Changes in Simox: VisualizationFactory

source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp

@@ -543,15 +543,7 @@ namespace armarx
         }
 
         SoSeparator* newS = new SoSeparator;
-        Eigen::Matrix4f lp1 = Eigen::Matrix4f::Identity();
-        lp1(0, 3) = d.p1.x();
-        lp1(1, 3) = d.p1.y();
-        lp1(2, 3) = d.p1.z();
-        Eigen::Matrix4f lp2 = Eigen::Matrix4f::Identity();
-        lp2(0, 3) = d.p2.x();
-        lp2(1, 3) = d.p2.y();
-        lp2(2, 3) = d.p2.z();
-        newS->addChild(CoinVisualizationFactory::createCoinLine(lp1, lp2, d.scale, d.color.r, d.color.g, d.color.b));
+        newS->addChild(CoinVisualizationFactory::createCoinLine(d.p1, d.p2, d.scale, d.color));
         layer.addedLineVisualizations[d.name] = newS;
         layer.mainNode->addChild(newS);
         ARMARX_DEBUG << "drawLine2" << flush;
@@ -872,10 +864,7 @@ namespace armarx
         auto node = CoinVisualizationFactory().createCircleArrow(d.radius,
                     d.width,
                     d.circleCompletion,
-                    d.color.r,
-                    d.color.g,
-                    d.color.b,
-                    d.color.transparency,
+                    d.color,
                     16, 30);
         SoNode* circle = dynamic_cast<CoinVisualizationNode&>(*node).getCoinVisualization();
         circle->setName(SELECTION_NAME(d.layerName, d.name));
@@ -2946,5 +2935,3 @@ namespace armarx
         removeCircleVisu(DEBUG_LAYER_NAME, circleName, c);
     }
 }
-
-