articulated object visu: periodic task

source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Visu.cpp

 #include "Visu.h"
-#include "ArmarXCore/core/logging/Logging.h"
-#include "ArmarXCore/core/time/CycleUtil.h"
 
 #include <algorithm>
 
-#include <SimoxUtility/math/pose.h>
-
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/time/CycleUtil.h>
 #include <ArmarXCore/core/time/TimeUtil.h>
 
+#include <SimoxUtility/math/pose.h>
+
 #include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
 
+#include "ArmarXCore/core/services/tasks/PeriodicTask.h"
 #include "Segment.h"
 
 namespace armarx::armem::server::obj::articulated_object_instance
@@ -49,9 +50,9 @@ namespace armarx::armem::server::obj::articulated_object_instance
                          .file(xmlPath.path, xmlPath.path)
                          .joints(obj.config.jointMap)
                          .pose(obj.config.globalPose);
+            // clang-format on
 
             robot.useFullModel();
-            // clang-format on
 
             layer.add(robot);
         };
@@ -62,14 +63,48 @@ namespace armarx::armem::server::obj::articulated_object_instance
 
     void Visu::init()
     {
-        updateTask = new SimpleRunningTask<>([this]()
-        {
-            this->visualizeRun();
-        });
+        updateTask = new PeriodicTask<Visu>(this, &Visu::visualizeRun, 1000 / p.frequencyHz);
         updateTask->start();
     }
 
 
+    void Visu::visualizeRun()
+    {
+        // std::scoped_lock lock(visuMutex);
+        ARMARX_DEBUG << "Update task";
+
+        if (not p.enabled)
+        {
+            return;
+        }
+
+        // TIMING_START(Visu);
+
+        const auto articulatedObjects = segment.getArticulatedObjects();
+        ARMARX_DEBUG << "Found " << articulatedObjects.size() << " articulated objects";
+
+        viz::Layer layer = arviz.layer("ArticulatedObjectInstances");
+
+        ARMARX_DEBUG << "visualizing objects";
+        visualizeObjects(layer, articulatedObjects);
+
+        ARMARX_DEBUG << "Committing objects";
+        arviz.commit({layer});
+
+        ARMARX_DEBUG << "Done committing";
+
+        // TIMING_END_STREAM(Visu, ARMARX_VERBOSE);
+
+        // if (debugObserver)
+        // {
+        //     debugObserver->setDebugChannel(getName(),
+        //     {
+        //         { "t Visualize [ms]", new Variant(Visu.toMilliSecondsDouble()) },
+        //     });
+        // }
+
+    }
+
     // void Visu::RemoteGui::setup(const Visu& visu)
     // {
     //     using namespace armarx::RemoteGui::Client;
@@ -121,50 +156,5 @@ namespace armarx::armem::server::obj::articulated_object_instance
     // }
 
 
-    void Visu::visualizeRun()
-    {
-        CycleUtil cycle(static_cast<int>(1000 / p.frequencyHz));
-        while (updateTask && not updateTask->isStopped())
-        {
-            {
-                // std::scoped_lock lock(visuMutex);
-                ARMARX_DEBUG << "Update task";
-
-                if (p.enabled)
-                {
-                    // TIMING_START(Visu);
-
-                    const auto articulatedObjects = segment.getArticulatedObjects();
-
-                    ARMARX_DEBUG << "Found " << articulatedObjects.size() << " articulated objects";
-
-                    viz::Layer layer = arviz.layer("ArticulatedObjectInstances");
-
-                    ARMARX_DEBUG << "visualizing objects";
-                    visualizeObjects(layer, articulatedObjects);
-
-                    ARMARX_DEBUG << "Committing objects";
-
-                    arviz.commit({layer});
-
-                    ARMARX_DEBUG << "Done committing";
-
-
-                    // TIMING_END_STREAM(Visu, ARMARX_VERBOSE);
-
-                    // if (debugObserver)
-                    // {
-                    //     debugObserver->setDebugChannel(getName(),
-                    //     {
-                    //         { "t Visualize [ms]", new Variant(Visu.toMilliSecondsDouble()) },
-                    //     });
-                    // }
-                }
-            }
-            cycle.waitForCycleDuration();
-        }
-    }
-
-
 
 }  // namespace armarx::armem::server::obj::articulated_object_instance

source/RobotAPI/libraries/armem_objects/server/articulated_object_instance/Visu.h

@@ -22,7 +22,7 @@
 #pragma once
 
 #include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/services/tasks/TaskUtil.h>
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
 
 // #include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
 
@@ -35,13 +35,13 @@ namespace armarx
 {
     class ObjectFinder;
 }
+
 namespace armarx::armem::server::obj::articulated_object_instance
 {
     class Segment;
 
     /**
-     * @brief Models decay of object localizations by decreasing the confidence
-     * the longer the object was not localized.
+     * @brief Visualizes articulated objects
      */
     class Visu : public armarx::Logging
     {
@@ -76,7 +76,7 @@ namespace armarx::armem::server::obj::articulated_object_instance
         } p;
 
 
-        SimpleRunningTask<>::pointer_type updateTask;
+        PeriodicTask<Visu>::pointer_type updateTask;
         void visualizeRun();
 
         // struct RemoteGui

source/RobotAPI/libraries/armem_objects/types.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * 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 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/>.
+ *
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
 #pragma once
 
 #include <vector>