Merge branch 'master' of https://i61wiki.itec.uka.de/git/robot-api

CMakeLists.txt

@@ -11,6 +11,8 @@ include(${ArmarXCore_USE_FILE})
 armarx_project("RobotAPI")
 depends_on_armarx_package(ArmarXGui "OPTIONAL")
 
+set(ArmarX_Simox_VERSION 2.3.6)
+
 add_subdirectory(source)
 
 install_project()

source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt

@@ -10,7 +10,7 @@ if (Eigen3_FOUND)
 endif()
 
 if (NOT Simox_FOUND)
-    find_package(Simox 2.3.0 QUIET)
+    find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 endif()
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 include_directories(${Simox_INCLUDE_DIRS})

source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt

@@ -9,7 +9,7 @@ if (Eigen3_FOUND)
 endif()
 
 if (NOT Simox_FOUND)
-    find_package(Simox 2.3.0 QUIET)
+    find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 endif()
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 include_directories(${Simox_INCLUDE_DIRS})

source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt

@@ -10,7 +10,7 @@ if (Eigen3_FOUND)
 endif()
 
 if (NOT Simox_FOUND)
-    find_package(Simox 2.3.0 QUIET)
+    find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 endif()
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 include_directories(${Simox_INCLUDE_DIRS})

source/RobotAPI/components/MMMPlayer/CMakeLists.txt

@@ -7,7 +7,7 @@ if(MMMCore_FOUND)
 endif()
 
 find_package(Eigen3 QUIET)
-find_package(Simox QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")

source/RobotAPI/components/units/CMakeLists.txt

@@ -2,7 +2,7 @@ armarx_set_target("RobotAPI Units Library: RobotAPIUnits")
 
 
 find_package(Eigen3 QUIET)
-find_package(Simox QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")

source/RobotAPI/components/units/ForceTorqueObserver.cpp

@@ -74,9 +74,9 @@ void ForceTorqueObserver::offerValue(std::string nodeName, const std::string &ty
     FramedVector3Ptr vec = FramedVector3Ptr::dynamicCast(value);
 
     DataFieldIdentifierPtr id;
-    if(type ==FORCES_STRING)
+    if(type =="forces")
         id = getForceDatafieldId(nodeName, vec->frame);
-    else if(type == TORQUES_STRING)
+    else if(type == "torques")
         id = getTorqueDatafieldId(nodeName, vec->frame);
     else
         throw LocalException() << "Unknown sensor type: " << type;
@@ -112,12 +112,12 @@ void armarx::ForceTorqueObserver::reportSensorValues(const std::string &sensorNo
 
     if(forces)
     {
-        std::string type = FORCES_STRING;
+        std::string type = "forces";
         offerValue(sensorNodeName, type, forces);
     }
     if(torques)
     {
-        std::string type = TORQUES_STRING;
+        std::string type = "torques";
         offerValue(sensorNodeName, type, torques);
     }
 }
@@ -148,7 +148,7 @@ DataFieldIdentifierPtr ForceTorqueObserver::getForceDatafieldId(const std::strin
         channelName = nodeName;
     else
         channelName = nodeName + "_" + frame;
-    std::string datafieldName = FORCES_STRING;
+    std::string datafieldName = "forces";
     if(!existsChannel(channelName))
         throw UserException("No sensor for node '" + nodeName + "'available: channel " + channelName);
     if(!existsDataField(channelName, datafieldName))
@@ -164,7 +164,7 @@ DataFieldIdentifierPtr ForceTorqueObserver::getTorqueDatafieldId(const std::stri
         channelName = nodeName;
     else
         channelName = nodeName + "_" + frame;
-    std::string datafieldName = TORQUES_STRING;
+    std::string datafieldName = "torques";
     DataFieldIdentifierPtr id = new DataFieldIdentifier(getName(), channelName, datafieldName);
     return id;
 }

source/RobotAPI/components/units/ForceTorqueObserver.h

@@ -44,8 +44,11 @@ namespace armarx
          */
         virtual PropertyDefinitionsPtr createPropertyDefinitions();
 
-        const std::string FORCES_STRING = "forces";
-        const std::string TORQUES_STRING = "torques";
+        // DOES NOT COMPILE:
+        // sorry, unimplemented: non-static data member initializers
+        // error: in-class initialization of static data member ‘FORCES_STRING’ of non-literal type
+        //const std::string FORCES_STRING = "forces";
+        //const std::string TORQUES_STRING = "torques";
     private:
         armarx::Mutex dataMutex;
         std::string topicName;

source/RobotAPI/gui_plugins/HandUnitPlugin/CMakeLists.txt

@@ -3,7 +3,7 @@ armarx_set_target("HandUnitGuiPlugin")
 find_package(Qt4 COMPONENTS QtCore QtGui QUIET)
 armarx_build_if(QT_FOUND "Qt not available")
 
-find_package(Simox QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 #find_package(ArmarXGui QUIET)
 
 armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")

source/RobotAPI/gui_plugins/HapticUnitPlugin/CMakeLists.txt

@@ -3,7 +3,7 @@ armarx_set_target("HapticUnitUnitGuiPlugin")
 find_package(Qt4 COMPONENTS QtCore QtGui QUIET)
 armarx_build_if(QT_FOUND "Qt not available")
 
-find_package(Simox QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 #find_package(ArmarXGui QUIET)
 
 armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")

source/RobotAPI/gui_plugins/KinematicUnitPlugin/CMakeLists.txt

@@ -5,7 +5,7 @@ find_package(Qt4 COMPONENTS QtCore QtGui QtOpenGL QUIET)
 find_package(Eigen3 QUIET)
 
 # VirtualRobot (adds dependencies to COin3D and SoQt)
-find_package(Simox 2.1.5 QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 #find_package(ArmarXGui QUIET)
 
 armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")

source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp

 #include "KinematicUnitGuiPlugin.h"
 #include "KinematicUnitConfigDialog.h"
+
 #include <RobotAPI/gui_plugins/KinematicUnitPlugin/ui_KinematicUnitConfigDialog.h>
+
 #include <Core/core/system/ArmarXDataPath.h>
 #include <Core/core/ArmarXObjectScheduler.h>
 #include <Core/core/ArmarXManager.h>
 
+#include <VirtualRobot/XML/RobotIO.h>
+
 // Qt headers
 #include <Qt>
 #include <QtGlobal>
@@ -12,7 +16,6 @@
 #include <QSlider>
 #include <QPushButton>
 #include <QStringList>
-//#include <QTableWidget>
 #include <QTableView>
 #include <QCheckBox>
 #include <QTableWidget>
@@ -31,8 +34,6 @@
 #include <boost/filesystem.hpp>
 
 
-// VirtualRobot
-#include <VirtualRobot/XML/RobotIO.h>
 
 using namespace armarx;
 using namespace VirtualRobot;

source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h

@@ -29,33 +29,31 @@
 #include <RobotAPI/gui_plugins/KinematicUnitPlugin/ui_kinematicunitguiplugin.h>
 #include <RobotAPI/interface/units/KinematicUnitInterface.h>
 #include <RobotAPI/components/DebugDrawer/DebugDrawerComponent.h>
-#include <Core/core/Component.h>
+
 #include <Gui/ArmarXGuiLib/ArmarXGuiPlugin.h>
 #include <Gui/ArmarXGuiLib/ArmarXComponentWidgetController.h>
 
+#include <Core/core/Component.h>
+
 /* Qt headers */
 #include <QtGui/QMainWindow>
 
-/* SoQt headers */
-#include <Inventor/nodes/SoNode.h>
 
-/* Boost headers */
-#include <boost/shared_ptr.hpp>
-#include <boost/cstdint.hpp>
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/Visualization/VisualizationFactory.h>
+#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
 
 #include <Inventor/sensors/SoTimerSensor.h>
-#include <Inventor/nodes/SoEventCallback.h>
+#include <Inventor/nodes/SoNode.h>
 #include <Inventor/nodes/SoSeparator.h>
+#include <Inventor/nodes/SoEventCallback.h>
 #include <Inventor/Qt/viewers/SoQtExaminerViewer.h>
 #include <Inventor/Qt/SoQt.h>
 
-/* VirtualRobot headers */
-#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/Nodes/RobotNode.h>
-#include <VirtualRobot/RobotNodeSet.h>
-
-#include <VirtualRobot/Visualization/VisualizationFactory.h>
-#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
+#include <boost/shared_ptr.hpp>
+#include <boost/cstdint.hpp>
 
 #define KINEMATIC_UNIT_FILE_DEFAULT armarx::ArmarXDataPath::getHomePath()+std::string("Armar4/data/Armar4/robotmodel/armar4.xml")
 #define KINEMATIC_UNIT_NAME_DEFAULT "Robot"

source/RobotAPI/gui_plugins/PlatformUnitPlugin/CMakeLists.txt

@@ -3,7 +3,7 @@ armarx_set_target("PlatformUnitGuiPlugin")
 find_package(Qt4 COMPONENTS QtCore QtGui QUIET)
 armarx_build_if(QT_FOUND "Qt not available")
 
-find_package(Simox QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 #find_package(ArmarXGui QUIET)
 
 armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")

source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp

@@ -22,8 +22,12 @@
 */
 
 #include "ArmarXPlotter.h"
+#include "ArmarXPlotterDialog.h"
+
+#include <Core/observers/ObserverObjectFactories.h>
+#include <Core/observers/variant/DataFieldIdentifier.h>
+#include <Core/observers/exceptions/local/InvalidChannelException.h>
 
-//QWT
 #include <qwt_plot.h>
 #include <qwt_plot_curve.h>
 #include <qwt_plot_panner.h>
@@ -38,20 +42,13 @@
 #include <QTime>
 #include <QSettings>
 
-//STL
-#include <sstream>
-
-//ArmarX
-//#include <Core/observers/variant/Variant.h>
-#include <Core/observers/ObserverObjectFactories.h>
-#include <Core/observers/variant/DataFieldIdentifier.h>
-#include "ArmarXPlotterDialog.h"
-#include <Core/observers/exceptions/local/InvalidChannelException.h>
-
 #include <boost/date_time/posix_time/posix_time.hpp>
 
 #include <IceUtil/IceUtil.h>
 
+#include <sstream>
+
+
 using namespace std;
 
 namespace armarx

source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h

@@ -27,29 +27,25 @@
 #include "ui_ArmarXPlotter.h"
 
 // ArmarX
+#include <Gui/ArmarXGuiLib/ArmarXComponentWidgetController.h>
+#include <Gui/gui-plugins/ObserverPropertiesPlugin/ObserverItemModel.h>
+
 #include <Core/core/Component.h>
 #include <Core/core/system/ImportExportComponent.h>
 #include <Core/core/system/AbstractFactoryMethod.h>
 #include <Core/interface/observers/ConditionHandlerInterface.h>
 #include <Core/observers/variant/DataFieldIdentifier.h>
 #include <Core/observers/variant/Variant.h>
-#include <Gui/ArmarXGuiLib/ArmarXComponentWidgetController.h>
 #include <Core/util/json/JSONObject.h>
 #include <Core/core/services/tasks/PeriodicTask.h>
 
-#include <Gui/gui_plugins/ObserverPropertiesPlugin/ObserverItemModel.h>
-
 // QT
 #include <QWidget>
 #include <QDialog>
 #include <QDateTime>
 
-
-//STL
 #include <vector>
 
-
-
 //forward declarations
 class QwtPlotCurve;
 

source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp

@@ -23,10 +23,10 @@
 
 #include "ArmarXPlotterDialog.h"
 #include "ArmarXPlotter.h"
-#include <sstream>
 
 #include <IceUtil/UUID.h>
 
+#include <sstream>
 
 
 using namespace armarx;

source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h

@@ -27,6 +27,12 @@
 
 // QT
 #include "ui_ArmarXPlotterDialog.h"
+
+#include <Gui/gui-plugins/ObserverPropertiesPlugin/ObserverItemModel.h>
+
+#include <Core/core/IceManager.h>
+#include <Core/interface/observers/ConditionHandlerInterface.h>
+
 #include <QDialog>
 #include <QComboBox>
 #include <QList>
@@ -34,15 +40,8 @@
 #include <QAction>
 #include <QItemSelectionModel>
 #include <QStandardItemModel>
-//STL
-#include <vector>
-
-//ArmarX
-#include <Core/core/IceManager.h>
-
-#include <Core/interface/observers/ConditionHandlerInterface.h>
-#include "Gui/gui_plugins/ObserverPropertiesPlugin/ObserverItemModel.h"
 
+#include <vector>
 
 
 namespace armarx
@@ -96,4 +95,4 @@ namespace armarx
         void showEvent(QShowEvent *);
     };
 }
-#endif // ARMARXPLOTTERDIALOG_H
+#endif

source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/CMakeLists.txt

@@ -6,7 +6,7 @@ find_package(qwt QUIET)
 
 find_package(Eigen3 QUIET)
 # VirtualRobot
-find_package(Simox QUIET)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 #find_package(ArmarXGui QUIET)
 
 armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")

source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp

@@ -16,14 +16,13 @@
 *
 * @package    ArmarX::Gui::SensorActorWidgetsPlugin
 * @author     ( at kit dot edu)
-* @date       
+* @date
 * @copyright  http://www.gnu.org/licenses/gpl.txt
 *             GNU General Public License
 */
 
 #include "SensorActorWidgetsPlugin.h"
 
-//ArmarX
 #include "ArmarXPlotter/ArmarXPlotter.h"
 #include "ArmarXTCPMover/TCPMover.h"
 
@@ -34,6 +33,6 @@ namespace armarx
         addWidget<TCPMover>();
         addWidget<ArmarXPlotter>();
     }
-	
+
     Q_EXPORT_PLUGIN2(armarX_gui_MdiPlugin, MdiPlugin)
 }