diff --git a/etc/doxygen/images/GraphVisualizerGuiPlugin_ConfigDialog.png b/etc/doxygen/images/GraphVisualizerGuiPlugin_ConfigDialog.png
deleted file mode 100644
index b00ed68c4b172381e138e94c7a75a86290d59fb6..0000000000000000000000000000000000000000
Binary files a/etc/doxygen/images/GraphVisualizerGuiPlugin_ConfigDialog.png and /dev/null differ
diff --git a/etc/doxygen/images/GraphVisualizerGuiPlugin_Simulation.png b/etc/doxygen/images/GraphVisualizerGuiPlugin_Simulation.png
deleted file mode 100644
index ad613cc6cb56f8556b3763ce4a50e80b8c87e32a..0000000000000000000000000000000000000000
Binary files a/etc/doxygen/images/GraphVisualizerGuiPlugin_Simulation.png and /dev/null differ
diff --git a/etc/doxygen/images/GraphVisualizerGuiPlugin_Widget.png b/etc/doxygen/images/GraphVisualizerGuiPlugin_Widget.png
deleted file mode 100644
index 8cc1f294caa29fed83d6f96ee5d71605991a0ada..0000000000000000000000000000000000000000
Binary files a/etc/doxygen/images/GraphVisualizerGuiPlugin_Widget.png and /dev/null differ
diff --git a/source/RobotAPI/gui_plugins/CMakeLists.txt b/source/RobotAPI/gui_plugins/CMakeLists.txt
index 219a7fccf138d15c2514f367e035a72326d0d867..93cb2fb67768f892662169290260168aae688f09 100644
--- a/source/RobotAPI/gui_plugins/CMakeLists.txt
+++ b/source/RobotAPI/gui_plugins/CMakeLists.txt
@@ -5,8 +5,6 @@ add_subdirectory(PlatformUnitPlugin)
add_subdirectory(SensorActorWidgetsPlugin)
add_subdirectory(HapticUnitPlugin)
-add_subdirectory(GraphVisualizerPlugin)
-
#add_subdirectory(ObjectExaminerPlugin)
diff --git a/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/CMakeLists.txt b/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/CMakeLists.txt
deleted file mode 100644
index 5b4469978937e06ae9082b5f38a6e8d926322d53..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/CMakeLists.txt
+++ /dev/null
@@ -1,54 +0,0 @@
-armarx_set_target("GraphVisualizer")
-
-find_package(Qt4 COMPONENTS QtCore QtGui QUIET)
-armarx_build_if(QT_FOUND "Qt not available")
-
-
-find_package(Eigen3 QUIET)
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-
-find_package(Simox QUIET)
-armarx_build_if(Simox_FOUND "Simox not available")
-
-#find_package(ArmarXGui QUIET)
-#armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
-
-if (Eigen3_FOUND AND Simox_FOUND)
- include_directories(
- ${Eigen3_INCLUDE_DIR}
- ${Simox_INCLUDE_DIRS}
- )
-endif()
-
-
-include(${QT_USE_FILE})
-
-include(${ArmarXGui_CMAKE_DIR}/ArmarXGui.cmake)
-
-file(GLOB SOURCES
- GraphVisualizerGuiPlugin.cpp
- GraphVisualizerConfigDialog.cpp
-)
-file(GLOB HEADERS
- GraphVisualizerGuiPlugin.h
- GraphVisualizerConfigDialog.h
-)
-
-set(GUI_MOC_HDRS
- GraphVisualizerGuiPlugin.h
- GraphVisualizerConfigDialog.h
-)
-
-set(GUI_UIS
- GraphVisualizerGuiPlugin.ui
- GraphVisualizerConfigDialog.ui
-)
-
-set(COMPONENT_LIBS RobotAPIUnits ArmarXInterfaces ${Simox_LIBRARIES} ${QT_LIBRARIES})
-
-set(LIB_VERSION 0.1.0)
-set(LIB_SOVERSION 0)
-
-if (ArmarXGui_FOUND)
- armarx_gui_library(GraphVisualizertGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" "${LIB_VERSION}" "${LIB_SOVERSION}")
-endif()
diff --git a/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerConfigDialog.cpp b/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerConfigDialog.cpp
deleted file mode 100644
index 36735d38c44f11eedbe0c209938c655fbd7790fb..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerConfigDialog.cpp
+++ /dev/null
@@ -1,14 +0,0 @@
-#include "GraphVisualizerConfigDialog.h"
-#include "ui_GraphVisualizerConfigDialog.h"
-
-armarx::GraphVisualizerConfigDialog::GraphVisualizerConfigDialog(QWidget *parent):
- QDialog(parent),
- ui{new Ui::GraphVisualizerConfigDialog}
-{
- ui->setupUi(this);
-}
-
-armarx::GraphVisualizerConfigDialog::~GraphVisualizerConfigDialog()
-{
- delete ui;
-}
diff --git a/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerConfigDialog.h b/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerConfigDialog.h
deleted file mode 100644
index 52edaca411e7259b4539b9bd7e8cd86545cae20a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerConfigDialog.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- *
- * @package ArmarX::RobotAPI
- * @author Raphael Grimm <ufdrv at student dot kit dot edu>
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef ARMARXGUI_PLUGINS_GRAPHVISUALIZERCONFIGDIALOG_H
-#define ARMARXGUI_PLUGINS_GRAPHVISUALIZERCONFIGDIALOG_H
-
-#include <QDialog>
-
-namespace Ui {
- class GraphVisualizerConfigDialog;
-}
-
-namespace armarx
-{
- class GraphVisualizerConfigDialog : public QDialog
- {
- Q_OBJECT
-
- public:
- explicit GraphVisualizerConfigDialog(QWidget *parent = nullptr);
- ~GraphVisualizerConfigDialog();
-
- private:
- Ui::GraphVisualizerConfigDialog *ui;
-
- friend class GraphVisualizerWidget;
- };
-}
-#endif // GRAPHVISUALIZERCONFIGDIALOG_H
diff --git a/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerConfigDialog.ui b/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerConfigDialog.ui
deleted file mode 100644
index 86617a6529e9e660aeeaf82100232c4eb2b11c67..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerConfigDialog.ui
+++ /dev/null
@@ -1,87 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>GraphVisualizerConfigDialog</class>
- <widget class="QDialog" name="GraphVisualizerConfigDialog">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>651</width>
- <height>105</height>
- </rect>
- </property>
- <property name="windowTitle">
- <string>Dialog</string>
- </property>
- <layout class="QFormLayout" name="formLayout">
- <property name="fieldGrowthPolicy">
- <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
- </property>
- <item row="1" column="0">
- <widget class="QLabel" name="label">
- <property name="text">
- <string>Debug drawer</string>
- </property>
- </widget>
- </item>
- <item row="6" column="0">
- <widget class="QDialogButtonBox" name="buttonBox">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="standardButtons">
- <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLineEdit" name="editDebugDrawerProxyName"/>
- </item>
- <item row="4" column="1">
- <widget class="QLineEdit" name="editDebugDrawerLayerName"/>
- </item>
- <item row="4" column="0">
- <widget class="QLabel" name="label_2">
- <property name="text">
- <string>Layer name</string>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- <resources/>
- <connections>
- <connection>
- <sender>buttonBox</sender>
- <signal>accepted()</signal>
- <receiver>GraphVisualizerConfigDialog</receiver>
- <slot>accept()</slot>
- <hints>
- <hint type="sourcelabel">
- <x>248</x>
- <y>254</y>
- </hint>
- <hint type="destinationlabel">
- <x>157</x>
- <y>274</y>
- </hint>
- </hints>
- </connection>
- <connection>
- <sender>buttonBox</sender>
- <signal>rejected()</signal>
- <receiver>GraphVisualizerConfigDialog</receiver>
- <slot>reject()</slot>
- <hints>
- <hint type="sourcelabel">
- <x>316</x>
- <y>260</y>
- </hint>
- <hint type="destinationlabel">
- <x>286</x>
- <y>274</y>
- </hint>
- </hints>
- </connection>
- </connections>
-</ui>
diff --git a/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerGuiPlugin.cpp b/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerGuiPlugin.cpp
deleted file mode 100644
index 0339b3df0c7984f604084456b2220681e1e46d3a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerGuiPlugin.cpp
+++ /dev/null
@@ -1,610 +0,0 @@
-#include "GraphVisualizerGuiPlugin.h"
-#include "GraphVisualizerConfigDialog.h"
-#include "ui_GraphVisualizerConfigDialog.h"
-
-//armar
-#include <Core/core/system/ArmarXDataPath.h>
-
-// Qt headers
-#include <Qt>
-#include <QtGlobal>
-#include <QPushButton>
-#include <QLabel>
-#include <QLineEdit>
-#include <QHBoxLayout>
-
-//std
-#include <memory>
-#include <sstream>
-#include <unordered_set>
-
-//boost
-#include <boost/current_function.hpp>
-
-using namespace armarx;
-
-using namespace VirtualRobot;
-
-//static values and helper functions
-
-/**
- * @brief The default width of lines drawn onto the debug layer and scene.
- */
-static const ::Ice::Float LINE_WIDTH_DEFAULT =5;
-/**
- * @brief The width of selected lines drawn onto the debug layer and scene.
- */
-static const ::Ice::Float LINE_WIDTH_SELECTED=10;
-
-/**
- * @brief The default color of lines drawn onto the debug layer and scene.
- */
-static const ::armarx::DrawColor COLOR_DEFAULT={0.5f, 0.5f, 1.f,1.f};
-/**
- * @brief The color of highlighted lines drawn onto the debug layer and scene.
- */
-static const ::armarx::DrawColor COLOR_HIGHLIGHT={0.5f,1.f,0.5f,1.f};
-
-
-/**
- * @brief The scale factor for elements drawn onto the scene.
- */
-static const float SCENE_SCALE_FACTOR=2;
-/**
- * @brief The scale factor for nodes drawn onto the scene.
- */
-static const float SCENE_NODES_SCALE_FACTOR=3*SCENE_SCALE_FACTOR;
-/**
- * @brief The scale factor for edges drawn onto the scene.
- */
-static const float SCENE_LINE_SCALE_FACTOR=SCENE_SCALE_FACTOR;
-
-/**
- * @brief The increment used when a rotation button is pressed.
- *
- * A positive rotation is counter clockwise.
- * This value should be positive.
- *
- * rotation buttons: GraphVisualizerWidget::ui.buttonRotateClock and
- * GraphVisualizerWidget::ui.buttonRotateCounterClock
- */
-static const float VIEW_ROTATE_STEP_SIZE_CC=45;
-
-/**
- * @brief Returns the name used on the debug layer.
- * @param edge The edge.
- * @return The name used on the debug layer.
- */
-inline std::string iceName(const GraphVisualizerWidget::EdgeId& edge)
-{
- std::stringstream s;
- s<<"edge_"<<edge.first<<"_"<<edge.second;
- return s.str();
-}
-
-/**
- * @brief iceName Returns the name used on the debug layer.
- * @param nodeName The node.
- * @return The name used on the debug layer.
- */
-inline std::string iceName(const GraphVisualizerWidget::NodeId& nodeName)
-{
- return nodeName;
-}
-
-//gui plugin
-GraphVisualizerGuiPlugin::GraphVisualizerGuiPlugin()
-{
- addWidget<GraphVisualizerWidget>();
-}
-
-//widget
-
-GraphVisualizerWidget::GraphVisualizerWidget() :
- debugDrawerTopicName{"DebugDrawerUpdates"},
- viewAngle{0},
- debugDrawerLayerName{"DebugDrawerUpdates_Graph"}
-{
- // init gui
- ui.setupUi(getWidget());
- //add scene
- std::unique_ptr<QGraphicsScene> scenePtr{new QGraphicsScene};
- scene=scenePtr.get();
- ui.graphicsViewGraph->setScene(scenePtr.release());
- //transform view
- transformView();
-}
-
-
-void GraphVisualizerWidget::onInitComponent()
-{
- usingTopic(debugDrawerTopicName);
-}
-
-void GraphVisualizerWidget::onConnectComponent()
-{
- debugDrawer = getTopic<DebugDrawerInterfacePrx>(debugDrawerTopicName);
- //todo remove test function
- QObject::connect(ui.b,SIGNAL(clicked ()),this,SLOT(draw()));
-
- //tables
- QObject::connect(ui.tableWidgetNodes,SIGNAL(cellDoubleClicked (int,int)),this,SLOT(nodeTableDoubleClicked(int,int)));
- QObject::connect(ui.tableWidgetEdges,SIGNAL(cellDoubleClicked (int,int)),this,SLOT(edgeTableDoubleClicked(int,int)));
- //zoom
- QObject::connect(ui.viewZoomFactor,SIGNAL(valueChanged (double)),this,SLOT(transformView()));
- //rota
- QObject::connect(ui.buttonRotateClock,SIGNAL(clicked()),this,SLOT(viewRotatedClock()));
- QObject::connect(ui.buttonRotateCounterClock,SIGNAL(clicked()),this,SLOT(viewRotatedCounterClock()));
- //redraw
- QObject::connect(ui.buttonRedraw,SIGNAL(clicked()),this,SLOT(redraw()));
- //auto adjust
- QObject::connect(ui.buttonAutoAdjust,SIGNAL(clicked()),this,SLOT(adjustView()));
-}
-
-void GraphVisualizerWidget::onExitComponent()
-{
-}
-
-QPointer<QDialog> GraphVisualizerWidget::getConfigDialog(QWidget* parent)
-{
- if(!dialog)
- {
- dialog = new GraphVisualizerConfigDialog(parent);
- }
- dialog->ui->editDebugDrawerProxyName->setText(QString::fromStdString(debugDrawerTopicName));
- dialog->ui->editDebugDrawerLayerName->setText(QString::fromStdString(debugDrawerLayerName));
- return qobject_cast<GraphVisualizerConfigDialog*>(dialog);
-}
-
- void GraphVisualizerWidget::configured()
- {
- debugDrawerTopicName = dialog->ui->editDebugDrawerProxyName->text().toStdString();
- debugDrawerLayerName = dialog->ui->editDebugDrawerLayerName->text().toStdString();
- }
-
-
-void GraphVisualizerWidget::loadSettings(QSettings *settings)
-{
- debugDrawerTopicName = settings->value("debugDrawerTopicName", QString::fromStdString(debugDrawerTopicName)).toString().toStdString();
- debugDrawerLayerName = settings->value("debugDrawerLayerName", QString::fromStdString(debugDrawerLayerName)).toString().toStdString();
-}
-
-void GraphVisualizerWidget::saveSettings(QSettings *settings)
-{
- settings->setValue("debugDrawerTopicName", QString::fromStdString(debugDrawerTopicName));
- settings->setValue("debugDrawerLayerName", QString::fromStdString(debugDrawerLayerName));
-}
-
-
-void GraphVisualizerWidget::addEdge(const std::string& node1, const std::string& node2, const Ice::Current&)
-{
- if(!hasNode(node1))
- {
- ARMARX_WARNING<<"Edge: "<<node1<<", "<<node2<<" can't be created! Node "<<node1<<" does not exist.";
- return;
- }
- if(!hasNode(node2))
- {
- ARMARX_WARNING<<"Edge: "<<node1<<", "<<node2<<" can't be created! Node "<<node2<<" does not exist.";
- return;
- }
- if(hasEdge(node1,node2))
- {
- //nothing needs to be updated
- ARMARX_VERBOSE<<"Edge: "<<node1<<", "<<node2<<" already existed.";
- return;
- }
- auto edgeId =toEdge(node1,node2);
- auto node1dat=nodes.at(node1);
- auto node2dat=nodes.at(node2);
-
- //add
- //table
- int row=ui.tableWidgetEdges->rowCount();
- ui.tableWidgetEdges->setRowCount(row+1);
- ui.tableWidgetEdges->setItem(row,0,new QTableWidgetItem{QString::fromStdString(node1)});
- ui.tableWidgetEdges->setItem(row,1,new QTableWidgetItem{QString::fromStdString(node2)});
- //debug layer will be done later
- //scene
- QGraphicsLineItem* graphicsItem= dynamic_cast<QGraphicsLineItem*>(new GraphVisualizerGraphicsLineItem{
- *this, edgeId,
- node1dat.pos->x,-node1dat.pos->y,
- node2dat.pos->x,-node2dat.pos->y
- });
- //auto graphicsItem= scene->addLine(node1dat.pos->x,-node1dat.pos->y,
- // node2dat.pos->x,-node2dat.pos->y);
- scene->addItem(graphicsItem);
- //setToolTip on graphicsItem does not work
- dynamic_cast<QGraphicsItem*>(graphicsItem)->setToolTip(QString{"Edge:"}+QString::fromStdString(node1)+QString{" <-> "}+QString::fromStdString(node2));
- //data
- EdgeData data{graphicsItem,row,false,false};
- edges[edgeId]=data;
-
- updateEdge(edgeId);
-}
-
-void GraphVisualizerWidget::addNode(const ::armarx::FramedVector3BasePtr& node, const Ice::Current&)
-{
- if(hasNode(node->frame))
- {
- NodeData& oldNode=nodes.at(node->frame);
- ARMARX_WARNING<<"Node: "<<node->frame<<" was overwritten! Old: "
- <<oldNode.pos->x<<", " <<oldNode.pos->y<<", " <<oldNode.pos->z<<"| New: "
- <<node->x<<", " <<node->y<<", " <<node->z
- <<" [file: "<<__FILE__<<" | line: "<<__LINE__<<" | function: "<<__PRETTY_FUNCTION__<<"]";
- //update node data
- //table
- ui.tableWidgetNodes->setItem(oldNode.tableWidgetNodesIndex,1,new QTableWidgetItem{QString::number(node->x)});
- ui.tableWidgetNodes->setItem(oldNode.tableWidgetNodesIndex,2,new QTableWidgetItem{QString::number(node->y)});
- ui.tableWidgetNodes->setItem(oldNode.tableWidgetNodesIndex,3,new QTableWidgetItem{QString::number(node->z)});
- //data
- ::armarx::Vector3Ptr pos{new ::armarx::Vector3{Eigen::Vector3f{node->x,node->y,node->z}}};
- oldNode.pos=pos;
- //update connected edges
- for(const auto& edge:edges)
- {
- if((edge.first.first==node->frame) || (edge.first.second==node->frame))
- {
- updateEdge(edge.first);
- }
- }
- }
- else
- {
- //add&draw node
- //table
- int row=ui.tableWidgetNodes->rowCount();
- ui.tableWidgetNodes->setRowCount(row+1);
- ui.tableWidgetNodes->setItem(row,0,new QTableWidgetItem{QString::fromStdString(node->frame)});
- ui.tableWidgetNodes->setItem(row,1,new QTableWidgetItem{QString::number(node->x)});
- ui.tableWidgetNodes->setItem(row,2,new QTableWidgetItem{QString::number(node->y)});
- ui.tableWidgetNodes->setItem(row,3,new QTableWidgetItem{QString::number(node->z)});
- //scene
- QGraphicsEllipseItem* graphicsItem= dynamic_cast<QGraphicsEllipseItem*>(new GraphVisualizerGraphicsEllipseItem{
- *this, node->frame,
- node->x,-node->y,0,0
- });
- //auto graphicsItem= scene->addEllipse(node->x,-node->y,0,0);
- scene->addItem(graphicsItem);
- //setToolTip on graphicsItem does not work
- graphicsItem->setZValue(std::numeric_limits<qreal>::max());
- dynamic_cast<QGraphicsItem*>(graphicsItem)->setToolTip(QString{"Node:"}+QString::fromStdString(node->frame));
-
- //data
- ::armarx::Vector3Ptr pos{new ::armarx::Vector3{Eigen::Vector3f{node->x,node->y,node->z}}};
- NodeData data{pos, nullptr, graphicsItem, row,false,false};
- nodes[node->frame]=data;
- }
- updateNode(node->frame);
-}
-
-void GraphVisualizerWidget::clearEdges(const Ice::Current&)
-{
- for(auto& edge:edges)
- {
- //remove from graphics scene
- scene->removeItem(edge.second.graphicsItem);
- delete edge.second.graphicsItem;
- //remove from debug layer
- debugDrawer->removePoseVisu(debugDrawerLayerName,iceName(edge.first));
- }
- //clear table widget
- ui.tableWidgetEdges->clearContents();
- ui.tableWidgetEdges->setRowCount(0);
- //clear data structures
- edges.clear();
-}
-
-void GraphVisualizerWidget::clearGraph(const Ice::Current&)
-{
- //remove from debug layer
- for(auto& edge:edges)
- {
- debugDrawer->removeLineVisu(debugDrawerLayerName,iceName(edge.first));
- }
- for(auto& node:nodes)
- {
- debugDrawer->removePoseVisu(debugDrawerLayerName,iceName(node.first));
- }
- //clear scene
- scene->clear();
- //clear table widgets
- ui.tableWidgetEdges->clearContents();
- ui.tableWidgetEdges->setRowCount(0);
- ui.tableWidgetNodes->clearContents();
- ui.tableWidgetNodes->setRowCount(0);
- //clear data structures
-
- edges.clear();
- nodes.clear();
-}
-
-void GraphVisualizerWidget::resetHilight(const Ice::Current&)
-{
- for(auto& edge:edges)
- {
- if(edge.second.highlighted)
- {
- edge.second.highlighted=false;
- updateEdge(edge.first);
- }
- }
- for(auto& node:nodes)
- {
- if(node.second.highlighted)
- {
- node.second.highlighted=false;
- updateNode(node.first);
- }
- }
-}
-
-void GraphVisualizerWidget::updateEdge(const EdgeId& id)
-{
- const EdgeData& data = edges.at(id);
- auto color= (data.highlighted)?COLOR_HIGHLIGHT:COLOR_DEFAULT;
- QColor qColor;
- qColor.setRedF(color.r);
- qColor.setGreenF(color.g);
- qColor.setBlueF(color.b);
-
- auto lineWidth=(data.selected)?LINE_WIDTH_SELECTED:LINE_WIDTH_DEFAULT;
-
- //debug layer
- debugDrawer->setLineVisu(debugDrawerLayerName,
- iceName(id),
- nodes.at(id.first).pos,
- nodes.at(id.second).pos,
- lineWidth,
- color);
- //scene
- QPen pen{qColor};
- pen.setWidthF(lineWidth*SCENE_LINE_SCALE_FACTOR);
- data.graphicsItem->setPen(pen);
- //table
- QFont font{};
- font.setBold(data.selected);
- ui.tableWidgetEdges->item(data.tableWidgetEdgesIndex,0)->setData(Qt::BackgroundRole,qColor);
- ui.tableWidgetEdges->item(data.tableWidgetEdgesIndex,0)->setFont(font);
- ui.tableWidgetEdges->item(data.tableWidgetEdgesIndex,1)->setData(Qt::BackgroundRole,qColor);
- ui.tableWidgetEdges->item(data.tableWidgetEdgesIndex,1)->setFont(font);
-
-}
-
-void GraphVisualizerWidget::updateNode(const NodeId& id)
-{
- NodeData& data=nodes.at(id);
- auto color= (data.highlighted)?COLOR_HIGHLIGHT:COLOR_DEFAULT;
- QColor qColor;
- qColor.setRedF(color.r);
- qColor.setGreenF(color.g);
- qColor.setBlueF(color.b);
-
- auto lineWidth=(data.selected)?LINE_WIDTH_SELECTED:LINE_WIDTH_DEFAULT;
-
- //debug layer
- const Eigen::Vector3f eigPos{data.pos->x,data.pos->y,data.pos->z};
- data.pose = ::armarx::PoseBasePtr{new ::armarx::Pose{Eigen::Matrix3f::Identity(),eigPos}};
- debugDrawer->setScaledPoseVisu(debugDrawerLayerName,iceName(id),data.pose,lineWidth/2);
-
- //scene
- data.graphicsItem->setPen(QPen{qColor});
- data.graphicsItem->setBrush(QBrush{qColor});
- data.graphicsItem->setRect(data.pos->x-lineWidth*SCENE_NODES_SCALE_FACTOR/2,
- -data.pos->y-lineWidth*SCENE_NODES_SCALE_FACTOR/2,
- lineWidth*SCENE_NODES_SCALE_FACTOR,
- lineWidth*SCENE_NODES_SCALE_FACTOR);
- //table
- QFont font{};
- font.setBold(data.selected);
- ui.tableWidgetNodes->item(data.tableWidgetNodesIndex,0)->setData(Qt::BackgroundRole,qColor);
- ui.tableWidgetNodes->item(data.tableWidgetNodesIndex,0)->setFont(font);
- ui.tableWidgetNodes->item(data.tableWidgetNodesIndex,1)->setData(Qt::BackgroundRole,qColor);
- ui.tableWidgetNodes->item(data.tableWidgetNodesIndex,1)->setFont(font);
- ui.tableWidgetNodes->item(data.tableWidgetNodesIndex,2)->setData(Qt::BackgroundRole,qColor);
- ui.tableWidgetNodes->item(data.tableWidgetNodesIndex,2)->setFont(font);
- ui.tableWidgetNodes->item(data.tableWidgetNodesIndex,3)->setData(Qt::BackgroundRole,qColor);
- ui.tableWidgetNodes->item(data.tableWidgetNodesIndex,3)->setFont(font);
-}
-
-void GraphVisualizerWidget::highlightEdge(const std::string& node1, const std::string& node2, bool highlighted, const Ice::Current&)
-{
- if(!hasEdge(node1,node2))
- {
- ARMARX_WARNING<<"No edge for: "<<node1<<" and "<<node2<<" [file: "<<__FILE__<<" | line: "<<__LINE__<<" | function: "<<__PRETTY_FUNCTION__<<"]";
- return;
- }
- EdgeId edge = toEdge(node1,node2);
- if(edges.at(edge).highlighted!=highlighted)
- {
- edges.at(edge).highlighted=highlighted;
- updateEdge(edge);
- }
-}
-
-void GraphVisualizerWidget::highlightNode(const std::string& name, bool highlighted, const Ice::Current&)
-{
- if(!hasNode(name))
- {
- ARMARX_WARNING<<"No node: "<<name<<" [pushBfile: "<<__FILE__<<" | line: "<<__LINE__<<" | function: "<<__PRETTY_FUNCTION__<<"]";
- return;
- }
- if(nodes.at(name).highlighted!=highlighted)
- {
- nodes.at(name).highlighted=highlighted;
- updateNode(name);
- }
-}
-
-
-void GraphVisualizerWidget::nodeTableDoubleClicked(int row, int)
-{
- nodeDoubleClicked(ui.tableWidgetNodes->item(row,0)->text().toStdString());
-}
-
-void GraphVisualizerWidget::edgeTableDoubleClicked(int row, int)
-{
- edgeDoubleClicked(toEdge(
- ui.tableWidgetEdges->item(row,0)->text().toStdString(),
- ui.tableWidgetEdges->item(row,1)->text().toStdString()
- ));
-}
-
-void GraphVisualizerWidget::nodeDoubleClicked(NodeId id)
-{
- nodes.at(id).selected^=true;
- updateNode(id);
-}
-
-void GraphVisualizerWidget::edgeDoubleClicked(EdgeId id)
-{
- edges.at(id).selected^=true;
- updateEdge(id);
-}
-
-void GraphVisualizerWidget::redraw(const Ice::Current&)
-{
- for(const auto& edge:edges)
- {
- auto color =(edge.second.highlighted)?COLOR_HIGHLIGHT :COLOR_DEFAULT;
- auto lineWidth=(edge.second.selected )?LINE_WIDTH_SELECTED:LINE_WIDTH_DEFAULT;
-
- //debug layer
- debugDrawer->setLineVisu(debugDrawerLayerName,
- iceName(edge.first),
- nodes.at(edge.first.first).pos,
- nodes.at(edge.first.second).pos,
- lineWidth,
- color);
- }
- for(const auto& node:nodes)
- {
- debugDrawer->setPoseVisu(debugDrawerLayerName,iceName(node.first),node.second.pose);
- }
-}
-
-void GraphVisualizerWidget::transformView()
-{
- double d=ui.viewZoomFactor->value();
- ui.graphicsViewGraph->setTransform(QTransform::fromScale(d,d).rotate(viewAngle));
-}
-
-void GraphVisualizerWidget::viewRotatedClock()
-{
- viewAngle= std::fmod(viewAngle+VIEW_ROTATE_STEP_SIZE_CC,360);
- transformView();
-}
-
-void GraphVisualizerWidget::viewRotatedCounterClock()
-{
- viewAngle= std::fmod(viewAngle+360-VIEW_ROTATE_STEP_SIZE_CC,360);
- transformView();
-}
-
-void GraphVisualizerWidget::adjustView()
-{
- float maxX=std::numeric_limits<float>::min();
- float minX=std::numeric_limits<float>::max();
- float maxY=std::numeric_limits<float>::min();
- float minY=std::numeric_limits<float>::max();
- //search bounding box
- for(const auto& node:nodes)
- {
- maxX =(maxX<node.second.pos->x)?node.second.pos->x:maxX;
- minX =(minX>node.second.pos->x)?node.second.pos->x:minX;
- maxY =(maxY<node.second.pos->y)?node.second.pos->y:maxY;
- minY =(minY>node.second.pos->y)?node.second.pos->y:minY;
- }
- auto deltaX=maxX-minX;//>=0
- auto deltaY=maxY-minY;//>=0
-
- //compare ratio of graph and view. if both horizontal (vertical) ->rotate to 0 or 180 (90,270)
- if(std::signbit(deltaX/deltaY -1) == std::signbit(ui.graphicsViewGraph->width()/ui.graphicsViewGraph->height() -1))
- {
- //same => rotate to 0 or 180
- viewAngle= (viewAngle<std::abs(180-viewAngle))?0:180;
- //set zoom => update
- ui.viewZoomFactor->setValue(std::min(ui.graphicsViewGraph->width()/deltaX,
- ui.graphicsViewGraph->height()/deltaY)*0.9);
- }
- else
- {
- //different rotate to 90 or 270
- viewAngle= (std::abs(90-viewAngle)<std::abs(270-viewAngle))?90:270;
- //set zoom => update
- ui.viewZoomFactor->setValue(std::min(ui.graphicsViewGraph->width()/deltaY,
- ui.graphicsViewGraph->height()/deltaX)*0.9);
- }
-
-}
-
-
-
-void GraphVisualizerWidget::draw()
-{
- clearGraph();
-
- static ::armarx::FramedVector3Ptr tableS {new ::armarx::FramedVector3{Eigen::Vector3f{3400.f,7300.f,1000.f}, "table" , "Armar3"}};
- static ::armarx::FramedVector3Ptr fridge {new ::armarx::FramedVector3{Eigen::Vector3f{2150.f,7750.f,1000.f}, "fridge" , "Armar3"}};
- static ::armarx::FramedVector3Ptr sink {new ::armarx::FramedVector3{Eigen::Vector3f{2500.f,9700.f,1000.f}, "sink" , "Armar3"}};
- static ::armarx::FramedVector3Ptr hub2fst{new ::armarx::FramedVector3{Eigen::Vector3f{3750.f,5150.f,5000.f}, "hub2" , "Armar3"}};
- static ::armarx::FramedVector3Ptr hub2snd{new ::armarx::FramedVector3{Eigen::Vector3f{3750.f,5150.f,1000.f}, "hub2" , "Armar3"}};
- static ::armarx::FramedVector3Ptr hub1 {new ::armarx::FramedVector3{Eigen::Vector3f{2900.f,8000.f,1000.f}, "hub1" , "Armar3"}};
- static ::armarx::FramedVector3Ptr hub3 {new ::armarx::FramedVector3{Eigen::Vector3f{3400.f,2200.f,1000.f}, "hub3" , "Armar3"}};
- static ::armarx::FramedVector3Ptr hub4 {new ::armarx::FramedVector3{Eigen::Vector3f{1900.f,3000.f,1000.f}, "hub4" , "Armar3"}};
- static ::armarx::FramedVector3Ptr counter{new ::armarx::FramedVector3{Eigen::Vector3f{1890.f,4050.f,1000.f}, "counter", "Armar3"}};
-
- addNode(tableS);
- addNode(fridge);
- addNode(sink);
- addNode(hub2fst);
- addNode(hub1);
- addNode(hub3);
- addNode(hub4);
- addNode(counter);
- addEdge("hub1","hub2");
- addEdge("hub1","table");
- addEdge("hub1","sink");
- addEdge("hub1","fridge");
- addEdge("hub2","hub3");
- addEdge("hub3","hub4");
- addEdge("hub4","counter");
-
-
- highlightEdge("hub1","hub2");
- highlightNode("fridge");
- resetHilight();
-
- highlightEdge("hub2","hub3");
-
- highlightEdge("hub3","hub4");
- highlightEdge("hub3","hub4",false);
-
- highlightNode("table");
- highlightNode("counter");
- highlightNode("counter",false);
-
- addNode(hub2snd);
- addEdge("hub2","hub3");
- /*
- 3400,7300,1000,"table"
- 2150,7750,1000,"fridge"
- 2500,9700,1000,"sink"
- 3750,5150,1000,"hub2"
- 2900,8000,1000,"hub1"
- 3400,2200,1000,"hub3"
- 1900,3000,1000,"hub4"
- 189graphicsItem0,4050,1000,"counter"
-
-
- "hub1","hub2"
- "hub1","table"
- "hub1","sink"
- "hub1","fridge"
- "hub2","hub3"
- "hub3","hub4"
- "hub4","counter"
- */
-}
-
-Q_EXPORT_PLUGIN2(armar3_gui_GraphVisualizerGuiPlugin, GraphVisualizerGuiPlugin)
diff --git a/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerGuiPlugin.h b/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerGuiPlugin.h
deleted file mode 100644
index 8ec6b4e0b17abf1e429f86035133297fd6697568..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerGuiPlugin.h
+++ /dev/null
@@ -1,541 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- *
- * @package ArmarX::RobotAPI
- * @author Raphael Grimm <ufdrv at student dot kit dot edu>
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef ARMARXGUI_PLUGINS_GRAPHVISUALIZERWIDGET_H
-#define ARMARXGUI_PLUGINS_GRAPHVISUALIZERWIDGET_H
-
-// ArmarX
-#include <Core/core/Component.h>
-#include <Gui/ArmarXGuiLib/ArmarXGuiPlugin.h>
-#include <Gui/ArmarXGuiLib/ArmarXComponentWidgetController.h>
-
-#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
-#include <RobotAPI/interface/visualization/GraphVisualizerInterface.h>
-
-
-#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
-
-//qt
-#include <QtGui/QMainWindow>
-#include <QDialog>
-#include <QGraphicsScene>
-#include <QGraphicsLineItem>
-#include <QGraphicsEllipseItem>
-
-//std
-#include <string>
-#include <map>
-#include <vector>
-#include <tuple>
-
-//boost
-
-
-#include "ui_GraphVisualizerGuiPlugin.h"
-#include "GraphVisualizerConfigDialog.h"
-
-namespace armarx
-{
- class GraphVisualizerGraphicsEllipseItem;
- class GraphVisualizerGraphicsLineItem;
-
- class GraphVisualizerConfigDialog;
-
- /**
- * @brief A plugin used to visualize a undirected graph and draw it to a debug layer.
- * @ingroup ArmarXGuiPlugins
- * @see GraphVisualizerWidget
- *
- * This plugin implements the ice interface GraphVisualizerInterface and therefore
- * can be provided with a undirected graph.
- *
- * The graph is drawn to a debug layer and a scene located in the plugin.
- * The plugin has tables containing information about the nodes and edges.
- * Nodes on the debug layer are visualized as coordinate systems.
- * Nodes on the scene are visualized as circles.
- * Edges on debug layer and scene are visualized with lines.
- *
- * Nodes can be added with and
- * @code{.cpp}
- * addNode(const ::armarx::FramedVector3BasePtr& p)
- * @endcode
- * are identified with the string stored in p.
- *
- * Edges can be added with
- * @code{.cpp}
- * addEdge(const ::std::string& fst, const ::std::string& snd)
- * @endcode
- * and are identified with {fst,snd}.
- * fst and snd have to be the names of already existing nodes.
- * The order of fst and snd does not matter.
- *
- * The existence can be checked with following methodes:
- * @code{.cpp}
- * hasNode(const ::std::string& name)
- * hasEdge(const ::std::string& fst, const ::std::string& snd)
- * @endcode
- *
- * All edges (the whole graph) can be deleted with:
- * @code{.cpp}
- * clearEdges()
- * clearGraph()
- * @endcode
- *
- * If the graph has to be redrawn to the debug layer use
- * @code{.cpp}
- * redraw()
- * @endcode
- *
- * Edges and nodes have four states: {selected, not selected}X{highlighted, not highlighted}
- *
- * Selection affects the width of lines and the size of nodes. Selected lines are thicker and nodes have an increased size.
- * Selection can be toggled by double clicking the element in the table or the scene.
- *
- * Highlighting affects the color. If not highlighted elements are blue. If highlighted elements are green.
- * (nodes drawn on a debug layer cant change color)
- * The highlight can be set and cleared with the functions
- * @code{.cpp}
- * highlightNode(const ::std::string& name, bool highlighted)
- * highlightEdge(const ::std::string& fst, const ::std::string& snd, bool highlighted)
- * resetHilight()
- * @endcode
- *
- *
- * The graph used in the following examples can be created with following code:
- * @code{.cpp}
- * static ::armarx::FramedVector3Ptr table {new ::armarx::FramedVector3{Eigen::Vector3f{3400.f,7300.f,1000.f}, "table" }};
- * static ::armarx::FramedVector3Ptr fridge {new ::armarx::FramedVector3{Eigen::Vector3f{2150.f,7750.f,1000.f}, "fridge" }};
- * static ::armarx::FramedVector3Ptr sink {new ::armarx::FramedVector3{Eigen::Vector3f{2500.f,9700.f,1000.f}, "sink" }};
- * static ::armarx::FramedVector3Ptr hub2 {new ::armarx::FramedVector3{Eigen::Vector3f{3750.f,5150.f,5000.f}, "hub2" }};
- * static ::armarx::FramedVector3Ptr hub1 {new ::armarx::FramedVector3{Eigen::Vector3f{2900.f,8000.f,1000.f}, "hub1" }};
- * static ::armarx::FramedVector3Ptr hub3 {new ::armarx::FramedVector3{Eigen::Vector3f{3400.f,2200.f,1000.f}, "hub3" }};
- * static ::armarx::FramedVector3Ptr hub4 {new ::armarx::FramedVector3{Eigen::Vector3f{1900.f,3000.f,1000.f}, "hub4" }};
- * static ::armarx::FramedVector3Ptr counter{new ::armarx::FramedVector3{Eigen::Vector3f{1890.f,4050.f,1000.f}, "counter"}};
- *
- * //prx is a proxy passing the commands to the plugin
- * //add nodes
- * prx->addNode(table);
- * prx->addNode(fridge);
- * prx->addNode(sink);
- * prx->addNode(hub2);
- * prx->addNode(hub1);
- * prx->addNode(hub3);
- * prx->addNode(hub4);
- * prx->addNode(counter);
- *
- * //add edges
- * prx->addEdge("hub1","hub2");
- * prx->addEdge("hub1","table");
- * prx->addEdge("hub1","sink");
- * prx->addEdge("hub1","fridge");
- * prx->addEdge("hub2","hub3");
- * prx->addEdge("hub3","hub4");
- * prx->addEdge("hub4","counter");
- *
- * //highlight a node and an edge
- * prx->highlightEdge("hub2","hub3");
- * prx->highlightNode("table");
- * @endcode
- *
- * @image html GraphVisualizerGuiPlugin_ConfigDialog.png "The config dialog for the plugin." width=300px
- * You can set the topic of the used debug drawer and the used debug layer.
- *
- * @image html GraphVisualizerGuiPlugin_Simulation.png "The graph drawn to the debug layer." width=300px
- * @image html GraphVisualizerGuiPlugin_Widget.png "The plugin's ui." width=300px
- *
- * The ui has 5 sections
- * -# Display options for the graph.
- * - a. Rotate the graph clockwise
- * - b. Rotate the graph counter clockwise
- * - c. Zoom factor for the graph
- * - d. Rotate and zoom the graph to display most of it. (The rotation is a multiple of pi/4)
- * -# Is the scene containing the graph
- * -# The table of nodes.
- * -# The table of edges.
- * -# Triggers a repaint for the debug layer.
- *
- * - A) Shows a highlighted and selected node
- * - B) Shows a selected edge
- * - C) Shows a highlighted edge
- * - D) Shows a node. (no highlight or selection)
- * - E) Shows the tool tip of an edge.
- */
- class GraphVisualizerGuiPlugin :
- public ArmarXGuiPlugin
- {
- public:
- GraphVisualizerGuiPlugin();
- QString getPluginName()
- {
- return "GraphVisualizerGuiPlugin";
- }
- };
-
- /**
- * @brief A widget used to visualize a undirected graph and draw it to a debug layer.
- * @ingroup ArmarXGuiPlugins
- * @see GraphVisualizerGuiPlugin
- */
- class GraphVisualizerWidget :
- public ArmarXComponentWidgetController,
- public GraphVisualizerInterface
- {
- Q_OBJECT
- public:
-
- /**
- * @brief The type of node ids. (This type implies the node exists)
- */
- typedef const std::string NodeId;
-
- /**
- * @brief The type of edge ids. (This type implies the edge exists)
- */
- typedef const std::pair<const std::string,const std::string> EdgeId;
-
-
- GraphVisualizerWidget();
- ~GraphVisualizerWidget()
- {
- }
-
- // inherited from Component
- /**
- * @see
- */
- virtual void onInitComponent();
- virtual void onConnectComponent();
- virtual void onExitComponent();
-
- // inherited of ArmarXWidget
- virtual QString getWidgetName() const
- {
- return "RobotControl.GraphVisualizerGUI";
- }
-
- QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
- virtual void loadSettings(QSettings * settings);
- virtual void saveSettings(QSettings * settings);
- void configured();
-
-
-
- // slice interface implementation
- virtual bool hasEdge(const std::string& node1, const std::string& node2, const Ice::Current& = ::Ice::Current())
- {
- return (edges.find(toEdge(node1,node2)) != edges.end());
- }
-
- virtual bool hasNode(const std::string& name, const Ice::Current& = ::Ice::Current())
- {
- return (nodes.find(name) != nodes.end());
- }
-
- public slots:
- // slice interface implementation
- virtual void addEdge(const std::string& node1, const std::string& node2, const Ice::Current& = ::Ice::Current());
- virtual void addNode(const ::armarx::FramedVector3BasePtr& node, const Ice::Current& = ::Ice::Current());
-
- virtual void highlightEdge(const std::string& node1, const std::string& node2, bool highlighted = true, const Ice::Current& = ::Ice::Current());
-
- virtual void highlightNode(const std::string &name, bool highlighted = true, const Ice::Current& = ::Ice::Current());
-
- virtual void clearEdges(const Ice::Current& = ::Ice::Current());
- virtual void clearGraph(const Ice::Current& = ::Ice::Current());
-
- virtual void resetHilight(const Ice::Current& = ::Ice::Current());
-
- virtual void redraw(const Ice::Current& = ::Ice::Current());
-
- protected:
- /**
- * @brief Contains the ui.
- */
- Ui::GraphVisualizerGuiPlugin ui;
-
- private slots:
- /**
- * @brief draws a test graph
- */
- void draw();
-
- /**
- * @brief Toggles the double clicked node's selection state.
- * @param row Identifies the node.
- */
- void nodeTableDoubleClicked(int row, int);
- /**
- * @brief Toggles the double clicked edge's selection state.
- * @param row Identifies the edge.
- */
- void edgeTableDoubleClicked(int row, int);
-
- /**
- * @brief Toggles the double clicked node's selection state.
- * @param id Identifies the node.
- */
- void nodeDoubleClicked(NodeId id);
-
- /**
- * @brief Toggles the double clicked edge's selection state.
- * @param id Identifies the edge.
- */
- void edgeDoubleClicked(EdgeId id);
-
- /**
- * @brief Rotates the view clockwise.
- *
- * Stepsize set by VIEW_ROTATE_STEP_SIZE_CC in GraphVisualizerGuiPlugin.cpp
- */
- void viewRotatedClock();
-
- /**
- * @brief Rotates the view counter clockwise.
- *
- * Stepsize set by VIEW_ROTATE_STEP_SIZE_CC in GraphVisualizerGuiPlugin.cpp
- */
- void viewRotatedCounterClock();
-
- /**
- * @brief Applies the current transforamtion to the view.
- */
- void transformView();
-
- /**
- * @brief Adjusts the view's zoom and rotation to display most of the graph.
- */
- void adjustView();
-
- private:
- /**
- * @brief The NodeData struct holds data required for the node.
- * The name is stored in the key used in the map nodes.
- */
- struct NodeData
- {
- /**
- * @brief The node's position. Used by edges drawn to debugDrawer.
- */
- ::armarx::Vector3Ptr pos;
-
- /**
- * @brief The pose drawn to debugDrawer.
- */
- ::armarx::PoseBasePtr pose;
-
- /**
- * @brief The ellipse in the scene.
- */
- QGraphicsEllipseItem* graphicsItem;
-
- /**
- * @brief The row in the table tableWidgetNodes.
- */
- int tableWidgetNodesIndex;
-
- /**
- * @brief Whether the node is selected.
- */
- bool selected;
- /**
- * @brief Whether the node is highlighted.
- */
- bool highlighted;
- };
-
- /**
- * @brief The EdgeData struct holds data required for the edge.
- * The name is stored in the key used in the map edges.
- */
- struct EdgeData
- {
- /**
- * @brief The line in the scene.
- */
- QGraphicsLineItem* graphicsItem;
- /**
- * @brief The row in the table tableWidgetEdges.
- */
- int tableWidgetEdgesIndex;
-
- /**
- * @brief Whether the edge is selected.
- */
- bool selected;
- /**
- * @brief Whether the edge is highlighted.
- */
- bool highlighted;
- };
-
-
- /**
- * @brief Returns the EdgeId corresponding to two nodes.
- * @param node1 First node.
- * @param node2 Second node.
- * @return The EdgeId corresponding to two nodes.
- */
- static EdgeId toEdge(const std::string& node1,const std::string&node2)
- {
- return (node1<node2)?EdgeId{node1,node2}:EdgeId(node2,node1);
- }
-
- /**
- * @brief Updates an edge.
- * @param The edge to update.
- */
- void updateEdge(const EdgeId& id);
-
- /**
- * @brief Updates a node.
- * @param The node to update.
- */
- void updateNode(const NodeId& id);
-
- /**
- * @brief The topic name used by debugDrawer.
- */
- std::string debugDrawerTopicName;
-
- /**
- * @brief Used to draw onto debug layers.
- */
- DebugDrawerInterfacePrx debugDrawer;
-
- /**
- * @brief The config dialog.
- */
- QPointer<GraphVisualizerConfigDialog> dialog;
-
- /**
- * @brief The scene displayed in the widget.
- *
- * For y coordinates -pos->y is used to mirror the scene on the y axis.
- * If pos->y would be used the graph displayed in the scene would not
- * match the graph drawn to the debug layer.
- */
- QPointer<QGraphicsScene> scene;
-
- /**
- * @brief The nodes.
- */
- std::map<std::string,NodeData> nodes;
-
- /**
- * @brief The edges.
- */
- std::map<EdgeId,EdgeData> edges;
-
- /**
- * @brief The view's rotation angle.
- */
- qreal viewAngle;
-
- /**
- * @brief The layer to draw on.
- */
- std::string debugDrawerLayerName;
-
- friend class GraphVisualizerGraphicsEllipseItem;
- friend class GraphVisualizerGraphicsLineItem;
- };
- /**
- * @brief Boost shared pointer to a GraphVisualizerWidget.
- */
- typedef boost::shared_ptr<GraphVisualizerWidget> GraphVisualizerGuiPluginPtr;
-
-
- /**
- * @brief Required to override the double click event. This is required to toggle the select state.
- */
- class GraphVisualizerGraphicsEllipseItem: public QGraphicsEllipseItem
- {
- public:
- typedef GraphVisualizerWidget::NodeId NodeId;
-
- GraphVisualizerGraphicsEllipseItem(GraphVisualizerWidget& visuWidget,NodeId name, qreal x, qreal y, qreal width, qreal height, QGraphicsItem * parent = nullptr):
- QGraphicsEllipseItem{x,y,width,height,parent},
- id{name},
- parentVisuWidget(visuWidget)
- {
- }
-
- virtual ~GraphVisualizerGraphicsEllipseItem()
- {
- }
- protected:
- virtual void mouseDoubleClickEvent(QGraphicsSceneMouseEvent*)
- {
- parentVisuWidget.nodeDoubleClicked(id);
- }
- private:
- /**
- * @brief Required to identify the element.
- */
- const NodeId id;
-
- /**
- * @brief Required to call nodeDoubleClicked on it. (This class is no QObject so it does not support signals)
- */
- GraphVisualizerWidget& parentVisuWidget;
- };
-
- /**
- * @brief Required to override the double click event. This is required to toggle the select state.
- */
- class GraphVisualizerGraphicsLineItem: public QGraphicsLineItem
- {
- public:
- typedef GraphVisualizerWidget::EdgeId EdgeId;
-
- GraphVisualizerGraphicsLineItem(GraphVisualizerWidget& visuWidget,EdgeId name, qreal x1, qreal y1, qreal x2, qreal y2, QGraphicsItem * parent = 0 ):
- QGraphicsLineItem{x1,y1,x2,y2,parent},
- id{name},
- parentVisuWidget(visuWidget)
- {
- }
-
- virtual ~GraphVisualizerGraphicsLineItem()
- {
- }
- signals:
- protected:
- virtual void mouseDoubleClickEvent(QGraphicsSceneMouseEvent*)
- {
- parentVisuWidget.edgeDoubleClicked(id);
- }
- private:
- /**
- * @brief Required to identify the element.
- */
- const EdgeId id;
-
- /**
- * @brief Required to call edgeDoubleClicked on it. (This class is no QObject so it does not support signals)
- */
- GraphVisualizerWidget& parentVisuWidget;
- };
-}
-
-#endif
diff --git a/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerGuiPlugin.ui b/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerGuiPlugin.ui
deleted file mode 100644
index b4fd587173340d04216b560df4366c8979bdc178..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerGuiPlugin.ui
+++ /dev/null
@@ -1,207 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>GraphVisualizerGuiPlugin</class>
- <widget class="QWidget" name="GraphVisualizerGuiPlugin">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>429</width>
- <height>798</height>
- </rect>
- </property>
- <property name="windowTitle">
- <string>Form</string>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_2">
- <item>
- <widget class="QPushButton" name="b">
- <property name="text">
- <string>add testgraph</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QFrame" name="graphFrame">
- <property name="frameShape">
- <enum>QFrame::NoFrame</enum>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_4">
- <item>
- <widget class="QWidget" name="graphHead" native="true">
- <layout class="QHBoxLayout" name="horizontalLayout_2">
- <item>
- <widget class="QLabel" name="label_graph">
- <property name="text">
- <string>Graph</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QToolButton" name="buttonRotateClock">
- <property name="text">
- <string>↻</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QToolButton" name="buttonRotateCounterClock">
- <property name="text">
- <string>↺</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="Line" name="line_3">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_zoom">
- <property name="text">
- <string>Zoom</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QDoubleSpinBox" name="viewZoomFactor">
- <property name="decimals">
- <number>5</number>
- </property>
- <property name="singleStep">
- <double>0.001000000000000</double>
- </property>
- <property name="value">
- <double>0.100000000000000</double>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QToolButton" name="buttonAutoAdjust">
- <property name="text">
- <string>Auto</string>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <widget class="QGraphicsView" name="graphicsViewGraph"/>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <widget class="Line" name="line_2">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QWidget" name="tables" native="true">
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_nodes">
- <item>
- <widget class="QLabel" name="label_nodes">
- <property name="text">
- <string>Nodes</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QTableWidget" name="tableWidgetNodes">
- <property name="editTriggers">
- <set>QAbstractItemView::NoEditTriggers</set>
- </property>
- <column>
- <property name="text">
- <string>Name</string>
- </property>
- </column>
- <column>
- <property name="text">
- <string>X</string>
- </property>
- </column>
- <column>
- <property name="text">
- <string>Y</string>
- </property>
- </column>
- <column>
- <property name="text">
- <string>Z</string>
- </property>
- </column>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <widget class="Line" name="line">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_edges">
- <item>
- <widget class="QLabel" name="label_edges">
- <property name="text">
- <string>Edges</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QTableWidget" name="tableWidgetEdges">
- <property name="editTriggers">
- <set>QAbstractItemView::NoEditTriggers</set>
- </property>
- <column>
- <property name="text">
- <string>Node 1</string>
- </property>
- </column>
- <column>
- <property name="text">
- <string>Node 2</string>
- </property>
- </column>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="buttonRedraw">
- <property name="text">
- <string>Repaint</string>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>
diff --git a/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.h b/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.h
index c0500b3aef8a871533c82b6e211586fd1fd6e085..fe8b6243074cd4af6fda35768bf2adffc6a65047 100644
--- a/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.h
+++ b/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.h
@@ -64,7 +64,6 @@ namespace armarx
/**
\class HandUnitWidget
\brief With this widget the HandUnit can be controlled.
- \ingroup ArmarXGuiPlugins
\see HandUnitGuiPlugin
*/
diff --git a/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h b/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
index 20c2919a0ca760f982253b23b9840bc502f24924..f8aaa11ea18c06bc7072f19257f764d78d83ff95 100644
--- a/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
+++ b/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
@@ -67,7 +67,6 @@ namespace armarx
/**
\class HapticUnitWidget
\brief With this widget the HapticUnit can be controlled.
- \ingroup ArmarXGuiPlugins
\see HapticUnitGuiPlugin
*/
diff --git a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index fae37ae248a34d98a7085300702fc1cc4605c0fa..97e19ecf147297bec099ed8d04dc0177e988ae13 100644
--- a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -87,7 +87,6 @@ namespace armarx
/**
\class KinematicUnitWidget
- \ingroup ArmarXGuiPlugins
\see KinematicUnitGuiPlugin
*/
class KinematicUnitWidgetController :
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/JoystickControlWidget.cpp b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/JoystickControlWidget.cpp
index 012939ed961b879745755dfc816bb3e137cb42b7..e48e65ffaa361935159f7b22f8511df849910b3e 100644
--- a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/JoystickControlWidget.cpp
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/JoystickControlWidget.cpp
@@ -61,6 +61,7 @@ namespace armarx
void JoystickControlWidgetQGraphicsView::mouseReleaseEvent(QMouseEvent*)
{
emit positionChanged({0,0});
+ emit released();
}
JoystickControlWidget::JoystickControlWidget(bool useQuadrant3and4, QWidget *parent) :
@@ -95,6 +96,7 @@ namespace armarx
//connect
connect(viewPtr.get(), SIGNAL(positionChanged(QPointF)), this, SLOT(setNibble(QPointF)));
+ connect(viewPtr.get(), SIGNAL(released()), this, SLOT(mouseReleased()));
//set gui
std::unique_ptr<QVBoxLayout> layout{new QVBoxLayout{}};
@@ -135,6 +137,12 @@ namespace armarx
}
}
+ void JoystickControlWidget::mouseReleased()
+ {
+ setNibble({0,0});
+ emit released();
+ }
+
void JoystickControlWidget::setNibble(QPointF pos)
{
if(onlyQuadrant2and1 && (pos.y()>0))
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/JoystickControlWidget.h b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/JoystickControlWidget.h
index 877795cbf12ffebfd1b69b80b8ddb668ac6767af..aed5a19c973c11500f12ce802dafa0651d29d680 100644
--- a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/JoystickControlWidget.h
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/JoystickControlWidget.h
@@ -75,6 +75,11 @@ namespace armarx
* On mouse release (0;0) is send.
*/
void positionChanged(QPointF);
+
+ /**
+ * @brief Emitted when the mouse was released.
+ */
+ void released();
};//JoystickControlWidgetQGraphicsView
/**
@@ -158,6 +163,11 @@ namespace armarx
*/
void rotationChanged(double);
+ /**
+ * @brief Emitted when the nibble was released.
+ */
+ void released();
+
protected:
virtual void resizeEvent(QResizeEvent * event);
@@ -168,6 +178,12 @@ namespace armarx
*/
void setNibble(QPointF pos);
+ /**
+ * @brief Called when the nibble is released.
+ * Emits released() and sets the Position to 0.
+ */
+ void mouseReleased();
+
private:
/**
* @brief The view containing the scene.
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
index 22387c044906d8340a29f5bdfcc27634633861f3..956cd94bed90f47fdcb568c6e4e07ca6a813bd19 100644
--- a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
@@ -104,6 +104,8 @@ void PlatformUnitWidget::connectSlots()
{
connect(ui.buttonMoveToPosition, SIGNAL(clicked()), this, SLOT(moveTo()));
connect(&ctrlEvaluationTimer, SIGNAL(timeout()), this, SLOT(controlTimerTick()));
+ connect(speedCtrl,SIGNAL(released()), this, SLOT(stopPlatform()));
+ connect(rotaCtrl, SIGNAL(released()), this, SLOT(stopPlatform()));
}
void PlatformUnitWidget::moveTo()
@@ -137,6 +139,11 @@ void PlatformUnitWidget::reportPlatformVelocity(::Ice::Float currentPlatformVelo
}
+void PlatformUnitWidget::stopPlatform()
+{
+ platformUnitProxy->moveRelative(0, 0, 0, 0, 0);
+}
+
void PlatformUnitWidget::controlTimerTick()
{
//speed control cant be tested in the simulator:
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
index 8290157e91447758e3808d010c81d8ae208dde68..c4db8b8a78d68e34c49037cf4e2e7d81d521f02c 100644
--- a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
@@ -51,6 +51,11 @@ namespace armarx
\ingroup ArmarXGuiPlugins
\see PlatformUnitWidget
+
+ \image html PlatformUnitGuiPlugin_widgetpng.png "The plugin's ui." width=300px
+ -# The current position and rotation, fields to enter a new target and a button to set the platform in motion.
+ -# A joystick like control widget to move the platform. It has two speed level. The platform does not rotate to move in a direction. Up moves the platform forward.
+ -# A joystick like control widget to rotate the platform.
*/
class PlatformUnitGuiPlugin :
public ArmarXGuiPlugin
@@ -66,14 +71,8 @@ namespace armarx
/**
\class PlatformUnitWidget
\brief With this widget the PlatformUnit can be controlled.
- \ingroup ArmarXGuiPlugins
\see PlatformUnitGuiPlugin
-
- \image html PlatformUnitGuiPlugin_widgetpng.png "The plugin's ui." width=300px
- -# The current position and rotation, fields to enter a new target and a button to set the platform in motion.
- -# A joystick like control widget to move the platform. It has two speed level. The platform does not rotate to move in a direction. Up moves the platform forward.
- -# A joystick like control widget to rotate the platform.
*/
class PlatformUnitWidget :
public ArmarXComponentWidgetController,
@@ -116,8 +115,16 @@ namespace armarx
Ui::PlatformUnitGuiPlugin ui;
private slots:
+ /**
+ \brief Checks the joystick contol widgets speedCtrl and rotaCtrl and performs a move if necessary.
+ Activated when ctrlEvaluationTimer times out.
+ */
void controlTimerTick();
+ /**
+ \brief Stops the platform
+ */
+ void stopPlatform();
private:
std::string platformUnitProxyName;
std::string platformName;
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
index 555c98923e94905cd1e9ccb53367f71d292cdce9..284446bf9e4938c163397584fd8f95ea0c2ce335 100644
--- a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
@@ -66,7 +66,6 @@ namespace armarx
class ArmarXPlotterDialog;
/**
\class ArmarXPlotter
- \ingroup ArmarXGuiPlugins
*/
class ARMARXCOMPONENT_IMPORT_EXPORT
ArmarXPlotter:
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
index 0ab65e97a7e18e296e4930a3b9c104435521f0c8..bb1db4c01b0189ccbff697586b980b1bd05ffcff 100644
--- a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
@@ -34,8 +34,9 @@ namespace armarx
{
/**
* @brief The MdiPlugin class
+ * @ingroup ArmarXGuiPlugins
*
- *
+ * @see ArmarXPlotter
*/
class ARMARXCOMPONENT_IMPORT_EXPORT MdiPlugin :
public ArmarXGuiPlugin
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index 6c426e75ffabb66d97dc8256dc2ddfdad1a88d04..bfa1ac0f38c8dc318d93306f4ff7f276a46f79da 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -29,8 +29,6 @@ set(SLICE_FILES
units/UnitInterface.ice
visualization/DebugDrawerInterface.ice
- visualization/GraphVisualizerInterface.ice
-
)
# generate the interface library
diff --git a/source/RobotAPI/interface/visualization/GraphVisualizerInterface.ice b/source/RobotAPI/interface/visualization/GraphVisualizerInterface.ice
deleted file mode 100644
index b10d4940b9d97266da09a9b17af713b00515b477..0000000000000000000000000000000000000000
--- a/source/RobotAPI/interface/visualization/GraphVisualizerInterface.ice
+++ /dev/null
@@ -1,99 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- *
- * @package ArmarX::RobotAPI
- * @author Raphael Grimm <ufdrv at student dot kit dot edu>
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-#ifndef _ARMARX_ROBOTAPI_VISUALIZATION_GRAPHVISUALIZER_SLICE_
-#define _ARMARX_ROBOTAPI_VISUALIZATION_GRAPHVISUALIZER_SLICE_
-
-#include <RobotAPI/interface/robotstate/PoseBase.ice>
-
-module armarx
-{
- interface GraphVisualizerInterface
- {
- /**
- * @brief returns whether an edge is in the graph.
- * @param node1 The edge's first node.
- * @param node2 The edge's first node.
- * @return Whether an edge is in the graph.
- */
- bool hasEdge(string node1, string node2);
-
- /**
- * @brief Returns whether a node is in the graph.
- * @param name The node's name.
- * @return Whether a node is in the graph.
- */
- bool hasNode(string name);
-
- /**
- * @brief Adds an edge to the graph.
- * @param node1 The edge's first node.
- * @param node2 The edge's first node.
- */
- void addEdge(string node1,string node2);
-
- /**
- * @brief Adds a node to the graph.
- * @param node The node.
- */
- void addNode(FramedVector3Base node);
-
- /**
- * @brief Highlights a edge according to highlighted.
- * @param node1 The edge's first node.
- * @param node2 The edge's first node.
- * @param highlighted Whether the highlight will be set or reset.
- */
- void highlightEdge(string node1, string node2, bool highlighted);
- /**
- * @brief Highlights a node according to highlighted.
- * @param name The node's name.
- * @param highlighted Whether the highlight will be set or reset.
- */
- void highlightNode(string name, bool highlighted);
-
- /**
- * @brief Draws the whole graph to the debug layer.
- */
- void redraw();
-
- /**
- * @brief Removes all nodes and edges.
- */
- void clearGraph();
-
- /**
- * @brief Removes all edges.
- */
- void clearEdges();
-
- /**
- * @brief Resets the highlighted edges and nodes.
- */
- void resetHilight();
-
-
- };
-};
-
-#endif
diff --git a/source/RobotAPI/libraries/robotstate/remote/ArmarPose.cpp b/source/RobotAPI/libraries/robotstate/remote/ArmarPose.cpp
index c7e7ae0b4bbd4a9df7aabd01769fcbe6a3e84de5..69e9d37e1be841375dc0b2e2be12ff05a77a6756 100644
--- a/source/RobotAPI/libraries/robotstate/remote/ArmarPose.cpp
+++ b/source/RobotAPI/libraries/robotstate/remote/ArmarPose.cpp
@@ -39,6 +39,13 @@ namespace armarx
z = m(2,3);
}
+ Vector3::Vector3(::Ice::Float x, ::Ice::Float y, ::Ice::Float z)
+ {
+ this->x = x;
+ this->y = y;
+ this->z = z;
+ }
+
Vector3f Vector3::toEigen() const
{
Vector3f v;
@@ -324,6 +331,12 @@ namespace armarx
}
+ FramedVector3::FramedVector3(Ice::Float x, ::Ice::Float y, ::Ice::Float z, const std::string &frame) :
+ Vector3(x, y, z)
+ {
+ this->frame = frame;
+ }
+
string FramedVector3::getFrame() const
{
return frame;
diff --git a/source/RobotAPI/libraries/robotstate/remote/ArmarPose.h b/source/RobotAPI/libraries/robotstate/remote/ArmarPose.h
index 4754fefd828857d4f80793f2bb423dc21c5da172..5bcd3ca671da407d2345b80a6cd3c0e362ecf91f 100644
--- a/source/RobotAPI/libraries/robotstate/remote/ArmarPose.h
+++ b/source/RobotAPI/libraries/robotstate/remote/ArmarPose.h
@@ -69,6 +69,7 @@ namespace armarx
Vector3();
Vector3(const Eigen::Vector3f &);
Vector3(const Eigen::Matrix4f &);
+ Vector3(::Ice::Float x, ::Ice::Float y, ::Ice::Float z);
virtual Eigen::Vector3f toEigen() const;
@@ -372,6 +373,7 @@ namespace armarx
FramedVector3();
FramedVector3(const FramedVector3& source);
FramedVector3(const Eigen::Vector3f & vec, const std::string &frame, const std::string& agent );
+ FramedVector3(Ice::Float x, ::Ice::Float y, ::Ice::Float z, const std::string &frame);
std::string getFrame() const;
static FramedVector3Ptr ChangeFrame(const VirtualRobot::RobotPtr robot, const FramedVector3& framedVec, const std::string &newFrame);