From d29c7560f248623b634391e24688b068709ec48f Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 26 Nov 2021 16:28:20 +0100
Subject: [PATCH] Add documentation to ArViz example
---
.../components/ArViz/Example/ArVizExample.cpp | 60 +++++++++++-----
.../components/ArViz/Example/ArVizExample.h | 72 ++++++++++---------
2 files changed, 81 insertions(+), 51 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp b/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
index a24c17c37..4d2be3924 100644
--- a/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
+++ b/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
@@ -22,42 +22,75 @@
#include "ArVizExample.h"
-
-
#include <Eigen/Eigen>
#include <SimoxUtility/color/cmaps.h>
#include <ArmarXCore/core/time/CycleUtil.h>
-#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
#include <ArmarXCore/core/time/TimeUtil.h>
+#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
#include <RobotAPI/components/ArViz/Client/Client.h>
namespace armarx
{
- ARMARX_DECOUPLED_REGISTER_COMPONENT(ArVizExample);
+
+ armarx::PropertyDefinitionsPtr ArVizExample::createPropertyDefinitions()
+ {
+ armarx::PropertyDefinitionsPtr defs(new ComponentPropertyDefinitions(getConfigIdentifier()));
+
+ // In this example, this is automatically done by deriving the component
+ // from armarx::ArVizComponentPluginUser.
+ if (false)
+ {
+ defs->defineOptionalProperty<std::string>("ArVizTopicName", "ArVizTopic", "Layer updates are sent over this topic.");
+ }
+
+ defs->optional(properties.manyLayers, "layers.ManyElements",
+ "Show a layer with a lot of elements (used for testing, may impact performance).");
+
+ return defs;
+ }
+
+
+ std::string ArVizExample::getDefaultName() const
+ {
+ return "ArVizExample";
+ }
+
void ArVizExample::onInitComponent()
{
- offeringTopicFromProperty("ArVizTopicName");
+ // In this example, this is automatically done by deriving the component
+ // from armarx::ArVizComponentPluginUser.
+ if (false)
+ {
+ offeringTopicFromProperty("ArVizTopicName");
+ }
}
+
void ArVizExample::onConnectComponent()
{
- task = new RunningTask<ArVizExample>(this, &ArVizExample::update);
+ task = new RunningTask<ArVizExample>(this, &ArVizExample::run);
task->start();
}
void ArVizExample::onDisconnectComponent()
{
- task->stop();
+ const bool join = true;
+ task->stop(join);
task = nullptr;
}
+ void ArVizExample::onExitComponent()
+ {
+ }
+
+
void fillTestLayer(viz::Layer& layer, double timeInSeconds)
{
{
@@ -140,6 +173,7 @@ namespace armarx
}
+
void fillRobotHandsLayer(viz::Layer& layer)
{
Eigen::Vector3f pos = Eigen::Vector3f::Zero();
@@ -429,6 +463,7 @@ namespace armarx
}
}
+
void fillColorMapsLayer(viz::Layer& layer, double timeInSeconds)
{
(void) timeInSeconds;
@@ -466,7 +501,7 @@ namespace armarx
}
- void ArVizExample::update()
+ void ArVizExample::run()
{
// This example uses the member `arviz` provided by armarx::ArVizComponentPluginUser.
{
@@ -539,15 +574,8 @@ namespace armarx
}
}
- void ArVizExample::onExitComponent()
- {
- }
+ ARMARX_DECOUPLED_REGISTER_COMPONENT(ArVizExample);
- armarx::PropertyDefinitionsPtr ArVizExample::createPropertyDefinitions()
- {
- return armarx::PropertyDefinitionsPtr(new ArVizExamplePropertyDefinitions(
- getConfigIdentifier()));
- }
}
diff --git a/source/RobotAPI/components/ArViz/Example/ArVizExample.h b/source/RobotAPI/components/ArViz/Example/ArVizExample.h
index 09c59505e..a3f6848d7 100644
--- a/source/RobotAPI/components/ArViz/Example/ArVizExample.h
+++ b/source/RobotAPI/components/ArViz/Example/ArVizExample.h
@@ -22,8 +22,6 @@
#pragma once
-#include <RobotAPI/interface/ArViz.h>
-
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
@@ -33,53 +31,48 @@
namespace armarx
{
- /**
- * @class ArVizExamplePropertyDefinitions
- */
- class ArVizExamplePropertyDefinitions :
- public armarx::ComponentPropertyDefinitions
- {
- public:
- ArVizExamplePropertyDefinitions(std::string prefix) :
- armarx::ComponentPropertyDefinitions(prefix)
- {
- // In this example, this is automatically done by deriving the component
- // from armarx::ArVizComponentPluginUser.
- if (false)
- {
- defineOptionalProperty<std::string>("ArVizTopicName", "ArVizTopic", "Layer updates are sent over this topic.");
- }
-
-
- defineOptionalProperty<bool>("layers.ManyElements", false,
- "Show a layer with a lot of elements (used for testing, may impact performance).");
- }
- };
/**
* @defgroup Component-ArVizExample ArVizExample
* @ingroup RobotAPI-Components
- * A description of the component ArVizExample.
+ *
+ * An example for how to visualize 3D elements via the 3D visualization
+ * framework ArViz.
+ *
+ *
*
* @class ArVizExample
* @ingroup Component-ArVizExample
* @brief Brief description of class ArVizExample.
*
- * Detailed description of class ArVizExample.
+ * A component which wants to visualize data via ArViz should inherit from
+ * the `armarx::ArVizComponentPluginUser`.
+ * This adds the necessary properties (e.g. the topic name) and provides a
+ * ready-to-use ArViz client called `arviz`.
+ * The ArViz client can be used to create layers and commit them to the
+ * ArViz topic.
+ *
+ * The example creates several layers, fills them with visualization
+ * elements, and commits them to ArViz.
+ *
+ * To see the result:
+ * \li Start the component `ArVizStorage`
+ * \li Open the gui plugin `ArViz`
+ * \li Start the component `ArVizExample`
+ *
+ * The scenario `ArVizExample` starts the necessary components including
+ * the example component.s
*/
class ArVizExample :
virtual public armarx::Component,
- // Deriving from armarx::ArVizComponentPluginUser adds necessary properties
- // and provides a ready-to-use ArViz client.
+ // Deriving from armarx::ArVizComponentPluginUser adds necessary properties
+ // and provides a ready-to-use ArViz client called `arviz`.
virtual public armarx::ArVizComponentPluginUser
{
public:
- /// @see armarx::ManagedIceObject::getDefaultName()
- std::string getDefaultName() const override
- {
- return "ArVizExample";
- }
+ std::string getDefaultName() const override;
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
void onInitComponent() override;
void onConnectComponent() override;
@@ -87,12 +80,21 @@ namespace armarx
void onDisconnectComponent() override;
void onExitComponent() override;
- armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
private:
- void update();
+
+ void run();
+
private:
+
RunningTask<ArVizExample>::pointer_type task;
+
+ struct Properties
+ {
+ bool manyLayers = false;
+ };
+ Properties properties;
+
};
}
--
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