diff --git a/source/RobotAPI/components/AronComponentConfigExample/aron/ComponentConfig.xml b/source/RobotAPI/components/AronComponentConfigExample/aron/ComponentConfig.xml
index 56dc87b417ab791fe31e9840fc273aa13f88dfe8..aabd27602d4f4ef4f0313dd00af36ccfa9c2a9dd 100644
--- a/source/RobotAPI/components/AronComponentConfigExample/aron/ComponentConfig.xml
+++ b/source/RobotAPI/components/AronComponentConfigExample/aron/ComponentConfig.xml
@@ -91,6 +91,15 @@
<ObjectChild key='subMember'>
<armarx::component_config::aron::SubConfig />
</ObjectChild>
+ <ObjectChild key='position'>
+ <framedposition />
+ </ObjectChild>
+ <ObjectChild key='pose'>
+ <framedpose />
+ </ObjectChild>
+ <ObjectChild key='orientation'>
+ <framedorientation />
+ </ObjectChild>
</Object>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron_component_config/CMakeLists.txt b/source/RobotAPI/libraries/aron_component_config/CMakeLists.txt
index 2529d9e77da2d02cadad9be1da028aae078c23fe..5b6b176ca9b2e9d303251db890ab28939ac1544b 100644
--- a/source/RobotAPI/libraries/aron_component_config/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron_component_config/CMakeLists.txt
@@ -23,7 +23,7 @@ armarx_build_if(Simox_FOUND "Simox not available")
set(LIBS
ArmarXCoreInterfaces ArmarXCore ArmarXGuiComponentPlugins
- RobotAPIInterfaces RobotAPICore RobotAPIComponentPlugins
+ RobotAPIInterfaces RobotAPICore RobotAPIComponentPlugins aroneigenconverter
)
set(LIB_FILES
diff --git a/source/RobotAPI/libraries/aron_component_config/RemoteGuiVisitors.cpp b/source/RobotAPI/libraries/aron_component_config/RemoteGuiVisitors.cpp
index 42c8124493d8273594e5056b70bb8f5a37c6141f..348edcb9ef22177f449dcb1ace857aeee34ec548 100644
--- a/source/RobotAPI/libraries/aron_component_config/RemoteGuiVisitors.cpp
+++ b/source/RobotAPI/libraries/aron_component_config/RemoteGuiVisitors.cpp
@@ -22,39 +22,46 @@
#include "RemoteGuiVisitors.h"
+#include <SimoxUtility/math/convert/quat_to_rpy.h>
+
+#include <ArmarXCore/util/CPPUtility/Iterator.h>
+
#include <ArmarXGui/libraries/RemoteGui/RemoteGui.h>
+
+#include <RobotAPI/libraries/aron/converter/eigen/EigenConverter.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
-#include <ArmarXCore/util/CPPUtility/Iterator.h>
#include <RobotAPI/libraries/aron_component_config/VariantHelperFactory.h>
+
#include "Util.h"
-#define INPUT_GUARD(i) \
-ARMARX_TRACE; \
-ARMARX_CHECK_NOT_NULL(i); \
-if (in_list_) return;
+#define INPUT_GUARD(i) \
+ ARMARX_TRACE; \
+ ARMARX_CHECK_NOT_NULL(i); \
+ if (in_list_) \
+ return;
namespace armarx::aron::component_config
{
void
- MakeConfigGuiVisitor::visitObjectOnEnter(DataInput& dict, TypeInput&)
+ MakeConfigGuiVisitor::visitObjectOnEnter(DataInput& dict, TypeInput& /*unused*/)
{
INPUT_GUARD(dict);
if (dict->getPath().hasElement())
{
std::string name = pathToName(dict);
- group_hierarchy_.emplace_back(std::make_shared<RemoteGui::detail::GroupBoxBuilder>(RemoteGui::makeGroupBox(
- name)));
- } else
+ group_hierarchy_.emplace_back(std::make_shared<RemoteGui::detail::GroupBoxBuilder>(
+ RemoteGui::makeGroupBox(name)));
+ }
+ else
{
group_hierarchy_.push_back(builder_);
}
-
}
void
- MakeConfigGuiVisitor::visitObjectOnExit(DataInput& dict, TypeInput&)
+ MakeConfigGuiVisitor::visitObjectOnExit(DataInput& dict, TypeInput& /*j*/)
{
INPUT_GUARD(dict);
auto builder = *group_hierarchy_.back();
@@ -66,7 +73,7 @@ namespace armarx::aron::component_config
}
void
- MakeConfigGuiVisitor::visitInt(DataInput& i, TypeInput&)
+ MakeConfigGuiVisitor::visitInt(DataInput& i, TypeInput& /*unused*/)
{
INPUT_GUARD(i);
auto value = data::Int::DynamicCastAndCheck(i);
@@ -74,15 +81,16 @@ namespace armarx::aron::component_config
auto group = RemoteGui::makeHBoxLayout(name + "_layout");
group.addChild(RemoteGui::makeLabel(name + "_label").value(i->getPath().getLastElement()));
group.addHSpacer();
- group.addChild(RemoteGui::makeIntSpinBox(name).value(value->getValue())
- .min(-1000)
- .max(1000).toolTip(name));
- group_hierarchy_.back()
- ->addChild(group);
+ group.addChild(RemoteGui::makeIntSpinBox(name)
+ .value(value->getValue())
+ .min(-1000)
+ .max(1000)
+ .toolTip(name));
+ group_hierarchy_.back()->addChild(group);
}
void
- MakeConfigGuiVisitor::visitFloat(DataInput& f, TypeInput&)
+ MakeConfigGuiVisitor::visitFloat(DataInput& f, TypeInput& /*unused*/)
{
INPUT_GUARD(f);
auto value = data::Float::DynamicCastAndCheck(f);
@@ -90,15 +98,16 @@ namespace armarx::aron::component_config
auto group = RemoteGui::makeHBoxLayout(name + "_layout");
group.addChild(RemoteGui::makeLabel(name + "_label").value(f->getPath().getLastElement()));
group.addHSpacer();
- group.addChild(RemoteGui::makeFloatSpinBox(name).value(value->getValue())
- .min(-1000)
- .max(1000).toolTip(name));
- group_hierarchy_.back()
- ->addChild(group);
+ group.addChild(RemoteGui::makeFloatSpinBox(name)
+ .value(value->getValue())
+ .min(-1000)
+ .max(1000)
+ .toolTip(name));
+ group_hierarchy_.back()->addChild(group);
}
void
- MakeConfigGuiVisitor::visitDouble(DataInput& d, TypeInput&)
+ MakeConfigGuiVisitor::visitDouble(DataInput& d, TypeInput& /*unused*/)
{
INPUT_GUARD(d);
auto value = data::Double::DynamicCastAndCheck(d);
@@ -106,38 +115,44 @@ namespace armarx::aron::component_config
auto group = RemoteGui::makeHBoxLayout(name + "_layout");
group.addChild(RemoteGui::makeLabel(name + "_label").value(d->getPath().getLastElement()));
group.addHSpacer();
- group.addChild(RemoteGui::makeFloatSpinBox(name).value(value->getValue())
- .min(-1000)
- .max(1000).toolTip(name));
- group_hierarchy_.back()
- ->addChild(group);
+ group.addChild(RemoteGui::makeFloatSpinBox(name)
+ .value(value->getValue())
+ .min(-1000)
+ .max(1000)
+ .toolTip(name));
+ group_hierarchy_.back()->addChild(group);
}
void
- MakeConfigGuiVisitor::visitBool(DataInput& b, TypeInput&)
+ MakeConfigGuiVisitor::visitBool(DataInput& b, TypeInput& /*unused*/)
{
INPUT_GUARD(b);
auto value = data::Bool::DynamicCastAndCheck(b);
- group_hierarchy_.back()
- ->addChild(RemoteGui::makeCheckBox(pathToName(b)).value(value->getValue())
- .label(b->getPath().getLastElement()));
+ const auto& name = pathToName(b);
+ auto group = RemoteGui::makeHBoxLayout(name + "_layout");
+ group.addChild(RemoteGui::makeLabel(name + "_label").value(b->getPath().getLastElement()));
+ group.addHSpacer();
+ group.addChild(
+ RemoteGui::makeCheckBox(name).label("").value(value->getValue()).toolTip(name));
+ group_hierarchy_.back()->addChild(group);
}
void
- MakeConfigGuiVisitor::visitString(DataInput& string, TypeInput&)
+ MakeConfigGuiVisitor::visitString(DataInput& string, TypeInput& /*unused*/)
{
INPUT_GUARD(string);
auto value = data::String::DynamicCastAndCheck(string);
const auto& name = pathToName(string);
auto group = RemoteGui::makeHBoxLayout(name + "_layout");
- group.addChild(RemoteGui::makeLabel(name + "_label").value(string->getPath().getLastElement()));
+ group.addChild(
+ RemoteGui::makeLabel(name + "_label").value(string->getPath().getLastElement()));
group.addHSpacer();
group.addChild(RemoteGui::makeLineEdit(name).value(value->getValue()).toolTip(name));
group_hierarchy_.back()->addChild(group);
}
MakeConfigGuiVisitor::MakeConfigGuiVisitor(const std::string& name) :
- builder_(std::make_unique<RemoteGui::detail::GroupBoxBuilder>(name))
+ builder_(std::make_unique<RemoteGui::detail::GroupBoxBuilder>(name))
{
}
@@ -160,27 +175,29 @@ namespace armarx::aron::component_config
{
return;
}
- for (const auto& el: data->getElements())
+ for (const auto& el : data->getElements())
{
- group.addChild(RemoteGui::makeLineEdit(pathToName(el)).value(factories::VariantHelper::make(type)->to_string(
- el)), 10);
+ group.addChild(RemoteGui::makeLineEdit(pathToName(el))
+ .value(factories::VariantHelper::make(type)->to_string(el)),
+ 10);
group.addHSpacer(8);
- group.addChild(RemoteGui::makeButton(pathToName(el) + "_button").label("-").toolTip("Remove List Element"),
+ group.addChild(RemoteGui::makeButton(pathToName(el) + "_button")
+ .label("-")
+ .toolTip("Remove List Element"),
2);
}
- group_hierarchy_.back()
- ->addChild(RemoteGui::makeGroupBox(pathToName(o) + "_grp").label(o->getPath().getLastElement())
- .collapsed(true)
- .addChild(group)
- .addChild(RemoteGui::makeButton(
- pathToName(o) +
- "_add").label("+")
- .toolTip(
- "Add new list entry.")));
+ group_hierarchy_.back()->addChild(
+ RemoteGui::makeGroupBox(pathToName(o) + "_grp")
+ .label(o->getPath().getLastElement())
+ .collapsed(true)
+ .addChild(group)
+ .addChild(RemoteGui::makeButton(pathToName(o) + "_add")
+ .label("+")
+ .toolTip("Add new list entry.")));
}
void
- MakeConfigGuiVisitor::visitListOnExit(DataInput&, TypeInput&)
+ MakeConfigGuiVisitor::visitListOnExit(DataInput& /*unused*/, TypeInput& /*unused*/)
{
in_list_ = false;
}
@@ -195,10 +212,55 @@ namespace armarx::aron::component_config
auto group = RemoteGui::makeHBoxLayout(name + "_layout");
group.addChild(RemoteGui::makeLabel(name + "_label").value(o->getPath().getLastElement()));
group.addHSpacer();
- group.addChild(RemoteGui::makeComboBox(name).options(type->getAcceptedValueNames())
- .value(type->getValueName(data->getValue())).toolTip(name));
- group_hierarchy_.back()
- ->addChild(group);
+ group.addChild(RemoteGui::makeComboBox(name)
+ .options(type->getAcceptedValueNames())
+ .value(type->getValueName(data->getValue()))
+ .toolTip(name));
+ group_hierarchy_.back()->addChild(group);
+ }
+ void
+ MakeConfigGuiVisitor::visitMatrix(const std::shared_ptr<data::Variant>& q,
+ const std::shared_ptr<type::Variant>& t)
+ {
+ auto data = data::NDArray::DynamicCastAndCheck(q);
+ auto type = type::Matrix::DynamicCast(t);
+ const auto& cols = type->getCols();
+ const auto& rows = type->getRows();
+ const auto& name = pathToName(q);
+ auto group = RemoteGui::makeHBoxLayout(name + "_layout");
+ group.addChild(RemoteGui::makeLabel(name + "_label").value(q->getPath().getLastElement()));
+ group.addHSpacer();
+
+ if (cols == 4 && rows == 4)
+ {
+ // Poses
+ const auto& matrix = aron::converter::AronEigenConverter::ConvertToMatrix4f(data);
+ group.addChild(RemoteGui::makePosRPYSpinBoxes(name).value(matrix).toolTip(name));
+ }
+ else if ((cols == 3 and rows == 1) or (rows == 3 and cols == 1))
+ {
+ // Positions
+ const auto& vector = aron::converter::AronEigenConverter::ConvertToVector3f(data);
+ group.addChild(RemoteGui::makeVector3fSpinBoxes(name).value(vector).toolTip(name));
+ }
+ group_hierarchy_.back()->addChild(group);
+ }
+
+ void
+ MakeConfigGuiVisitor::visitQuaternion(const std::shared_ptr<data::Variant>& q,
+ const std::shared_ptr<type::Variant>& t)
+ {
+ INPUT_GUARD(q);
+ auto data = data::NDArray::DynamicCastAndCheck(q);
+ auto type = type::Quaternion::DynamicCast(t);
+ const auto& quat = simox::math::quat_to_rpy(
+ aron::converter::AronEigenConverter::ConvertToQuaternionf(data));
+ const auto& name = pathToName(q);
+ auto group = RemoteGui::makeHBoxLayout(name + "_layout");
+ group.addChild(RemoteGui::makeLabel(name + "_label").value(q->getPath().getLastElement()));
+ group.addHSpacer();
+ group.addChild(RemoteGui::makeVector3fSpinBoxes(name).value(quat).min(-M_PI).max(M_PI).toolTip(name));
+ group_hierarchy_.back()->addChild(group);
}
void
@@ -214,36 +276,40 @@ namespace armarx::aron::component_config
{
return;
}
- for (const auto& el: data->getElements())
+ for (const auto& el : data->getElements())
{
- group.addChild(RemoteGui::makeLineEdit(pathToName(el.second) + "_lbl").value(el.first), 5);
+ group.addChild(RemoteGui::makeLineEdit(pathToName(el.second) + "_lbl").value(el.first),
+ 5);
group.addHSpacer(2);
- group.addChild(RemoteGui::makeLineEdit(pathToName(el.second)).value(factories::VariantHelper::make(type)->to_string(
- el.second)), 5);
+ group.addChild(RemoteGui::makeLineEdit(pathToName(el.second))
+ .value(factories::VariantHelper::make(type)->to_string(el.second)),
+ 5);
group.addHSpacer(6);
- group.addChild(RemoteGui::makeButton(pathToName(el.second) + "_button").label("-")
- .toolTip("Remove List Element"), 2);
+ group.addChild(RemoteGui::makeButton(pathToName(el.second) + "_button")
+ .label("-")
+ .toolTip("Remove List Element"),
+ 2);
}
- group_hierarchy_.back()
- ->addChild(RemoteGui::makeGroupBox(pathToName(o) + "_grp").label(o->getPath().getLastElement())
- .collapsed(true)
- .addChild(group)
- .addChild(RemoteGui::makeButton(
- pathToName(o) +
- "_add").label("+")
- .toolTip(
- "Add new dict entry.")));
+ group_hierarchy_.back()->addChild(
+ RemoteGui::makeGroupBox(pathToName(o) + "_grp")
+ .label(o->getPath().getLastElement())
+ .collapsed(true)
+ .addChild(group)
+ .addChild(RemoteGui::makeButton(pathToName(o) + "_add")
+ .label("+")
+ .toolTip("Add new dict entry.")));
}
void
- MakeConfigGuiVisitor::visitDictOnExit(const std::shared_ptr<data::Variant>&, const std::shared_ptr<type::Variant>&)
+ MakeConfigGuiVisitor::visitDictOnExit(const std::shared_ptr<data::Variant>&,
+ const std::shared_ptr<type::Variant>&)
{
in_list_ = false;
}
GetValueFromMapVisitor::GetValueFromMapVisitor(armarx::RemoteGui::TabProxy* proxy) :
- proxy_(std::experimental::make_observer(proxy))
+ proxy_(std::experimental::make_observer(proxy))
{
}
@@ -260,7 +326,8 @@ namespace armarx::aron::component_config
{
value->setValue(gui_value.get());
i = value;
- } else
+ }
+ else
{
proxy_->setValue(value->getValue(), name);
}
@@ -280,7 +347,8 @@ namespace armarx::aron::component_config
{
value->setValue(gui_value.get());
f = value;
- } else
+ }
+ else
{
proxy_->setValue(value->getValue(), name);
}
@@ -301,7 +369,8 @@ namespace armarx::aron::component_config
{
value->setValue(gui_value.get());
d = value;
- } else
+ }
+ else
{
proxy_->setValue(static_cast<float>(value->getValue()), name);
}
@@ -321,7 +390,8 @@ namespace armarx::aron::component_config
{
value->setValue(gui_value.get());
b = value;
- } else
+ }
+ else
{
proxy_->setValue(value->getValue(), name);
}
@@ -341,7 +411,8 @@ namespace armarx::aron::component_config
{
value->setValue(gui_value.get());
string = value;
- } else
+ }
+ else
{
proxy_->setValue(value->getValue(), name);
}
@@ -399,7 +470,8 @@ namespace armarx::aron::component_config
{
data->getValue() = type->getValue(str);
o = data;
- } else
+ }
+ else
{
proxy_->setValue(type->getValueName(data->getValue()), name);
}
@@ -418,7 +490,7 @@ namespace armarx::aron::component_config
return;
}
const auto& elements = data->getElements();
- for (const auto& [idx, el]: armarx::MakeIndexedContainer(elements))
+ for (const auto& [idx, el] : armarx::MakeIndexedContainer(elements))
{
if (proxy_->getButtonClicked(pathToName(el) + "_button"))
{
@@ -430,9 +502,8 @@ namespace armarx::aron::component_config
}
if (proxy_->getButtonClicked(pathToName(o) + "_add"))
{
- data->addElement(factories::VariantHelper::make(type)->from_string("",
- o->getPath()
- .withIndex(data->childrenSize())));
+ data->addElement(factories::VariantHelper::make(type)->from_string(
+ "", o->getPath().withIndex(data->childrenSize())));
tab_rebuild_required_ = true;
}
}
@@ -450,7 +521,8 @@ namespace armarx::aron::component_config
}
void
- GetValueFromMapVisitor::visitDictOnEnter(std::shared_ptr<data::Variant>& o, const std::shared_ptr<type::Variant>& t)
+ GetValueFromMapVisitor::visitDictOnEnter(std::shared_ptr<data::Variant>& o,
+ const std::shared_ptr<type::Variant>& t)
{
in_list_ = true;
auto data = data::Dict::DynamicCastAndCheck(o);
@@ -462,7 +534,7 @@ namespace armarx::aron::component_config
}
const auto& elements = data->getElements();
std::map<std::string, std::string> changed_labels;
- for (const auto& [idx, el]: elements)
+ for (const auto& [idx, el] : elements)
{
const std::string name = pathToName(el);
if (proxy_->getButtonClicked(name + "_button"))
@@ -478,7 +550,8 @@ namespace armarx::aron::component_config
if (proxy_->hasValueChanged(name))
{
factories::VariantHelper::make(type)->set_value_from_string(el, gui_value);
- } else
+ }
+ else
{
proxy_->setValue(config_value, name);
}
@@ -488,40 +561,41 @@ namespace armarx::aron::component_config
if (proxy_->hasValueChanged(name + "_lbl"))
{
changed_labels.emplace(idx, gui_key);
- } else
+ }
+ else
{
proxy_->setValue(idx, name + "_lbl");
}
}
}
// replace changed keys in map
- for (const auto& [old_label, new_label]: changed_labels)
+ for (const auto& [old_label, new_label] : changed_labels)
{
auto element = data->getElement(old_label);
data->removeElement(old_label);
auto variantHelper = factories::VariantHelper::make(type);
data->addElement(new_label,
- variantHelper->from_string(variantHelper->to_string(element),
- o->getPath().withDetachedLastElement().withElement(new_label)));
+ variantHelper->from_string(
+ variantHelper->to_string(element),
+ o->getPath().withDetachedLastElement().withElement(new_label)));
tab_rebuild_required_ = true;
}
if (proxy_->getButtonClicked(pathToName(o) + "_add"))
{
data->addElement("defaultKey",
- factories::VariantHelper::make(type)->from_string("",
- o->getPath()
- .withElement("defaultKey")));
+ factories::VariantHelper::make(type)->from_string(
+ "", o->getPath().withElement("defaultKey")));
tab_rebuild_required_ = true;
}
-
}
void
- GetValueFromMapVisitor::visitDictOnExit(std::shared_ptr<data::Variant>&, const std::shared_ptr<type::Variant>&)
+ GetValueFromMapVisitor::visitDictOnExit(std::shared_ptr<data::Variant>&,
+ const std::shared_ptr<type::Variant>&)
{
in_list_ = false;
}
-}
+} // namespace armarx::aron::component_config
#undef INPUT_GUARD
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/aron_component_config/RemoteGuiVisitors.h b/source/RobotAPI/libraries/aron_component_config/RemoteGuiVisitors.h
index ef9f3596bcff18cbd53b0bea245d52d80ab9642e..65fd6c153a35b1cb70139a9db779f173b0a3b6f3 100644
--- a/source/RobotAPI/libraries/aron_component_config/RemoteGuiVisitors.h
+++ b/source/RobotAPI/libraries/aron_component_config/RemoteGuiVisitors.h
@@ -70,6 +70,10 @@ namespace armarx::aron::component_config
void visitString(DataInput&, TypeInput&) override;
+ void visitQuaternion(DataInput& input, TypeInput& typeInput) override;
+
+ void visitMatrix(DataInput& input, TypeInput& typeInput) override;
+
[[nodiscard]] RemoteGui::detail::GroupBoxBuilder getGroupBoxBuilder() const;
private: