.h"
@@ -232,4 +231,3 @@ namespace armarx
typedef boost::shared_ptr<PlatformUnitWidget> PlatformUnitGuiPluginPtr;
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/ControlDevicesWidget.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/ControlDevicesWidget.h
index 5b543169d41aab6abea8c612806b1cde45f3e402..1feb693f45e69dc3c0734469ac2ec6064f1f5c34 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/ControlDevicesWidget.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/ControlDevicesWidget.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_RobotUnitPlugin_ControlDevicesWidget_H
-#define _ARMARX_RobotAPI_RobotUnitPlugin_ControlDevicesWidget_H
+#pragma once
#include <mutex>
#include <atomic>
@@ -122,4 +121,3 @@ namespace armarx
std::vector<QTreeWidgetItem*> tags;
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.h
index a4d242e047564ff25f6f0006092fba41ef3ba646..1bd814875dfc5d0b49d58b178bba04c53039b16e 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_RobotUnitPlugin_NJointControllerClassesWidget_H
-#define _ARMARX_RobotAPI_RobotUnitPlugin_NJointControllerClassesWidget_H
+#pragma once
#include <mutex>
#include <atomic>
@@ -135,4 +134,3 @@ namespace armarx
NJointControllerClassesWidget* parent;
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.h
index c0779cbadefa32c54c4e4d0046875a29530a432c..a930d82b1abe102b9668a81f38204aa89bdac700 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_RobotUnitPlugin_NJointControllersWidget_H
-#define _ARMARX_RobotAPI_RobotUnitPlugin_NJointControllersWidget_H
+#pragma once
#include <mutex>
#include <atomic>
@@ -166,4 +165,3 @@ namespace armarx
void valueChangedSlot(std::string name, VariantBasePtr value) override;
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.h
index 046141c3e3d2e4d74ecd7a70fa44b368a8c7527c..7a6a122a0844a67a74b40275b19269cb769172ba 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_RobotUnitPlugin_RobotUnitWidgetBase_H
-#define _ARMARX_RobotAPI_RobotUnitPlugin_RobotUnitWidgetBase_H
+#pragma once
#include <mutex>
#include <atomic>
@@ -111,4 +110,3 @@ namespace armarx
UI* ui;
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/SensorDevicesWidget.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/SensorDevicesWidget.h
index d8a5b4535fa1e8d740df7df116adfb3b28c1ba31..95053ffd58359702ea3b19330b77f1e3e8e710ff 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/SensorDevicesWidget.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/SensorDevicesWidget.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_RobotUnitPlugin_SensorDevicesWidget_H
-#define _ARMARX_RobotAPI_RobotUnitPlugin_SensorDevicesWidget_H
+#pragma once
#include <mutex>
#include <atomic>
@@ -103,4 +102,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/StyleSheets.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/StyleSheets.h
index d32aec4a9327bdb571ce6f5447c6a4f2b3805017..d34aaa5f75fed2d6a7af74bcbfe6cc5e2aed4d8b 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/StyleSheets.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/StyleSheets.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_RobotUnitPlugin_Style_H
-#define _ARMARX_RobotAPI_RobotUnitPlugin_Style_H
+#pragma once
#include <QString>
#include <QColor>
@@ -88,4 +87,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h
index 77ac9510d290361fac58b9070ec26c43d4d9837c..e3281fce143f390fca5d3db1d94f13ae25be7349 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_RobotUnitPlugin_WidgetController_H
-#define _ARMARX_RobotAPI_RobotUnitPlugin_WidgetController_H
+#pragma once
#include "ui_RobotUnitPluginWidget.h"
@@ -168,4 +167,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPluginGuiPlugin.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPluginGuiPlugin.h
index 3021b4d75bea3fd4ae9b4ea7eef086e319362a8c..9f7828b8033b0d619ebb3cc132b7a0ba715aa71c 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPluginGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPluginGuiPlugin.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_RobotUnitPlugin_GuiPlugin_H
-#define _ARMARX_RobotAPI_RobotUnitPlugin_GuiPlugin_H
+#pragma once
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
@@ -53,4 +52,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
index 5500ad0605d879294b609281a2cfd721e0feb8ef..61e90b516cf6d42a6ee2bf8bf557f0bdc01f6393 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
@@ -21,8 +21,7 @@
*/
-#ifndef ARMARX_COMPONENT_ROBOTVIEWER_GUI_H
-#define ARMARX_COMPONENT_ROBOTVIEWER_GUI_H
+#pragma once
/* ArmarX headers */
#include <RobotAPI/gui-plugins/RobotViewerPlugin/ui_RobotViewerGuiPlugin.h>
@@ -194,4 +193,3 @@ namespace armarx
typedef boost::shared_ptr<RobotViewerWidgetController> RobotViewerGuiPluginPtr;
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
index f9dfa67dac7838300e6c5d55ccdd4dfdb7926dfa..20e4166eab415e086fb844cf93c46800e60927da 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef ARMARXGUI_TCPMOVER_H
-#define ARMARXGUI_TCPMOVER_H
+#pragma once
/** ArmarX headers **/
#include "TCPMoverConfigDialog.h"
@@ -153,4 +152,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMoverConfigDialog.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMoverConfigDialog.h
index 618110da81d18f4ea042b4d56e3a45e93e207bc8..f5a2a86d8bad0ecbe32d21d34e96588a847495f4 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMoverConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMoverConfigDialog.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARXGUI_PLUGINS_HANDUNITCONFIGDIALOG_H
-#define _ARMARXGUI_PLUGINS_HANDUNITCONFIGDIALOG_H
+#pragma once
#include <QDialog>
@@ -66,4 +65,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
index 995d9503c6a9f00e622b32f7654499a5d4678f65..6a48629ba7d5f28b9988915905131be8ec4e6fa3 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef ARMARX_COMPONENT_MDIGUIPLUGIN_H
-#define ARMARX_COMPONENT_MDIGUIPLUGIN_H
+#pragma once
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
@@ -50,4 +49,3 @@ namespace armarx
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionConfigDialog.h b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionConfigDialog.h
index 343f29b919753d579126613065cf6e5f53829165..ebb7b13b97a3da949a606bf7455afebf5e6f5c4c 100644
--- a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionConfigDialog.h
@@ -1,5 +1,4 @@
-#ifndef VIEWSELECTIONCONFIGDIALOG_H
-#define VIEWSELECTIONCONFIGDIALOG_H
+#pragma once
#include <QDialog>
@@ -52,4 +51,3 @@ private:
};
-#endif // VIEWSELECTIONCONFIGDIALOG_H
diff --git a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionGuiPlugin.h b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionGuiPlugin.h
index ec6e2923fd7897a10414ad015977d447554b1b57..e95aa125a5972bb404ed269945b1d81a8bd55d4b 100644
--- a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionGuiPlugin.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_ViewSelection_GuiPlugin_H
-#define _ARMARX_RobotAPI_ViewSelection_GuiPlugin_H
+#pragma once
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
@@ -53,4 +52,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.h b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.h
index b7921c274d61c9470b97bc95a837cb295d9ba8b5..1b5f87d8b5223ceed8b5ea0aea043f92c7f4e066 100644
--- a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.h
+++ b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_ViewSelection_WidgetController_H
-#define _ARMARX_RobotAPI_ViewSelection_WidgetController_H
+#pragma once
#include "ui_ViewSelectionWidget.h"
@@ -140,4 +139,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/interface/components/ViewSelectionInterface.ice b/source/RobotAPI/interface/components/ViewSelectionInterface.ice
index df3fc7d0b05484a8b49c4d52c64c291bfc7f9d3f..9ba19073af9c83d0a63fc9ea419afbf192cf4777 100755
--- a/source/RobotAPI/interface/components/ViewSelectionInterface.ice
+++ b/source/RobotAPI/interface/components/ViewSelectionInterface.ice
@@ -21,8 +21,7 @@
* GNU General Public License
*/
-#ifndef _ROBOTCOMPONENTS_COMPONENT_ViewSelection_SLICE_
-#define _ROBOTCOMPONENTS_COMPONENT_ViewSelection_SLICE_
+#pragma once
#include <RobotAPI/interface/core/PoseBase.ice>
#include <RobotAPI/interface/core/FramedPoseBase.ice>
@@ -94,7 +93,6 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/core/FramedPoseBase.ice b/source/RobotAPI/interface/core/FramedPoseBase.ice
index fa986d906b84796c3b605f072f437678f8999b54..41f3d684ae1329c62a3d6ab28a774674cedc7c84 100644
--- a/source/RobotAPI/interface/core/FramedPoseBase.ice
+++ b/source/RobotAPI/interface/core/FramedPoseBase.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_ROBOTSTATE_FRAMED_POSE_SLICE_
-#define _ARMARX_ROBOTAPI_ROBOTSTATE_FRAMED_POSE_SLICE_
+#pragma once
#include <ArmarXCore/interface/observers/VariantBase.ice>
#include <ArmarXCore/interface/observers/Filters.ice>
@@ -119,4 +118,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/core/LinkedPoseBase.ice b/source/RobotAPI/interface/core/LinkedPoseBase.ice
index b9801d6100b247bf15b8a37e8b9e36a3492cfdb1..2aaa1b30c2f78337a74852141273f3e400bb89aa 100644
--- a/source/RobotAPI/interface/core/LinkedPoseBase.ice
+++ b/source/RobotAPI/interface/core/LinkedPoseBase.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_ROBOTSTATE_LINKEDPOSE_SLICE_
-#define _ARMARX_ROBOTAPI_ROBOTSTATE_LINKEDPOSE_SLICE_
+#pragma once
#include <RobotAPI/interface/core/FramedPoseBase.ice>
#include <RobotAPI/interface/core/RobotState.ice>
@@ -57,4 +56,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/core/OrientedPoint.ice b/source/RobotAPI/interface/core/OrientedPoint.ice
index 28bbdfba3b6e4dc4f79d4c2e8d3561c1a3d9f724..088d4deda1a6bcdb94b25cf37a947c6c3a6bd2b7 100644
--- a/source/RobotAPI/interface/core/OrientedPoint.ice
+++ b/source/RobotAPI/interface/core/OrientedPoint.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_POINTWITHNORMAL_SLICE_
-#define _ARMARX_ROBOTAPI_POINTWITHNORMAL_SLICE_
+#pragma once
#include <ArmarXCore/interface/observers/VariantBase.ice>
#include <ArmarXCore/interface/observers/Filters.ice>
@@ -58,4 +57,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/core/PoseBase.ice b/source/RobotAPI/interface/core/PoseBase.ice
index 107bb57f9726b4de92743978b52cbedb0b16bc0c..81e24b0da8d56f11c0c1fcdcfd2ad016b7d50391 100644
--- a/source/RobotAPI/interface/core/PoseBase.ice
+++ b/source/RobotAPI/interface/core/PoseBase.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_POSE_SLICE_
-#define _ARMARX_ROBOTAPI_POSE_SLICE_
+#pragma once
#include <ArmarXCore/interface/observers/VariantBase.ice>
#include <ArmarXCore/interface/observers/Filters.ice>
@@ -88,4 +87,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/core/PoseBaseStdOverloads.h b/source/RobotAPI/interface/core/PoseBaseStdOverloads.h
index 873c5033ff94fbca618ff37d57c4a0cd9187013d..890c603eaa561fd3fc7bb2f48651a242338a8fe1 100644
--- a/source/RobotAPI/interface/core/PoseBaseStdOverloads.h
+++ b/source/RobotAPI/interface/core/PoseBaseStdOverloads.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_POSE_SLICE_STD_OVERLOADS_
-#define _ARMARX_ROBOTAPI_POSE_SLICE_STD_OVERLOADS_
+#pragma once
#include <cmath>
@@ -49,4 +48,3 @@ namespace std
}
}
-#endif
diff --git a/source/RobotAPI/interface/core/RobotState.ice b/source/RobotAPI/interface/core/RobotState.ice
index d155fb158c2be0868af07ada43de9a39ef85f325..593e5b2b23d454fd4ceb1d6ad23b114f698c9a52 100644
--- a/source/RobotAPI/interface/core/RobotState.ice
+++ b/source/RobotAPI/interface/core/RobotState.ice
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef ARMARX_ROBOTSTATE_ROBOTSTATE_SLICE
-#define ARMARX_ROBOTSTATE_ROBOTSTATE_SLICE
+#pragma once
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
@@ -261,4 +260,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/core/RobotStateObserverInterface.ice b/source/RobotAPI/interface/core/RobotStateObserverInterface.ice
index 607f0812c9e0d9c175479306ddd5424725907fea..6f0abb5b36e73a1b5bda9550d45d5a3bad9ad5c8 100644
--- a/source/RobotAPI/interface/core/RobotStateObserverInterface.ice
+++ b/source/RobotAPI/interface/core/RobotStateObserverInterface.ice
@@ -21,8 +21,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_ROBOTSTATE_OBSERVER_SLICE_
-#define _ARMARX_ROBOTAPI_ROBOTSTATE_OBSERVER_SLICE_
+#pragma once
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
@@ -37,4 +36,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/core/Trajectory.ice b/source/RobotAPI/interface/core/Trajectory.ice
index 3bcf4960af7e7571a7fd8199c7e48aa6ee175ac2..3b0bc1cb621b4859604ae701ca3e88be727b020a 100644
--- a/source/RobotAPI/interface/core/Trajectory.ice
+++ b/source/RobotAPI/interface/core/Trajectory.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_TRAJECTORY_SLICE_
-#define _ARMARX_ROBOTAPI_TRAJECTORY_SLICE_
+#pragma once
#include <ArmarXCore/interface/observers/VariantBase.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
@@ -63,4 +62,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/core/moved_to_robotcomponents_RobotIK.ice b/source/RobotAPI/interface/core/moved_to_robotcomponents_RobotIK.ice
index e18e9e401ed4036459d13e22276a058665db25ed..b2b7f6c407436e1df168b86abe738b409e083153 100644
--- a/source/RobotAPI/interface/core/moved_to_robotcomponents_RobotIK.ice
+++ b/source/RobotAPI/interface/core/moved_to_robotcomponents_RobotIK.ice
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef ARMARX_ROBOTAPI_ROBOTIK_SLICE
-#define ARMARX_ROBOTAPI_ROBOTIK_SLICE
+#pragma once
#include <RobotAPI/interface/core/FramedPoseBase.ice>
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
@@ -290,4 +289,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice b/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice
index 6dbefd25992f6b1b6b3c141a0a78443d63a0efb7..71f5598e0ed0bed5df5099579b4d08738d436091 100644
--- a/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice
+++ b/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_SLICE_
-#define _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_SLICE_
+#pragma once
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
@@ -34,4 +33,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/observers/ObserverFilters.ice b/source/RobotAPI/interface/observers/ObserverFilters.ice
index 4ba2872954735fb187543b25a80ec028112dc8a1..ad2df8e05f197f8e773b168d40bff82acc014d8c 100644
--- a/source/RobotAPI/interface/observers/ObserverFilters.ice
+++ b/source/RobotAPI/interface/observers/ObserverFilters.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_OBSERVER_FILTERS_SLICE_
-#define _ARMARX_ROBOTAPI_OBSERVER_FILTERS_SLICE_
+#pragma once
#include <ArmarXCore/interface/observers/VariantBase.ice>
#include <ArmarXCore/interface/observers/Filters.ice>
@@ -105,4 +104,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice b/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
index 73db196ecc19f00d2ac3b413310df5a2bf65304b..e7eddd170418f8ed671695807e3817e0522bf1da 100644
--- a/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
+++ b/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_CORE_PLATFORM_UNIT_OBSERVER_SLICE_
-#define _ARMARX_CORE_PLATFORM_UNIT_OBSERVER_SLICE_
+#pragma once
#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
@@ -34,4 +33,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/selflocalisation/SelfLocalisationProcess.ice b/source/RobotAPI/interface/selflocalisation/SelfLocalisationProcess.ice
index 35a48b0d155a870bb9080389937492874cc4d96c..0a352add1aee10b6fa2642e70b479513cb2f32d9 100644
--- a/source/RobotAPI/interface/selflocalisation/SelfLocalisationProcess.ice
+++ b/source/RobotAPI/interface/selflocalisation/SelfLocalisationProcess.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_SELFLOCALISATION_SELFLOCALISATIONPROCESS_SLICE_
-#define _ARMARX_ROBOTAPI_SELFLOCALISATION_SELFLOCALISATIONPROCESS_SLICE_
+#pragma once
module armarx
{
@@ -34,4 +33,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/speech/SpeechInterface.ice b/source/RobotAPI/interface/speech/SpeechInterface.ice
index ea06c3caa6885958d266e07d53c624a2cfe741f0..2e9c62eff21593e220e6273de21967745a0eeb3e 100644
--- a/source/RobotAPI/interface/speech/SpeechInterface.ice
+++ b/source/RobotAPI/interface/speech/SpeechInterface.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_SPEECH_INTERFACE_SLICE_
-#define _ARMARX_ROBOTAPI_SPEECH_INTERFACE_SLICE_
+#pragma once
#include <Ice/BuiltinSequences.ice>
@@ -99,4 +98,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/units/ATINetFTUnit.ice b/source/RobotAPI/interface/units/ATINetFTUnit.ice
index a4815f07b90702169f951ec05ba89275c1f217a1..8339b68f57dc76ea7847068dff53ea88f2c2c350 100644
--- a/source/RobotAPI/interface/units/ATINetFTUnit.ice
+++ b/source/RobotAPI/interface/units/ATINetFTUnit.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_UNITS_ATINetFTUnitInterface_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_ATINetFTUnitInterface_SLICE_
+#pragma once
#include <RobotAPI/interface/core/PoseBase.ice>
#include <RobotAPI/interface/units/UnitInterface.ice>
@@ -56,4 +55,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/units/ForceTorqueUnit.ice b/source/RobotAPI/interface/units/ForceTorqueUnit.ice
index 8fa5e9b9692d888272918c0709357ba2f6dedc79..8d0c2985c273e46a7343ea1ff77a344c2bd200de 100644
--- a/source/RobotAPI/interface/units/ForceTorqueUnit.ice
+++ b/source/RobotAPI/interface/units/ForceTorqueUnit.ice
@@ -22,8 +22,7 @@
* GNU General Public License
**/
-#ifndef _ARMARX_ROBOTAPI_UNITS_FORCETORQUE_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_FORCETORQUE_SLICE_
+#pragma once
#include <RobotAPI/interface/units/UnitInterface.ice>
#include <RobotAPI/interface/core/RobotState.ice>
@@ -88,4 +87,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/units/GamepadUnit.ice b/source/RobotAPI/interface/units/GamepadUnit.ice
index 255e95d281035a18d4b6df4aa0c07e12f03c557f..671e1de9b99591f0d4e23ab923feac8a5e1d535d 100644
--- a/source/RobotAPI/interface/units/GamepadUnit.ice
+++ b/source/RobotAPI/interface/units/GamepadUnit.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_UNITS_GAMEPAD_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_GAMEPAD_SLICE_
+#pragma once
#include <RobotAPI/interface/units/UnitInterface.ice>
@@ -80,4 +79,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/units/HandUnitInterface.ice b/source/RobotAPI/interface/units/HandUnitInterface.ice
index b3bb4e62a89b22de34fc346ef149d0023ee4b39c..c2059f9feb07eedd15a87b091895bddb86062faf 100644
--- a/source/RobotAPI/interface/units/HandUnitInterface.ice
+++ b/source/RobotAPI/interface/units/HandUnitInterface.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_CORE_UNITS_HANDUNIT_SLICE_
-#define _ARMARX_CORE_UNITS_HANDUNIT_SLICE_
+#pragma once
#include <RobotAPI/interface/units/UnitInterface.ice>
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
@@ -120,4 +119,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/units/HapticUnit.ice b/source/RobotAPI/interface/units/HapticUnit.ice
index 2f3ca404c90179a1e0a137438fe67d56653a7ee4..dcaec0c5c534e1455bb28692837f93e30276f654 100644
--- a/source/RobotAPI/interface/units/HapticUnit.ice
+++ b/source/RobotAPI/interface/units/HapticUnit.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_UNITS_HAPTIC_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_HAPTIC_SLICE_
+#pragma once
#include <RobotAPI/interface/units/UnitInterface.ice>
#include <RobotAPI/interface/core/RobotState.ice>
@@ -65,4 +64,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/units/HeadIKUnit.ice b/source/RobotAPI/interface/units/HeadIKUnit.ice
index 24c44037eff8914cf413c3536602559380e9f3f4..d053a371f82b53fadc12c47e543dec8acd23d244 100644
--- a/source/RobotAPI/interface/units/HeadIKUnit.ice
+++ b/source/RobotAPI/interface/units/HeadIKUnit.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_UNITS_HEADIK_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_HEADIK_SLICE_
+#pragma once
#include <RobotAPI/interface/units/UnitInterface.ice>
#include <RobotAPI/interface/core/RobotState.ice>
@@ -64,4 +63,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/units/InertialMeasurementUnit.ice b/source/RobotAPI/interface/units/InertialMeasurementUnit.ice
index 08afce9d608bc2c8d29d5ae2e0fe69d059307b61..9acedc051830e4389af38d9e63a951b772a5d271 100644
--- a/source/RobotAPI/interface/units/InertialMeasurementUnit.ice
+++ b/source/RobotAPI/interface/units/InertialMeasurementUnit.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_UNITS_INERTIALMEASUREMENTUNIT_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_INERTIALMEASUREMENTUNIT_SLICE_
+#pragma once
#include <RobotAPI/interface/units/UnitInterface.ice>
@@ -81,4 +80,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/units/KinematicUnitInterface.ice b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
index 09d6ecfddf00e654c9dd8699bbdbaf1ff7265c69..02c46a3c3e40852c27dd20f9fff0d488a37c5455 100644
--- a/source/RobotAPI/interface/units/KinematicUnitInterface.ice
+++ b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_CORE_KINEMATICUNIT_SLICE_
-#define _ARMARX_CORE_KINEMATICUNIT_SLICE_
+#pragma once
#include <RobotAPI/interface/units/UnitInterface.ice>
@@ -302,4 +301,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/units/KinematicUnitInterfaceStdOverloads.h b/source/RobotAPI/interface/units/KinematicUnitInterfaceStdOverloads.h
index 4ade323a9c472cd45c19e1b21ef781f3f0bdbaf9..a19b8d0512f7f6ca829950709562b5f63ec283db 100644
--- a/source/RobotAPI/interface/units/KinematicUnitInterfaceStdOverloads.h
+++ b/source/RobotAPI/interface/units/KinematicUnitInterfaceStdOverloads.h
@@ -21,8 +21,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_KINEMATICUNITINTERFACESTDOVERLOADS_H
-#define _ARMARX_KINEMATICUNITINTERFACESTDOVERLOADS_H
+#pragma once
#include <string>
@@ -34,4 +33,3 @@ namespace armarx
std::string to_string(const armarx::OperationStatus& status);
}
-#endif
diff --git a/source/RobotAPI/interface/units/LaserScannerUnit.ice b/source/RobotAPI/interface/units/LaserScannerUnit.ice
index f022260d03021a6850c99f3dfdc61b61e33555b0..0f1fa77ec8fb39423d0d96c32eeff0d632b97aa6 100644
--- a/source/RobotAPI/interface/units/LaserScannerUnit.ice
+++ b/source/RobotAPI/interface/units/LaserScannerUnit.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_UNITS_LASER_SCANNER_UNIT_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_LASER_SCANNER_UNIT_SLICE_
+#pragma once
#include <RobotAPI/interface/units/UnitInterface.ice>
@@ -83,4 +82,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/units/MetaWearIMU.ice b/source/RobotAPI/interface/units/MetaWearIMU.ice
index 994aa33ac6e2fddaeb12337443aed16dd54baecb..7cd97f8e43df797e4915242fbd8e3db59f09bec7 100644
--- a/source/RobotAPI/interface/units/MetaWearIMU.ice
+++ b/source/RobotAPI/interface/units/MetaWearIMU.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_UNITS_MetaWearIMU_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_MetaWearIMU_SLICE_
+#pragma once
#include <RobotAPI/interface/core/PoseBase.ice>
#include <RobotAPI/interface/units/UnitInterface.ice>
@@ -48,4 +47,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/units/MetaWearIMUInterface.ice b/source/RobotAPI/interface/units/MetaWearIMUInterface.ice
index 3dbf0f5ad36eacd0865ddef4f7c3d6152061df6a..c360a1e100cc6a124ed93a376af76c2e7b46a457 100644
--- a/source/RobotAPI/interface/units/MetaWearIMUInterface.ice
+++ b/source/RobotAPI/interface/units/MetaWearIMUInterface.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_UNITS_MetaWearIMUInterface_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_MetaWearIMUInterface_SLICE_
+#pragma once
module armarx
@@ -43,4 +42,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/units/OptoForceUnit.ice b/source/RobotAPI/interface/units/OptoForceUnit.ice
index 553aa042877688b333a0ee2a4e6de86431ae5196..8b893b11bb1fe323ee69f5498af434584d993cfc 100644
--- a/source/RobotAPI/interface/units/OptoForceUnit.ice
+++ b/source/RobotAPI/interface/units/OptoForceUnit.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_UNITS_OPTOFORCETUNIT_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_OPTOFORCETUNIT_SLICE_
+#pragma once
#include <RobotAPI/interface/units/UnitInterface.ice>
@@ -70,4 +69,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/units/OrientedTactileSensorUnit.ice b/source/RobotAPI/interface/units/OrientedTactileSensorUnit.ice
index 48a0fdd7de288b78b50b4bb67343adfe30275fe1..7d14330d295e1aab314d66842ba2f5cedefba8e6 100644
--- a/source/RobotAPI/interface/units/OrientedTactileSensorUnit.ice
+++ b/source/RobotAPI/interface/units/OrientedTactileSensorUnit.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_UNITS_SENSORPACKAGE_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_SENSORPACKAGE_SLICE_
+#pragma once
#include <RobotAPI/interface/core/PoseBase.ice>
#include <RobotAPI/interface/units/UnitInterface.ice>
@@ -56,4 +55,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/units/PlatformUnitInterface.ice b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
index 9f687174595b3b26a0ab22710189e24be3f96b7e..df76354fa64b37ddbbb6b966141192aab9d9ed15 100644
--- a/source/RobotAPI/interface/units/PlatformUnitInterface.ice
+++ b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_CORE_UNITS_PLATFORMUNIT_SLICE_
-#define _ARMARX_CORE_UNITS_PLATFORMUNIT_SLICE_
+#pragma once
#include <RobotAPI/interface/units/UnitInterface.ice>
@@ -105,4 +104,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/units/RobotPoseUnitInterface.ice b/source/RobotAPI/interface/units/RobotPoseUnitInterface.ice
index ed0e8454fafe657b11c00f2b7942803f7e93206d..7864ce45e391d73cc63b1e9a8875fc8527bd2b18 100644
--- a/source/RobotAPI/interface/units/RobotPoseUnitInterface.ice
+++ b/source/RobotAPI/interface/units/RobotPoseUnitInterface.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_CORE_UNITS_ROBOTPOSEUNIT_SLICE_
-#define _ARMARX_CORE_UNITS_ROBOTPOSEUNIT_SLICE_
+#pragma once
#include <RobotAPI/interface/units/UnitInterface.ice>
#include <RobotAPI/interface/core/PoseBase.ice>
@@ -94,4 +93,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianActiveImpedanceController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianActiveImpedanceController.ice
index 93770eda2e2aac75ce61a930ebfdc4b75e4ecd58..8dd9671c77d2fbacfdda1bbdf0459007f17d990a 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianActiveImpedanceController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianActiveImpedanceController.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_NJointCartesianActiveImpedanceControllerInterface_SLICE_
-#define _ARMARX_ROBOTAPI_NJointCartesianActiveImpedanceControllerInterface_SLICE_
+#pragma once
#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
@@ -42,4 +41,3 @@ module armarx
void setControllerTarget(float x, float y, float z, float qw, float qx, float qy, float qz);
};
};
-#endif
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianTorqueController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianTorqueController.ice
index 1406dc1fbb2274eb664c26b9b0537b9a54a03429..d53e0347f931497b77b67474d813570edcacc70f 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianTorqueController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianTorqueController.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_NJointCartesianTorqueControllerInterface_SLICE_
-#define _ARMARX_ROBOTAPI_NJointCartesianTorqueControllerInterface_SLICE_
+#pragma once
#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
@@ -42,4 +41,3 @@ module armarx
void setControllerTarget(float forceX, float forceY, float forceZ, float torqueX, float torqueY, float torqueZ);
};
};
-#endif
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityController.ice
index 743e5cbe6382164a163312cd86269a3a4f9551c4..d9bf18450de19a2a01959f46f17e40b6fedd5bac 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityController.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_NJointCartesianVelocityControllerInterface_SLICE_
-#define _ARMARX_ROBOTAPI_NJointCartesianVelocityControllerInterface_SLICE_
+#pragma once
#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
@@ -54,4 +53,3 @@ module armarx
void setNullspaceJointVelocities(StringFloatDictionary nullspaceJointVelocities);
};
};
-#endif
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
index 1f8f4460595cc696a6dda5209edf8c971b66a069..76771b1973a362f924c2c8af8280b4dacab8a829 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_NJointControllerInterface_SLICE_
-#define _ARMARX_ROBOTAPI_NJointControllerInterface_SLICE_
+#pragma once
#include <ArmarXCore/interface/core/BasicTypes.ice>
#include <ArmarXCore/interface/core/UserException.ice>
@@ -96,4 +95,3 @@ module armarx
dictionary<string, NJointControllerInterface*> StringNJointControllerPrxDictionary;
};
-#endif
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointJointSpaceDMPController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointJointSpaceDMPController.ice
index 947a7dbbec231d78b9ba6beea380e3b94fa7e132..0feba2e5ae20c2fc586b0b2eb4b876220d1870fa 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointJointSpaceDMPController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointJointSpaceDMPController.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_NJointJointSpaceDMPControllerInterface_SLICE_
-#define _ARMARX_ROBOTAPI_NJointJointSpaceDMPControllerInterface_SLICE_
+#pragma once
#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
@@ -56,4 +55,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
index d5fc252cc50d8fbfa34e885da5cda920e4c82ecd..2eb2753c7697a43743707e03c1f0adc9b81c238b 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_NJointTaskSpaceControllerInterface_SLICE_
-#define _ARMARX_ROBOTAPI_NJointTaskSpaceControllerInterface_SLICE_
+#pragma once
#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
@@ -52,10 +51,13 @@ module armarx
double phaseK = 10;
double phaseDist0 = 50;
double phaseDist1 = 10;
- double phaseKp = 1;
+ double phaseKpPos = 1;
+ double phaseKpOri = 0.1;
double timeDuration = 10;
+ double posToOriRatio = 100;
+
// velocity controller configuration
string nodeSetName = "";
string tcpName = "";
@@ -78,5 +80,52 @@ module armarx
void setTorqueKp(StringFloatDictionary torqueKp);
void setNullspaceJointVelocities(StringFloatDictionary nullspaceJointVelocities);
};
+
+ class NJointCCDMPControllerConfig extends NJointControllerConfig
+ {
+
+ // dmp configuration
+ float DMPKd = 20;
+ int kernelSize = 100;
+ double tau = 1;
+ int baseMode = 1;
+ int dmpNum = 2;
+
+ // phaseStop technique
+ double phaseL = 10;
+ double phaseK = 10;
+ double phaseDist0 = 50;
+ double phaseDist1 = 10;
+ double phaseKpPos = 1;
+ double phaseKpOri = 0.1;
+
+
+ // misc
+ Ice::DoubleSeq timeDurations;
+ Ice::StringSeq dmpTypes;
+ Ice::DoubleSeq amplitudes;
+
+ double posToOriRatio = 100;
+
+ // velocity controller configuration
+ string nodeSetName = "";
+ string tcpName = "";
+ NJointTaskSpaceDMPControllerMode::CartesianSelection mode = NJointTaskSpaceDMPControllerMode::eAll;
+
+ };
+
+ interface NJointCCDMPControllerInterface extends NJointControllerInterface
+ {
+ void learnDMPFromFiles(int dmpId, Ice::StringSeq trajfiles);
+ bool isFinished();
+ void runDMP();
+
+ void setTemporalFactor(int dmpId, double tau);
+ void setViaPoints(int dmpId, double canVal, Ice::DoubleSeq point);
+ void setGoals(int dmpId, Ice::DoubleSeq goals);
+
+ void setControllerTarget(float avoidJointLimitsKp, NJointTaskSpaceDMPControllerMode::CartesianSelection mode);
+ void setTorqueKp(StringFloatDictionary torqueKp);
+ void setNullspaceJointVelocities(StringFloatDictionary nullspaceJointVelocities);
+ };
};
-#endif
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointTrajectoryController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointTrajectoryController.ice
index 834da723e7a1cffe6bbcfc4e0242d0bb68a3e17a..388ed7b14a1daa034b9144c158185fa9772e7b90 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointTrajectoryController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointTrajectoryController.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_NJointTrajectoryControllerInterface_SLICE_
-#define _ARMARX_ROBOTAPI_NJointTrajectoryControllerInterface_SLICE_
+#pragma once
#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
@@ -51,4 +50,3 @@ module armarx
float getCurrentProgressFraction();
};
};
-#endif
diff --git a/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice b/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
index a0431370e310beb5baff28d5dbcde63026803119..49a8e8a19a8a1c83b72c96001a0e0dbdc8d3f520 100644
--- a/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_UNITS_RobotUnit_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_RobotUnit_SLICE_
+#pragma once
#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
@@ -180,4 +179,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/units/TCPControlUnit.ice b/source/RobotAPI/interface/units/TCPControlUnit.ice
index 622b745dd406a114cdc04c706087d404be991b6a..4e395feea18ae927ce31752a31f64f6e96b7558f 100644
--- a/source/RobotAPI/interface/units/TCPControlUnit.ice
+++ b/source/RobotAPI/interface/units/TCPControlUnit.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_UNITS_FORCETORQUE_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_FORCETORQUE_SLICE_
+#pragma once
#include <RobotAPI/interface/units/UnitInterface.ice>
#include <RobotAPI/interface/core/RobotState.ice>
@@ -94,4 +93,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice b/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice
index 9b2f227cd3c54666c7234ef624c7af31afc982d5..71f7f1777f011efdcd05e3e5c9c67814c50437e4 100644
--- a/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice
+++ b/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_CORE_TCPMOVERUNIT_SLICE_
-#define _ARMARX_CORE_TCPMOVERUNIT_SLICE_
+#pragma once
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
@@ -111,4 +110,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/units/UnitInterface.ice b/source/RobotAPI/interface/units/UnitInterface.ice
index 916c31d58a2d8e149bd4bba4602b0e31587d816a..cb3e572e4b4755b69451ea64a78cb711689ee6e1 100644
--- a/source/RobotAPI/interface/units/UnitInterface.ice
+++ b/source/RobotAPI/interface/units/UnitInterface.ice
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_CORE_UNITS_UNITINTERFACE_SLICE_
-#define _ARMARX_CORE_UNITS_UNITINTERFACE_SLICE_
+#pragma once
#include <ArmarXCore/interface/core/UserException.ice>
@@ -100,4 +99,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/units/WeissHapticUnit.ice b/source/RobotAPI/interface/units/WeissHapticUnit.ice
index 303f0a6a9225efc8780f5523cd5b535751cb96b2..413bc81299648cf573c955f195c29b6b8d0ebe32 100644
--- a/source/RobotAPI/interface/units/WeissHapticUnit.ice
+++ b/source/RobotAPI/interface/units/WeissHapticUnit.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_UNITS_WEISSHAPTIC_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_WEISSHAPTIC_SLICE_
+#pragma once
#include <RobotAPI/interface/units/HapticUnit.ice>
@@ -52,4 +51,3 @@ module armarx
};
-#endif
diff --git a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
index 0a25c6ee696e7a3a8fbb72c39aae65345078812a..629d152d94faa27ceb0b3d4f4fb6796f4bd5ed8c 100644
--- a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
+++ b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_API_DEBUGDRAWERLAYER_SLICE_
-#define _ARMARX_API_DEBUGDRAWERLAYER_SLICE_
+#pragma once
#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
@@ -432,4 +431,3 @@ module armarx
};
};
-#endif
diff --git a/source/RobotAPI/interface/visualization/DebugDrawerInterfaceStdOverloads.h b/source/RobotAPI/interface/visualization/DebugDrawerInterfaceStdOverloads.h
index 324d8a7f892a215be306c411abf17bc7e0cd379d..955a492a53d29ad71671d886b051a02cb452c87c 100644
--- a/source/RobotAPI/interface/visualization/DebugDrawerInterfaceStdOverloads.h
+++ b/source/RobotAPI/interface/visualization/DebugDrawerInterfaceStdOverloads.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_API_DEBUGDRAWERLAYER_SLICE_STD_OVERLOADS_
-#define _ARMARX_API_DEBUGDRAWERLAYER_SLICE_STD_OVERLOADS_
+#pragma once
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <cmath>
@@ -54,4 +53,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/CMakeLists.txt b/source/RobotAPI/libraries/RobotAPINJointControllers/CMakeLists.txt
index 76755149a0b2879963a7faaff337d778e495ced9..1d2c433b93afb51f8d5b3aba5788440fb6c7f0a9 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/CMakeLists.txt
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/CMakeLists.txt
@@ -6,6 +6,8 @@ armarx_set_target("Library: ${LIB_NAME}")
find_package(Eigen3 QUIET)
find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
find_package(DMP QUIET)
+find_package(MMMCore QUIET)
+find_package(MMMToolsQUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
@@ -30,7 +32,7 @@ set(LIB_HEADERS
)
-if (DMP_FOUND)
+if (DMP_FOUND )
message(STATUS "DMP libraries is ${DMP_LIBRARIES}")
include_directories(${DMP_INCLUDE_DIRS})
@@ -40,12 +42,17 @@ if (DMP_FOUND)
DMPController/NJointJointSpaceDMPController.h
DMPController/NJointTaskSpaceDMPController.h
DMPController/NJointJSDMPController.h
+ DMPController/NJointTSDMPController.h
+ DMPController/NJointCCDMPController.h
)
list(APPEND LIB_FILES
DMPController/NJointJointSpaceDMPController.cpp
DMPController/NJointTaskSpaceDMPController.cpp
DMPController/NJointJSDMPController.cpp
+ DMPController/NJointTSDMPController.cpp
+ DMPController/NJointCCDMPController.cpp
+
)
list(APPEND LIBS ${DMP_LIBRARIES})
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c00253ed7a2524d5e6d8a591754f458ef2649168
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.cpp
@@ -0,0 +1,582 @@
+#include "NJointCCDMPController.h"
+
+namespace armarx
+{
+ NJointControllerRegistration<NJointCCDMPController> registrationControllerNJointCCDMPController("NJointCCDMPController");
+
+ NJointCCDMPController::NJointCCDMPController(armarx::NJointControllerDescriptionProviderInterfacePtr prov, const armarx::NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&)
+ {
+ cfg = NJointCCDMPControllerConfigPtr::dynamicCast(config);
+ ARMARX_CHECK_EXPRESSION(prov);
+ RobotUnitPtr robotUnit = RobotUnitPtr::dynamicCast(prov);
+ ARMARX_CHECK_EXPRESSION(robotUnit);
+ ARMARX_CHECK_EXPRESSION(!cfg->nodeSetName.empty());
+ VirtualRobot::RobotNodeSetPtr rns = robotUnit->getRtRobot()->getRobotNodeSet(cfg->nodeSetName);
+
+ ARMARX_CHECK_EXPRESSION_W_HINT(rns, cfg->nodeSetName);
+ for (size_t i = 0; i < rns->getSize(); ++i)
+ {
+ std::string jointName = rns->getNode(i)->getName();
+ ControlTargetBase* ct = prov->getControlTarget(jointName, ControlModes::Velocity1DoF);
+ const SensorValueBase* sv = prov->getSensorValue(jointName);
+ targets.push_back(ct->asA<ControlTarget1DoFActuatorVelocity>());
+
+ const SensorValue1DoFActuatorTorque* torqueSensor = sv->asA<SensorValue1DoFActuatorTorque>();
+ const SensorValue1DoFGravityTorque* gravityTorqueSensor = sv->asA<SensorValue1DoFGravityTorque>();
+ if (!torqueSensor)
+ {
+ ARMARX_WARNING << "No Torque sensor available for " << jointName;
+ }
+ if (!gravityTorqueSensor)
+ {
+ ARMARX_WARNING << "No Gravity Torque sensor available for " << jointName;
+ }
+
+ torqueSensors.push_back(torqueSensor);
+ gravityTorqueSensors.push_back(gravityTorqueSensor);
+ };
+
+ tcp = (cfg->tcpName.empty()) ? rns->getTCP() : robotUnit->getRtRobot()->getRobotNode(cfg->tcpName);
+ ARMARX_CHECK_EXPRESSION_W_HINT(tcp, cfg->tcpName);
+
+ // set tcp controller
+ tcpController.reset(new CartesianVelocityController(rns, tcp));
+ nodeSetName = cfg->nodeSetName;
+ torquePIDs.resize(tcpController->rns->getSize(), pidController());
+
+
+
+ // set DMP
+ isDisturbance = false;
+
+ dmpPtrList.resize(cfg->dmpNum);
+ canVals.resize(cfg->dmpNum);
+ timeDurations = cfg->timeDurations;
+ dmpTypes = cfg->dmpTypes;
+ for (size_t i = 0; i < dmpPtrList.size(); ++i)
+ {
+ dmpPtrList[i].reset(new UMIDMP(cfg->kernelSize, cfg->DMPKd, cfg->baseMode, cfg->tau));
+ canVals[i] = timeDurations[i];
+ }
+ finished = false;
+
+ phaseL = cfg->phaseL;
+ phaseK = cfg->phaseK;
+ phaseDist0 = cfg->phaseDist0;
+ phaseDist1 = cfg->phaseDist1;
+ phaseKpPos = cfg->phaseKpPos;
+ phaseKpOri = cfg->phaseKpOri;
+
+ posToOriRatio = cfg->posToOriRatio;
+ tau = cfg->tau;
+
+ // initialize tcp position and orientation
+ Eigen::Matrix4f pose = tcp->getPoseInRootFrame();
+ oldPose = pose;
+ tcpPosition(0) = pose(0, 3);
+ tcpPosition(1) = pose(1, 3);
+ tcpPosition(2) = pose(2, 3);
+ tcpOrientation = VirtualRobot::MathTools::eigen4f2rpy(pose);
+
+
+ NJointCCDMPControllerSensorData initSensorData;
+ initSensorData.deltaT = 0;
+ initSensorData.currentTime = 0;
+ initSensorData.currentPose = pose;
+ controllerSensorData.reinitAllBuffers(initSensorData);
+
+
+ currentStates.resize(cfg->dmpNum);
+ targetSubStates.resize(cfg->dmpNum);
+ targetState.resize(6);
+
+ targetVels.resize(6);
+ NJointCCDMPControllerControlData initData;
+ initData.targetTSVel.resize(6);
+ for (size_t i = 0; i < 6; ++i)
+ {
+ initData.targetTSVel[i] = 0;
+ }
+ initData.nullspaceJointVelocities.resize(tcpController->rns->getSize(), 0);
+ initData.torqueKp.resize(tcpController->rns->getSize(), 0);
+ initData.torqueKd.resize(tcpController->rns->getSize(), 0);
+ initData.mode = ModeFromIce(cfg->mode);
+ reinitTripleBuffer(initData);
+
+ learnedDMP.clear();
+
+ amplitudes = cfg->amplitudes;
+ }
+
+ std::string NJointCCDMPController::getClassName(const Ice::Current&) const
+ {
+ return "NJointCCDMPController";
+ }
+
+ void NJointCCDMPController::controllerRun()
+ {
+ if (!controllerSensorData.updateReadBuffer())
+ {
+ return;
+ }
+
+ double deltaT = controllerSensorData.getReadBuffer().deltaT;
+
+ Eigen::Matrix4f currentPose = controllerSensorData.getReadBuffer().currentPose;
+ Eigen::Vector3f currentPosition;
+ currentPosition << currentPose(0, 3), currentPose(1, 3), currentPose(2, 3);
+ Eigen::Vector3f currentRPY = VirtualRobot::MathTools::eigen4f2rpy(currentPose);
+
+ double posError = 0;
+ double oriError = 0;
+ for (size_t i = 0; i < 3; ++i)
+ {
+ posError += pow(currentPosition(i) - targetState[i], 2);
+ }
+ for (size_t i = 0; i < 3; ++i)
+ {
+ oriError += pow(currentRPY(i) - targetState[i + 3], 2);
+ }
+
+ posError = sqrt(posError);
+ oriError = sqrt(oriError);
+ double error = posError + posToOriRatio * oriError;
+
+ double phaseDist;
+ if (isDisturbance)
+ {
+ phaseDist = phaseDist1;
+ }
+ else
+ {
+ phaseDist = phaseDist0;
+ }
+
+ double phaseStop = phaseL / (1 + exp(-phaseK * (error - phaseDist)));
+ double mpcFactor = 1 - (phaseStop / phaseL);
+
+
+ if (mpcFactor < 0.1)
+ {
+ isDisturbance = true;
+ }
+
+ if (mpcFactor > 0.9)
+ {
+ isDisturbance = false;
+ }
+
+ // run DMP one after another
+ Eigen::Matrix4f targetPose = Eigen::Matrix4f::Identity();
+ bool finished = true;
+ for (size_t i = 0; i < cfg->dmpNum; ++i)
+ {
+ double timeDuration = timeDurations[i];
+ std::string dmpType = dmpTypes[i];
+
+ double amplitude = 1.0;
+ if (dmpType == "Periodic")
+ {
+ if (canVals[i] <= 1e-8)
+ {
+ canVals[i] = timeDuration;
+ }
+ amplitude = amplitudes[i];
+ }
+
+ if (canVals[i] > 1e-8)
+ {
+ DMP::UMIDMPPtr dmpPtr = dmpPtrList[i];
+ double dmpDeltaT = deltaT / timeDuration;
+ double tau = dmpPtr->getTemporalFactor();
+ canVals[i] -= 1 / tau * deltaT * 1 / (1 + phaseStop) ;
+
+
+ currentStates[i] = dmpPtr->calculateDirectlyVelocity
+ (currentStates[i], canVals[i] / timeDurations[i], dmpDeltaT, targetSubStates[i]);
+
+
+ finished = false;
+
+ }
+
+
+ Eigen::Matrix4f targetSubMat = VirtualRobot::MathTools::rpy2eigen4f(targetSubStates[i][3], targetSubStates[i][4], targetSubStates[i][5]);
+ targetSubMat(0, 3) = targetSubStates[i][0];
+ targetSubMat(1, 3) = targetSubStates[i][1];
+ targetSubMat(2, 3) = targetSubStates[i][2];
+
+ ARMARX_INFO << "targetSubMat: " << targetSubMat;
+
+ targetPose = targetPose * targetSubMat;
+
+ }
+
+ ARMARX_INFO << "targetPose: " << targetPose;
+
+ Eigen::Vector3f targetRPY = VirtualRobot::MathTools::eigen4f2rpy(targetPose);
+ targetState[0] = targetPose(0, 3);
+ targetState[1] = targetPose(1, 3);
+ targetState[2] = targetPose(2, 3);
+ targetState[3] = targetRPY(0);
+ targetState[4] = targetRPY(1);
+ targetState[5] = targetRPY(2);
+
+ Eigen::Vector3f oldRPY = VirtualRobot::MathTools::eigen4f2rpy(oldPose);
+
+
+ for (size_t i = 0; i < 3; i++)
+ {
+ double vel0 = (targetState[i] - oldPose(i, 3)) / deltaT;
+ double vel1 = phaseKpPos * (targetState[i] - currentPose(i, 3));
+ targetVels[i] = mpcFactor * vel0 + (1 - mpcFactor) * vel1;
+ }
+
+ for (size_t i = 0; i < 3; i++)
+ {
+ double vel0 = (targetState[i + 3] - oldRPY(i)) / deltaT;
+ double vel1 = phaseKpOri * (targetState[i + 3] - currentRPY(i));
+ targetVels[i + 3] = mpcFactor * vel0 + (1 - mpcFactor) * vel1;
+ }
+
+ oldPose = targetPose;
+
+ debugOutputData.getWriteBuffer().latestTargetVelocities["x_vel"] = targetVels[0];
+ debugOutputData.getWriteBuffer().latestTargetVelocities["y_vel"] = targetVels[1];
+ debugOutputData.getWriteBuffer().latestTargetVelocities["z_vel"] = targetVels[2];
+ debugOutputData.getWriteBuffer().latestTargetVelocities["roll_vel"] = targetVels[3];
+ debugOutputData.getWriteBuffer().latestTargetVelocities["pitch_vel"] = targetVels[4];
+ debugOutputData.getWriteBuffer().latestTargetVelocities["yaw_vel"] = targetVels[5];
+ debugOutputData.getWriteBuffer().dmpTargets["dmp_x"] = targetState[0];
+ debugOutputData.getWriteBuffer().dmpTargets["dmp_y"] = targetState[1];
+ debugOutputData.getWriteBuffer().dmpTargets["dmp_z"] = targetState[2];
+ debugOutputData.getWriteBuffer().dmpTargets["dmp_roll"] = targetState[3];
+ debugOutputData.getWriteBuffer().dmpTargets["dmp_pitch"] = targetState[4];
+ debugOutputData.getWriteBuffer().dmpTargets["dmp_yaw"] = targetState[5];
+
+ debugOutputData.getWriteBuffer().realTCP["real_x"] = currentPosition[0];
+ debugOutputData.getWriteBuffer().realTCP["real_y"] = currentPosition[1];
+ debugOutputData.getWriteBuffer().realTCP["real_z"] = currentPosition[2];
+ debugOutputData.getWriteBuffer().realTCP["real_roll"] = currentRPY[0];
+ debugOutputData.getWriteBuffer().realTCP["real_pitch"] = currentRPY[1];
+ debugOutputData.getWriteBuffer().realTCP["real_yaw"] = currentRPY[2];
+
+ debugOutputData.getWriteBuffer().mpcFactor = mpcFactor;
+ debugOutputData.getWriteBuffer().error = error;
+ debugOutputData.getWriteBuffer().phaseStop = phaseStop;
+ debugOutputData.getWriteBuffer().posError = posError;
+ debugOutputData.getWriteBuffer().oriError = oriError;
+ debugOutputData.getWriteBuffer().deltaT = deltaT;
+
+ debugOutputData.getWriteBuffer().canVal0 = canVals[0];
+
+
+ debugOutputData.commitWrite();
+
+ LockGuardType guard {controlDataMutex};
+ getWriterControlStruct().targetTSVel = targetVels;
+ writeControlStruct();
+ }
+
+
+ void NJointCCDMPController::rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration)
+ {
+ double deltaT = timeSinceLastIteration.toSecondsDouble();
+ controllerSensorData.getWriteBuffer().currentPose = tcp->getPoseInRootFrame();
+ controllerSensorData.getWriteBuffer().deltaT = deltaT;
+ controllerSensorData.getWriteBuffer().currentTime += deltaT;
+
+ controllerSensorData.commitWrite();
+ // cartesian vel controller
+ Eigen::VectorXf x;
+ auto mode = rtGetControlStruct().mode;
+
+ if (mode == VirtualRobot::IKSolver::All)
+ {
+ x.resize(6);
+ for (size_t i = 0; i < 6; i++)
+ {
+ x(i) = rtGetControlStruct().targetTSVel[i];
+ }
+ }
+ else if (mode == VirtualRobot::IKSolver::Position)
+ {
+ x.resize(3);
+ for (size_t i = 0; i < 3; i++)
+ {
+ x(i) = rtGetControlStruct().targetTSVel[i];
+ }
+
+ }
+ else if (mode == VirtualRobot::IKSolver::Orientation)
+ {
+ x.resize(3);
+ for (size_t i = 0; i < 3; i++)
+ {
+ x(i) = rtGetControlStruct().targetTSVel[i + 3];
+ }
+ }
+ else
+ {
+ // No mode has been set
+ return;
+ }
+
+ Eigen::VectorXf jnv = Eigen::VectorXf::Zero(tcpController->rns->getSize());
+ float jointLimitAvoidanceKp = rtGetControlStruct().avoidJointLimitsKp;
+ if (jointLimitAvoidanceKp > 0)
+ {
+ jnv += jointLimitAvoidanceKp * tcpController->calculateJointLimitAvoidance();
+ }
+ for (size_t i = 0; i < tcpController->rns->getSize(); i++)
+ {
+ jnv(i) += rtGetControlStruct().nullspaceJointVelocities.at(i);
+ if (torqueSensors.at(i) && gravityTorqueSensors.at(i) && rtGetControlStruct().torqueKp.at(i) != 0)
+ {
+ torquePIDs.at(i).Kp = rtGetControlStruct().torqueKp.at(i);
+ torquePIDs.at(i).Kd = rtGetControlStruct().torqueKd.at(i);
+ jnv(i) += torquePIDs.at(i).update(deltaT, torqueSensors.at(i)->torque - gravityTorqueSensors.at(i)->gravityTorque);
+ }
+ else
+ {
+ torquePIDs.at(i).lastError = 0;
+ }
+ }
+
+ Eigen::VectorXf jointTargetVelocities = tcpController->calculate(x, jnv, mode);
+ for (size_t i = 0; i < targets.size(); ++i)
+ {
+ targets.at(i)->velocity = jointTargetVelocities(i);
+ }
+ }
+
+
+ void NJointCCDMPController::learnDMPFromFiles(int dmpId, const Ice::StringSeq& fileNames, const Ice::Current&)
+ {
+ DMP::Vec<DMP::SampledTrajectoryV2 > trajs;
+
+ DMP::DVec ratios;
+ DMP::DVec goals;
+ DMP::Vec<DMP::DMPState > starts;
+
+ for (size_t i = 0; i < fileNames.size(); ++i)
+ {
+ DMP::SampledTrajectoryV2 traj;
+ traj.readFromCSVFile(fileNames.at(i));
+ traj = DMP::SampledTrajectoryV2::normalizeTimestamps(traj, 0, 1);
+ trajs.push_back(traj);
+
+ if (i == 0)
+ {
+ goals.resize(traj.dim());
+ starts.resize(traj.dim());
+ for (size_t j = 0; j < goals.size(); ++j)
+ {
+ goals[j] = traj.rbegin()->getPosition(j);
+ starts[j].pos = traj.begin()->getPosition(j);
+ starts[j].vel = traj.begin()->getDeriv(j, 1) * timeDurations[dmpId];
+ }
+ }
+
+ if (i == 0)
+ {
+ ratios.push_back(1.0);
+ }
+ else
+ {
+ ratios.push_back(0.0);
+ }
+
+
+ }
+
+ dmpPtrList[dmpId]->learnFromTrajectories(trajs);
+ dmpPtrList[dmpId]->setOneStepMPC(true);
+ dmpPtrList[dmpId]->styleParas = dmpPtrList[dmpId]->getStyleParasWithRatio(ratios);
+
+
+ DMP::Vec<DMP::DMPState > currentState;
+ if (dmpId == 0)
+ {
+ for (size_t i = 0; i < 3; i++)
+ {
+ DMP::DMPState currentPos;
+ currentPos.pos = tcpPosition(i);
+ currentPos.vel = 0;
+ currentState.push_back(currentPos);
+ }
+ for (size_t i = 0; i < 3; i++)
+ {
+ DMP::DMPState currentPos;
+ currentPos.pos = tcpOrientation(i);
+ currentPos.vel = 0;
+ currentState.push_back(currentPos);
+ }
+ }
+ else
+ {
+ currentState = starts;
+
+
+ }
+ for (size_t i = 0; i < 3; i++)
+ {
+ targetState[i] = tcpPosition(i);
+ }
+ for (size_t i = 0; i < 3; i++)
+ {
+ targetState[i + 3] = tcpOrientation(i);
+ }
+
+ currentStates[dmpId] = currentState;
+
+ dmpPtrList[dmpId]->prepareExecution(goals, currentState, 1, tau);
+ dmpPtrList[dmpId]->setTemporalFactor(tau);
+
+ learnedDMP.push_back(dmpId);
+ ARMARX_INFO << "Learned DMP ... ";
+ }
+
+ void NJointCCDMPController::setViaPoints(int dmpId, Ice::Double u, const Ice::DoubleSeq& viapoint, const Ice::Current&)
+ {
+ ViaPoint viaPoint(u, viapoint);
+
+ LockGuardType guard(controllerMutex);
+ dmpPtrList[dmpId]->setViaPoint(viaPoint);
+ }
+
+ void NJointCCDMPController::setGoals(int dmpId, const Ice::DoubleSeq& goals, const Ice::Current& ice)
+ {
+ setViaPoints(dmpId, dmpPtrList[dmpId]->getUMin(), goals, ice);
+ }
+
+ void NJointCCDMPController::setControllerTarget(Ice::Float avoidJointLimitsKp, NJointTaskSpaceDMPControllerMode::CartesianSelection mode, const Ice::Current&)
+ {
+ LockGuardType guard {controlDataMutex};
+ getWriterControlStruct().avoidJointLimitsKp = avoidJointLimitsKp;
+ getWriterControlStruct().mode = ModeFromIce(mode);
+ writeControlStruct();
+ }
+
+ VirtualRobot::IKSolver::CartesianSelection NJointCCDMPController::ModeFromIce(const NJointTaskSpaceDMPControllerMode::CartesianSelection mode)
+ {
+ if (mode == NJointTaskSpaceDMPControllerMode::CartesianSelection::ePosition)
+ {
+ return VirtualRobot::IKSolver::CartesianSelection::Position;
+ }
+ if (mode == NJointTaskSpaceDMPControllerMode::CartesianSelection::eOrientation)
+ {
+ return VirtualRobot::IKSolver::CartesianSelection::Orientation;
+ }
+ if (mode == NJointTaskSpaceDMPControllerMode::CartesianSelection::eAll)
+ {
+ return VirtualRobot::IKSolver::CartesianSelection::All;
+ }
+ ARMARX_ERROR_S << "invalid mode " << mode;
+ return (VirtualRobot::IKSolver::CartesianSelection)0;
+ }
+
+
+ void NJointCCDMPController::setTorqueKp(const StringFloatDictionary& torqueKp, const Ice::Current&)
+ {
+ LockGuardType guard {controlDataMutex};
+ for (size_t i = 0; i < tcpController->rns->getSize(); i++)
+ {
+ getWriterControlStruct().torqueKp.at(i) = torqueKp.at(tcpController->rns->getNode(i)->getName());
+ }
+ writeControlStruct();
+ }
+
+ void NJointCCDMPController::setNullspaceJointVelocities(const StringFloatDictionary& nullspaceJointVelocities, const Ice::Current&)
+ {
+ LockGuardType guard {controlDataMutex};
+ for (size_t i = 0; i < tcpController->rns->getSize(); i++)
+ {
+ getWriterControlStruct().nullspaceJointVelocities.at(i) = nullspaceJointVelocities.at(tcpController->rns->getNode(i)->getName());
+ }
+ writeControlStruct();
+ }
+
+ void NJointCCDMPController::runDMP(const Ice::Current&)
+ {
+
+ finished = false;
+
+ if (dmpTypes.size() != cfg->dmpNum ||
+ dmpPtrList.size() != cfg->dmpNum ||
+ learnedDMP.size() != cfg->dmpNum ||
+ canVals.size() != cfg->dmpNum ||
+ currentStates.size() != cfg->dmpNum ||
+ targetSubStates.size() != cfg->dmpNum)
+ {
+ ARMARX_ERROR << "Error: cannot run CCDMP controller. The reason is that some parameters have different sizes";
+ return;
+ }
+ ARMARX_INFO << "run DMP";
+ controllerTask->start();
+
+ }
+
+ void NJointCCDMPController::setTemporalFactor(int dmpId, double tau, const Ice::Current&)
+ {
+ LockGuardType guard(controllerMutex);
+ dmpPtrList[dmpId]->setTemporalFactor(tau);
+ }
+
+ void NJointCCDMPController::rtPreActivateController()
+ {
+ }
+
+ void NJointCCDMPController::rtPostDeactivateController()
+ {
+
+ }
+
+ void NJointCCDMPController::onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx& debugObs)
+ {
+ StringVariantBaseMap datafields;
+ auto values = debugOutputData.getUpToDateReadBuffer().latestTargetVelocities;
+ for (auto& pair : values)
+ {
+ datafields[pair.first] = new Variant(pair.second);
+ }
+
+ auto dmpTargets = debugOutputData.getUpToDateReadBuffer().dmpTargets;
+ for (auto& pair : dmpTargets)
+ {
+ datafields[pair.first] = new Variant(pair.second);
+ }
+
+ auto realTCP = debugOutputData.getUpToDateReadBuffer().realTCP;
+ for (auto& pair : realTCP)
+ {
+ datafields[pair.first] = new Variant(pair.second);
+ }
+
+
+ datafields["mpcFactor"] = new Variant(debugOutputData.getUpToDateReadBuffer().mpcFactor);
+ datafields["poseError"] = new Variant(debugOutputData.getUpToDateReadBuffer().error);
+ datafields["phaseStop"] = new Variant(debugOutputData.getUpToDateReadBuffer().phaseStop);
+ datafields["posError"] = new Variant(debugOutputData.getUpToDateReadBuffer().posError);
+ datafields["oriError"] = new Variant(debugOutputData.getUpToDateReadBuffer().oriError);
+ datafields["deltaT"] = new Variant(debugOutputData.getUpToDateReadBuffer().deltaT);
+ datafields["canVal0"] = new Variant(debugOutputData.getUpToDateReadBuffer().canVal0);
+
+ debugObs->setDebugChannel("DMPController", datafields);
+ }
+
+ void NJointCCDMPController::onInitComponent()
+ {
+ ARMARX_INFO << "init ...";
+ controllerTask = new PeriodicTask<NJointCCDMPController>(this, &NJointCCDMPController::controllerRun, 0.3);
+ }
+
+ void NJointCCDMPController::onDisconnectComponent()
+ {
+ controllerTask->stop();
+ ARMARX_INFO << "stopped ...";
+ }
+
+
+
+}
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.h b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.h
new file mode 100644
index 0000000000000000000000000000000000000000..7dc42afd1e8c99b9a5d269727cec270753abfc5c
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointCCDMPController.h
@@ -0,0 +1,168 @@
+
+#pragma once
+
+#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h>
+#include <VirtualRobot/Robot.h>
+#include <RobotAPI/components/units/RobotUnit/RobotUnit.h>
+#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
+#include <RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
+#include <dmp/representation/dmp/umidmp.h>
+#include <RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.h>
+#include <RobotAPI/libraries/core/CartesianVelocityController.h>
+
+
+using namespace DMP;
+namespace armarx
+{
+
+
+ TYPEDEF_PTRS_HANDLE(NJointCCDMPController);
+ TYPEDEF_PTRS_HANDLE(NJointCCDMPControllerControlData);
+
+ typedef std::pair<double, DVec > ViaPoint;
+ typedef std::vector<ViaPoint > ViaPointsSet;
+ class NJointCCDMPControllerControlData
+ {
+ public:
+ std::vector<float> targetTSVel;
+ // cartesian velocity control data
+ std::vector<float> nullspaceJointVelocities;
+ float avoidJointLimitsKp = 0;
+ std::vector<float> torqueKp;
+ std::vector<float> torqueKd;
+ VirtualRobot::IKSolver::CartesianSelection mode = VirtualRobot::IKSolver::All;
+ };
+
+ class pidController
+ {
+ public:
+ float Kp = 0, Kd = 0;
+ float lastError = 0;
+ float update(float dt, float error)
+ {
+ float derivative = (error - lastError) / dt;
+ float retVal = Kp * error + Kd * derivative;
+ lastError = error;
+ return retVal;
+ }
+ };
+
+ class NJointCCDMPController :
+ public NJointControllerWithTripleBuffer<NJointCCDMPControllerControlData>,
+ public NJointCCDMPControllerInterface
+ {
+ public:
+ using ConfigPtrT = NJointCCDMPControllerConfigPtr;
+ NJointCCDMPController(NJointControllerDescriptionProviderInterfacePtr prov, const NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&);
+
+ // NJointControllerInterface interface
+ std::string getClassName(const Ice::Current&) const;
+
+ // NJointController interface
+
+ void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration);
+
+ // NJointCCDMPControllerInterface interface
+ void learnDMPFromFiles(int dmpId, const Ice::StringSeq& fileNames, const Ice::Current&);
+ bool isFinished(const Ice::Current&)
+ {
+ return finished;
+ }
+
+ void runDMP(const Ice::Current&);
+ void setTemporalFactor(int dmpId, Ice::Double tau, const Ice::Current&);
+ void setViaPoints(int dmpId, Ice::Double u, const Ice::DoubleSeq& viapoint, const Ice::Current&);
+ void setGoals(int dmpId, const Ice::DoubleSeq& goals, const Ice::Current&);
+
+ void setControllerTarget(Ice::Float avoidJointLimitsKp, NJointTaskSpaceDMPControllerMode::CartesianSelection mode, const Ice::Current&);
+ void setTorqueKp(const StringFloatDictionary& torqueKp, const Ice::Current&);
+ void setNullspaceJointVelocities(const StringFloatDictionary& nullspaceJointVelocities, const Ice::Current&);
+ protected:
+ void rtPreActivateController() override;
+ void rtPostDeactivateController() override;
+ VirtualRobot::IKSolver::CartesianSelection ModeFromIce(const NJointTaskSpaceDMPControllerMode::CartesianSelection mode);
+ virtual void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&);
+
+ void onInitComponent();
+ void onDisconnectComponent();
+ void controllerRun();
+
+ private:
+ struct DebugBufferData
+ {
+ StringFloatDictionary latestTargetVelocities;
+ StringFloatDictionary dmpTargets;
+ StringFloatDictionary realTCP;
+
+ double mpcFactor;
+ double error;
+ double phaseStop;
+ double posError;
+ double oriError;
+ double deltaT;
+ double canVal0;
+ };
+
+ TripleBuffer<DebugBufferData> debugOutputData;
+
+ struct NJointCCDMPControllerSensorData
+ {
+ double currentTime;
+ double deltaT;
+ Eigen::Matrix4f currentPose;
+ };
+ TripleBuffer<NJointCCDMPControllerSensorData> controllerSensorData;
+
+ std::vector<const SensorValue1DoFActuatorTorque*> torqueSensors;
+ std::vector<const SensorValue1DoFGravityTorque*> gravityTorqueSensors;
+ std::vector<ControlTarget1DoFActuatorVelocity*> targets;
+
+ // velocity ik controller parameters
+ std::vector<pidController> torquePIDs;
+ CartesianVelocityControllerPtr tcpController;
+ std::string nodeSetName;
+
+ // dmp parameters
+ std::vector<UMIDMPPtr > dmpPtrList;
+ std::vector<double> canVals;
+ std::vector<double> timeDurations;
+ std::vector<std::string > dmpTypes;
+ std::vector<double> amplitudes;
+
+ std::vector<Vec<DMPState > > currentStates;
+ std::vector<DVec > targetSubStates;
+
+ bool finished;
+ double tau;
+ ViaPointsSet viaPoints;
+ bool isDisturbance;
+
+
+ // phaseStop parameters
+ double phaseL;
+ double phaseK;
+ double phaseDist0;
+ double phaseDist1;
+ double phaseKpPos;
+ double phaseKpOri;
+
+ double posToOriRatio;
+
+ std::vector<float> targetVels;
+
+ std::vector<int> learnedDMP;
+ NJointCCDMPControllerConfigPtr cfg;
+ VirtualRobot::RobotNodePtr tcp;
+ Eigen::Vector3f tcpPosition;
+ Eigen::Vector3f tcpOrientation;
+
+ Eigen::Matrix4f oldPose;
+
+ DMP::DVec targetState;
+ mutable MutexType controllerMutex;
+ PeriodicTask<NJointCCDMPController>::pointer_type controllerTask;
+ };
+
+} // namespace armarx
+
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSDMPController.cpp
index 6837a99be3afdb55d7f08b7ab6c0ea8aac75bc2c..bcf0d7893db6d82964c70cd456f85a2803e4f2b7 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSDMPController.cpp
@@ -63,10 +63,16 @@ namespace armarx
void NJointJSDMPController::controllerRun()
{
+ if (!controllerSensorData.updateReadBuffer())
+ {
+ return;
+ }
+
+ currentState = controllerSensorData.getUpToDateReadBuffer().currentState;
+ double deltaT = controllerSensorData.getUpToDateReadBuffer().deltaT;
if (canVal > 1e-8)
{
- currentState = controllerSensorData.getUpToDateReadBuffer().currentState;
- double deltaT = controllerSensorData.getUpToDateReadBuffer().deltaT;
+
double phaseStop = 0;
double error = 0;
std::vector<double> currentPosition;
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJointSpaceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJointSpaceDMPController.cpp
index 737502f40ce26d64f24f8740ed7031bedcb23de1..0626c1976c4bfe8f6b5de2eed7ba0298006a65f2 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJointSpaceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJointSpaceDMPController.cpp
@@ -121,7 +121,11 @@ namespace armarx
double vel = mpcFactor * vel0 + (1 - mpcFactor) * vel1;
targets[jointName]->velocity = finished ? 0.0f : vel;
+ std::string targetVelstr = jointName + "_targetvel";
+ std::string targetStatestr = jointName + "_dmpTarget";
debugOutputData.getWriteBuffer().latestTargetVelocities[jointName] = vel;
+ debugOutputData.getWriteBuffer().dmpTargetState[jointName] = targetState[i];
+
}
}
@@ -166,8 +170,6 @@ namespace armarx
}
dmpPtr->learnFromTrajectories(trajs);
dmpPtr->setOneStepMPC(true);
-
-
dmpPtr->styleParas = dmpPtr->getStyleParasWithRatio(ratios);
ARMARX_INFO << "Learned DMP ... ";
@@ -230,6 +232,12 @@ namespace armarx
datafields[pair.first] = new Variant(pair.second);
}
+ auto valuesst = debugOutputData.getUpToDateReadBuffer().dmpTargetState;
+ for (auto& pair : valuesst)
+ {
+ datafields[pair.first] = new Variant(pair.second);
+ }
+
datafields["canVal"] = new Variant(debugOutputData.getUpToDateReadBuffer().currentCanVal);
datafields["mpcFactor"] = new Variant(debugOutputData.getUpToDateReadBuffer().mpcFactor);
debugObs->setDebugChannel("latestDMPTargetVelocities", datafields);
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJointSpaceDMPController.h b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJointSpaceDMPController.h
index 15e69e65aa13cd065d82fe79630372a5aa4dcb25..173c7cfb146f2117b2c6a8df498baffa2eb21477 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJointSpaceDMPController.h
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJointSpaceDMPController.h
@@ -69,6 +69,7 @@ namespace armarx
struct DebugBufferData
{
StringFloatDictionary latestTargetVelocities;
+ StringFloatDictionary dmpTargetState;
double currentCanVal;
double mpcFactor;
};
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTSDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTSDMPController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9dfb86763888c436e53384b6019d849582d9c966
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTSDMPController.cpp
@@ -0,0 +1,519 @@
+#include "NJointTSDMPController.h"
+
+namespace armarx
+{
+ NJointControllerRegistration<NJointTSDMPController> registrationControllerNJointTSDMPController("NJointTSDMPController");
+
+ NJointTSDMPController::NJointTSDMPController(armarx::NJointControllerDescriptionProviderInterfacePtr prov, const armarx::NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&)
+ {
+ cfg = NJointTaskSpaceDMPControllerConfigPtr::dynamicCast(config);
+ ARMARX_CHECK_EXPRESSION(prov);
+ RobotUnitPtr robotUnit = RobotUnitPtr::dynamicCast(prov);
+ ARMARX_CHECK_EXPRESSION(robotUnit);
+ ARMARX_CHECK_EXPRESSION(!cfg->nodeSetName.empty());
+ VirtualRobot::RobotNodeSetPtr rns = robotUnit->getRtRobot()->getRobotNodeSet(cfg->nodeSetName);
+
+ ARMARX_CHECK_EXPRESSION_W_HINT(rns, cfg->nodeSetName);
+ for (size_t i = 0; i < rns->getSize(); ++i)
+ {
+ std::string jointName = rns->getNode(i)->getName();
+ ControlTargetBase* ct = prov->getControlTarget(jointName, ControlModes::Velocity1DoF);
+ const SensorValueBase* sv = prov->getSensorValue(jointName);
+ targets.push_back(ct->asA<ControlTarget1DoFActuatorVelocity>());
+
+ const SensorValue1DoFActuatorTorque* torqueSensor = sv->asA<SensorValue1DoFActuatorTorque>();
+ const SensorValue1DoFGravityTorque* gravityTorqueSensor = sv->asA<SensorValue1DoFGravityTorque>();
+ if (!torqueSensor)
+ {
+ ARMARX_WARNING << "No Torque sensor available for " << jointName;
+ }
+ if (!gravityTorqueSensor)
+ {
+ ARMARX_WARNING << "No Gravity Torque sensor available for " << jointName;
+ }
+
+ torqueSensors.push_back(torqueSensor);
+ gravityTorqueSensors.push_back(gravityTorqueSensor);
+ };
+
+ tcp = (cfg->tcpName.empty()) ? rns->getTCP() : robotUnit->getRtRobot()->getRobotNode(cfg->tcpName);
+ ARMARX_CHECK_EXPRESSION_W_HINT(tcp, cfg->tcpName);
+
+ // set tcp controller
+ tcpController.reset(new CartesianVelocityController(rns, tcp));
+ nodeSetName = cfg->nodeSetName;
+ torquePIDs.resize(tcpController->rns->getSize(), pidController());
+
+
+
+ // set DMP
+ isDisturbance = false;
+
+ dmpPtr.reset(new UMIDMP(cfg->kernelSize, cfg->DMPKd, cfg->baseMode, cfg->tau));
+ timeDuration = cfg->timeDuration;
+ canVal = timeDuration;
+ finished = false;
+
+ phaseL = cfg->phaseL;
+ phaseK = cfg->phaseK;
+ phaseDist0 = cfg->phaseDist0;
+ phaseDist1 = cfg->phaseDist1;
+ phaseKpPos = cfg->phaseKpPos;
+ phaseKpOri = cfg->phaseKpOri;
+
+ posToOriRatio = cfg->posToOriRatio;
+
+ // initialize tcp position and orientation
+
+
+
+ NJointTSDMPControllerSensorData initSensorData;
+ initSensorData.deltaT = 0;
+ initSensorData.currentTime = 0;
+ initSensorData.currentState.resize(6);
+ controllerSensorData.reinitAllBuffers(initSensorData);
+
+
+ targetVels.resize(6);
+ NJointTSDMPControllerControlData initData;
+ initData.targetTSVel.resize(6);
+ for (size_t i = 0; i < 6; ++i)
+ {
+ initData.targetTSVel[i] = 0;
+ }
+ initData.nullspaceJointVelocities.resize(tcpController->rns->getSize(), 0);
+ initData.torqueKp.resize(tcpController->rns->getSize(), 0);
+ initData.torqueKd.resize(tcpController->rns->getSize(), 0);
+ initData.mode = ModeFromIce(cfg->mode);
+ reinitTripleBuffer(initData);
+
+ }
+
+ std::string NJointTSDMPController::getClassName(const Ice::Current&) const
+ {
+ return "NJointTSDMPController";
+ }
+
+ void NJointTSDMPController::controllerRun()
+ {
+ if (!controllerSensorData.updateReadBuffer())
+ {
+ return;
+ }
+ double deltaT = controllerSensorData.getReadBuffer().deltaT;
+ currentState = controllerSensorData.getReadBuffer().currentState;
+
+ double mpcFactor = 1;
+ double error = 0;
+ double phaseStop = 0;
+ double posError = 0;
+ double oriError = 0;
+
+
+ if (canVal > 1e-8)
+ {
+
+ std::vector<double> currentposi;
+ std::vector<double> currentori;
+ currentposi.resize(3);
+ currentori.resize(3);
+ for (size_t i = 0; i < 3; ++i)
+ {
+ currentposi[i] = currentState[i].pos;
+ posError += pow(currentState[i].pos - targetState[i], 2);
+ }
+
+ for (size_t i = 0; i < 3; ++i)
+ {
+ currentori[i] = currentState[i + 3].pos;
+ oriError += pow(currentState[i + 3].pos - targetState[i + 3], 2);
+ }
+
+ posError = sqrt(posError);
+ oriError = sqrt(oriError);
+
+ error = posError + posToOriRatio * oriError;
+ double dmpDeltaT = deltaT / timeDuration;
+
+ double phaseDist;
+ if (isDisturbance)
+ {
+ phaseDist = phaseDist1;
+ }
+ else
+ {
+ phaseDist = phaseDist0;
+ }
+
+ phaseStop = phaseL / (1 + exp(-phaseK * (error - phaseDist)));
+ mpcFactor = 1 - (phaseStop / phaseL);
+
+ if (mpcFactor < 0.1)
+ {
+ isDisturbance = true;
+ }
+
+ if (mpcFactor > 0.9)
+ {
+ isDisturbance = false;
+ }
+
+
+ double tau = dmpPtr->getTemporalFactor();
+ canVal -= 1 / tau * deltaT * 1 / (1 + phaseStop) ;
+ currentState = dmpPtr->calculateDirectlyVelocity(currentState, canVal / timeDuration, dmpDeltaT, targetState);
+
+
+
+ double vel0, vel1;
+
+ for (size_t i = 0; i < 3; i++)
+ {
+ vel0 = currentState[i].vel / timeDuration;
+ vel1 = phaseKpPos * (targetState[i] - currentposi[i]);
+ targetVels[i] = mpcFactor * vel0 + (1 - mpcFactor) * vel1;
+ }
+ for (size_t i = 0; i < 3; i++)
+ {
+ vel0 = currentState[i + 3].vel / timeDuration;
+ vel1 = phaseKpOri * (targetState[i + 3] - currentori[i]);
+ targetVels[i + 3] = mpcFactor * vel0 + (1 - mpcFactor) * vel1;
+ }
+
+ }
+ else
+ {
+ finished = true;
+
+ for (size_t i = 0; i < targetVels.size(); ++i)
+ {
+ targetVels[i] = 0;
+ }
+ }
+ // debugOutputData.getWriteBuffer().latestTargetVelocities["x_vel"] = targetVels[0];
+ // debugOutputData.getWriteBuffer().latestTargetVelocities["y_vel"] = targetVels[1];
+ // debugOutputData.getWriteBuffer().latestTargetVelocities["z_vel"] = targetVels[2];
+ // debugOutputData.getWriteBuffer().latestTargetVelocities["roll_vel"] = targetVels[3];
+ // debugOutputData.getWriteBuffer().latestTargetVelocities["pitch_vel"] = targetVels[4];
+ // debugOutputData.getWriteBuffer().latestTargetVelocities["yaw_vel"] = targetVels[5];
+ // debugOutputData.getWriteBuffer().dmpTargets["dmp_x"] = targetState[0];
+ // debugOutputData.getWriteBuffer().dmpTargets["dmp_y"] = targetState[1];
+ // debugOutputData.getWriteBuffer().dmpTargets["dmp_z"] = targetState[2];
+ // debugOutputData.getWriteBuffer().dmpTargets["dmp_roll"] = targetState[3];
+ // debugOutputData.getWriteBuffer().dmpTargets["dmp_pitch"] = targetState[4];
+ // debugOutputData.getWriteBuffer().dmpTargets["dmp_yaw"] = targetState[5];
+
+
+ debugOutputData.getWriteBuffer().currentCanVal = canVal;
+ // debugOutputData.getWriteBuffer().mpcFactor = mpcFactor;
+ // debugOutputData.getWriteBuffer().error = error;
+ // debugOutputData.getWriteBuffer().phaseStop = phaseStop;
+ // debugOutputData.getWriteBuffer().posError = posError;
+ // debugOutputData.getWriteBuffer().oriError = oriError;
+ // debugOutputData.getWriteBuffer().deltaT = deltaT;
+
+
+ debugOutputData.commitWrite();
+
+ // LockGuardType guard {controlDataMutex};
+ getWriterControlStruct().targetTSVel = targetVels;
+ writeControlStruct();
+ }
+
+
+ void NJointTSDMPController::rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration)
+ {
+ Eigen::Matrix4f pose = tcp->getPoseInRootFrame();
+ Eigen::Vector3f currPosition;
+ Eigen::Vector3f currOrientation = VirtualRobot::MathTools::eigen4f2rpy(pose);
+ currPosition(0) = pose(0, 3);
+ currPosition(1) = pose(1, 3);
+ currPosition(2) = pose(2, 3);
+
+ double deltaT = timeSinceLastIteration.toSecondsDouble();
+
+ Eigen::Vector3f posVel;
+ Eigen::Vector3f oriVel;
+
+ if (deltaT == 0)
+ {
+ posVel << 0, 0 , 0;
+ oriVel << 0, 0 , 0;
+ }
+ else
+ {
+ posVel = (currPosition - tcpPosition) / deltaT;
+ oriVel = (currOrientation - tcpOrientation) / deltaT;
+ }
+
+ tcpPosition = currPosition;
+ tcpOrientation = currOrientation;
+
+ for (size_t i = 0; i < 3; i++)
+ {
+ DMP::DMPState currentPos;
+ currentPos.pos = tcpPosition(i);
+ currentPos.vel = posVel(i) * timeDuration;
+ controllerSensorData.getWriteBuffer().currentState[i] = currentPos;
+ }
+
+ for (size_t i = 0; i < 3; i++)
+ {
+ DMP::DMPState currentPos;
+ currentPos.pos = tcpOrientation(i);
+ currentPos.vel = oriVel(i) * timeDuration;
+ controllerSensorData.getWriteBuffer().currentState[i + 3] = currentPos;
+ }
+
+ controllerSensorData.getWriteBuffer().deltaT = deltaT;
+ controllerSensorData.getWriteBuffer().currentTime += deltaT;
+
+ controllerSensorData.commitWrite();
+
+
+ // cartesian vel controller
+ Eigen::VectorXf x;
+ auto mode = rtGetControlStruct().mode;
+
+ if (mode == VirtualRobot::IKSolver::All)
+ {
+ x.resize(6);
+ for (size_t i = 0; i < 6; i++)
+ {
+ x(i) = rtGetControlStruct().targetTSVel[i];
+ }
+ }
+ else if (mode == VirtualRobot::IKSolver::Position)
+ {
+ x.resize(3);
+ for (size_t i = 0; i < 3; i++)
+ {
+ x(i) = rtGetControlStruct().targetTSVel[i];
+ }
+
+ }
+ else if (mode == VirtualRobot::IKSolver::Orientation)
+ {
+ x.resize(3);
+ for (size_t i = 0; i < 3; i++)
+ {
+ x(i) = rtGetControlStruct().targetTSVel[i + 3];
+ }
+ }
+ else
+ {
+ // No mode has been set
+ return;
+ }
+
+ Eigen::VectorXf jnv = Eigen::VectorXf::Zero(tcpController->rns->getSize());
+ float jointLimitAvoidanceKp = rtGetControlStruct().avoidJointLimitsKp;
+ if (jointLimitAvoidanceKp > 0)
+ {
+ jnv += jointLimitAvoidanceKp * tcpController->calculateJointLimitAvoidance();
+ }
+ for (size_t i = 0; i < tcpController->rns->getSize(); i++)
+ {
+ jnv(i) += rtGetControlStruct().nullspaceJointVelocities.at(i);
+ if (torqueSensors.at(i) && gravityTorqueSensors.at(i) && rtGetControlStruct().torqueKp.at(i) != 0)
+ {
+ torquePIDs.at(i).Kp = rtGetControlStruct().torqueKp.at(i);
+ torquePIDs.at(i).Kd = rtGetControlStruct().torqueKd.at(i);
+ jnv(i) += torquePIDs.at(i).update(deltaT, torqueSensors.at(i)->torque - gravityTorqueSensors.at(i)->gravityTorque);
+ }
+ else
+ {
+ torquePIDs.at(i).lastError = 0;
+ }
+ }
+
+ Eigen::VectorXf jointTargetVelocities = tcpController->calculate(x, jnv, mode);
+ for (size_t i = 0; i < targets.size(); ++i)
+ {
+ targets.at(i)->velocity = jointTargetVelocities(i);
+ }
+ }
+
+
+ void NJointTSDMPController::learnDMPFromFiles(const Ice::StringSeq& fileNames, const Ice::Current&)
+ {
+ DMP::Vec<DMP::SampledTrajectoryV2 > trajs;
+
+ DMP::DVec ratios;
+ for (size_t i = 0; i < fileNames.size(); ++i)
+ {
+ DMP::SampledTrajectoryV2 traj;
+ traj.readFromCSVFile(fileNames.at(i));
+ traj = DMP::SampledTrajectoryV2::normalizeTimestamps(traj, 0, 1);
+ trajs.push_back(traj);
+
+ if (i == 0)
+ {
+ ratios.push_back(1.0);
+ }
+ else
+ {
+ ratios.push_back(0.0);
+ }
+ }
+
+ dmpPtr->learnFromTrajectories(trajs);
+ dmpPtr->setOneStepMPC(true);
+ dmpPtr->styleParas = dmpPtr->getStyleParasWithRatio(ratios);
+
+ ARMARX_INFO << "Learned DMP ... ";
+ }
+
+ void NJointTSDMPController::setViaPoints(Ice::Double u, const Ice::DoubleSeq& viapoint, const Ice::Current&)
+ {
+ ViaPoint viaPoint(u, viapoint);
+
+ LockGuardType guard(controllerMutex);
+ dmpPtr->setViaPoint(viaPoint);
+ }
+
+ void NJointTSDMPController::setGoals(const Ice::DoubleSeq& goals, const Ice::Current& ice)
+ {
+ setViaPoints(dmpPtr->getUMin(), goals, ice);
+ }
+
+ void NJointTSDMPController::setControllerTarget(Ice::Float avoidJointLimitsKp, NJointTaskSpaceDMPControllerMode::CartesianSelection mode, const Ice::Current&)
+ {
+ LockGuardType guard {controlDataMutex};
+ getWriterControlStruct().avoidJointLimitsKp = avoidJointLimitsKp;
+ getWriterControlStruct().mode = ModeFromIce(mode);
+ writeControlStruct();
+ }
+
+ VirtualRobot::IKSolver::CartesianSelection NJointTSDMPController::ModeFromIce(const NJointTaskSpaceDMPControllerMode::CartesianSelection mode)
+ {
+ if (mode == NJointTaskSpaceDMPControllerMode::CartesianSelection::ePosition)
+ {
+ return VirtualRobot::IKSolver::CartesianSelection::Position;
+ }
+ if (mode == NJointTaskSpaceDMPControllerMode::CartesianSelection::eOrientation)
+ {
+ return VirtualRobot::IKSolver::CartesianSelection::Orientation;
+ }
+ if (mode == NJointTaskSpaceDMPControllerMode::CartesianSelection::eAll)
+ {
+ return VirtualRobot::IKSolver::CartesianSelection::All;
+ }
+ ARMARX_ERROR_S << "invalid mode " << mode;
+ return (VirtualRobot::IKSolver::CartesianSelection)0;
+ }
+
+
+ void NJointTSDMPController::setTorqueKp(const StringFloatDictionary& torqueKp, const Ice::Current&)
+ {
+ LockGuardType guard {controlDataMutex};
+ for (size_t i = 0; i < tcpController->rns->getSize(); i++)
+ {
+ getWriterControlStruct().torqueKp.at(i) = torqueKp.at(tcpController->rns->getNode(i)->getName());
+ }
+ writeControlStruct();
+ }
+
+ void NJointTSDMPController::setNullspaceJointVelocities(const StringFloatDictionary& nullspaceJointVelocities, const Ice::Current&)
+ {
+ LockGuardType guard {controlDataMutex};
+ for (size_t i = 0; i < tcpController->rns->getSize(); i++)
+ {
+ getWriterControlStruct().nullspaceJointVelocities.at(i) = nullspaceJointVelocities.at(tcpController->rns->getNode(i)->getName());
+ }
+ writeControlStruct();
+ }
+
+ void NJointTSDMPController::runDMP(const Ice::DoubleSeq& goals, double tau, const Ice::Current&)
+ {
+ Eigen::Matrix4f pose = tcp->getPoseInRootFrame();
+ tcpPosition(0) = pose(0, 3);
+ tcpPosition(1) = pose(1, 3);
+ tcpPosition(2) = pose(2, 3);
+ tcpOrientation = VirtualRobot::MathTools::eigen4f2rpy(pose);
+
+ ARMARX_INFO << "tcpPosition: " << tcpPosition;
+ ARMARX_INFO << "tcpOrientation: " << tcpOrientation;
+
+ currentState.clear();
+ targetState.clear();
+ for (size_t i = 0; i < 3; i++)
+ {
+ DMP::DMPState currentPos;
+ currentPos.pos = tcpPosition(i);
+ currentPos.vel = 0;
+ currentState.push_back(currentPos);
+ targetState.push_back(currentPos.pos);
+ }
+ for (size_t i = 0; i < 3; i++)
+ {
+ DMP::DMPState currentPos;
+ currentPos.pos = tcpOrientation(i);
+ currentPos.vel = 0;
+ currentState.push_back(currentPos);
+ targetState.push_back(currentPos.pos);
+ }
+ dmpPtr->prepareExecution(goals, currentState, 1, tau);
+ finished = false;
+ dmpPtr->setTemporalFactor(tau);
+
+ ARMARX_INFO << "run DMP";
+ controllerTask->start();
+
+ }
+
+ void NJointTSDMPController::setTemporalFactor(double tau, const Ice::Current&)
+ {
+ LockGuardType guard(controllerMutex);
+ dmpPtr->setTemporalFactor(tau);
+ }
+
+ void NJointTSDMPController::rtPreActivateController()
+ {
+ }
+
+ void NJointTSDMPController::rtPostDeactivateController()
+ {
+
+ }
+
+ void NJointTSDMPController::onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx& debugObs)
+ {
+ StringVariantBaseMap datafields;
+ // auto values = debugOutputData.getUpToDateReadBuffer().latestTargetVelocities;
+ // for (auto& pair : values)
+ // {
+ // datafields[pair.first] = new Variant(pair.second);
+
+ // auto dmpTargets = debugOutputData.getUpToDateReadBuffer().dmpTargets;
+ // for (auto& pair : dmpTargets)
+ // {
+ // datafields[pair.first] = new Variant(pair.second);
+ // }
+
+ datafields["canVal"] = new Variant(debugOutputData.getUpToDateReadBuffer().currentCanVal);
+ // datafields["mpcFactor"] = new Variant(debugOutputData.getUpToDateReadBuffer().mpcFactor);
+ // datafields["poseError"] = new Variant(debugOutputData.getUpToDateReadBuffer().error);
+ // datafields["phaseStop"] = new Variant(debugOutputData.getUpToDateReadBuffer().phaseStop);
+ // datafields["posError"] = new Variant(debugOutputData.getUpToDateReadBuffer().posError);
+ // datafields["oriError"] = new Variant(debugOutputData.getUpToDateReadBuffer().oriError);
+ // datafields["deltaT"] = new Variant(debugOutputData.getUpToDateReadBuffer().deltaT);
+
+ debugObs->setDebugChannel("DMPController", datafields);
+ }
+
+ void NJointTSDMPController::onInitComponent()
+ {
+ ARMARX_INFO << "init ...";
+ controllerTask = new PeriodicTask<NJointTSDMPController>(this, &NJointTSDMPController::controllerRun, 0.3);
+ }
+
+ void NJointTSDMPController::onDisconnectComponent()
+ {
+ ARMARX_INFO << "stopped ...";
+ controllerTask->stop();
+ }
+
+
+
+}
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTSDMPController.h b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTSDMPController.h
new file mode 100644
index 0000000000000000000000000000000000000000..620b5c81145b5fb4be3755ad37bdf48c19ed5924
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTSDMPController.h
@@ -0,0 +1,158 @@
+
+#pragma once
+
+#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h>
+#include <VirtualRobot/Robot.h>
+#include <RobotAPI/components/units/RobotUnit/RobotUnit.h>
+#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
+#include <RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
+#include <dmp/representation/dmp/umidmp.h>
+#include <RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.h>
+#include <RobotAPI/libraries/core/CartesianVelocityController.h>
+
+
+using namespace DMP;
+namespace armarx
+{
+
+
+ TYPEDEF_PTRS_HANDLE(NJointTSDMPController);
+ TYPEDEF_PTRS_HANDLE(NJointTSDMPControllerControlData);
+
+ typedef std::pair<double, DVec > ViaPoint;
+ typedef std::vector<ViaPoint > ViaPointsSet;
+ class NJointTSDMPControllerControlData
+ {
+ public:
+ std::vector<float> targetTSVel;
+ // cartesian velocity control data
+ std::vector<float> nullspaceJointVelocities;
+ float avoidJointLimitsKp = 0;
+ std::vector<float> torqueKp;
+ std::vector<float> torqueKd;
+ VirtualRobot::IKSolver::CartesianSelection mode = VirtualRobot::IKSolver::All;
+ };
+
+ class pidController
+ {
+ public:
+ float Kp = 0, Kd = 0;
+ float lastError = 0;
+ float update(float dt, float error)
+ {
+ float derivative = (error - lastError) / dt;
+ float retVal = Kp * error + Kd * derivative;
+ lastError = error;
+ return retVal;
+ }
+ };
+
+ class NJointTSDMPController :
+ public NJointControllerWithTripleBuffer<NJointTSDMPControllerControlData>,
+ public NJointTaskSpaceDMPControllerInterface
+ {
+ public:
+ using ConfigPtrT = NJointTaskSpaceDMPControllerConfigPtr;
+ NJointTSDMPController(NJointControllerDescriptionProviderInterfacePtr prov, const NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&);
+
+ // NJointControllerInterface interface
+ std::string getClassName(const Ice::Current&) const;
+
+ // NJointController interface
+
+ void rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration);
+
+ // NJointTSDMPControllerInterface interface
+ void learnDMPFromFiles(const Ice::StringSeq& fileNames, const Ice::Current&);
+ bool isFinished(const Ice::Current&)
+ {
+ return finished;
+ }
+
+ void runDMP(const Ice::DoubleSeq& goals, Ice::Double tau, const Ice::Current&);
+ void setTemporalFactor(Ice::Double tau, const Ice::Current&);
+ void setViaPoints(Ice::Double u, const Ice::DoubleSeq& viapoint, const Ice::Current&);
+ void setGoals(const Ice::DoubleSeq& goals, const Ice::Current&);
+
+ void setControllerTarget(Ice::Float avoidJointLimitsKp, NJointTaskSpaceDMPControllerMode::CartesianSelection mode, const Ice::Current&);
+ void setTorqueKp(const StringFloatDictionary& torqueKp, const Ice::Current&);
+ void setNullspaceJointVelocities(const StringFloatDictionary& nullspaceJointVelocities, const Ice::Current&);
+ protected:
+ void rtPreActivateController() override;
+ void rtPostDeactivateController() override;
+ VirtualRobot::IKSolver::CartesianSelection ModeFromIce(const NJointTaskSpaceDMPControllerMode::CartesianSelection mode);
+ virtual void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&);
+
+ void onInitComponent();
+ void onDisconnectComponent();
+ void controllerRun();
+
+ private:
+ struct DebugBufferData
+ {
+ // StringFloatDictionary latestTargetVelocities;
+ // StringFloatDictionary dmpTargets;
+ double currentCanVal;
+ // double mpcFactor;
+ // double error;
+ // double phaseStop;
+ // double posError;
+ // double oriError;
+ // double deltaT;
+ };
+
+ TripleBuffer<DebugBufferData> debugOutputData;
+
+ struct NJointTSDMPControllerSensorData
+ {
+ double currentTime;
+ double deltaT;
+ DMP::Vec<DMP::DMPState> currentState;
+ };
+ TripleBuffer<NJointTSDMPControllerSensorData> controllerSensorData;
+
+
+ std::vector<const SensorValue1DoFActuatorTorque*> torqueSensors;
+ std::vector<const SensorValue1DoFGravityTorque*> gravityTorqueSensors;
+ std::vector<ControlTarget1DoFActuatorVelocity*> targets;
+
+ // velocity ik controller parameters
+ std::vector<pidController> torquePIDs;
+ CartesianVelocityControllerPtr tcpController;
+ std::string nodeSetName;
+
+ // dmp parameters
+ UMIDMPPtr dmpPtr;
+ double timeDuration;
+ double canVal;
+ bool finished;
+ double tau;
+ ViaPointsSet viaPoints;
+ bool isDisturbance;
+
+
+ // phaseStop parameters
+ double phaseL;
+ double phaseK;
+ double phaseDist0;
+ double phaseDist1;
+ double phaseKpPos;
+ double phaseKpOri;
+
+ double posToOriRatio;
+
+ std::vector<float> targetVels;
+
+ NJointTaskSpaceDMPControllerConfigPtr cfg;
+ VirtualRobot::RobotNodePtr tcp;
+ Eigen::Vector3f tcpPosition;
+ Eigen::Vector3f tcpOrientation;
+ DMP::Vec<DMP::DMPState> currentState;
+ DMP::DVec targetState;
+ mutable MutexType controllerMutex;
+ PeriodicTask<NJointTSDMPController>::pointer_type controllerTask;
+ };
+
+} // namespace armarx
+
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceDMPController.cpp
index a798bf35c117202ed3b04435467eb420a659d783..f7a2de6fee95c7a188cd816158d88836c974e9c2 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceDMPController.cpp
@@ -67,7 +67,8 @@ namespace armarx
phaseK = cfg->phaseK;
phaseDist0 = cfg->phaseDist0;
phaseDist1 = cfg->phaseDist1;
- phaseKp = cfg->phaseKp;
+ phaseKpPos = cfg->phaseKpPos;
+ phaseKpOri = cfg->phaseKpOri;
// initialize tcp position and orientation
Eigen::Matrix4f pose = tcp->getPoseInRootFrame();
@@ -76,6 +77,8 @@ namespace armarx
tcpPosition(2) = pose(2, 3);
tcpOrientation = VirtualRobot::MathTools::eigen4f2rpy(pose);
+
+ posToOriRatio = cfg->posToOriRatio;
}
std::string NJointTaskSpaceDMPController::getClassName(const Ice::Current&) const
@@ -85,7 +88,7 @@ namespace armarx
void NJointTaskSpaceDMPController::rtRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration)
{
- if (rtGetControlStruct().isStart)
+ if (rtGetControlStruct().isStart && !finished)
{
UMIDMPPtr dmpPtr = rtGetControlStruct().dmpPtr;
@@ -120,6 +123,9 @@ namespace armarx
double phaseStop = 0;
double error = 0;
currentState.clear();
+
+ double posError = 0;
+ double oriError = 0;
for (size_t i = 0; i < 3; i++)
{
DMP::DMPState currentPos;
@@ -127,7 +133,7 @@ namespace armarx
currentPos.vel = posVel(i) * timeDuration;
currentState.push_back(currentPos);
- error += pow(currentPos.pos - targetState[i], 2);
+ posError += pow(currentPos.pos - targetState[i], 2);
}
for (size_t i = 0; i < 3; i++)
@@ -137,10 +143,11 @@ namespace armarx
currentPos.vel = oriVel(i) * timeDuration;
currentState.push_back(currentPos);
- error += pow(currentPos.pos - targetState[i + 3], 2);
+ oriError += pow(currentPos.pos - targetState[i + 3], 2);
}
- error = sqrt(error);
+
+ error = sqrt(posError + posToOriRatio * oriError);
double phaseDist;
if (isDisturbance)
@@ -187,14 +194,14 @@ namespace armarx
for (size_t i = 0; i < 3; i++)
{
vel0 = currentState[i].vel / timeDuration;
- vel1 = phaseKp * (targetState[i] - tcpPosition[i]);
+ vel1 = phaseKpPos * (targetState[i] - tcpPosition[i]);
x(i) = mpcFactor * vel0 + (1 - mpcFactor) * vel1;
}
for (size_t i = 0; i < 3; i++)
{
vel0 = currentState[i + 3].vel / timeDuration;
- vel1 = phaseKp * (targetState[i + 3] - tcpOrientation[i]);
+ vel1 = phaseKpOri * (targetState[i + 3] - tcpOrientation[i]);
x(i + 3) = mpcFactor * vel0 + (1 - mpcFactor) * vel1;
}
@@ -216,7 +223,7 @@ namespace armarx
for (size_t i = 0; i < 3; i++)
{
vel0 = currentState[i].vel / timeDuration;
- vel1 = phaseKp * (targetState[i] - tcpPosition[i]);
+ vel1 = phaseKpPos * (targetState[i] - tcpPosition[i]);
x(i) = mpcFactor * vel0 + (1 - mpcFactor) * vel1;
}
@@ -234,7 +241,7 @@ namespace armarx
for (size_t i = 0; i < 3; i++)
{
vel0 = currentState[i + 3].vel / timeDuration;
- vel1 = phaseKp * (targetState[i + 3] - tcpOrientation[i]);
+ vel1 = phaseKpOri * (targetState[i + 3] - tcpOrientation[i]);
x(i) = mpcFactor * vel0 + (1 - mpcFactor) * vel1;
}
@@ -281,6 +288,13 @@ namespace armarx
targets.at(i)->velocity = jointTargetVelocities(i);
}
}
+ else
+ {
+ for (size_t i = 0; i < targets.size(); ++i)
+ {
+ targets.at(i)->velocity = 0;
+ }
+ }
}
@@ -354,7 +368,7 @@ namespace armarx
return (VirtualRobot::IKSolver::CartesianSelection)0;
}
- void NJointTaskSpaceDMPController::onPublish(const SensorAndControl &, const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &debugObs)
+ void NJointTaskSpaceDMPController::onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx& debugObs)
{
StringVariantBaseMap datafields;
auto values = debugOutputData.getUpToDateReadBuffer().latestTargetVelocities;
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceDMPController.h b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceDMPController.h
index d133d81bb3955192594d5216ebce264d66c603b6..b5f3fa66e39c20002747e7e02372e7f45c5aed86 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceDMPController.h
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceDMPController.h
@@ -120,7 +120,9 @@ namespace armarx
double phaseK;
double phaseDist0;
double phaseDist1;
- double phaseKp;
+ double phaseKpPos;
+ double phaseKpOri;
+ double posToOriRatio;
bool isDisturbance;
diff --git a/source/RobotAPI/libraries/RobotAPIVariantWidget/RobotAPIVariantWidget.h b/source/RobotAPI/libraries/RobotAPIVariantWidget/RobotAPIVariantWidget.h
index cac8083cc1ed8e8b60521bf728a4c0ceb67cd1b5..73277c1b2a1ef2b03f111c2873d473ca41a9f23e 100644
--- a/source/RobotAPI/libraries/RobotAPIVariantWidget/RobotAPIVariantWidget.h
+++ b/source/RobotAPI/libraries/RobotAPIVariantWidget/RobotAPIVariantWidget.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_LIB_RobotAPI_RobotAPIVariantWidget_H
-#define _ARMARX_LIB_RobotAPI_RobotAPIVariantWidget_H
+#pragma once
#include <ArmarXGui/libraries/VariantWidget/VariantWidget.h>
@@ -40,4 +39,3 @@ namespace armarx
}
}
}
-#endif
diff --git a/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLogger.h b/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLogger.h
index 857ae73ce15b83fe440f87b95ce68e6e608421d1..34b2d03e6484d0b04a6ef0897171093d45f73bbb 100644
--- a/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLogger.h
+++ b/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLogger.h
@@ -21,8 +21,7 @@
* GNU General Public License
*/
-#ifndef armarx_SimpleJsonLogger_SimpleJsonLogger
-#define armarx_SimpleJsonLogger_SimpleJsonLogger
+#pragma once
#include "SimpleJsonLoggerEntry.h"
@@ -58,4 +57,3 @@ namespace armarx
};
}
-#endif // armarx_SimpleJsonLogger_SimpleJsonLogger
diff --git a/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLoggerEntry.h b/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLoggerEntry.h
index 221da5043f728708cd987e5dcbbc8b8a39f9d159..44034658024bfb8cb498b7e1f6d50cb4a1c726f9 100644
--- a/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLoggerEntry.h
+++ b/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLoggerEntry.h
@@ -21,8 +21,7 @@
* GNU General Public License
*/
-#ifndef armarx_SimpleJsonLogger_SimpleJsonLoggerEntry
-#define armarx_SimpleJsonLogger_SimpleJsonLoggerEntry
+#pragma once
#include <boost/shared_ptr.hpp>
@@ -60,4 +59,3 @@ namespace armarx
};
}
-#endif // armarx_SimpleJsonLogger_SimpleJsonLoggerEntry
diff --git a/source/RobotAPI/libraries/core/CartesianPositionController.h b/source/RobotAPI/libraries/core/CartesianPositionController.h
index dd592515bc0d004bfd0788faca639f078fd9c84b..9d6843006f86c38460153a67ad44b7d4055cc15d 100644
--- a/source/RobotAPI/libraries/core/CartesianPositionController.h
+++ b/source/RobotAPI/libraries/core/CartesianPositionController.h
@@ -21,8 +21,7 @@
* GNU General Public License
*/
-#ifndef armarx_core_CartesianPositionController
-#define armarx_core_CartesianPositionController
+#pragma once
#include <boost/shared_ptr.hpp>
@@ -60,4 +59,3 @@ namespace armarx
};
}
-#endif // armarx_core_CartesianPositionController
diff --git a/source/RobotAPI/libraries/core/CartesianVelocityController.h b/source/RobotAPI/libraries/core/CartesianVelocityController.h
index 1dad93ff1a72f0cbaffc43e12554cd219accccf4..e55ec62c33b48b83cba6c1131750b5eb9e6e7b61 100644
--- a/source/RobotAPI/libraries/core/CartesianVelocityController.h
+++ b/source/RobotAPI/libraries/core/CartesianVelocityController.h
@@ -21,8 +21,7 @@
* GNU General Public License
*/
-#ifndef armarx_core_CartesianVelocityController
-#define armarx_core_CartesianVelocityController
+#pragma once
#include <boost/shared_ptr.hpp>
@@ -55,4 +54,3 @@ namespace armarx
};
}
-#endif // armarx_core_CartesianVelocityController
diff --git a/source/RobotAPI/libraries/core/FramedOrientedPoint.h b/source/RobotAPI/libraries/core/FramedOrientedPoint.h
index 87736b79af669a73fcf70422c41eaafb5a031cde..dede436bd570ea98c466e738d9980cbe74c3d411 100644
--- a/source/RobotAPI/libraries/core/FramedOrientedPoint.h
+++ b/source/RobotAPI/libraries/core/FramedOrientedPoint.h
@@ -18,8 +18,7 @@
* GNU General Public License
*/
-#ifndef ARMARX_RobotAPI_FramedOrientedPoint_H
-#define ARMARX_RobotAPI_FramedOrientedPoint_H
+#pragma once
#include "OrientedPoint.h"
@@ -107,4 +106,3 @@ namespace armarx
};
}
-#endif // armarx_core_FramedOrientedPoint
diff --git a/source/RobotAPI/libraries/core/FramedPose.h b/source/RobotAPI/libraries/core/FramedPose.h
index edbd1b54114e3b729210848d045eabfbbf84abe0..46236272331cd1782739994314f404c278d9de52 100644
--- a/source/RobotAPI/libraries/core/FramedPose.h
+++ b/source/RobotAPI/libraries/core/FramedPose.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_RobotAPI_FramedPose_H
-#define _ARMARX_COMPONENT_RobotAPI_FramedPose_H
+#pragma once
#include "Pose.h"
@@ -372,4 +371,3 @@ extern template class ::IceInternal::Handle< ::armarx::FramedOrientation>;
-#endif
diff --git a/source/RobotAPI/libraries/core/LinkedPose.h b/source/RobotAPI/libraries/core/LinkedPose.h
index be87f528feba134161f7c9a59fe4458bd72f559d..ff2bede9e9a16e2dcfcf68b2c7f2f64b07516d50 100644
--- a/source/RobotAPI/libraries/core/LinkedPose.h
+++ b/source/RobotAPI/libraries/core/LinkedPose.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_RobotAPI_LinkedPose_H
-#define _ARMARX_RobotAPI_LinkedPose_H
+#pragma once
#include "FramedPose.h"
@@ -176,4 +175,3 @@ namespace armarx
typedef IceInternal::Handle<LinkedDirection> LinkedDirectionPtr;
}
-#endif
diff --git a/source/RobotAPI/libraries/core/OrientedPoint.h b/source/RobotAPI/libraries/core/OrientedPoint.h
index 6442406dbd573c507b474089ae6a8f0394e9990c..62594ffd43fbe8d602b458ba1c79b717f04531c5 100644
--- a/source/RobotAPI/libraries/core/OrientedPoint.h
+++ b/source/RobotAPI/libraries/core/OrientedPoint.h
@@ -18,8 +18,7 @@
* GNU General Public License
*/
-#ifndef ARMARX_RobotAPI_OrientedPoint_H
-#define ARMARX_RobotAPI_OrientedPoint_H
+#pragma once
#include <RobotAPI/interface/core/OrientedPoint.h>
@@ -84,4 +83,3 @@ namespace armarx
typedef IceInternal::Handle<OrientedPoint> OrientedPointPtr;
}
-#endif // armarx_core_OrientedPoint
diff --git a/source/RobotAPI/libraries/core/PIDController.h b/source/RobotAPI/libraries/core/PIDController.h
index c402574edc7cca965b968e65d4bb8881a2fc086c..0d31868f92290b356c32344f264e6f7556117492 100644
--- a/source/RobotAPI/libraries/core/PIDController.h
+++ b/source/RobotAPI/libraries/core/PIDController.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_RobotAPI_PIDController_H
-#define _ARMARX_COMPONENT_RobotAPI_PIDController_H
+#pragma once
#include <ArmarXCore/core/logging/Logging.h>
#include <Eigen/Core>
@@ -105,4 +104,3 @@ namespace armarx
typedef boost::shared_ptr<MultiDimPIDController> MultiDimPIDControllerPtr;
}
-#endif
diff --git a/source/RobotAPI/libraries/core/Pose.h b/source/RobotAPI/libraries/core/Pose.h
index 19ef3a15551282fb35f168111f4dfd643971b8f0..a3c79e75050b949ff974922122f96e5c1c852ef5 100644
--- a/source/RobotAPI/libraries/core/Pose.h
+++ b/source/RobotAPI/libraries/core/Pose.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_RobotAPI_Pose_H
-#define _ARMARX_COMPONENT_RobotAPI_Pose_H
+#pragma once
#include <RobotAPI/interface/core/PoseBase.h>
@@ -282,4 +281,3 @@ namespace Eigen
extern template class Matrix<float, 3, 3>;
extern template class Matrix<float, 4, 4>;
}
-#endif
diff --git a/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h b/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h
index c7b72bbc5cc6ba3a56fdb856b2bd0effdc0050bd..17ca6912ba301fcc20cf6b9a156e010b1bc72f09 100644
--- a/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h
+++ b/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_OBJECT_FACTORIES_H
-#define _ARMARX_ROBOTAPI_OBJECT_FACTORIES_H
+#pragma once
#include <ArmarXCore/core/system/FactoryCollectionBase.h>
@@ -45,4 +44,3 @@ namespace armarx
}
-#endif
diff --git a/source/RobotAPI/libraries/core/RobotStatechartContext.h b/source/RobotAPI/libraries/core/RobotStatechartContext.h
index aef36c6ad810b131c4c182e41d58096c4a5b31fd..511c41feab84494c21b80b398715c7fa32d68bf5 100644
--- a/source/RobotAPI/libraries/core/RobotStatechartContext.h
+++ b/source/RobotAPI/libraries/core/RobotStatechartContext.h
@@ -21,8 +21,7 @@
*/
-#ifndef ARMARX_COMPONENT_RobotApi_StatechartContext_H
-#define ARMARX_COMPONENT_RobotApi_StatechartContext_H
+#pragma once
#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
@@ -110,4 +109,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/libraries/core/Trajectory.h b/source/RobotAPI/libraries/core/Trajectory.h
index 4724349434ee3cfdd17bb65b01b49511c70e5a8e..15cef1251f47b3f1c7d782b4dc54c1aea4e96217 100644
--- a/source/RobotAPI/libraries/core/Trajectory.h
+++ b/source/RobotAPI/libraries/core/Trajectory.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef ARMARX_ROBOTAPI_TRAJECTORY_H
-#define ARMARX_ROBOTAPI_TRAJECTORY_H
+#pragma once
#include <boost/tokenizer.hpp>
@@ -447,4 +446,3 @@ namespace armarx
}
-#endif
diff --git a/source/RobotAPI/libraries/core/VectorHelpers.h b/source/RobotAPI/libraries/core/VectorHelpers.h
index 04fbfd27e9473ca1f6affeca99b638b4541440f0..4d99a3158f2f2ebc91331d6615da3baefbf02b07 100644
--- a/source/RobotAPI/libraries/core/VectorHelpers.h
+++ b/source/RobotAPI/libraries/core/VectorHelpers.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef VECTORHELPERS_H
-#define VECTORHELPERS_H
+#pragma once
#include <ArmarXCore/core/exceptions/Exception.h>
@@ -319,4 +318,3 @@ namespace armarx
return minValue;
}
}
-#endif //
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h b/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h
index a5729abbe59c89cd15a782c92cfcad0b2925a2b6..7c95aa50ba38f6a18f6fb4f6182c0f1e39825d4a 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_CONDITIONCHECKEQUALSPOSE_H
-#define _ARMARX_ROBOTAPI_CONDITIONCHECKEQUALSPOSE_H
+#pragma once
#include <ArmarXCore/core/system/ImportExport.h>
#include <ArmarXCore/observers/ConditionCheck.h>
@@ -95,4 +94,3 @@ namespace armarx
}
};
}
-#endif // CONDITIONCHECKEQUALSPOSITION_H
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h b/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h
index 9a79cb82e146bf51825ccd47ce5a484e9d1850dd..e11a91fcf81a32ef21c656897c6104eae5e1ca34 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef ARMARX_ROBOTAPI_CONDITIONCHECKEQUALSPOSITIONWITHTOLERANCE_H
-#define ARMARX_ROBOTAPI_CONDITIONCHECKEQUALSPOSITIONWITHTOLERANCE_H
+#pragma once
#include <ArmarXCore/core/system/ImportExport.h>
#include <ArmarXCore/observers/ConditionCheck.h>
@@ -121,4 +120,3 @@ namespace armarx
};
}
-#endif // CONDITIONCHECKEQUALSPOSITIONWITHTOLERANCE_H
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
index ba0356e04236c2c014e46e3e8834b157b776b016..1009903e4fb1ddb631f11482a459098452e15419 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef ARMARX_CONDITIONCHECKMAGNITUDECHECKS_H
-#define ARMARX_CONDITIONCHECKMAGNITUDECHECKS_H
+#pragma once
#include <ArmarXCore/core/system/ImportExport.h>
#include <ArmarXCore/observers/ConditionCheck.h>
@@ -60,4 +59,3 @@ namespace armarx
};
}
-#endif
diff --git a/source/RobotAPI/libraries/core/math/ColorUtils.h b/source/RobotAPI/libraries/core/math/ColorUtils.h
index ffc75388d3cd39ba18d12b51792b8c426af9b369..b28b8c8ebc1e535c5cf91f1393d92416e889c9c1 100644
--- a/source/RobotAPI/libraries/core/math/ColorUtils.h
+++ b/source/RobotAPI/libraries/core/math/ColorUtils.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef _ARMARX_COLORUTILS_H
-#define _ARMARX_COLORUTILS_H
+#pragma once
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include "MathUtils.h"
@@ -160,4 +159,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/libraries/core/math/LinearizeAngularTrajectory.h b/source/RobotAPI/libraries/core/math/LinearizeAngularTrajectory.h
index 1ff667977fe97712b6cbdfc84ead9706dab8f93e..c8479ee65d3bc665d696e9550ee66ddda1d8fa2c 100644
--- a/source/RobotAPI/libraries/core/math/LinearizeAngularTrajectory.h
+++ b/source/RobotAPI/libraries/core/math/LinearizeAngularTrajectory.h
@@ -21,8 +21,7 @@
* GNU General Public License
*/
-#ifndef armarx_math_LinearizeAngularTrajectory
-#define armarx_math_LinearizeAngularTrajectory
+#pragma once
#include <boost/shared_ptr.hpp>
#include <vector>
@@ -53,4 +52,3 @@ namespace armarx
}
}
-#endif // armarx_math_LinearizeAngularTrajectory
diff --git a/source/RobotAPI/libraries/core/math/MathUtils.h b/source/RobotAPI/libraries/core/math/MathUtils.h
index 4d388095130c86b0a8b089f23a812acfeac6c572..0607aa0d9524ea138ac140afb0cbc89f824d0b61 100644
--- a/source/RobotAPI/libraries/core/math/MathUtils.h
+++ b/source/RobotAPI/libraries/core/math/MathUtils.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef ARMARX_ROBOTAPI_MATH_MATHUTILS_H_
-#define ARMARX_ROBOTAPI_MATH_MATHUTILS_H_
+#pragma once
#include <math.h>
#include <Eigen/Eigen>
@@ -180,4 +179,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/libraries/core/math/MatrixHelpers.h b/source/RobotAPI/libraries/core/math/MatrixHelpers.h
index 859be8dd2923c67ba10d0a80d80cc9f28e3b9733..6a2d1c0868847ea8e525de18d9f7377484d348f4 100644
--- a/source/RobotAPI/libraries/core/math/MatrixHelpers.h
+++ b/source/RobotAPI/libraries/core/math/MatrixHelpers.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef ARMARX_ROBOTAPI_MATH_MATRIXHELPERS_H_
-#define ARMARX_ROBOTAPI_MATH_MATRIXHELPERS_H_
+#pragma once
#include <math.h>
#include <Eigen/Eigen>
@@ -69,4 +68,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/libraries/core/math/SVD.h b/source/RobotAPI/libraries/core/math/SVD.h
index 91fc384b12eeb5caef8b2f0775fd397e188851fb..99502ebf890b80a036600eb8a13290da2ca6e079 100644
--- a/source/RobotAPI/libraries/core/math/SVD.h
+++ b/source/RobotAPI/libraries/core/math/SVD.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef ARMARX_ROBOTAPI_MATH_SVD_H_
-#define ARMARX_ROBOTAPI_MATH_SVD_H_
+#pragma once
#include <math.h>
#include <Eigen/Eigen>
@@ -55,4 +54,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/libraries/core/math/SlidingWindowVectorMedian.h b/source/RobotAPI/libraries/core/math/SlidingWindowVectorMedian.h
index 817d91e197c5b44d678d9991fb4370b7fd48cfdd..d306c3c6487240ca069d0b5aa136d4434a8d9cae 100644
--- a/source/RobotAPI/libraries/core/math/SlidingWindowVectorMedian.h
+++ b/source/RobotAPI/libraries/core/math/SlidingWindowVectorMedian.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef ARMARX_ROBOTAPI_MATH_SLIDINGWINDOWVECTORMEDIAN_H_
-#define ARMARX_ROBOTAPI_MATH_SLIDINGWINDOWVECTORMEDIAN_H_
+#pragma once
#include "StatUtils.h"
@@ -97,4 +96,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/libraries/core/math/StatUtils.h b/source/RobotAPI/libraries/core/math/StatUtils.h
index 709997af13f0c0a1167978c631379b8f5dc6b4d5..f32c3d56c56d4b5a8b68e8fac578d199421518f3 100644
--- a/source/RobotAPI/libraries/core/math/StatUtils.h
+++ b/source/RobotAPI/libraries/core/math/StatUtils.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef ARMARX_ROBOTAPI_MATH_STATUTILS_H_
-#define ARMARX_ROBOTAPI_MATH_STATUTILS_H_
+#pragma once
#include <math.h>
#include <vector>
@@ -73,4 +72,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/libraries/core/math/TimeSeriesUtils.h b/source/RobotAPI/libraries/core/math/TimeSeriesUtils.h
index 17d7824df63a923993b0018e5fc7a157aafd6856..8490879424a4945f50593bda5737ffe0018edac5 100644
--- a/source/RobotAPI/libraries/core/math/TimeSeriesUtils.h
+++ b/source/RobotAPI/libraries/core/math/TimeSeriesUtils.h
@@ -21,8 +21,7 @@
* GNU General Public License
*/
-#ifndef armarx_math_TimeSeriesUtils
-#define armarx_math_TimeSeriesUtils
+#pragma once
#include <boost/shared_ptr.hpp>
@@ -54,4 +53,3 @@ namespace armarx
}
}
-#endif // armarx_math_TimeSeriesUtils
diff --git a/source/RobotAPI/libraries/core/math/Trigonometry.h b/source/RobotAPI/libraries/core/math/Trigonometry.h
index 2bfa53108b6a5a564b06f10bfff9e83dccacdee7..f9ef056460f2230365530d3872ce6799ef5094b2 100644
--- a/source/RobotAPI/libraries/core/math/Trigonometry.h
+++ b/source/RobotAPI/libraries/core/math/Trigonometry.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef ARMARX_ROBOTAPI_MATH_TRIGONOMETRY_H_
-#define ARMARX_ROBOTAPI_MATH_TRIGONOMETRY_H_
+#pragma once
#include <math.h>
@@ -57,4 +56,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/libraries/core/observerfilters/MatrixFilters.h b/source/RobotAPI/libraries/core/observerfilters/MatrixFilters.h
index 22780cf1877559d399ad75a82c3cc1649b82385e..17407c34dceb28ae02777b4b93635596bcd5cbdb 100644
--- a/source/RobotAPI/libraries/core/observerfilters/MatrixFilters.h
+++ b/source/RobotAPI/libraries/core/observerfilters/MatrixFilters.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_MATRIXFILTERS_H
-#define _ARMARX_ROBOTAPI_MATRIXFILTERS_H
+#pragma once
#include <ArmarXCore/observers/filters/DatafieldFilter.h>
#include <RobotAPI/interface/observers/ObserverFilters.h>
@@ -308,4 +307,3 @@ namespace armarx
}
}
-#endif // _ARMARX_ROBOTAPI_MATRIXFILTERS_H
diff --git a/source/RobotAPI/libraries/core/observerfilters/MedianDerivativeFilterV3.h b/source/RobotAPI/libraries/core/observerfilters/MedianDerivativeFilterV3.h
index 7465f719bf3f64b993e31233c64a5b8f43454fc4..0c9178cabe934691f20fa5980cf2074892c8bf2b 100644
--- a/source/RobotAPI/libraries/core/observerfilters/MedianDerivativeFilterV3.h
+++ b/source/RobotAPI/libraries/core/observerfilters/MedianDerivativeFilterV3.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_MedianDerivativeFilterV3_H
-#define _ARMARX_ROBOTAPI_MedianDerivativeFilterV3_H
+#pragma once
#include <RobotAPI/libraries/core/EigenStl.h>
#include <ArmarXCore/observers/filters/MedianFilter.h>
@@ -76,4 +75,3 @@ namespace armarx
} // namespace Filters
}
-#endif
diff --git a/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
index 9226a3dc1e893c576d6760964deab1aadd7035da..de3c5eea8dcf7789e9f78eedb732bf2b7fa9553a 100644
--- a/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
+++ b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_OFFSETFILTER_H
-#define _ARMARX_ROBOTAPI_OFFSETFILTER_H
+#pragma once
#include <RobotAPI/interface/observers/ObserverFilters.h>
#include <ArmarXCore/observers/filters/DatafieldFilter.h>
@@ -153,4 +152,3 @@ namespace armarx
}
}
-#endif // _ARMARX_ROBOTAPI_OFFSETFILTER_H
diff --git a/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
index 0eb4f6386c453e6d2161dd06c2e69e5b1f1587bb..be995fa049edcfd22821700f6065026ba55cafa9 100644
--- a/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
+++ b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_POSEMEDIANFILTER_H
-#define _ARMARX_ROBOTAPI_POSEMEDIANFILTER_H
+#pragma once
#include <ArmarXCore/observers/filters/MedianFilter.h>
#include <RobotAPI/libraries/core/FramedPose.h>
@@ -152,4 +151,3 @@ namespace armarx
} // namespace Filters
}
-#endif
diff --git a/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.h b/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.h
index d50dba06fe701b1c0bdc563da10c79a30d483ba0..584b51e38f148147ef23630e5c9fd2b65a964288 100644
--- a/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.h
+++ b/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_PoseMedianOffsetFilter_H
-#define _ARMARX_ROBOTAPI_PoseMedianOffsetFilter_H
+#pragma once
#include <RobotAPI/libraries/core/EigenStl.h>
#include <ArmarXCore/observers/filters/MedianFilter.h>
@@ -74,4 +73,3 @@ namespace armarx
} // namespace Filters
}
-#endif
diff --git a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
index 9a52445908392087ae808fe36857b8c067c16138..e101bb3572537970e63bef0709bd035a47868723 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
+++ b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_H
-#define _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_H
+#pragma once
#include <ArmarXCore/core/system/ImportExport.h>
#include <ArmarXCore/core/Component.h>
@@ -112,4 +111,3 @@ namespace armarx
typedef IceInternal::Handle<RobotStateObserver> RobotStateObserverPtr;
}
-#endif
diff --git a/source/RobotAPI/libraries/widgets/DebugLayerControlWidget.h b/source/RobotAPI/libraries/widgets/DebugLayerControlWidget.h
index ed8107e67a278d38630065bdaeff61e4d3dc285f..607a6b0fe2f76433d1221492e4c9d4ae4f19efec 100644
--- a/source/RobotAPI/libraries/widgets/DebugLayerControlWidget.h
+++ b/source/RobotAPI/libraries/widgets/DebugLayerControlWidget.h
@@ -21,8 +21,7 @@
*/
-#ifndef DEBUGLAYERWIDGET_H
-#define DEBUGLAYERWIDGET_H
+#pragma once
/* ArmarX headers */
@@ -91,4 +90,3 @@ private:
Ui::DebugLayerControlWidget* ui;
};
-#endif // DEBUGLAYERWIDGET_H
diff --git a/source/RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorGroupRemoteStateOfferer.h b/source/RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorGroupRemoteStateOfferer.h
index 3838954353604dd793a86f6f4188fb7343698572..92ea07c58e860e45cbb970bd697da9c58d83114f 100644
--- a/source/RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorGroupRemoteStateOfferer.h
+++ b/source/RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorGroupRemoteStateOfferer.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_OrientedTactileSensorGroup_REMOTESTATEOFFERER_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_OrientedTactileSensorGroup_REMOTESTATEOFFERER_H
+#pragma once
#include <ArmarXCore/statechart/xmlstates/XMLRemoteStateOfferer.h>
#include "OrientedTactileSensorGroupStatechartContext.generated.h"
@@ -51,4 +50,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorTest.h b/source/RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorTest.h
index ac9eeba07f06cbc73563eb982571a906cd9f479f..690c8756d535416ae8aa44d8a9e7cbbb26faa240 100644
--- a/source/RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorTest.h
+++ b/source/RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorTest.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_OrientedTactileSensorGroup_OrientedTactileSensorTest_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_OrientedTactileSensorGroup_OrientedTactileSensorTest_H
+#pragma once
#include <RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorTest.generated.h>
@@ -55,4 +54,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupRemoteStateOfferer.h b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupRemoteStateOfferer.h
index f0878727c310fce401c5dad2fcbd541a62dbaf78..73f191c9aa31d27ba0f07743a82be51562a360db 100644
--- a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupRemoteStateOfferer.h
+++ b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupRemoteStateOfferer.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_StatechartProfilesTestGroup_REMOTESTATEOFFERER_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_StatechartProfilesTestGroup_REMOTESTATEOFFERER_H
+#pragma once
#include <ArmarXCore/statechart/xmlstates/XMLRemoteStateOfferer.h>
#include <RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupStatechartContext.generated.h>
@@ -53,4 +52,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.h b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.h
index fbb5294816c53a5bdb9ac17a28824647255b5b38..1737f94b0d2c3474bc69a81505335a8cae2576b4 100644
--- a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.h
+++ b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_StatechartProfilesTestGroup_TestState_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_StatechartProfilesTestGroup_TestState_H
+#pragma once
#include "TestState.generated.h"
@@ -54,4 +53,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/statecharts/TrajectoryExecutionCode/PlayTrajectory.h b/source/RobotAPI/statecharts/TrajectoryExecutionCode/PlayTrajectory.h
index 3cfe827bbb54a2ba866ced09567966af20118bba..afc11e6ea0db79cfc15f533c6bbdf48f462c3bfd 100644
--- a/source/RobotAPI/statecharts/TrajectoryExecutionCode/PlayTrajectory.h
+++ b/source/RobotAPI/statecharts/TrajectoryExecutionCode/PlayTrajectory.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_TrajectoryExecutionCode_PlayTrajectory_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_TrajectoryExecutionCode_PlayTrajectory_H
+#pragma once
#include <RobotAPI/statecharts/TrajectoryExecutionCode/PlayTrajectory.generated.h>
@@ -55,4 +54,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/statecharts/TrajectoryExecutionCode/TrajectoryExecutionCodeRemoteStateOfferer.h b/source/RobotAPI/statecharts/TrajectoryExecutionCode/TrajectoryExecutionCodeRemoteStateOfferer.h
index b7561428f5549239c364058473baef1d1e3461e0..15586177222b6421cd24785f62dfb2d67387f239 100644
--- a/source/RobotAPI/statecharts/TrajectoryExecutionCode/TrajectoryExecutionCodeRemoteStateOfferer.h
+++ b/source/RobotAPI/statecharts/TrajectoryExecutionCode/TrajectoryExecutionCodeRemoteStateOfferer.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_TrajectoryExecutionCode_REMOTESTATEOFFERER_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_TrajectoryExecutionCode_REMOTESTATEOFFERER_H
+#pragma once
#include <ArmarXCore/statechart/xmlstates/XMLRemoteStateOfferer.h>
#include "TrajectoryExecutionCodeStatechartContext.generated.h"
@@ -51,4 +50,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.h b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.h
index 5a6dd58ff7ed742b2fd226b0e88bbb0e6f747b06..9fd3d445793c427b24420cfb6bcfe9b2dcedf444 100644
--- a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.h
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.h
@@ -22,8 +22,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_WeissHapticGroup_REMOTESTATEOFFERER_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_WeissHapticGroup_REMOTESTATEOFFERER_H
+#pragma once
#include <ArmarXCore/statechart/xmlstates/XMLRemoteStateOfferer.h>
#include "WeissHapticGroupStatechartContext.generated.h"
@@ -53,4 +52,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.h b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.h
index c08c6c538d8179dc186bcdda401cc06179251b6f..247302b36551279baa626e6bc53e1b96b01e1aee 100644
--- a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.h
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.h
@@ -21,8 +21,7 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_WeissHapticGroup_WeissHapticSensorTest_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_WeissHapticGroup_WeissHapticSensorTest_H
+#pragma once
#include <RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.generated.h>
@@ -54,4 +53,3 @@ namespace armarx
}
}
-#endif
diff --git a/source/RobotAPI/statecharts/operations/RobotControl.h b/source/RobotAPI/statecharts/operations/RobotControl.h
index a7d03beeec707e1ac012a3a2401ba1469957df00..78f9a394c4eb907a257bee597766db35d3623ee9 100644
--- a/source/RobotAPI/statecharts/operations/RobotControl.h
+++ b/source/RobotAPI/statecharts/operations/RobotControl.h
@@ -20,8 +20,7 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_ROBOTCONTROL_H
-#define _ARMARX_COMPONENT_ROBOTCONTROL_H
+#pragma once
#include <ArmarXCore/statechart/Statechart.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
@@ -161,4 +160,3 @@ namespace armarx
};
}
-#endif