From 85fef88888b0b4291a73a49173be5778085a95d5 Mon Sep 17 00:00:00 2001
From: Nikolaus Vahrenkamp <vahrenkamp@kit.edu>
Date: Wed, 19 Aug 2015 16:20:54 +0200
Subject: [PATCH] made RobotState topic name generic
---
source/RobotAPI/components/units/HeadIKUnit.cpp | 2 +-
source/RobotAPI/components/units/HeadIKUnit.h | 1 +
source/RobotAPI/components/units/TCPControlUnit.cpp | 2 +-
source/RobotAPI/components/units/TCPControlUnit.h | 1 +
4 files changed, 4 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/units/HeadIKUnit.cpp b/source/RobotAPI/components/units/HeadIKUnit.cpp
index f5910ce24..acba6b5da 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.cpp
+++ b/source/RobotAPI/components/units/HeadIKUnit.cpp
@@ -26,7 +26,7 @@ namespace armarx
usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
usingProxy("RobotStateComponent");
- usingTopic("RobotState");
+ usingTopic(getProperty<std::string>("RobotStateTopicName").getValue());
cycleTime = getProperty<int>("CycleTime").getValue();
offeringTopic("DebugDrawerUpdates");
diff --git a/source/RobotAPI/components/units/HeadIKUnit.h b/source/RobotAPI/components/units/HeadIKUnit.h
index 0805fd780..4147362a5 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.h
+++ b/source/RobotAPI/components/units/HeadIKUnit.h
@@ -47,6 +47,7 @@ namespace armarx
ComponentPropertyDefinitions(prefix)
{
defineRequiredProperty<std::string>("KinematicUnitName","Name of the KinematicUnit Proxy");
+ defineOptionalProperty<std::string>("RobotStateTopicName","RobotState","Name of the RobotComponent State topic.");
defineOptionalProperty<int>("CycleTime", 30, "Cycle time of the tcp control in ms");
}
};
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index 43242f839..846a9ce54 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -57,7 +57,7 @@ namespace armarx
usingProxy("RobotStateComponent");
usingProxy("DebugObserver");
offeringTopic(topicName);
- usingTopic("RobotState");
+ usingTopic(getProperty<std::string>("RobotStateTopicName").getValue());
cycleTime = getProperty<int>("CycleTime").getValue();
maxJointVelocity = getProperty<float>("MaxJointVelocity").getValue();
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index 6b585979d..616dadbed 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -46,6 +46,7 @@ namespace armarx
ComponentPropertyDefinitions(prefix)
{
defineRequiredProperty<std::string>("KinematicUnitName","Name of the KinematicUnit Proxy");
+ defineOptionalProperty<std::string>("RobotStateTopicName","RobotState","Name of the RobotComponent State topic.");
defineOptionalProperty<float>("MaxJointVelocity",30.f/180*3.141, "Maximal joint velocity in rad/sec");
defineRequiredProperty<std::string>("RobotFileName", "Robot file name, e.g. robot_model.xml");
defineOptionalProperty<int>("CycleTime", 30, "Cycle time of the tcp control in ms");
--
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