SimpleVirtualRobot component: can now specify global pose

source/RobotAPI/components/armem/client/SimpleVirtualRobot/SimpleVirtualRobot.cpp

@@ -56,6 +56,10 @@ namespace armarx::simple_virtual_robot
 
         defs->optional(properties.robot.jointValues, "p.robot.jointValues", "Specify a certain joint configuration.");
 
+        defs->optional(properties.robot.globalPositionX, "p.robot.globalPositionX", "");
+        defs->optional(properties.robot.globalPositionY, "p.robot.globalPositionY", "");
+        defs->optional(properties.robot.globalPositionYaw, "p.robot.globalPositionYaw", "");
+
         return defs;
     }
 
@@ -125,7 +129,8 @@ namespace armarx::simple_virtual_robot
             robot->setJointValues(jointValues);
         }
 
-        
+        const Eigen::Isometry3f global_T_robot = Eigen::Translation3f{properties.robot.globalPositionX, properties.robot.globalPositionY, 0} * Eigen::AngleAxisf{properties.robot.globalPositionYaw, Eigen::Vector3f::UnitZ()};
+        robot->setGlobalPose(global_T_robot.matrix());
 
         if (not p.name.empty())
         {

source/RobotAPI/components/armem/client/SimpleVirtualRobot/SimpleVirtualRobot.h

@@ -62,6 +62,10 @@ namespace armarx::simple_virtual_robot
                 std::string path;
 
                 std::string jointValues; // json-style map<std::string, float>
+
+                float globalPositionX = 0;
+                float globalPositionY = 0;
+                float globalPositionYaw = 0;
             };
             Robot robot;
         };