From e65c7ab766cd999ba595c7cfceed9bd73b0262ec Mon Sep 17 00:00:00 2001
From: Raphael Grimm <ufdrv@student.kit.edu>
Date: Sat, 4 Jun 2016 11:23:21 +0200
Subject: [PATCH] apps now use runSimpleComponentApp (less code, less
duplication)
---
.../BusInspectionUnitObserverApp.h | 41 -------------
.../BusInspectionUnitObserver/CMakeLists.txt | 2 +-
.../BusInspectionUnitObserver/main.cpp | 11 ++--
.../ForceTorqueObserver/CMakeLists.txt | 2 +-
.../ForceTorqueObserverApp.h | 42 --------------
.../applications/ForceTorqueObserver/main.cpp | 10 ++--
.../ForceTorqueUnitSimulation/CMakeLists.txt | 2 +-
.../ForceTorqueUnitSimulationApp.h | 45 ---------------
.../ForceTorqueUnitSimulation/main.cpp | 11 ++--
.../HandUnitSimulationApp.h | 55 ------------------
.../applications/HandUnitSimulation/main.cpp | 10 ++--
.../HapticObserver/CMakeLists.txt | 2 +-
.../HapticObserver/HapticObserverApp.h | 53 -----------------
.../applications/HapticObserver/main.cpp | 10 ++--
.../applications/HeadIKUnit/CMakeLists.txt | 2 +-
.../applications/HeadIKUnit/HeadIKUnitApp.h | 42 --------------
.../RobotAPI/applications/HeadIKUnit/main.cpp | 11 ++--
.../CMakeLists.txt | 2 +-
.../InertialMeasurementUnitObserverApp.h | 57 -------------------
.../InertialMeasurementUnitObserver/main.cpp | 10 ++--
.../KinematicUnitObserver/CMakeLists.txt | 2 +-
.../KinematicUnitObserverApp.h | 45 ---------------
.../KinematicUnitObserver/main.cpp | 10 ++--
.../KinematicUnitSimulation/CMakeLists.txt | 2 +-
.../KinematicUnitSimulationApp.h | 45 ---------------
.../KinematicUnitSimulation/main.cpp | 10 ++--
.../PlatformUnitObserver/CMakeLists.txt | 2 +-
.../PlatformUnitObserverApp.h | 45 ---------------
.../PlatformUnitObserver/main.cpp | 10 ++--
.../PlatformUnitSimulation/CMakeLists.txt | 2 +-
.../PlatformUnitSimulationApp.h | 45 ---------------
.../PlatformUnitSimulation/main.cpp | 10 ++--
.../applications/RobotControl/CMakeLists.txt | 2 +-
.../RobotControl/RobotControlApp.h | 45 ---------------
.../applications/RobotControl/main.cpp | 10 ++--
.../RobotControlUI/CMakeLists.txt | 1 -
.../RobotControlUI/RobotControlUIApp.h | 45 ---------------
.../applications/RobotControlUI/main.cpp | 10 ++--
.../applications/XsensIMU/CMakeLists.txt | 2 +-
.../applications/XsensIMU/XsensIMUApp.h | 57 -------------------
.../RobotAPI/applications/XsensIMU/main.cpp | 10 ++--
41 files changed, 85 insertions(+), 745 deletions(-)
delete mode 100644 source/RobotAPI/applications/BusInspectionUnitObserver/BusInspectionUnitObserverApp.h
delete mode 100644 source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h
delete mode 100644 source/RobotAPI/applications/ForceTorqueUnitSimulation/ForceTorqueUnitSimulationApp.h
delete mode 100644 source/RobotAPI/applications/HandUnitSimulation/HandUnitSimulationApp.h
delete mode 100644 source/RobotAPI/applications/HapticObserver/HapticObserverApp.h
delete mode 100644 source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h
delete mode 100644 source/RobotAPI/applications/InertialMeasurementUnitObserver/InertialMeasurementUnitObserverApp.h
delete mode 100644 source/RobotAPI/applications/KinematicUnitObserver/KinematicUnitObserverApp.h
delete mode 100644 source/RobotAPI/applications/KinematicUnitSimulation/KinematicUnitSimulationApp.h
delete mode 100644 source/RobotAPI/applications/PlatformUnitObserver/PlatformUnitObserverApp.h
delete mode 100644 source/RobotAPI/applications/PlatformUnitSimulation/PlatformUnitSimulationApp.h
delete mode 100644 source/RobotAPI/applications/RobotControl/RobotControlApp.h
delete mode 100644 source/RobotAPI/applications/RobotControlUI/RobotControlUIApp.h
delete mode 100644 source/RobotAPI/applications/XsensIMU/XsensIMUApp.h
diff --git a/source/RobotAPI/applications/BusInspectionUnitObserver/BusInspectionUnitObserverApp.h b/source/RobotAPI/applications/BusInspectionUnitObserver/BusInspectionUnitObserverApp.h
deleted file mode 100644
index 697580f92..000000000
--- a/source/RobotAPI/applications/BusInspectionUnitObserver/BusInspectionUnitObserverApp.h
+++ /dev/null
@@ -1,41 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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/>.
- *
- * @package RobotAPI::applications
- * @author Peter Kaiser (peter dot kaiser at kit dot edu)
- * @date 2015
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/components/units/BusInspectionUnitObserver.h>
-
-namespace armarx
-{
- class BusInspectionUnitObserverApp :
- virtual public armarx::Application
- {
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<BusInspectionUnitObserver>(properties));
- }
- };
-}
-
-
-
diff --git a/source/RobotAPI/applications/BusInspectionUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/BusInspectionUnitObserver/CMakeLists.txt
index a59095c00..36d65f098 100644
--- a/source/RobotAPI/applications/BusInspectionUnitObserver/CMakeLists.txt
+++ b/source/RobotAPI/applications/BusInspectionUnitObserver/CMakeLists.txt
@@ -11,6 +11,6 @@ endif()
set(COMPONENT_LIBS RobotAPIUnits)
-set(EXE_SOURCE main.cpp BusInspectionUnitObserverApp.h)
+set(EXE_SOURCE main.cpp)
armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/BusInspectionUnitObserver/main.cpp b/source/RobotAPI/applications/BusInspectionUnitObserver/main.cpp
index 30b071b58..82f4b846f 100644
--- a/source/RobotAPI/applications/BusInspectionUnitObserver/main.cpp
+++ b/source/RobotAPI/applications/BusInspectionUnitObserver/main.cpp
@@ -22,12 +22,13 @@
* GNU General Public License
*/
-#include "BusInspectionUnitObserverApp.h"
+#include <RobotAPI/components/units/BusInspectionUnitObserver.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
- armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::BusInspectionUnitObserverApp>();
- app->setName("BusInspectionUnitObserver");
-
- return app->main(argc, argv);
+ return armarx::runSimpleComponentApp<armarx::BusInspectionUnitObserver>(argc, argv, "BusInspectionUnitObserver");
}
diff --git a/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt b/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
index db0ee2c94..2b27a6d00 100644
--- a/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
+++ b/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
@@ -11,6 +11,6 @@ endif()
set(COMPONENT_LIBS RobotAPIUnits)
-set(EXE_SOURCE main.cpp ForceTorqueObserverApp.h)
+set(EXE_SOURCE main.cpp)
armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h b/source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h
deleted file mode 100644
index 32d5ae9e6..000000000
--- a/source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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/>.
- *
- * @package ArmarXCore::applications
- * @author Kai Welke (weöle dot at kit dot edu)
- * @date 2012
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/components/units/ForceTorqueObserver.h>
-
-namespace armarx
-{
- class ForceTorqueObserverApp :
- virtual public armarx::Application
- {
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<ForceTorqueObserver>(properties));
- }
- };
-}
-
-
-
diff --git a/source/RobotAPI/applications/ForceTorqueObserver/main.cpp b/source/RobotAPI/applications/ForceTorqueObserver/main.cpp
index a878d500d..5bde42c5f 100644
--- a/source/RobotAPI/applications/ForceTorqueObserver/main.cpp
+++ b/source/RobotAPI/applications/ForceTorqueObserver/main.cpp
@@ -22,13 +22,13 @@
* GNU General Public License
*/
-#include "ForceTorqueObserverApp.h"
+#include <RobotAPI/components/units/ForceTorqueObserver.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
- armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::ForceTorqueObserverApp>();
- app->setName("ForceTorqueObserver");
-
- return app->main(argc, argv);
+ return armarx::runSimpleComponentApp<armarx::ForceTorqueObserver>(argc, argv, "ForceTorqueObserver");
}
diff --git a/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt b/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt
index 93f53429d..e7da9acf4 100644
--- a/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt
+++ b/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt
@@ -10,6 +10,6 @@ endif()
set(COMPONENT_LIBS RobotAPIUnits)
-set(SOURCES main.cpp ForceTorqueUnitSimulationApp.h)
+set(SOURCES main.cpp)
armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/ForceTorqueUnitSimulation/ForceTorqueUnitSimulationApp.h b/source/RobotAPI/applications/ForceTorqueUnitSimulation/ForceTorqueUnitSimulationApp.h
deleted file mode 100644
index 586593eb4..000000000
--- a/source/RobotAPI/applications/ForceTorqueUnitSimulation/ForceTorqueUnitSimulationApp.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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/>.
- *
- * @package RobotAPI::applications
- * @author Peter Kaiser
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/components/units/ForceTorqueUnitSimulation.h>
-
-namespace armarx
-{
- /**
- * Application for testing the armarx::ForceTorqueUnitSimulation
- */
- class ForceTorqueUnitSimulationApp :
- virtual public armarx::Application
- {
- /**
- * @see armarx::Application::setup()
- */
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<ForceTorqueUnitSimulation>(properties));
- }
- };
-}
diff --git a/source/RobotAPI/applications/ForceTorqueUnitSimulation/main.cpp b/source/RobotAPI/applications/ForceTorqueUnitSimulation/main.cpp
index 52d4c4e54..26a126b4b 100644
--- a/source/RobotAPI/applications/ForceTorqueUnitSimulation/main.cpp
+++ b/source/RobotAPI/applications/ForceTorqueUnitSimulation/main.cpp
@@ -22,12 +22,13 @@
* GNU General Public License
*/
-#include "ForceTorqueUnitSimulationApp.h"
+#include <RobotAPI/components/units/ForceTorqueUnitSimulation.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
- armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::ForceTorqueUnitSimulationApp>();
- app->setName("ForceTorqueUnitSimulation");
-
- return app->main(argc, argv);
+ return armarx::runSimpleComponentApp<armarx::ForceTorqueUnitSimulation>(argc, argv, "ForceTorqueUnitSimulation");
}
diff --git a/source/RobotAPI/applications/HandUnitSimulation/HandUnitSimulationApp.h b/source/RobotAPI/applications/HandUnitSimulation/HandUnitSimulationApp.h
deleted file mode 100644
index e39aa0e71..000000000
--- a/source/RobotAPI/applications/HandUnitSimulation/HandUnitSimulationApp.h
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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/>.
- *
- * @package RobotAPI::application::HandUnitSimulation
- * @author David Schiebener ( schiebener at kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_APPLICATION_RobotAPI_HandUnitSimulation_H
-#define _ARMARX_APPLICATION_RobotAPI_HandUnitSimulation_H
-
-
-#include <RobotAPI/components/units/HandUnitSimulation.h>
-
-#include <ArmarXCore/core/application/Application.h>
-
-namespace armarx
-{
- /**
- * @class HandUnitSimulationApp
- * @brief A brief description
- *
- * Detailed Description
- */
- class HandUnitSimulationApp :
- virtual public armarx::Application
- {
- /**
- * @see armarx::Application::setup()
- */
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
- Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<HandUnitSimulation>(properties));
- }
- };
-}
-
-#endif
diff --git a/source/RobotAPI/applications/HandUnitSimulation/main.cpp b/source/RobotAPI/applications/HandUnitSimulation/main.cpp
index 0097fbef9..32bd1b8d3 100644
--- a/source/RobotAPI/applications/HandUnitSimulation/main.cpp
+++ b/source/RobotAPI/applications/HandUnitSimulation/main.cpp
@@ -22,13 +22,13 @@
* GNU General Public License
*/
-#include "HandUnitSimulationApp.h"
+#include <RobotAPI/components/units/HandUnitSimulation.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
- armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::HandUnitSimulationApp > ();
- app->setName("HandUnitSimulation");
-
- return app->main(argc, argv);
+ return armarx::runSimpleComponentApp<armarx::HandUnitSimulation>(argc, argv, "HandUnitSimulation");
}
diff --git a/source/RobotAPI/applications/HapticObserver/CMakeLists.txt b/source/RobotAPI/applications/HapticObserver/CMakeLists.txt
index f9205fbe4..4ecded180 100644
--- a/source/RobotAPI/applications/HapticObserver/CMakeLists.txt
+++ b/source/RobotAPI/applications/HapticObserver/CMakeLists.txt
@@ -10,6 +10,6 @@ endif()
set(COMPONENT_LIBS RobotAPIUnits)
-set(EXE_SOURCE main.cpp HapticObserverApp.h)
+set(EXE_SOURCE main.cpp)
armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/HapticObserver/HapticObserverApp.h b/source/RobotAPI/applications/HapticObserver/HapticObserverApp.h
deleted file mode 100644
index d31398ea0..000000000
--- a/source/RobotAPI/applications/HapticObserver/HapticObserverApp.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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/>.
- *
- * @package RobotAPI::application::HapticObserver
- * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_APPLICATION_RobotAPI_HapticObserver_H
-#define _ARMARX_APPLICATION_RobotAPI_HapticObserver_H
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/components/units/HapticObserver.h>
-
-namespace armarx
-{
- /**
- * @class HapticObserverApp
- * @brief A brief description
- *
- * Detailed Description
- */
- class HapticObserverApp :
- virtual public armarx::Application
- {
- /**
- * @see armarx::Application::setup()
- */
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
- Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<HapticObserver>(properties));
- }
- };
-}
-
-#endif
diff --git a/source/RobotAPI/applications/HapticObserver/main.cpp b/source/RobotAPI/applications/HapticObserver/main.cpp
index 7d8ca2521..c521a8ac8 100644
--- a/source/RobotAPI/applications/HapticObserver/main.cpp
+++ b/source/RobotAPI/applications/HapticObserver/main.cpp
@@ -22,13 +22,13 @@
* GNU General Public License
*/
-#include "HapticObserverApp.h"
+#include <RobotAPI/components/units/HapticObserver.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
- armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::HapticObserverApp > ();
- app->setName("HapticObserver");
-
- return app->main(argc, argv);
+ return armarx::runSimpleComponentApp<armarx::HapticObserver>(argc, argv, "HapticObserver");
}
diff --git a/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt b/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt
index 8967cc898..505fd541c 100644
--- a/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt
+++ b/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt
@@ -17,6 +17,6 @@ include_directories(${Simox_INCLUDE_DIRS})
set(COMPONENT_LIBS RobotAPIUnits)
-set(SOURCES main.cpp HeadIKUnitApp.h)
+set(SOURCES main.cpp)
armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h b/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h
deleted file mode 100644
index 2523758b7..000000000
--- a/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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/>.
- *
- * @package ArmarXCore::applications
- * @author David Schiebener (schiebener at kit dot edu)
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/components/units/HeadIKUnit.h>
-
-namespace armarx
-{
- class HeadIKUnitApp :
- virtual public armarx::Application
- {
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<HeadIKUnit>(properties));
- }
- };
-}
-
-
-
diff --git a/source/RobotAPI/applications/HeadIKUnit/main.cpp b/source/RobotAPI/applications/HeadIKUnit/main.cpp
index 32c2146ef..83eadc25c 100644
--- a/source/RobotAPI/applications/HeadIKUnit/main.cpp
+++ b/source/RobotAPI/applications/HeadIKUnit/main.cpp
@@ -22,12 +22,13 @@
* GNU General Public License
*/
-#include "HeadIKUnitApp.h"
+#include <RobotAPI/components/units/HeadIKUnit.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
- armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::HeadIKUnitApp>();
- app->setName("HeadIKUnit");
-
- return app->main(argc, argv);
+ return armarx::runSimpleComponentApp<armarx::HeadIKUnit>(argc, argv, "HeadIKUnit");
}
diff --git a/source/RobotAPI/applications/InertialMeasurementUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/InertialMeasurementUnitObserver/CMakeLists.txt
index e280918bc..c481299f8 100644
--- a/source/RobotAPI/applications/InertialMeasurementUnitObserver/CMakeLists.txt
+++ b/source/RobotAPI/applications/InertialMeasurementUnitObserver/CMakeLists.txt
@@ -11,6 +11,6 @@ armarx_component_set_name("InertialMeasurementUnitObserverApp")
set(COMPONENT_LIBS ArmarXCoreInterfaces ArmarXCore ArmarXCoreObservers RobotAPIUnits)
-set(EXE_SOURCE InertialMeasurementUnitObserverApp.h main.cpp)
+set(EXE_SOURCE main.cpp)
armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/InertialMeasurementUnitObserver/InertialMeasurementUnitObserverApp.h b/source/RobotAPI/applications/InertialMeasurementUnitObserver/InertialMeasurementUnitObserverApp.h
deleted file mode 100644
index 4d6592913..000000000
--- a/source/RobotAPI/applications/InertialMeasurementUnitObserver/InertialMeasurementUnitObserverApp.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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/>.
- *
- * @package RobotAPI::application::InertialMeasurementUnitObserver
- * @author Markus Grotz ( markus-grotz at web dot de )
- * @date 2015
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_APPLICATION_RobotAPI_InertialMeasurementUnitObserver_H
-#define _ARMARX_APPLICATION_RobotAPI_InertialMeasurementUnitObserver_H
-
-
-#include <RobotAPI/components/units/InertialMeasurementUnitObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-
-
-namespace armarx
-{
- /**
- * @class InertialMeasurementUnitObserverApp
- * @brief A brief description
- *
- * Detailed Description
- */
- class InertialMeasurementUnitObserverApp :
- virtual public armarx::Application
- {
- /**
- * @see armarx::Application::setup()
- */
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
- Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<InertialMeasurementUnitObserver>(properties));
- }
- };
-}
-
-#endif
diff --git a/source/RobotAPI/applications/InertialMeasurementUnitObserver/main.cpp b/source/RobotAPI/applications/InertialMeasurementUnitObserver/main.cpp
index 3c787c737..593baa1d1 100644
--- a/source/RobotAPI/applications/InertialMeasurementUnitObserver/main.cpp
+++ b/source/RobotAPI/applications/InertialMeasurementUnitObserver/main.cpp
@@ -22,13 +22,13 @@
* GNU General Public License
*/
-#include "InertialMeasurementUnitObserverApp.h"
+#include <RobotAPI/components/units/InertialMeasurementUnitObserver.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
- armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::InertialMeasurementUnitObserverApp > ();
- app->setName("InertialMeasurementUnitObserver");
-
- return app->main(argc, argv);
+ return armarx::runSimpleComponentApp<armarx::InertialMeasurementUnitObserver>(argc, argv, "InertialMeasurementUnitObserver");
}
diff --git a/source/RobotAPI/applications/KinematicUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/KinematicUnitObserver/CMakeLists.txt
index cea242b91..940574be8 100644
--- a/source/RobotAPI/applications/KinematicUnitObserver/CMakeLists.txt
+++ b/source/RobotAPI/applications/KinematicUnitObserver/CMakeLists.txt
@@ -4,6 +4,6 @@ armarx_component_set_name(KinematicUnitObserver)
set(COMPONENT_LIBS RobotAPIUnits)
-set(SOURCES main.cpp KinematicUnitObserverApp.h)
+set(SOURCES main.cpp)
armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/KinematicUnitObserver/KinematicUnitObserverApp.h b/source/RobotAPI/applications/KinematicUnitObserver/KinematicUnitObserverApp.h
deleted file mode 100644
index d03ca16f2..000000000
--- a/source/RobotAPI/applications/KinematicUnitObserver/KinematicUnitObserverApp.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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/>.
- *
- * @package ArmarXCore::applications
- * @author Christian Boege (boege dot at kit dot edu)
- * @date 2011
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/components/units/KinematicUnitObserver.h>
-
-namespace armarx
-{
- /**
- * Application for testing the armarx::KinematicUnitObserver
- */
- class KinematicUnitObserverApp :
- virtual public armarx::Application
- {
- /**
- * @see armarx::Application::setup()
- */
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<KinematicUnitObserver>(properties));
- }
- };
-}
diff --git a/source/RobotAPI/applications/KinematicUnitObserver/main.cpp b/source/RobotAPI/applications/KinematicUnitObserver/main.cpp
index 9b33770f2..213d65125 100644
--- a/source/RobotAPI/applications/KinematicUnitObserver/main.cpp
+++ b/source/RobotAPI/applications/KinematicUnitObserver/main.cpp
@@ -22,13 +22,13 @@
* GNU General Public License
*/
-#include "KinematicUnitObserverApp.h"
+#include <RobotAPI/components/units/KinematicUnitObserver.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
- armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::KinematicUnitObserverApp>();
- app->setName("KinematicUnitObserver");
-
- return app->main(argc, argv);
+ return armarx::runSimpleComponentApp<armarx::KinematicUnitObserver>(argc, argv, "KinematicUnitObserver");
}
diff --git a/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt b/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt
index 48b4f0903..823267b1f 100644
--- a/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt
+++ b/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt
@@ -16,6 +16,6 @@ include_directories(${Simox_INCLUDE_DIRS})
set(COMPONENT_LIBS RobotAPIUnits)
-set(SOURCES main.cpp KinematicUnitSimulationApp.h)
+set(SOURCES main.cpp)
armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/KinematicUnitSimulation/KinematicUnitSimulationApp.h b/source/RobotAPI/applications/KinematicUnitSimulation/KinematicUnitSimulationApp.h
deleted file mode 100644
index 6782b1c1a..000000000
--- a/source/RobotAPI/applications/KinematicUnitSimulation/KinematicUnitSimulationApp.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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/>.
- *
- * @package ArmarXCore::applications
- * @author Christian Boege (boege at kit dot edu)
- * @date 2011
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/components/units/KinematicUnitSimulation.h>
-
-namespace armarx
-{
- /**
- * Application for testing the armarx::KinematicUnitSimulation
- */
- class KinematicUnitSimulationApp :
- virtual public armarx::Application
- {
- /**
- * @see armarx::Application::setup()
- */
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<KinematicUnitSimulation>(properties));
- }
- };
-}
diff --git a/source/RobotAPI/applications/KinematicUnitSimulation/main.cpp b/source/RobotAPI/applications/KinematicUnitSimulation/main.cpp
index fcad3cb74..766a0c8a0 100644
--- a/source/RobotAPI/applications/KinematicUnitSimulation/main.cpp
+++ b/source/RobotAPI/applications/KinematicUnitSimulation/main.cpp
@@ -22,13 +22,13 @@
* GNU General Public License
*/
-#include "KinematicUnitSimulationApp.h"
+#include <RobotAPI/components/units/KinematicUnitSimulation.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
- armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::KinematicUnitSimulationApp>();
- app->setName("KinematicUnitSimulation");
-
- return app->main(argc, argv);
+ return armarx::runSimpleComponentApp<armarx::KinematicUnitSimulation>(argc, argv, "KinematicUnitSimulation");
}
diff --git a/source/RobotAPI/applications/PlatformUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/PlatformUnitObserver/CMakeLists.txt
index 83e6e45a9..c9deac457 100644
--- a/source/RobotAPI/applications/PlatformUnitObserver/CMakeLists.txt
+++ b/source/RobotAPI/applications/PlatformUnitObserver/CMakeLists.txt
@@ -3,6 +3,6 @@ armarx_component_set_name(PlatformUnitObserver)
set(COMPONENT_LIBS RobotAPIUnits)
-set(SOURCES main.cpp PlatformUnitObserverApp.h)
+set(SOURCES main.cpp)
armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/PlatformUnitObserver/PlatformUnitObserverApp.h b/source/RobotAPI/applications/PlatformUnitObserver/PlatformUnitObserverApp.h
deleted file mode 100644
index 79d661035..000000000
--- a/source/RobotAPI/applications/PlatformUnitObserver/PlatformUnitObserverApp.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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/>.
- *
- * @package ArmarXCore::applications
- * @author Manfred Kroehnert (manfred dot kroehnert at kit dot edu)
- * @date 2013
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/components/units/PlatformUnitObserver.h>
-
-namespace armarx
-{
- /**
- * Application for executing armarx::PlatformUnitObserver
- */
- class PlatformUnitObserverApp :
- public armarx::Application
- {
- /**
- * @see armarx::Application::setup()
- */
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<PlatformUnitObserver>(properties));
- }
- };
-}
diff --git a/source/RobotAPI/applications/PlatformUnitObserver/main.cpp b/source/RobotAPI/applications/PlatformUnitObserver/main.cpp
index fde58a4a7..71e4411dd 100644
--- a/source/RobotAPI/applications/PlatformUnitObserver/main.cpp
+++ b/source/RobotAPI/applications/PlatformUnitObserver/main.cpp
@@ -22,13 +22,13 @@
* GNU General Public License
*/
-#include "PlatformUnitObserverApp.h"
+#include <RobotAPI/components/units/PlatformUnitObserver.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
- armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::PlatformUnitObserverApp>();
- app->setName("PlatformUnitObserver");
-
- return app->main(argc, argv);
+ return armarx::runSimpleComponentApp<armarx::PlatformUnitObserver>(argc, argv, "PlatformUnitObserver");
}
diff --git a/source/RobotAPI/applications/PlatformUnitSimulation/CMakeLists.txt b/source/RobotAPI/applications/PlatformUnitSimulation/CMakeLists.txt
index 40e5ea07c..a6eae5afe 100644
--- a/source/RobotAPI/applications/PlatformUnitSimulation/CMakeLists.txt
+++ b/source/RobotAPI/applications/PlatformUnitSimulation/CMakeLists.txt
@@ -3,6 +3,6 @@ armarx_component_set_name(PlatformUnitSimulation)
set(COMPONENT_LIBS RobotAPIUnits)
-set(SOURCES main.cpp PlatformUnitSimulationApp.h)
+set(SOURCES main.cpp)
armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/PlatformUnitSimulation/PlatformUnitSimulationApp.h b/source/RobotAPI/applications/PlatformUnitSimulation/PlatformUnitSimulationApp.h
deleted file mode 100644
index c29fb3870..000000000
--- a/source/RobotAPI/applications/PlatformUnitSimulation/PlatformUnitSimulationApp.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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/>.
- *
- * @package ArmarXCore::applications
- * @author tobias haass
- * @date 2013
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/components/units/PlatformUnitSimulation.h>
-
-namespace armarx
-{
- /**
- * Application for testing the armarx::PlatformUnitSimulation
- */
- class PlatformUnitSimulationApp :
- virtual public armarx::Application
- {
- /**
- * @see armarx::Application::setup()
- */
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<PlatformUnitSimulation>(properties));
- }
- };
-}
diff --git a/source/RobotAPI/applications/PlatformUnitSimulation/main.cpp b/source/RobotAPI/applications/PlatformUnitSimulation/main.cpp
index 98b8790a5..bca561916 100644
--- a/source/RobotAPI/applications/PlatformUnitSimulation/main.cpp
+++ b/source/RobotAPI/applications/PlatformUnitSimulation/main.cpp
@@ -22,13 +22,13 @@
* GNU General Public License
*/
-#include "PlatformUnitSimulationApp.h"
+#include <RobotAPI/components/units/PlatformUnitSimulation.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
- armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::PlatformUnitSimulationApp>();
- app->setName("PlatformUnitSimulation");
-
- return app->main(argc, argv);
+ return armarx::runSimpleComponentApp<armarx::PlatformUnitSimulation>(argc, argv, "PlatformUnitSimulation");
}
diff --git a/source/RobotAPI/applications/RobotControl/CMakeLists.txt b/source/RobotAPI/applications/RobotControl/CMakeLists.txt
index 2159a85ac..798af63ac 100644
--- a/source/RobotAPI/applications/RobotControl/CMakeLists.txt
+++ b/source/RobotAPI/applications/RobotControl/CMakeLists.txt
@@ -3,6 +3,6 @@ armarx_component_set_name(RobotControl)
set(COMPONENT_LIBS RobotAPIOperations)
-set(SOURCES main.cpp RobotControlApp.h)
+set(SOURCES main.cpp)
armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/RobotControl/RobotControlApp.h b/source/RobotAPI/applications/RobotControl/RobotControlApp.h
deleted file mode 100644
index a78f5af33..000000000
--- a/source/RobotAPI/applications/RobotControl/RobotControlApp.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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/>.
- *
- * @package ArmarXCore::applications
- * @author Kai Welke (weöle dot at kit dot edu)
- * @date 2012
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-
-#include <ArmarXCore/core/application/Application.h>
-#include <RobotAPI/statecharts/operations/RobotControl.h>
-
-namespace armarx
-{
- /**
- * Application for testing armarx::RobotControl
- */
- class RobotControlApp :
- virtual public armarx::Application
- {
- /**
- * @see armarx::Application::setup()
- */
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<RobotControl>(properties));
- }
- };
-}
diff --git a/source/RobotAPI/applications/RobotControl/main.cpp b/source/RobotAPI/applications/RobotControl/main.cpp
index 96a9c733b..720e6420b 100644
--- a/source/RobotAPI/applications/RobotControl/main.cpp
+++ b/source/RobotAPI/applications/RobotControl/main.cpp
@@ -22,13 +22,13 @@
* GNU General Public License
*/
-#include "RobotControlApp.h"
+#include <RobotAPI/statecharts/operations/RobotControl.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
- armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::RobotControlApp>();
- app->setName("RobotControl");
-
- return app->main(argc, argv);
+ return armarx::runSimpleComponentApp<armarx::RobotControl>(argc, argv, "RobotControl");
}
diff --git a/source/RobotAPI/applications/RobotControlUI/CMakeLists.txt b/source/RobotAPI/applications/RobotControlUI/CMakeLists.txt
index 2a8fbed83..8fe3ebb2c 100644
--- a/source/RobotAPI/applications/RobotControlUI/CMakeLists.txt
+++ b/source/RobotAPI/applications/RobotControlUI/CMakeLists.txt
@@ -6,7 +6,6 @@ set(COMPONENT_LIBS RobotAPIOperations)
set(SOURCES main.cpp
RobotControlUI.cpp
RobotControlUI.h
- RobotControlUIApp.h
)
armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/RobotControlUI/RobotControlUIApp.h b/source/RobotAPI/applications/RobotControlUI/RobotControlUIApp.h
deleted file mode 100644
index 092fb8f29..000000000
--- a/source/RobotAPI/applications/RobotControlUI/RobotControlUIApp.h
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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/>.
- *
- * @package ArmarXCore::applications
- * @author Kai Welke (weöle dot at kit dot edu)
- * @date 2012
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-
-#include <ArmarXCore/core/application/Application.h>
-#include "RobotControlUI.h"
-
-namespace armarx
-{
- /**
- * Application for testing armarx::RobotControlUI
- */
- class RobotControlUIApp :
- virtual public armarx::Application
- {
- /**
- * @see armarx::Application::setup()
- */
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<RobotControlUI>(properties));
- }
- };
-}
diff --git a/source/RobotAPI/applications/RobotControlUI/main.cpp b/source/RobotAPI/applications/RobotControlUI/main.cpp
index 4723b0d03..df21ab13f 100644
--- a/source/RobotAPI/applications/RobotControlUI/main.cpp
+++ b/source/RobotAPI/applications/RobotControlUI/main.cpp
@@ -22,13 +22,13 @@
* GNU General Public License
*/
-#include "RobotControlUIApp.h"
+#include "RobotControlUI.h"
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
- armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::RobotControlUIApp>();
- app->setName("RobotControlUI");
-
- return app->main(argc, argv);
+ return armarx::runSimpleComponentApp<armarx::RobotControlUI>(argc, argv, "RobotControlUI");
}
diff --git a/source/RobotAPI/applications/XsensIMU/CMakeLists.txt b/source/RobotAPI/applications/XsensIMU/CMakeLists.txt
index 68a3af2b1..20bf9c0df 100644
--- a/source/RobotAPI/applications/XsensIMU/CMakeLists.txt
+++ b/source/RobotAPI/applications/XsensIMU/CMakeLists.txt
@@ -11,6 +11,6 @@ armarx_component_set_name("XsensIMUApp")
set(COMPONENT_LIBS ArmarXCoreInterfaces ArmarXCore XsensIMU)
-set(EXE_SOURCE XsensIMUApp.h main.cpp)
+set(EXE_SOURCE main.cpp)
armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/XsensIMU/XsensIMUApp.h b/source/RobotAPI/applications/XsensIMU/XsensIMUApp.h
deleted file mode 100644
index 0b698786f..000000000
--- a/source/RobotAPI/applications/XsensIMU/XsensIMUApp.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * 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/>.
- *
- * @package RobotAPI::application::XsensIMU
- * @author Markus Grotz ( markus-grotz at web dot de )
- * @date 2015
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_APPLICATION_RobotAPI_XsensIMU_H
-#define _ARMARX_APPLICATION_RobotAPI_XsensIMU_H
-
-
-#include <RobotAPI/drivers/XsensIMU/XsensIMU.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-
-
-namespace armarx
-{
- /**
- * @class XsensIMUApp
- * @brief A brief description
- *
- * Detailed Description
- */
- class XsensIMUApp :
- virtual public armarx::Application
- {
- /**
- * @see armarx::Application::setup()
- */
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
- Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<XsensIMU>(properties));
- }
- };
-}
-
-#endif
diff --git a/source/RobotAPI/applications/XsensIMU/main.cpp b/source/RobotAPI/applications/XsensIMU/main.cpp
index 4ecdb27a5..2b5d6083b 100644
--- a/source/RobotAPI/applications/XsensIMU/main.cpp
+++ b/source/RobotAPI/applications/XsensIMU/main.cpp
@@ -22,13 +22,13 @@
* GNU General Public License
*/
-#include "XsensIMUApp.h"
+#include <RobotAPI/drivers/XsensIMU/XsensIMU.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
- armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::XsensIMUApp > ();
- app->setName("XsensIMU");
-
- return app->main(argc, argv);
+ return armarx::runSimpleComponentApp<armarx::XsensIMU>(argc, argv, "XsensIMU");
}
--
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