From ce3ef77c3c538940db322fc11c93d8910c81ecee Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 10 Dec 2024 14:36:00 +0100
Subject: [PATCH 1/4] optimizing includes
---
.../RobotAPI/components/ArViz/CMakeLists.txt | 3 +
.../ArViz/Coin/VisualizationCylindroid.cpp | 63 ++++++++++
.../ArViz/Coin/VisualizationCylindroid.h | 39 +-----
.../ArViz/Coin/VisualizationEllipsoid.cpp | 31 +++++
.../ArViz/Coin/VisualizationEllipsoid.h | 30 +----
.../ArViz/Coin/VisualizationMesh.cpp | 113 ++++++++++++++++++
.../components/ArViz/Coin/VisualizationMesh.h | 109 +----------------
.../ArViz/Coin/VisualizationObject.cpp | 3 +
.../ArViz/Coin/VisualizationPointCloud.h | 2 +
.../ArViz/Coin/VisualizationPolygon.h | 1 +
.../components/ArViz/Coin/VisualizationPose.h | 1 +
.../ArViz/Coin/VisualizationRobot.cpp | 2 +
.../DebugDrawer/DebugDrawerComponent.cpp | 2 +
.../DebugDrawer/DebugDrawerComponent.h | 1 -
.../DebugDrawer/DebugDrawerHelper.cpp | 2 +
.../DebugDrawer/DebugDrawerHelper.h | 2 +-
.../DebugDrawer/DebugDrawerUtils.cpp | 49 ++++++++
.../components/DebugDrawer/DebugDrawerUtils.h | 50 +-------
.../NaturalIKTest/NaturalIKTest.cpp | 1 +
.../components/ObjectMemoryEditor/Editor.h | 1 +
.../ObjectInstanceToIndex.h | 2 +
.../armem/server/GraspMemory/GraspMemory.h | 2 +-
source/RobotAPI/components/ik_demo/IkDemo.cpp | 1 +
source/RobotAPI/components/units/HandUnit.cpp | 1 +
.../components/units/KinematicUnit.cpp | 1 +
.../RobotAPI/components/units/KinematicUnit.h | 4 +-
.../ObstacleAwarePlatformUnit.cpp | 3 +-
.../ObstacleAwarePlatformUnit.h | 4 +-
.../CartesianImpedanceController.cpp | 9 ++
.../CartesianImpedanceController.h | 11 +-
.../RobotUnit/DefaultWidgetDescriptions.cpp | 32 +++++
.../RobotUnit/DefaultWidgetDescriptions.h | 41 ++-----
...ointCartesianNaturalPositionController.cpp | 1 +
.../NJointCartesianTorqueController.cpp | 2 +
.../NJointCartesianTorqueController.h | 3 +-
.../NJointCartesianVelocityController.cpp | 4 +
.../NJointCartesianVelocityController.h | 8 +-
...intCartesianVelocityControllerWithRamp.cpp | 2 +
...JointCartesianVelocityControllerWithRamp.h | 4 +-
.../NJointCartesianWaypointController.cpp | 2 +
.../NJointControllers/NJointControllerBase.h | 5 +-
...onomicPlatformGlobalPositionController.cpp | 1 +
...olonomicPlatformGlobalPositionController.h | 3 +-
...omicPlatformRelativePositionController.cpp | 2 +
...onomicPlatformRelativePositionController.h | 2 +-
...tformUnitVelocityPassThroughController.cpp | 2 +
...latformUnitVelocityPassThroughController.h | 3 +-
...omicPlatformVelocityControllerWithRamp.cpp | 5 +
...onomicPlatformVelocityControllerWithRamp.h | 7 +-
...ointKinematicUnitPassThroughController.cpp | 2 +
...NJointKinematicUnitPassThroughController.h | 2 +-
.../NJointControllers/NJointTCPController.cpp | 2 +
.../NJointControllers/NJointTCPController.h | 5 +-
.../NJointTaskSpaceImpedanceController.cpp | 4 +
.../NJointTaskSpaceImpedanceController.h | 3 +-
.../NJointTrajectoryController.cpp | 2 +
.../NJointTrajectoryController.h | 2 +-
.../components/units/RobotUnit/RobotUnit.cpp | 5 +
.../components/units/RobotUnit/RobotUnit.h | 6 +-
.../RobotUnitModules/RobotUnitModuleBase.cpp | 2 +
.../RobotUnitModules/RobotUnitModuleBase.h | 2 +-
.../RobotUnitModuleControlThread.cpp | 1 +
...RobotUnitModuleControlThreadDataBuffer.cpp | 2 +
.../RobotUnitModuleControlThreadDataBuffer.h | 3 +-
.../RobotUnitModules/RobotUnitModuleDevices.h | 6 +
.../RobotUnitModuleRobotData.cpp | 2 +
.../RobotUnitModuleRobotData.h | 2 +-
.../RobotUnitModuleSelfCollisionChecker.cpp | 3 +
.../RobotUnitModuleSelfCollisionChecker.h | 2 +-
.../RobotUnit/Units/LocalizationSubUnit.cpp | 1 +
.../RobotUnit/Units/LocalizationSubUnit.h | 1 -
.../units/RobotUnit/Units/PlatformSubUnit.cpp | 1 +
.../units/RobotUnit/Units/PlatformSubUnit.h | 2 -
.../units/RobotUnit/util/DynamicsHelper.cpp | 4 +
.../units/RobotUnit/util/DynamicsHelper.h | 2 +-
.../components/units/TCPControlUnit.cpp | 2 +
.../components/units/TCPControlUnit.h | 3 +-
...FTSensorCalibrationGuiWidgetController.cpp | 1 +
.../KinematicUnitGuiPlugin.cpp | 9 +-
.../KinematicUnitGuiPlugin.h | 8 +-
.../RobotViewerGuiPlugin.cpp | 8 +-
.../RobotViewerPlugin/RobotViewerGuiPlugin.h | 8 +-
.../ArmarXTCPMover/TCPMover.cpp | 5 +-
.../ArmarXTCPMover/TCPMover.h | 8 +-
.../libraries/ArmarXObjects/ObjectPose.cpp | 1 +
.../BimanualGraspCandidateHelper.cpp | 1 +
.../BimanualGraspCandidateHelper.h | 2 +-
.../GraspingUtility/GraspCandidateHelper.cpp | 1 +
.../GraspingUtility/GraspCandidateHelper.h | 2 +-
.../GraspingUtility/GraspTrajectory.cpp | 1 +
.../box_to_grasp_candidates.cpp | 2 +
.../grasp_candidate_drawer.cpp | 1 +
.../RobotStateComponentPlugin.cpp | 4 +
.../RobotStateComponentPlugin.h | 2 +-
.../ObstacleAvoidingPlatformUnitHelper.cpp | 1 +
.../ObstacleAvoidingPlatformUnitHelper.h | 2 +-
.../PositionControllerHelper.cpp | 3 +
.../PositionControllerHelper.h | 3 +-
.../RobotNameHelper.cpp | 5 +
.../RobotStatechartHelpers/RobotNameHelper.h | 2 -
.../server/KnownGraspProviderSegment.cpp | 2 +
.../ArticulatedObjectWriter.cpp | 1 +
.../client/common/VirtualRobotReader.cpp | 1 +
.../client/common/VirtualRobotReader.h | 1 -
.../client/common/VirtualRobotWriter.h | 2 -
.../client/localization/TransformReader.h | 2 +
.../armem_robot_state/server/common/Visu.cpp | 1 +
.../RobotAPI/libraries/armem_vision/types.h | 4 +-
...CartesianFeedForwardPositionController.cpp | 6 +
.../CartesianFeedForwardPositionController.h | 8 +-
.../CartesianNaturalPositionController.cpp | 2 +
.../core/CartesianPositionController.cpp | 6 +
.../core/CartesianPositionController.h | 7 +-
.../core/CartesianVelocityController.cpp | 5 +-
.../core/CartesianVelocityController.h | 3 +-
.../CartesianVelocityControllerWithRamp.cpp | 4 +
.../CartesianVelocityControllerWithRamp.h | 3 +-
.../libraries/core/CartesianVelocityRamp.cpp | 4 +-
.../libraries/core/CartesianVelocityRamp.h | 5 +-
.../core/CartesianWaypointController.cpp | 1 +
.../core/CartesianWaypointController.h | 2 +-
.../libraries/core/FramedOrientedPoint.cpp | 1 -
.../libraries/core/FramedOrientedPoint.h | 4 -
source/RobotAPI/libraries/core/RobotPool.cpp | 1 +
source/RobotAPI/libraries/core/RobotPool.h | 5 +-
.../core/remoterobot/RemoteRobot.cpp | 9 +-
.../libraries/core/remoterobot/RemoteRobot.h | 13 +-
.../core/remoterobot/RemoteRobotNode.cpp | 1 +
.../libraries/diffik/CompositeDiffIK.cpp | 22 ++++
.../libraries/diffik/CompositeDiffIK.h | 21 +---
.../libraries/diffik/GraspTrajectory.cpp | 3 +
.../libraries/diffik/GraspTrajectory.h | 3 -
.../libraries/diffik/NaturalDiffIK.cpp | 5 +
.../RobotAPI/libraries/diffik/NaturalDiffIK.h | 6 +-
.../libraries/diffik/SimpleDiffIK.cpp | 22 +++-
.../RobotAPI/libraries/diffik/SimpleDiffIK.h | 20 +---
...artesianNaturalPositionControllerProxy.cpp | 4 +-
source/RobotAPI/libraries/natik/NaturalIK.cpp | 6 +-
source/RobotAPI/libraries/natik/NaturalIK.h | 4 +-
.../CollisionModelHelper.cpp | 1 +
.../RobotNameHelperTestGroup/TestGetNames.cpp | 2 +-
141 files changed, 646 insertions(+), 403 deletions(-)
create mode 100644 source/RobotAPI/components/ArViz/Coin/VisualizationCylindroid.cpp
create mode 100644 source/RobotAPI/components/ArViz/Coin/VisualizationEllipsoid.cpp
create mode 100644 source/RobotAPI/components/ArViz/Coin/VisualizationMesh.cpp
create mode 100644 source/RobotAPI/components/DebugDrawer/DebugDrawerUtils.cpp
diff --git a/source/RobotAPI/components/ArViz/CMakeLists.txt b/source/RobotAPI/components/ArViz/CMakeLists.txt
index 963805867..734be2bc9 100644
--- a/source/RobotAPI/components/ArViz/CMakeLists.txt
+++ b/source/RobotAPI/components/ArViz/CMakeLists.txt
@@ -71,6 +71,9 @@ set(SOURCES
Coin/VisualizationRobot.cpp
Coin/VisualizationPath.cpp
Coin/VisualizationObject.cpp
+ Coin/VisualizationMesh.cpp
+ Coin/VisualizationEllipsoid.cpp
+ Coin/VisualizationCylindroid.cpp
Coin/Visualizer.cpp
Coin/RegisterVisualizationTypes.cpp
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationCylindroid.cpp b/source/RobotAPI/components/ArViz/Coin/VisualizationCylindroid.cpp
new file mode 100644
index 000000000..6d2cc827a
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationCylindroid.cpp
@@ -0,0 +1,63 @@
+/**
+ * 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 ( )
+ * @date 2024
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+ #include "VisualizationCylindroid.h"
+
+#include <Inventor/nodes/SoMaterial.h>
+
+ bool
+ armarx::viz::coin::VisualizationCylindroid::update(ElementType const& element)
+ {
+ auto color = element.color;
+ constexpr float conv = 1.0f / 255.0f;
+ const float r = color.r * conv;
+ const float g = color.g * conv;
+ const float b = color.b * conv;
+ const float a = color.a * conv;
+
+ VirtualRobot::VisualizationNodePtr cylindroid_node;
+ {
+ // Params.
+ SoMaterial* mat = new SoMaterial;
+ mat->diffuseColor.setValue(r, g, b);
+ mat->ambientColor.setValue(r, g, b);
+ mat->transparency.setValue(1. - a);
+
+ SoSeparator* res = new SoSeparator();
+ res->ref();
+ SoUnits* u = new SoUnits();
+ u->units = SoUnits::MILLIMETERS;
+ res->addChild(u);
+ res->addChild(VirtualRobot::CoinVisualizationFactory::CreateCylindroid(
+ element.axisLengths.e0, element.axisLengths.e1, element.height, mat));
+
+ cylindroid_node.reset(new VirtualRobot::CoinVisualizationNode(res));
+ res->unref();
+ }
+
+ SoNode* cylindroid = dynamic_cast<VirtualRobot::CoinVisualizationNode&>(*cylindroid_node)
+ .getCoinVisualization();
+
+ node->removeAllChildren();
+ node->addChild(cylindroid);
+
+ return true;
+ }
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationCylindroid.h b/source/RobotAPI/components/ArViz/Coin/VisualizationCylindroid.h
index 478f99c01..ded11d250 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationCylindroid.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationCylindroid.h
@@ -15,43 +15,6 @@ namespace armarx::viz::coin
{
using ElementType = data::ElementCylindroid;
- bool update(ElementType const& element)
- {
- auto color = element.color;
- constexpr float conv = 1.0f / 255.0f;
- const float r = color.r * conv;
- const float g = color.g * conv;
- const float b = color.b * conv;
- const float a = color.a * conv;
-
- VirtualRobot::VisualizationNodePtr cylindroid_node;
- {
- // Params.
- SoMaterial* mat = new SoMaterial;
- mat->diffuseColor.setValue(r, g, b);
- mat->ambientColor.setValue(r, g, b);
- mat->transparency.setValue(1. - a);
-
- SoSeparator* res = new SoSeparator();
- res->ref();
- SoUnits* u = new SoUnits();
- u->units = SoUnits::MILLIMETERS;
- res->addChild(u);
- res->addChild(VirtualRobot::CoinVisualizationFactory::CreateCylindroid(
- element.axisLengths.e0, element.axisLengths.e1, element.height,
- mat));
-
- cylindroid_node.reset(new VirtualRobot::CoinVisualizationNode(res));
- res->unref();
- }
-
- SoNode* cylindroid = dynamic_cast<VirtualRobot::CoinVisualizationNode&>(
- *cylindroid_node).getCoinVisualization();
-
- node->removeAllChildren();
- node->addChild(cylindroid);
-
- return true;
- }
+ bool update(ElementType const& element);
};
}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationEllipsoid.cpp b/source/RobotAPI/components/ArViz/Coin/VisualizationEllipsoid.cpp
new file mode 100644
index 000000000..65fa3c22b
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationEllipsoid.cpp
@@ -0,0 +1,31 @@
+#include "VisualizationEllipsoid.h"
+
+#include <Inventor/nodes/SoComplexity.h>
+#include <Inventor/nodes/SoScale.h>
+#include <Inventor/nodes/SoSphere.h>
+
+armarx::viz::coin::VisualizationEllipsoid::VisualizationEllipsoid()
+{
+ complexity = new SoComplexity();
+ complexity->type.setValue(SoComplexity::OBJECT_SPACE);
+ complexity->value.setValue(1.0f);
+
+ scale = new SoScale;
+
+ sphere = new SoSphere();
+ // We create a unit sphere and create an ellipsoid through scaling
+ sphere->radius.setValue(1.0f);
+
+ node->addChild(complexity);
+ node->addChild(scale);
+ node->addChild(sphere);
+}
+
+bool
+armarx::viz::coin::VisualizationEllipsoid::update(ElementType const& element)
+{
+ scale->scaleFactor.setValue(
+ element.axisLengths.e0, element.axisLengths.e1, element.axisLengths.e2);
+
+ return true;
+}
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationEllipsoid.h b/source/RobotAPI/components/ArViz/Coin/VisualizationEllipsoid.h
index e0c3e4db4..e38337629 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationEllipsoid.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationEllipsoid.h
@@ -4,9 +4,9 @@
#include <RobotAPI/interface/ArViz/Elements.h>
-#include <Inventor/nodes/SoComplexity.h>
-#include <Inventor/nodes/SoScale.h>
-#include <Inventor/nodes/SoSphere.h>
+class SoComplexity;
+class SoScale;
+class SoSphere;
namespace armarx::viz::coin
{
@@ -14,29 +14,9 @@ namespace armarx::viz::coin
{
using ElementType = data::ElementEllipsoid;
- VisualizationEllipsoid()
- {
- complexity = new SoComplexity();
- complexity->type.setValue(SoComplexity::OBJECT_SPACE);
- complexity->value.setValue(1.0f);
+ VisualizationEllipsoid();
- scale = new SoScale;
-
- sphere = new SoSphere();
- // We create a unit sphere and create an ellipsoid through scaling
- sphere->radius.setValue(1.0f);
-
- node->addChild(complexity);
- node->addChild(scale);
- node->addChild(sphere);
- }
-
- bool update(ElementType const& element)
- {
- scale->scaleFactor.setValue(element.axisLengths.e0, element.axisLengths.e1, element.axisLengths.e2);
-
- return true;
- }
+ bool update(ElementType const& element);
SoMaterial* material = nullptr;
SoComplexity* complexity = nullptr;
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationMesh.cpp b/source/RobotAPI/components/ArViz/Coin/VisualizationMesh.cpp
new file mode 100644
index 000000000..90a5ae9ee
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationMesh.cpp
@@ -0,0 +1,113 @@
+#include "VisualizationMesh.h"
+
+#include <Inventor/nodes/SoCoordinate3.h>
+#include <Inventor/nodes/SoIndexedFaceSet.h>
+#include <Inventor/nodes/SoMaterial.h>
+#include <Inventor/nodes/SoMaterialBinding.h>
+#include <Inventor/nodes/SoNormal.h>
+#include <Inventor/nodes/SoShapeHints.h>
+
+namespace armarx::viz::coin
+{
+
+ VisualizationMesh::VisualizationMesh()
+ {
+ SoMaterialBinding* myBinding = new SoMaterialBinding;
+ myBinding->value = SoMaterialBinding::PER_VERTEX_INDEXED;
+
+ materials = new SoMaterial;
+ coords = new SoCoordinate3;
+
+ SoShapeHints* hints = new SoShapeHints;
+ // Disable back culling and enable two-sided lighting
+ hints->vertexOrdering = SoShapeHints::VertexOrdering::COUNTERCLOCKWISE;
+ hints->shapeType = SoShapeHints::ShapeType::UNKNOWN_SHAPE_TYPE;
+
+ faceSet = new SoIndexedFaceSet;
+
+ node->addChild(myBinding);
+ node->addChild(materials);
+ node->addChild(coords);
+ node->addChild(hints);
+ node->addChild(faceSet);
+ }
+
+ bool
+ VisualizationMesh::update(ElementType const& element)
+ {
+ int colorSize = (int)element.colors.size();
+ bool noColorsArray = colorSize == 0;
+ if (colorSize == 0)
+ {
+ colorSize = 1;
+ }
+ matColor.resize(colorSize);
+ transp.resize(colorSize);
+
+ const float conv = 1.0f / 255.0f;
+ if (noColorsArray)
+ {
+ auto color = element.color;
+ float r = color.r * conv;
+ float g = color.g * conv;
+ float b = color.b * conv;
+ float a = color.a * conv;
+ matColor[0].setValue(r, g, b);
+ transp[0] = 1.0f - a;
+ }
+ else
+ {
+ for (int i = 0; i < colorSize; i++)
+ {
+ auto color = element.colors[i];
+ float r = color.r * conv;
+ float g = color.g * conv;
+ float b = color.b * conv;
+ float a = color.a * conv;
+ matColor[i].setValue(r, g, b);
+ transp[i] = 1.0f - a;
+ }
+ }
+
+ // Define colors for the faces
+ materials->diffuseColor.setValuesPointer(colorSize, matColor.data());
+ materials->ambientColor.setValuesPointer(colorSize, matColor.data());
+ materials->transparency.setValuesPointer(colorSize, transp.data());
+
+ // define vertex array
+ int vertexSize = (int)element.vertices.size();
+ vertexPositions.resize(vertexSize);
+ for (int i = 0; i < vertexSize; i++)
+ {
+ auto v = element.vertices[i];
+ vertexPositions[i].setValue(v.e0, v.e1, v.e2);
+ }
+
+ // Define coordinates for vertices
+ coords->point.setValuesPointer(vertexSize, vertexPositions.data());
+
+ int facesSize = (int)element.faces.size();
+ faces.resize(facesSize * 4);
+ matInx.resize(facesSize * 4);
+
+ for (int i = 0; i < facesSize; i++)
+ {
+ auto& face = element.faces[i];
+
+ faces[i * 4 + 0] = face.v0;
+ faces[i * 4 + 1] = face.v1;
+ faces[i * 4 + 2] = face.v2;
+ faces[i * 4 + 3] = SO_END_FACE_INDEX;
+
+ matInx[i * 4 + 0] = face.c0;
+ matInx[i * 4 + 1] = face.c1;
+ matInx[i * 4 + 2] = face.c2;
+ matInx[i * 4 + 3] = SO_END_FACE_INDEX;
+ }
+
+ faceSet->coordIndex.setValuesPointer(faces.size(), faces.data());
+ faceSet->materialIndex.setValuesPointer(matInx.size(), matInx.data());
+
+ return true;
+ }
+} // namespace armarx::viz::coin
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationMesh.h b/source/RobotAPI/components/ArViz/Coin/VisualizationMesh.h
index 120bb629a..391fe0e14 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationMesh.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationMesh.h
@@ -4,11 +4,10 @@
#include <RobotAPI/interface/ArViz/Elements.h>
-#include <Inventor/nodes/SoCoordinate3.h>
-#include <Inventor/nodes/SoIndexedFaceSet.h>
-#include <Inventor/nodes/SoMaterialBinding.h>
-#include <Inventor/nodes/SoNormal.h>
-#include <Inventor/nodes/SoShapeHints.h>
+#include <Inventor/SbColor.h>
+
+class SoCoordinate3;
+class SoIndexedFaceSet;
namespace armarx::viz::coin
{
@@ -16,105 +15,9 @@ namespace armarx::viz::coin
{
using ElementType = data::ElementMesh;
- VisualizationMesh()
- {
- SoMaterialBinding* myBinding = new SoMaterialBinding;
- myBinding->value = SoMaterialBinding::PER_VERTEX_INDEXED;
-
- materials = new SoMaterial;
- coords = new SoCoordinate3;
-
- SoShapeHints* hints = new SoShapeHints;
- // Disable back culling and enable two-sided lighting
- hints->vertexOrdering = SoShapeHints::VertexOrdering::COUNTERCLOCKWISE;
- hints->shapeType = SoShapeHints::ShapeType::UNKNOWN_SHAPE_TYPE;
-
- faceSet = new SoIndexedFaceSet;
-
- node->addChild(myBinding);
- node->addChild(materials);
- node->addChild(coords);
- node->addChild(hints);
- node->addChild(faceSet);
- }
-
- bool update(ElementType const& element)
- {
- int colorSize = (int)element.colors.size();
- bool noColorsArray = colorSize == 0;
- if (colorSize == 0)
- {
- colorSize = 1;
- }
- matColor.resize(colorSize);
- transp.resize(colorSize);
-
- const float conv = 1.0f / 255.0f;
- if (noColorsArray)
- {
- auto color = element.color;
- float r = color.r * conv;
- float g = color.g * conv;
- float b = color.b * conv;
- float a = color.a * conv;
- matColor[0].setValue(r, g, b);
- transp[0] = 1.0f - a;
- }
- else
- {
- for (int i = 0; i < colorSize; i++)
- {
- auto color = element.colors[i];
- float r = color.r * conv;
- float g = color.g * conv;
- float b = color.b * conv;
- float a = color.a * conv;
- matColor[i].setValue(r, g, b);
- transp[i] = 1.0f - a;
- }
- }
-
- // Define colors for the faces
- materials->diffuseColor.setValuesPointer(colorSize, matColor.data());
- materials->ambientColor.setValuesPointer(colorSize, matColor.data());
- materials->transparency.setValuesPointer(colorSize, transp.data());
-
- // define vertex array
- int vertexSize = (int)element.vertices.size();
- vertexPositions.resize(vertexSize);
- for (int i = 0; i < vertexSize; i++)
- {
- auto v = element.vertices[i];
- vertexPositions[i].setValue(v.e0, v.e1, v.e2);
- }
-
- // Define coordinates for vertices
- coords->point.setValuesPointer(vertexSize, vertexPositions.data());
-
- int facesSize = (int)element.faces.size();
- faces.resize(facesSize * 4);
- matInx.resize(facesSize * 4);
-
- for (int i = 0; i < facesSize; i++)
- {
- auto& face = element.faces[i];
-
- faces[i * 4 + 0] = face.v0;
- faces[i * 4 + 1] = face.v1;
- faces[i * 4 + 2] = face.v2;
- faces[i * 4 + 3] = SO_END_FACE_INDEX;
-
- matInx[i * 4 + 0] = face.c0;
- matInx[i * 4 + 1] = face.c1;
- matInx[i * 4 + 2] = face.c2;
- matInx[i * 4 + 3] = SO_END_FACE_INDEX;
- }
-
- faceSet->coordIndex.setValuesPointer(faces.size(), faces.data());
- faceSet->materialIndex.setValuesPointer(matInx.size(), matInx.data());
+ VisualizationMesh();
- return true;
- }
+ bool update(ElementType const& element);
SoMaterial* materials;
SoCoordinate3* coords;
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationObject.cpp b/source/RobotAPI/components/ArViz/Coin/VisualizationObject.cpp
index 5f6b068fc..f27e344ca 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationObject.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationObject.cpp
@@ -2,6 +2,9 @@
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
+#include <Inventor/nodes/SoMaterial.h>
+#include <Inventor/SbColor.h>
+
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationPointCloud.h b/source/RobotAPI/components/ArViz/Coin/VisualizationPointCloud.h
index 5b4afb2bb..16df986fe 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationPointCloud.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationPointCloud.h
@@ -1,11 +1,13 @@
#pragma once
+#include <cfloat>
#include "ElementVisualizer.h"
#include <RobotAPI/interface/ArViz/Elements.h>
#include <Inventor/nodes/SoCoordinate3.h>
#include <Inventor/nodes/SoDrawStyle.h>
+#include <Inventor/nodes/SoMaterial.h>
#include <Inventor/nodes/SoMaterialBinding.h>
#include <Inventor/nodes/SoPointSet.h>
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationPolygon.h b/source/RobotAPI/components/ArViz/Coin/VisualizationPolygon.h
index 7ea618b06..5c185f453 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationPolygon.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationPolygon.h
@@ -10,6 +10,7 @@
#include <Inventor/nodes/SoDrawStyle.h>
#include <Inventor/nodes/SoFaceSet.h>
#include <Inventor/nodes/SoLineSet.h>
+#include <Inventor/nodes/SoMaterial.h>
namespace armarx::viz::coin
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationPose.h b/source/RobotAPI/components/ArViz/Coin/VisualizationPose.h
index 490e19258..1e5e9719d 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationPose.h
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationPose.h
@@ -6,6 +6,7 @@
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
#include <Inventor/nodes/SoAsciiText.h>
#include <Inventor/nodes/SoCube.h>
+#include <Inventor/nodes/SoMaterial.h>
#include <Inventor/nodes/SoSeparator.h>
#include <Inventor/nodes/SoTransform.h>
#include <Inventor/nodes/SoTranslation.h>
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
index 71dad203a..68cfb856e 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
@@ -9,6 +9,8 @@
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
+#include <Inventor/SbColor.h>
+#include <Inventor/nodes/SoMaterial.h>
namespace armarx::viz::coin
{
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
index 5cffdc6d7..928e2d47b 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
@@ -30,6 +30,7 @@
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
+#include <VirtualRobot/Visualization/VisualizationFactory.h>
#include <Inventor/nodes/SoUnits.h>
#include <Inventor/nodes/SoCube.h>
#include <Inventor/nodes/SoMaterial.h>
@@ -51,6 +52,7 @@
#include <Inventor/fields/SoMFVec3f.h>
#include <Inventor/fields/SoMFColor.h>
#include <Inventor/nodes/SoShapeHints.h>
+#include <Inventor/nodes/SoMatrixTransform.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
index 9b7c3709b..7b2e5af08 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
@@ -626,4 +626,3 @@ namespace armarx
using DebugDrawerComponentPtr = IceInternal::Handle<DebugDrawerComponent>;
}
-
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.cpp b/source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.cpp
index e65fa6a4f..e0293363b 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.cpp
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.cpp
@@ -23,6 +23,8 @@
#include "DebugDrawerHelper.h"
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/Robot.h>
#include <VirtualRobot/math/Helpers.h>
#include <ArmarXCore/util/CPPUtility/trace.h>
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.h b/source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.h
index 72a4ee76f..9da37492f 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.h
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.h
@@ -23,7 +23,7 @@
#pragma once
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <SimoxUtility/shapes/OrientedBox.h>
#include <SimoxUtility/shapes/XYConstrainedOrientedBox.h>
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerUtils.cpp b/source/RobotAPI/components/DebugDrawer/DebugDrawerUtils.cpp
new file mode 100644
index 000000000..52b2a5872
--- /dev/null
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerUtils.cpp
@@ -0,0 +1,49 @@
+#include "DebugDrawerUtils.h"
+
+#include <VirtualRobot/Visualization/TriMeshModel.h>
+
+armarx::DebugDrawerTriMesh
+armarx::DebugDrawerUtils::convertTriMesh(const VirtualRobot::TriMeshModel& trimesh)
+{
+ DebugDrawerTriMesh ddMesh;
+
+ auto addVertex = [&](const Eigen::Vector3f& v)
+ {
+ ddMesh.vertices.push_back({v(0), v(1), v(2)});
+ return (int)ddMesh.vertices.size() - 1;
+ };
+
+ auto addColor = [&](const VirtualRobot::VisualizationFactory::Color& c)
+ {
+ ddMesh.colors.push_back(DrawColor{c.r, c.g, c.b, c.transparency});
+ return (int)ddMesh.colors.size() - 1;
+ };
+ ddMesh.faces.reserve(trimesh.faces.size());
+ ddMesh.vertices.reserve(trimesh.vertices.size());
+ ddMesh.colors.reserve(trimesh.colors.size());
+
+ for (auto& f : trimesh.faces)
+ {
+ DebugDrawerFace f2;
+ f2.vertex1.vertexID = addVertex(trimesh.vertices.at(f.id1));
+ f2.vertex2.vertexID = addVertex(trimesh.vertices.at(f.id2));
+ f2.vertex3.vertexID = addVertex(trimesh.vertices.at(f.id3));
+ if (f.idNormal1 != UINT_MAX)
+ {
+ f2.vertex1.normalID = addVertex(trimesh.normals.at(f.idNormal1));
+ f2.vertex2.normalID = addVertex(trimesh.normals.at(f.idNormal2));
+ f2.vertex3.normalID = addVertex(trimesh.normals.at(f.idNormal3));
+ }
+ else
+ {
+ // f2.vertex1.normalID = f2.vertex2.normalID = f2.vertex3.normalID = addVertex(f.normal);
+ f2.normal = {f.normal.x(), f.normal.y(), f.normal.z()};
+ }
+ f2.vertex1.colorID = addColor(trimesh.colors.at(f.idColor1));
+ f2.vertex2.colorID = addColor(trimesh.colors.at(f.idColor2));
+ f2.vertex3.colorID = addColor(trimesh.colors.at(f.idColor3));
+
+ ddMesh.faces.push_back(f2);
+ }
+ return ddMesh;
+}
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerUtils.h b/source/RobotAPI/components/DebugDrawer/DebugDrawerUtils.h
index b50b0a9d9..7d20ed5fc 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerUtils.h
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerUtils.h
@@ -23,58 +23,16 @@
*/
#pragma once
-#include <VirtualRobot/Visualization/TriMeshModel.h>
+#include <VirtualRobot/VirtualRobot.h>
+
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
+
#include <Eigen/Core>
namespace armarx
{
class DebugDrawerUtils
{
public:
- static DebugDrawerTriMesh convertTriMesh(const VirtualRobot::TriMeshModel& trimesh)
- {
- DebugDrawerTriMesh ddMesh;
-
- auto addVertex = [&](const Eigen::Vector3f & v)
- {
- ddMesh.vertices.push_back({v(0), v(1), v(2)});
- return (int)ddMesh.vertices.size() - 1;
- };
-
- auto addColor = [&](const VirtualRobot::VisualizationFactory::Color & c)
- {
- ddMesh.colors.push_back(DrawColor {c.r, c.g, c.b, c.transparency});
- return (int)ddMesh.colors.size() - 1;
- };
- ddMesh.faces.reserve(trimesh.faces.size());
- ddMesh.vertices.reserve(trimesh.vertices.size());
- ddMesh.colors.reserve(trimesh.colors.size());
-
- for (auto& f : trimesh.faces)
- {
- DebugDrawerFace f2;
- f2.vertex1.vertexID = addVertex(trimesh.vertices.at(f.id1));
- f2.vertex2.vertexID = addVertex(trimesh.vertices.at(f.id2));
- f2.vertex3.vertexID = addVertex(trimesh.vertices.at(f.id3));
- if (f.idNormal1 != UINT_MAX)
- {
- f2.vertex1.normalID = addVertex(trimesh.normals.at(f.idNormal1));
- f2.vertex2.normalID = addVertex(trimesh.normals.at(f.idNormal2));
- f2.vertex3.normalID = addVertex(trimesh.normals.at(f.idNormal3));
- }
- else
- {
- // f2.vertex1.normalID = f2.vertex2.normalID = f2.vertex3.normalID = addVertex(f.normal);
- f2.normal = {f.normal.x(), f.normal.y(), f.normal.z()};
- }
- f2.vertex1.colorID = addColor(trimesh.colors.at(f.idColor1));
- f2.vertex2.colorID = addColor(trimesh.colors.at(f.idColor2));
- f2.vertex3.colorID = addColor(trimesh.colors.at(f.idColor3));
-
- ddMesh.faces.push_back(f2);
- }
- return ddMesh;
- }
-
+ static DebugDrawerTriMesh convertTriMesh(const VirtualRobot::TriMeshModel& trimesh);
};
}
diff --git a/source/RobotAPI/components/NaturalIKTest/NaturalIKTest.cpp b/source/RobotAPI/components/NaturalIKTest/NaturalIKTest.cpp
index 8eb4b47b2..17292ba93 100644
--- a/source/RobotAPI/components/NaturalIKTest/NaturalIKTest.cpp
+++ b/source/RobotAPI/components/NaturalIKTest/NaturalIKTest.cpp
@@ -28,6 +28,7 @@
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/math/Helpers.h>
diff --git a/source/RobotAPI/components/ObjectMemoryEditor/Editor.h b/source/RobotAPI/components/ObjectMemoryEditor/Editor.h
index e94e1a7cc..783675ba0 100644
--- a/source/RobotAPI/components/ObjectMemoryEditor/Editor.h
+++ b/source/RobotAPI/components/ObjectMemoryEditor/Editor.h
@@ -1,6 +1,7 @@
#pragma once
#include <list>
+#include <queue>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h>
diff --git a/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.h b/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.h
index c5e6486e7..ca3344af4 100644
--- a/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.h
+++ b/source/RobotAPI/components/armem/client/ObjectInstanceToIndex/ObjectInstanceToIndex.h
@@ -22,6 +22,8 @@
#pragma once
+#include <mutex>
+
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/time/Frequency.h>
diff --git a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h
index d6ea24e6e..7649e1f4e 100644
--- a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h
+++ b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h
@@ -2,7 +2,7 @@
#include <memory>
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
diff --git a/source/RobotAPI/components/ik_demo/IkDemo.cpp b/source/RobotAPI/components/ik_demo/IkDemo.cpp
index 2d60ef2fe..4ff605566 100644
--- a/source/RobotAPI/components/ik_demo/IkDemo.cpp
+++ b/source/RobotAPI/components/ik_demo/IkDemo.cpp
@@ -5,6 +5,7 @@
#include <SimoxUtility/math/pose/invert.h>
#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/IK/CompositeDiffIK/CompositeDiffIK.h>
#include <VirtualRobot/IK/CompositeDiffIK/ManipulabilityNullspaceGradient.h>
diff --git a/source/RobotAPI/components/units/HandUnit.cpp b/source/RobotAPI/components/units/HandUnit.cpp
index 0b19a5566..1ca020be2 100644
--- a/source/RobotAPI/components/units/HandUnit.cpp
+++ b/source/RobotAPI/components/units/HandUnit.cpp
@@ -29,6 +29,7 @@
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/EndEffector/EndEffector.h>
+#include <VirtualRobot/VirtualRobotException.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <vector>
diff --git a/source/RobotAPI/components/units/KinematicUnit.cpp b/source/RobotAPI/components/units/KinematicUnit.cpp
index 5bac1a14b..c2e0dc185 100644
--- a/source/RobotAPI/components/units/KinematicUnit.cpp
+++ b/source/RobotAPI/components/units/KinematicUnit.cpp
@@ -28,6 +28,7 @@
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/VirtualRobotException.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/application/Application.h>
diff --git a/source/RobotAPI/components/units/KinematicUnit.h b/source/RobotAPI/components/units/KinematicUnit.h
index fb29aac62..74146b034 100644
--- a/source/RobotAPI/components/units/KinematicUnit.h
+++ b/source/RobotAPI/components/units/KinematicUnit.h
@@ -32,7 +32,8 @@
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
-#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/VirtualRobot.h>
+
#include <vector>
namespace armarx
@@ -148,4 +149,3 @@ namespace armarx
std::vector<std::string> armarXPackages;
};
}
-
diff --git a/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp b/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp
index d18722607..5f5102168 100644
--- a/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp
+++ b/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.cpp
@@ -28,7 +28,6 @@
#include <algorithm>
#include <cmath>
#include <limits>
-#include <numeric>
// Eigen
#include <Eigen/Core>
@@ -36,6 +35,8 @@
// Simox
#include <SimoxUtility/math.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/Safety.h>
// ArmarX
#include <ArmarXCore/observers/variant/Variant.h>
diff --git a/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.h b/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.h
index 1bc78b92b..7ddf5b4a0 100644
--- a/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.h
+++ b/source/RobotAPI/components/units/ObstacleAwarePlatformUnit/ObstacleAwarePlatformUnit.h
@@ -25,9 +25,7 @@
// STD/STL
-#include <deque>
#include <string>
-#include <tuple>
#include <mutex>
#include <vector>
@@ -38,7 +36,7 @@
#include <IceUtil/Time.h>
// Simox
-#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/Safety.h>
// ArmarX
diff --git a/source/RobotAPI/components/units/RobotUnit/ControllerParts/CartesianImpedanceController.cpp b/source/RobotAPI/components/units/RobotUnit/ControllerParts/CartesianImpedanceController.cpp
index 5ea5de5a0..8042b2434 100644
--- a/source/RobotAPI/components/units/RobotUnit/ControllerParts/CartesianImpedanceController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/ControllerParts/CartesianImpedanceController.cpp
@@ -9,6 +9,15 @@
#include <VirtualRobot/MathTools.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
+#include <VirtualRobot/IK/IKSolver.h>
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+
+#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
+#include <RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h>
+
using namespace armarx;
int
diff --git a/source/RobotAPI/components/units/RobotUnit/ControllerParts/CartesianImpedanceController.h b/source/RobotAPI/components/units/RobotUnit/ControllerParts/CartesianImpedanceController.h
index 0c0ed889c..46704a481 100644
--- a/source/RobotAPI/components/units/RobotUnit/ControllerParts/CartesianImpedanceController.h
+++ b/source/RobotAPI/components/units/RobotUnit/ControllerParts/CartesianImpedanceController.h
@@ -1,13 +1,16 @@
#pragma once
-#include <VirtualRobot/IK/DifferentialIK.h>
-#include <VirtualRobot/Robot.h>
+#include <Eigen/Geometry>
+
+#include <VirtualRobot/VirtualRobot.h>
-#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
-#include <RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h>
namespace armarx
{
+ class SensorValue1DoFActuatorTorque;
+ class SensorValue1DoFActuatorVelocity;
+ class SensorValue1DoFActuatorPosition;
+
class CartesianImpedanceController
{
public:
diff --git a/source/RobotAPI/components/units/RobotUnit/DefaultWidgetDescriptions.cpp b/source/RobotAPI/components/units/RobotUnit/DefaultWidgetDescriptions.cpp
index 0ed24cb2f..70f06887d 100644
--- a/source/RobotAPI/components/units/RobotUnit/DefaultWidgetDescriptions.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/DefaultWidgetDescriptions.cpp
@@ -22,6 +22,8 @@
#include "DefaultWidgetDescriptions.h"
+#include <VirtualRobot/Robot.h>
+
namespace armarx::WidgetDescription
{
StringComboBoxPtr
@@ -86,4 +88,34 @@ namespace armarx::WidgetDescription
}
return rns;
}
+
+ StringComboBoxPtr
+ makeRNSComboBox(const VirtualRobot::RobotPtr& robot,
+ std::string name,
+ const std::set<std::string>& preferredSet,
+ const std::string& mostPreferred)
+ {
+ return makeStringSelectionComboBox(
+ std::move(name), robot->getRobotNodeSetNames(), preferredSet, mostPreferred);
+ }
+
+ StringComboBoxPtr
+ makeRobotNodeComboBox(const VirtualRobot::RobotPtr& robot,
+ std::string name,
+ const std::set<std::string>& preferredSet,
+ const std::string& mostPreferred)
+ {
+ return makeStringSelectionComboBox(
+ std::move(name), robot->getRobotNodeNames(), preferredSet, mostPreferred);
+ }
+
+ StringComboBoxPtr
+ makeStringSelectionComboBox(std::string name,
+ std::vector<std::string> options,
+ const std::string& mostPreferred,
+ const std::set<std::string>& preferredSet)
+ {
+ return makeStringSelectionComboBox(
+ std::move(name), std::move(options), preferredSet, mostPreferred);
+ }
} // namespace armarx::WidgetDescription
diff --git a/source/RobotAPI/components/units/RobotUnit/DefaultWidgetDescriptions.h b/source/RobotAPI/components/units/RobotUnit/DefaultWidgetDescriptions.h
index e276010f2..3da3c5b54 100644
--- a/source/RobotAPI/components/units/RobotUnit/DefaultWidgetDescriptions.h
+++ b/source/RobotAPI/components/units/RobotUnit/DefaultWidgetDescriptions.h
@@ -25,7 +25,7 @@
#include <set>
#include <string>
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <ArmarXGui/interface/WidgetDescription.h>
#include <ArmarXGui/libraries/DefaultWidgetDescriptions/DefaultWidgetDescriptions.h>
@@ -57,33 +57,18 @@ namespace armarx::WidgetDescription
const std::set<std::string>& preferredSet,
const std::string& mostPreferred);
- inline StringComboBoxPtr
- makeStringSelectionComboBox(std::string name,
- std::vector<std::string> options,
- const std::string& mostPreferred,
- const std::set<std::string>& preferredSet)
- {
- return makeStringSelectionComboBox(
- std::move(name), std::move(options), preferredSet, mostPreferred);
- }
+ StringComboBoxPtr makeStringSelectionComboBox(std::string name,
+ std::vector<std::string> options,
+ const std::string& mostPreferred,
+ const std::set<std::string>& preferredSet);
- inline StringComboBoxPtr
- makeRNSComboBox(const VirtualRobot::RobotPtr& robot,
- std::string name = "RobotNodeSet",
- const std::set<std::string>& preferredSet = {},
- const std::string& mostPreferred = "")
- {
- return makeStringSelectionComboBox(
- std::move(name), robot->getRobotNodeSetNames(), preferredSet, mostPreferred);
- }
+ StringComboBoxPtr makeRNSComboBox(const VirtualRobot::RobotPtr& robot,
+ std::string name = "RobotNodeSet",
+ const std::set<std::string>& preferredSet = {},
+ const std::string& mostPreferred = "");
- inline StringComboBoxPtr
- makeRobotNodeComboBox(const VirtualRobot::RobotPtr& robot,
- std::string name = "RobotNode",
- const std::set<std::string>& preferredSet = {},
- const std::string& mostPreferred = "")
- {
- return makeStringSelectionComboBox(
- std::move(name), robot->getRobotNodeNames(), preferredSet, mostPreferred);
- }
+ StringComboBoxPtr makeRobotNodeComboBox(const VirtualRobot::RobotPtr& robot,
+ std::string name = "RobotNode",
+ const std::set<std::string>& preferredSet = {},
+ const std::string& mostPreferred = "");
} // namespace armarx::WidgetDescription
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianNaturalPositionController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianNaturalPositionController.cpp
index 67e940d30..09338fd57 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianNaturalPositionController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianNaturalPositionController.cpp
@@ -2,6 +2,7 @@
#include <iomanip>
+#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/math/Helpers.h>
#include <ArmarXCore/util/CPPUtility/trace.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.cpp
index ec93568c8..26fa0111d 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.cpp
@@ -24,6 +24,8 @@
#include "NJointCartesianTorqueController.h"
#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
+#include <VirtualRobot/Robot.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.h
index 91326e493..b02c292f6 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianTorqueController.h
@@ -23,9 +23,8 @@
*/
#pragma once
+#include <VirtualRobot/VirtualRobot.h>
-#include <VirtualRobot/IK/DifferentialIK.h>
-#include <VirtualRobot/Robot.h>
#include <RobotAPI/interface/units/RobotUnit/NJointCartesianTorqueController.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp
index 486eaa775..165da2d63 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp
@@ -24,10 +24,14 @@
#include "NJointCartesianVelocityController.h"
+#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
+#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
+#include <RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h>
#define DEFAULT_TCP_STRING "default TCP"
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.h
index 35f3a9375..1c0755674 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.h
@@ -24,17 +24,19 @@
#pragma once
-#include <VirtualRobot/IK/DifferentialIK.h>
#include <VirtualRobot/VirtualRobot.h>
-#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerWithTripleBuffer.h>
-#include <RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h>
#include <RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityController.h>
#include <RobotAPI/libraries/core/CartesianVelocityController.h>
namespace armarx
{
+ class ControlTarget1DoFActuatorVelocity;
+ class SensorValue1DoFActuatorTorque;
+ class SensorValue1DoFGravityTorque;
+
+
TYPEDEF_PTRS_HANDLE(NJointCartesianVelocityController);
TYPEDEF_PTRS_HANDLE(NJointCartesianVelocityControllerControlData);
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.cpp
index 90ef15b61..ea5ab7c70 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.cpp
@@ -24,6 +24,8 @@
#include "NJointCartesianVelocityControllerWithRamp.h"
#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
+#include <VirtualRobot/Robot.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.h
index 40bba081c..34d99731e 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityControllerWithRamp.h
@@ -23,9 +23,7 @@
*/
#pragma once
-
-#include <VirtualRobot/IK/DifferentialIK.h>
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityControllerWithRamp.h>
#include <RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.cpp
index 08870cfcc..943f87889 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.cpp
@@ -1,6 +1,8 @@
#include "NJointCartesianWaypointController.h"
#include <iomanip>
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/Robot.h>
#include <ArmarXCore/util/CPPUtility/trace.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h
index 3239c0e83..76cf0ca05 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h
@@ -23,7 +23,6 @@
#pragma once
#include <atomic>
-#include <functional>
#include <map>
#include <mutex>
#include <optional>
@@ -35,8 +34,10 @@
#include <ArmarXCore/core/services/tasks/ThreadPool.h>
#include <ArmarXCore/interface/core/ManagedIceObjectDefinitions.h>
-#include <RobotAPI/components/units/RobotUnit/RobotUnit.h>
+// #include <RobotAPI/components/units/RobotUnit/RobotUnit.h>
+
#include <RobotAPI/interface/units/RobotUnit/NJointController.h>
+#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
namespace IceProxy::armarx
{
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
index 2956bbcf8..c02af15ef 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
@@ -28,6 +28,7 @@
#include <SimoxUtility/math/convert/mat3f_to_rpy.h>
#include <SimoxUtility/math/convert/mat4f_to_rpy.h>
#include <SimoxUtility/math/periodic/periodic_clamp.h>
+#include <VirtualRobot/Robot.h>
#include "ArmarXCore/core/logging/Logging.h"
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
index f59f1b7be..f13f66fe7 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
@@ -26,7 +26,8 @@
#include <atomic>
-#include <VirtualRobot/Robot.h>
+
+#include <VirtualRobot/VirtualRobot.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp
index cca564afe..1e827dcc1 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.cpp
@@ -27,6 +27,8 @@
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
+#include <VirtualRobot/Robot.h>
+
namespace armarx
{
NJointControllerRegistration<NJointHolonomicPlatformRelativePositionController>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h
index 62760e241..ba3c5ba50 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h
@@ -26,7 +26,7 @@
#include <atomic>
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.cpp
index 892a1ae7e..31870bd96 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.cpp
@@ -22,6 +22,8 @@
#include "NJointHolonomicPlatformUnitVelocityPassThroughController.h"
+#include <VirtualRobot/Robot.h>
+
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h
index ef08635a5..c692e00de 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h
@@ -22,7 +22,8 @@
#pragma once
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
+
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerInterface.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
index 972f3abd1..e903a1a5d 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
@@ -22,9 +22,14 @@
#include "NJointHolonomicPlatformVelocityControllerWithRamp.h"
+#include <VirtualRobot/Robot.h>
+
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include "RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h"
+#include "RobotAPI/components/units/RobotUnit/SensorValues/SensorValueHolonomicPlatform.h"
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
+#include "../ControlTargets/ControlTargetHolonomicPlatformVelocity.h"
namespace armarx
{
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.h
index 8cd957b50..795b16c8e 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.h
@@ -22,15 +22,16 @@
#pragma once
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerInterface.h>
-#include "../ControlTargets/ControlTargetHolonomicPlatformVelocity.h"
-#include "NJointControllerWithTripleBuffer.h"
+// #include "NJointControllerWithTripleBuffer.h"
namespace armarx
{
+ class ControlTargetHolonomicPlatformVelocity;
+ class SensorValueHolonomicPlatformVelocity;
class Cartesian2DimVelocityRamp
{
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.cpp
index e51de4dbd..be1af27f6 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.cpp
@@ -22,6 +22,8 @@
#include "NJointKinematicUnitPassThroughController.h"
+#include <VirtualRobot/Robot.h>
+
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
namespace armarx
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h
index ab280b224..9f38d25d4 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h
@@ -24,7 +24,7 @@
#include <atomic>
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTCPController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTCPController.cpp
index 12ca8b5a1..1c3a68e75 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTCPController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTCPController.cpp
@@ -24,6 +24,8 @@
#include "NJointTCPController.h"
#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
+#include <VirtualRobot/Robot.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTCPController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTCPController.h
index ecf1fc266..311df4838 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTCPController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTCPController.h
@@ -23,9 +23,8 @@
*/
#pragma once
-
-#include <VirtualRobot/IK/DifferentialIK.h>
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
+#include <VirtualRobot/IK/IKSolver.h>
#include "../ControlTargets/ControlTarget1DoFActuator.h"
#include "../SensorValues/SensorValue1DoFActuator.h"
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
index e4b850fca..069b296af 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
@@ -25,6 +25,10 @@
#include <SimoxUtility/math/convert/mat4f_to_pos.h>
#include <SimoxUtility/math/convert/mat4f_to_quat.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/RobotNodeSet.h>
+
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
using namespace armarx;
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.h
index 42ce54179..47706d9dc 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.h
@@ -22,8 +22,7 @@
#pragma once
-#include <VirtualRobot/IK/DifferentialIK.h>
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerWithTripleBuffer.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.cpp
index 4e79acb8f..e4a068265 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.cpp
@@ -1,6 +1,8 @@
#include "NJointTrajectoryController.h"
+#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.h>
+#include <VirtualRobot/Robot.h>
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.h
index eb13d7c90..95b90d9c7 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.h
@@ -1,6 +1,6 @@
#pragma once
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <ArmarXGui/interface/StaticPlotterInterface.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp
index 29f4b175a..2d3a8b5ea 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnit.cpp
@@ -29,4 +29,9 @@ namespace armarx
{
}
+ armarx::PropertyDefinitionsPtr
+ RobotUnit::createPropertyDefinitions()
+ {
+ return PropertyDefinitionsPtr(new RobotUnitPropertyDefinitions(getConfigIdentifier()));
+ }
} // namespace armarx
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnit.h b/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
index 0c97bcd05..b22844a4e 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
@@ -200,10 +200,6 @@ namespace armarx
}
/// @see PropertyUser::createPropertyDefinitions()
- armarx::PropertyDefinitionsPtr
- createPropertyDefinitions() override
- {
- return PropertyDefinitionsPtr(new RobotUnitPropertyDefinitions(getConfigIdentifier()));
- }
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
};
} // namespace armarx
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.cpp
index 732a0e2c4..a2cc1aa25 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.cpp
@@ -24,6 +24,8 @@
#include <sstream>
+#include <VirtualRobot/Robot.h>
+
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/util/Preprocessor.h>
#include <ArmarXCore/util/CPPUtility/trace.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h
index b76f54dc8..29732afde 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h
@@ -30,7 +30,7 @@
#include <boost/preprocessor/seq/for_each.hpp>
#include <boost/preprocessor/variadic/to_seq.hpp>
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/util/CPPUtility/Pointer.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
index 6f01acc17..6b65c43ba 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
@@ -23,6 +23,7 @@
#include "RobotUnitModuleControlThread.h"
#include <SimoxUtility/math/convert/pos_rpy_to_mat4f.h>
+#include <VirtualRobot/VirtualRobotException.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <ArmarXCore/core/time/TimeUtil.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
index 99b4a64e4..d9e408416 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.cpp
@@ -24,6 +24,8 @@
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h>
+#include <VirtualRobot/Robot.h>
+
#include "RobotUnitModuleControllerManagement.h"
#include "RobotUnitModuleDevices.h"
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.h
index 183304232..d9ed47b7b 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThreadDataBuffer.h
@@ -22,7 +22,8 @@
#pragma once
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
+
#include <ArmarXCore/core/util/TripleBuffer.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.h
index 0c7caccb3..4702668c5 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.h
@@ -24,6 +24,10 @@
#include <mutex>
+#include <VirtualRobot/VirtualRobot.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/Robot.h>
+
#include "RobotAPI/components/units/RobotUnit/Devices/GlobalRobotPoseSensorDevice.h"
#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
@@ -259,6 +263,8 @@ namespace armarx::RobotUnitModule
* @param nodes The VirtualRobot's RobotNodes
* @param sensors The \ref SensorValue "SensorValues"
*/
+
+ // TODO use base type for 'sensors' element
template <class PtrT>
void
updateVirtualRobotFromSensorValues(const VirtualRobot::RobotPtr& robot,
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp
index b2ae89490..033d86962 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp
@@ -24,7 +24,9 @@
#include <SimoxUtility/algorithm/string/string_tools.h>
#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/VirtualRobotException.h>
#include <VirtualRobot/XML/RobotIO.h>
+#include <VirtualRobot/Robot.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.h
index c6e94bd51..d3e1e68f7 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.h
@@ -22,7 +22,7 @@
#pragma once
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <ArmarXCore/core/ArmarXManager.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp
index 698df2657..1ebf5d476 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp
@@ -27,8 +27,11 @@
#include <SimoxUtility/algorithm/string/string_tools.h>
#include <VirtualRobot/CollisionDetection/CollisionChecker.h>
+#include <VirtualRobot/CollisionDetection/CollisionModel.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/Obstacle.h>
#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/Robot.h>
#include "ArmarXCore/core/logging/Logging.h"
#include "ArmarXCore/core/time/Metronome.h"
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h
index fa7e690cd..36798242c 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h
@@ -24,7 +24,7 @@
#include <thread>
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/LocalizationSubUnit.cpp b/source/RobotAPI/components/units/RobotUnit/Units/LocalizationSubUnit.cpp
index debb6a1a7..2dc836d89 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/LocalizationSubUnit.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/Units/LocalizationSubUnit.cpp
@@ -25,6 +25,7 @@
#include <Eigen/Geometry>
#include <SimoxUtility/math/convert/mat4f_to_rpy.h>
+#include <VirtualRobot/MathTools.h>
#include <RobotAPI/components/units/RobotUnit/Devices/GlobalRobotPoseSensorDevice.h>
#include <RobotAPI/interface/core/GeometryBase.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/LocalizationSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/LocalizationSubUnit.h
index c40aa7e44..bc679526a 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/LocalizationSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/LocalizationSubUnit.h
@@ -26,7 +26,6 @@
#include <Eigen/Core>
-#include <VirtualRobot/MathTools.h>
#include <RobotAPI/components/units/SensorActorUnit.h>
#include <RobotAPI/interface/core/RobotState.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp
index c7e7348c5..4186fa390 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp
@@ -25,6 +25,7 @@
#include <Eigen/Geometry>
#include <SimoxUtility/math/convert/mat4f_to_rpy.h>
+#include <VirtualRobot/MathTools.h>
#include <RobotAPI/components/units/RobotUnit/Devices/GlobalRobotPoseSensorDevice.h>
#include <RobotAPI/interface/core/GeometryBase.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
index dd41099f1..dc081d781 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
@@ -26,8 +26,6 @@
#include <Eigen/Core>
-#include <VirtualRobot/MathTools.h>
-
#include <RobotAPI/components/units/PlatformUnit.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h>
diff --git a/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.cpp b/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.cpp
index 79d076f9b..bc22d972c 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.cpp
@@ -28,6 +28,10 @@
#include <RobotAPI/components/units/RobotUnit/RobotUnit.h>
+
+#include <VirtualRobot/Dynamics/Dynamics.h>
+#include <VirtualRobot/RobotNodeSet.h>
+
namespace armarx
{
diff --git a/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.h b/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.h
index edcf445b5..e49736123 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.h
@@ -24,8 +24,8 @@
#pragma once
#include <Eigen/Core>
+#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/Dynamics/Dynamics.h>
-#include <VirtualRobot/RobotNodeSet.h>
#include <RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h>
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index 4f79878ee..08557d8a0 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -28,10 +28,12 @@
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/time/TimeUtil.h>
#include <VirtualRobot/RobotConfig.h>
+#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/MathTools.h>
#include <SimoxUtility/algorithm/string/string_tools.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
#include <Eigen/Core>
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index 8b373d101..8811a63dd 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -27,7 +27,9 @@
#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
#include <ArmarXCore/core/Component.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/IK/DifferentialIK.h>
+
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
@@ -280,4 +282,3 @@ namespace armarx
using EDifferentialIKPtr = std::shared_ptr<EDifferentialIK>;
}
-
diff --git a/source/RobotAPI/gui-plugins/FTSensorCalibrationGui/FTSensorCalibrationGuiWidgetController.cpp b/source/RobotAPI/gui-plugins/FTSensorCalibrationGui/FTSensorCalibrationGuiWidgetController.cpp
index 288e48089..6cc8d730e 100644
--- a/source/RobotAPI/gui-plugins/FTSensorCalibrationGui/FTSensorCalibrationGuiWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/FTSensorCalibrationGui/FTSensorCalibrationGuiWidgetController.cpp
@@ -22,6 +22,7 @@
#include <string>
#include <QRegExp>
+#include <VirtualRobot/RobotNodeSet.h>
#include <ArmarXCore/util/CPPUtility/trace.h>
#include <ArmarXCore/core/util/FileSystemPathBuilder.h>
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 440815d7d..a5c4e264d 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -44,6 +44,13 @@
#include <RobotAPI/interface/core/NameValueMap.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/Visualization/VisualizationFactory.h>
+#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
+
+
#include "KinematicUnitConfigDialog.h"
// Qt headers
@@ -993,7 +1000,7 @@ namespace armarx
if (robot != NULL)
{
ARMARX_VERBOSE << "getting coin visualization" << flush;
- coinVisualization = robot->getVisualization<VirtualRobot::CoinVisualization>();
+ coinVisualization = robot->getVisualization();
if (!coinVisualization || !coinVisualization->getCoinVisualization())
{
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 1c94c9305..f569285ac 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -40,19 +40,15 @@
#include <QToolBar>
-#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/Nodes/RobotNode.h>
-#include <VirtualRobot/RobotNodeSet.h>
-#include <VirtualRobot/Visualization/VisualizationFactory.h>
-#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
-
#include <Inventor/sensors/SoTimerSensor.h>
#include <Inventor/nodes/SoNode.h>
#include <Inventor/nodes/SoSeparator.h>
#include <Inventor/nodes/SoEventCallback.h>
#include <Inventor/Qt/viewers/SoQtExaminerViewer.h>
#include <Inventor/Qt/SoQt.h>
+
#include <QStyledItemDelegate>
+
#include <ArmarXCore/core/util/IceReportSkipper.h>
#include <VirtualRobot/VirtualRobot.h>
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
index bbd260410..d13aaf8d1 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
@@ -33,8 +33,14 @@
#include <RobotAPI/libraries/core/FramedPose.h>
+#include <VirtualRobot/MathTools.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/CollisionDetection/CollisionModel.h>
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/Visualization/VisualizationFactory.h>
+#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
// Qt headers
#include <Qt>
@@ -389,7 +395,7 @@ void RobotViewerWidgetController::setRobotVisu(bool colModel)
v = VirtualRobot::SceneObject::Collision;
}
- CoinVisualizationPtr robotViewerVisualization = robot->getVisualization<CoinVisualization>(v);
+ CoinVisualizationPtr robotViewerVisualization = robot->getVisualization(v);
if (robotViewerVisualization)
{
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
index 48a161aa9..ebb76786a 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
@@ -37,12 +37,7 @@
/* Qt headers */
#include <QMainWindow>
-
-#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/Nodes/RobotNode.h>
-#include <VirtualRobot/RobotNodeSet.h>
-#include <VirtualRobot/Visualization/VisualizationFactory.h>
-#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <Inventor/sensors/SoTimerSensor.h>
@@ -186,4 +181,3 @@ namespace armarx
};
using RobotViewerGuiPluginPtr = std::shared_ptr<RobotViewerWidgetController>;
}
-
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.cpp b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.cpp
index 80b861c28..be74b8d21 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.cpp
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.cpp
@@ -27,7 +27,10 @@
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/LinkedCoordinate.h>
#include <RobotAPI/libraries/core/FramedPose.h>
-
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
// C++ includes
#include <sstream>
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
index e3a78e725..bcbfc2e07 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
@@ -29,11 +29,10 @@
// ArmarX includes
#include <RobotAPI/interface/units/TCPMoverUnitInterface.h>
#include <RobotAPI/interface/units/TCPControlUnit.h>
+
/** VirtualRobot headers **/
-#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/Nodes/RobotNode.h>
-#include <VirtualRobot/RobotNodeSet.h>
-#include <VirtualRobot/IK/DifferentialIK.h>
+#include <VirtualRobot/VirtualRobot.h>
+
#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
@@ -151,4 +150,3 @@ namespace armarx
QPointer<TCPMoverConfigDialog> configDialog;
};
}
-
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp
index 82dc134ee..4bb9a4a1d 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp
@@ -3,6 +3,7 @@
#include <SimoxUtility/math/pose/invert.h>
#include <SimoxUtility/math/pose/pose.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/RobotConfig.h>
diff --git a/source/RobotAPI/libraries/GraspingUtility/BimanualGraspCandidateHelper.cpp b/source/RobotAPI/libraries/GraspingUtility/BimanualGraspCandidateHelper.cpp
index ffb42a45b..af5dec6f7 100644
--- a/source/RobotAPI/libraries/GraspingUtility/BimanualGraspCandidateHelper.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/BimanualGraspCandidateHelper.cpp
@@ -23,6 +23,7 @@
#include "BimanualGraspCandidateHelper.h"
#include <VirtualRobot/math/Helpers.h>
+#include <VirtualRobot/Robot.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
diff --git a/source/RobotAPI/libraries/GraspingUtility/BimanualGraspCandidateHelper.h b/source/RobotAPI/libraries/GraspingUtility/BimanualGraspCandidateHelper.h
index 1b2e9b10c..9a861d414 100644
--- a/source/RobotAPI/libraries/GraspingUtility/BimanualGraspCandidateHelper.h
+++ b/source/RobotAPI/libraries/GraspingUtility/BimanualGraspCandidateHelper.h
@@ -27,7 +27,7 @@
#include <RobotAPI/interface/units/GraspCandidateProviderInterface.h>
#include <RobotAPI/libraries/core/Pose.h>
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <memory>
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateHelper.cpp b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateHelper.cpp
index cba726500..b8eafe669 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateHelper.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateHelper.cpp
@@ -23,6 +23,7 @@
#include "GraspCandidateHelper.h"
#include <VirtualRobot/math/Helpers.h>
+#include <VirtualRobot/Robot.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateHelper.h b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateHelper.h
index 0fa9fe1ea..d47e00f3f 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspCandidateHelper.h
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspCandidateHelper.h
@@ -26,7 +26,7 @@
#include <RobotAPI/interface/units/GraspCandidateProviderInterface.h>
#include <RobotAPI/libraries/core/Pose.h>
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <memory>
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.cpp b/source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.cpp
index e20c92b75..efa9b038a 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.cpp
@@ -30,6 +30,7 @@
#include <SimoxUtility/json/eigen_conversion.h>
#include <SimoxUtility/json/json.hpp>
+#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/math/Helpers.h>
#include "ArmarXCore/core/logging/Logging.h"
diff --git a/source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.cpp b/source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.cpp
index b01b2c6e9..00a840749 100644
--- a/source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.cpp
@@ -4,6 +4,8 @@
#include <ArmarXCore/util/CPPUtility/trace.h>
+#include <VirtualRobot/Robot.h>
+
#include "box_to_grasp_candidates.h"
namespace armarx
diff --git a/source/RobotAPI/libraries/GraspingUtility/grasp_candidate_drawer.cpp b/source/RobotAPI/libraries/GraspingUtility/grasp_candidate_drawer.cpp
index 9888dccad..f24952192 100644
--- a/source/RobotAPI/libraries/GraspingUtility/grasp_candidate_drawer.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/grasp_candidate_drawer.cpp
@@ -1,4 +1,5 @@
#include <SimoxUtility/math/pose/pose.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
#include <ArmarXCore/util/CPPUtility/trace.h>
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp
index 807239020..38b5f30cd 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp
@@ -25,6 +25,10 @@
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
#include <RobotAPI/libraries/core/FramedPose.h>
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/XML/RobotIO.h>
+
#include "RobotStateComponentPlugin.h"
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h
index af85178be..c385948db 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h
@@ -24,7 +24,7 @@
#include <mutex>
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <ArmarXCore/core/ComponentPlugin.h>
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.cpp
index 0cbf7e730..16308fdfe 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.cpp
@@ -26,6 +26,7 @@
// Simox
#include <SimoxUtility/math.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
armarx::ObstacleAvoidingPlatformUnitHelper::ObstacleAvoidingPlatformUnitHelper(
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.h b/source/RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.h
index 85d7543c9..d372ee8da 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.h
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.h
@@ -28,7 +28,7 @@
#include <Eigen/Core>
// Simox
-#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/VirtualRobot.h>
// RobotAPI
#include <RobotAPI/components/units/ObstacleAvoidingPlatformUnit/ObstacleAvoidingPlatformUnit.h>
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.cpp
index b5fe191b9..7fbe6b3f8 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.cpp
@@ -27,8 +27,11 @@
#include <RobotAPI/libraries/core/CartesianVelocityController.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/math/Helpers.h>
#include <VirtualRobot/MathTools.h>
+#include <VirtualRobot/Robot.h>
namespace armarx
{
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.h b/source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.h
index 40d1640ea..279242ca5 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.h
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/PositionControllerHelper.h
@@ -27,7 +27,8 @@
#include "VelocityControllerHelper.h"
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
+#include <VirtualRobot/IK/JacobiProvider.h>
#include <RobotAPI/libraries/core/CartesianPositionController.h>
#include <RobotAPI/libraries/core/Pose.h>
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
index cf5eb9b33..602cda542 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
@@ -31,6 +31,11 @@
#include <ArmarXCore/util/CPPUtility/trace.h>
// #include <ArmarXCore/core/system/ArmarXDataPath.cpp>
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
+#include <VirtualRobot/Visualization/TriMeshModel.h>
+
#include <Eigen/Dense>
#include <algorithm>
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
index c1fa9b4d7..86e01df9c 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
@@ -25,9 +25,7 @@
#include <RobotAPI/interface/core/RobotState.h>
-#include <VirtualRobot/Robot.h>
#include <VirtualRobot/VirtualRobot.h>
-#include <VirtualRobot/Visualization/TriMeshModel.h>
namespace armarx
{
diff --git a/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp b/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
index e18c49fcb..2ae44a291 100644
--- a/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
@@ -1,7 +1,9 @@
#include "KnownGraspProviderSegment.h"
#include <SimoxUtility/algorithm/string/string_tools.h>
+#include <VirtualRobot/Grasping/Grasp.h>
#include <VirtualRobot/Grasping/GraspSet.h>
+#include <VirtualRobot/ManipulationObject.h>
#include <VirtualRobot/XML/ObjectIO.h>
#include <ArmarXCore/core/exceptions/LocalException.h>
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
index 764cbdcc8..9f69b9300 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
@@ -3,6 +3,7 @@
#include <Eigen/Core>
#include <Eigen/Geometry>
+#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/Robot.h>
#include <SimoxUtility/algorithm/string/string_tools.h>
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
index 130e229fb..505d2b44b 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
@@ -6,6 +6,7 @@
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/XML/RobotIO.h>
+#include <VirtualRobot/Robot.h>
#include <ArmarXCore/core/PackagePath.h>
#include <ArmarXCore/core/logging/Logging.h>
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
index 571838aa3..83a17cf03 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h
@@ -21,7 +21,6 @@
#pragma once
-#include <VirtualRobot/Robot.h>
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/XML/RobotIO.h>
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotWriter.h b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotWriter.h
index 0bae7b6e9..b0a9552b8 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotWriter.h
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotWriter.h
@@ -21,9 +21,7 @@
#pragma once
-#include <VirtualRobot/Robot.h>
#include <VirtualRobot/VirtualRobot.h>
-#include <VirtualRobot/XML/RobotIO.h>
#include "RobotAPI/libraries/armem/core/forward_declarations.h"
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.h b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.h
index 184fae248..884d85255 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.h
+++ b/source/RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.h
@@ -22,6 +22,8 @@
#pragma once
+#include <mutex>
+
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp b/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp
index 8a6af7701..2627328d9 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp
@@ -10,6 +10,7 @@
#include <SimoxUtility/algorithm/string/string_tools.h>
#include <SimoxUtility/math/pose.h>
#include <SimoxUtility/math/rescale.h>
+#include <VirtualRobot/Nodes/Sensor.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <ArmarXCore/core/logging/Logging.h>
diff --git a/source/RobotAPI/libraries/armem_vision/types.h b/source/RobotAPI/libraries/armem_vision/types.h
index 1a6b6b7d6..1ddd16d87 100644
--- a/source/RobotAPI/libraries/armem_vision/types.h
+++ b/source/RobotAPI/libraries/armem_vision/types.h
@@ -21,9 +21,9 @@
#pragma once
-#include <vector>
-#include <VirtualRobot/MathTools.h>
+#include <Eigen/Core>
+#include <Eigen/Geometry>
#include <RobotAPI/interface/units/LaserScannerUnit.h>
#include <RobotAPI/libraries/armem/core/Time.h>
diff --git a/source/RobotAPI/libraries/core/CartesianFeedForwardPositionController.cpp b/source/RobotAPI/libraries/core/CartesianFeedForwardPositionController.cpp
index 18f347139..1804cb732 100644
--- a/source/RobotAPI/libraries/core/CartesianFeedForwardPositionController.cpp
+++ b/source/RobotAPI/libraries/core/CartesianFeedForwardPositionController.cpp
@@ -24,6 +24,12 @@
#include "CartesianFeedForwardPositionController.h"
#include <RobotAPI/libraries/core/math/MathUtils.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/math/AbstractFunctionR1R6.h>
+
namespace armarx
{
CartesianFeedForwardPositionController::CartesianFeedForwardPositionController(const VirtualRobot::RobotNodePtr& tcp)
diff --git a/source/RobotAPI/libraries/core/CartesianFeedForwardPositionController.h b/source/RobotAPI/libraries/core/CartesianFeedForwardPositionController.h
index 4c2704aca..c40a39464 100644
--- a/source/RobotAPI/libraries/core/CartesianFeedForwardPositionController.h
+++ b/source/RobotAPI/libraries/core/CartesianFeedForwardPositionController.h
@@ -23,11 +23,11 @@
#pragma once
-#include <VirtualRobot/RobotNodeSet.h>
-#include <VirtualRobot/IK/DifferentialIK.h>
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
+#include <VirtualRobot/math/MathForwardDefinitions.h>
+#include <VirtualRobot/IK/IKSolver.h>
+
#include <Eigen/Dense>
-#include <VirtualRobot/math/AbstractFunctionR1R6.h>
namespace armarx
{
diff --git a/source/RobotAPI/libraries/core/CartesianNaturalPositionController.cpp b/source/RobotAPI/libraries/core/CartesianNaturalPositionController.cpp
index b1f6850fb..5c45b8873 100644
--- a/source/RobotAPI/libraries/core/CartesianNaturalPositionController.cpp
+++ b/source/RobotAPI/libraries/core/CartesianNaturalPositionController.cpp
@@ -29,8 +29,10 @@
#include "CartesianNaturalPositionController.h"
+#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/math/Helpers.h>
#include <VirtualRobot/MathTools.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
namespace armarx
{
diff --git a/source/RobotAPI/libraries/core/CartesianPositionController.cpp b/source/RobotAPI/libraries/core/CartesianPositionController.cpp
index c34d94957..a2d75227f 100644
--- a/source/RobotAPI/libraries/core/CartesianPositionController.cpp
+++ b/source/RobotAPI/libraries/core/CartesianPositionController.cpp
@@ -23,6 +23,12 @@
#include "CartesianPositionController.h"
+
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
+#include <VirtualRobot/Robot.h>
+
#include <RobotAPI/libraries/core/math/MathUtils.h>
#include <ArmarXCore/util/CPPUtility/trace.h>
diff --git a/source/RobotAPI/libraries/core/CartesianPositionController.h b/source/RobotAPI/libraries/core/CartesianPositionController.h
index d4f3a6883..df4272087 100644
--- a/source/RobotAPI/libraries/core/CartesianPositionController.h
+++ b/source/RobotAPI/libraries/core/CartesianPositionController.h
@@ -23,9 +23,9 @@
#pragma once
-#include <VirtualRobot/RobotNodeSet.h>
-#include <VirtualRobot/IK/DifferentialIK.h>
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
+#include <VirtualRobot/IK/IKSolver.h>
+
#include <Eigen/Dense>
#include <RobotAPI/interface/core/CartesianPositionControllerConfig.h>
@@ -128,4 +128,3 @@ namespace armarx
typedef IceInternal::Handle<CartesianPositionControllerConfig> CartesianPositionControllerConfigPtr;
}
-
diff --git a/source/RobotAPI/libraries/core/CartesianVelocityController.cpp b/source/RobotAPI/libraries/core/CartesianVelocityController.cpp
index 93d3df8e9..636104a39 100644
--- a/source/RobotAPI/libraries/core/CartesianVelocityController.cpp
+++ b/source/RobotAPI/libraries/core/CartesianVelocityController.cpp
@@ -28,8 +28,11 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/math/Helpers.h>
#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
#include <Eigen/Core>
@@ -306,5 +309,3 @@ void CartesianVelocityController::setJointCosts(const std::vector<float>& jointC
_jointCosts(i) = jointCosts.at(i);
}
}
-
-
diff --git a/source/RobotAPI/libraries/core/CartesianVelocityController.h b/source/RobotAPI/libraries/core/CartesianVelocityController.h
index 3e37d44f5..0454957fb 100644
--- a/source/RobotAPI/libraries/core/CartesianVelocityController.h
+++ b/source/RobotAPI/libraries/core/CartesianVelocityController.h
@@ -23,8 +23,8 @@
#pragma once
-#include <VirtualRobot/IK/DifferentialIK.h>
#include <VirtualRobot/VirtualRobot.h>
+#include <VirtualRobot/IK/JacobiProvider.h>
#include <Eigen/Core>
@@ -75,4 +75,3 @@ namespace armarx
Eigen::VectorXf _jointCosts;
};
}
-
diff --git a/source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.cpp b/source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.cpp
index ee06ab837..6c9d30d58 100644
--- a/source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.cpp
+++ b/source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.cpp
@@ -23,6 +23,10 @@
#include "CartesianVelocityControllerWithRamp.h"
+#include <VirtualRobot/IK/DifferentialIK.h>
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+
#include <ArmarXCore/core/logging/Logging.h>
namespace armarx
diff --git a/source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.h b/source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.h
index 1a73b8490..3b6b93dc9 100644
--- a/source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.h
+++ b/source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.h
@@ -28,9 +28,8 @@
#include "JointVelocityRamp.h"
#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/IK/IKSolver.h>
-#include <VirtualRobot/IK/DifferentialIK.h>
-#include <VirtualRobot/Robot.h>
#include <Eigen/Dense>
diff --git a/source/RobotAPI/libraries/core/CartesianVelocityRamp.cpp b/source/RobotAPI/libraries/core/CartesianVelocityRamp.cpp
index e904576b7..eb5646dac 100644
--- a/source/RobotAPI/libraries/core/CartesianVelocityRamp.cpp
+++ b/source/RobotAPI/libraries/core/CartesianVelocityRamp.cpp
@@ -25,6 +25,9 @@
#include <ArmarXCore/core/logging/Logging.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
+#include <VirtualRobot/Robot.h>
+
namespace armarx
{
CartesianVelocityRamp::CartesianVelocityRamp()
@@ -88,4 +91,3 @@ namespace armarx
return maxOrientationAcceleration;
}
}
-
diff --git a/source/RobotAPI/libraries/core/CartesianVelocityRamp.h b/source/RobotAPI/libraries/core/CartesianVelocityRamp.h
index b4d5aac33..573dfe2b2 100644
--- a/source/RobotAPI/libraries/core/CartesianVelocityRamp.h
+++ b/source/RobotAPI/libraries/core/CartesianVelocityRamp.h
@@ -23,8 +23,9 @@
#pragma once
-#include <VirtualRobot/IK/DifferentialIK.h>
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
+#include <VirtualRobot/IK/IKSolver.h>
+
#include <Eigen/Dense>
namespace armarx
diff --git a/source/RobotAPI/libraries/core/CartesianWaypointController.cpp b/source/RobotAPI/libraries/core/CartesianWaypointController.cpp
index 917877b7a..34c1902c0 100644
--- a/source/RobotAPI/libraries/core/CartesianWaypointController.cpp
+++ b/source/RobotAPI/libraries/core/CartesianWaypointController.cpp
@@ -31,6 +31,7 @@
#include <VirtualRobot/math/Helpers.h>
#include <VirtualRobot/MathTools.h>
+#include <VirtualRobot/Robot.h>
#include <cfloat>
#include <ArmarXCore/util/CPPUtility/trace.h>
diff --git a/source/RobotAPI/libraries/core/CartesianWaypointController.h b/source/RobotAPI/libraries/core/CartesianWaypointController.h
index b87ae11f3..d6fb2f7bc 100644
--- a/source/RobotAPI/libraries/core/CartesianWaypointController.h
+++ b/source/RobotAPI/libraries/core/CartesianWaypointController.h
@@ -27,7 +27,7 @@
#include <Eigen/Dense>
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <RobotAPI/libraries/core/CartesianPositionController.h>
#include <RobotAPI/libraries/core/Pose.h>
diff --git a/source/RobotAPI/libraries/core/FramedOrientedPoint.cpp b/source/RobotAPI/libraries/core/FramedOrientedPoint.cpp
index 67391514f..9c42823f1 100644
--- a/source/RobotAPI/libraries/core/FramedOrientedPoint.cpp
+++ b/source/RobotAPI/libraries/core/FramedOrientedPoint.cpp
@@ -22,7 +22,6 @@
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/LinkedCoordinate.h>
-#include <VirtualRobot/LinkedCoordinate.h>
#include <VirtualRobot/VirtualRobot.h>
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
diff --git a/source/RobotAPI/libraries/core/FramedOrientedPoint.h b/source/RobotAPI/libraries/core/FramedOrientedPoint.h
index 3504cad3a..22aff2d36 100644
--- a/source/RobotAPI/libraries/core/FramedOrientedPoint.h
+++ b/source/RobotAPI/libraries/core/FramedOrientedPoint.h
@@ -23,9 +23,6 @@
#include "OrientedPoint.h"
-#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/LinkedCoordinate.h>
-#include <VirtualRobot/LinkedCoordinate.h>
#include <VirtualRobot/VirtualRobot.h>
#include <RobotAPI/interface/core/RobotState.h>
@@ -105,4 +102,3 @@ namespace armarx
};
}
-
diff --git a/source/RobotAPI/libraries/core/RobotPool.cpp b/source/RobotAPI/libraries/core/RobotPool.cpp
index 0b6d58afe..731646d13 100644
--- a/source/RobotAPI/libraries/core/RobotPool.cpp
+++ b/source/RobotAPI/libraries/core/RobotPool.cpp
@@ -24,6 +24,7 @@
#include "RobotPool.h"
#include <VirtualRobot/CollisionDetection/CollisionChecker.h>
+#include <VirtualRobot/Robot.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
diff --git a/source/RobotAPI/libraries/core/RobotPool.h b/source/RobotAPI/libraries/core/RobotPool.h
index 4d6db6fc1..c65afe303 100644
--- a/source/RobotAPI/libraries/core/RobotPool.h
+++ b/source/RobotAPI/libraries/core/RobotPool.h
@@ -23,9 +23,10 @@
*/
#pragma once
-#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <mutex>
+#include <map>
namespace armarx
{
@@ -60,5 +61,3 @@ namespace armarx
};
using RobotPoolPtr = std::shared_ptr<RobotPool>;
}
-
-
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
index 4f0f563e7..4383ae2e5 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
@@ -31,7 +31,14 @@
#include <VirtualRobot/Nodes/RobotNodePrismaticFactory.h>
#include <VirtualRobot/Nodes/RobotNodeRevoluteFactory.h>
#include <VirtualRobot/CollisionDetection/CollisionChecker.h>
-
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <RobotAPI/interface/core/RobotState.h>
+#include <VirtualRobot/Nodes/RobotNodeRevolute.h>
+#include <VirtualRobot/Nodes/RobotNodePrismatic.h>
+#include <VirtualRobot/Nodes/RobotNodeFixed.h>
+#include <VirtualRobot/XML/RobotIO.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
index 734db7407..c976c5341 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
@@ -23,15 +23,15 @@
*/
#pragma once
-#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/RobotNodeSet.h>
-#include <VirtualRobot/Nodes/RobotNode.h>
-#include <RobotAPI/interface/core/RobotState.h>
+#include <VirtualRobot/VirtualRobot.h>
+#include <VirtualRobot/XML/RobotIO.h>
+
+#include <VirtualRobot/Nodes/RobotNodeFixed.h>
#include <VirtualRobot/Nodes/RobotNodeRevolute.h>
#include <VirtualRobot/Nodes/RobotNodePrismatic.h>
-#include <VirtualRobot/Nodes/RobotNodeFixed.h>
-#include <VirtualRobot/XML/RobotIO.h>
+
+#include <RobotAPI/interface/core/RobotState.h>
#include <mutex>
@@ -262,4 +262,3 @@ namespace armarx
using RemoteRobotPtr = std::shared_ptr<RemoteRobot>;
}
-
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp b/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
index 28bb76573..6e402e300 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
@@ -29,6 +29,7 @@
#include <ArmarXCore/interface/core/BasicTypes.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/VirtualRobot.h>
diff --git a/source/RobotAPI/libraries/diffik/CompositeDiffIK.cpp b/source/RobotAPI/libraries/diffik/CompositeDiffIK.cpp
index d8d4f0f6d..833e6a399 100644
--- a/source/RobotAPI/libraries/diffik/CompositeDiffIK.cpp
+++ b/source/RobotAPI/libraries/diffik/CompositeDiffIK.cpp
@@ -24,9 +24,13 @@
#include "CompositeDiffIK.h"
#include <VirtualRobot/Robot.h>
#include <ArmarXCore/core/exceptions/Exception.h>
+
#include <VirtualRobot/math/Helpers.h>
#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
+
#include <cfloat>
using namespace armarx;
@@ -458,3 +462,21 @@ Eigen::VectorXf CompositeDiffIK::NullspaceJointLimitAvoidance::getGradient(Param
}
return r.cwiseProduct(weight);
}
+
+Eigen::Matrix4f
+armarx::CompositeDiffIK::Target::getPoseError() const
+{
+ return tcp->getPoseInRootFrame().inverse() * target;
+}
+
+Eigen::Vector3f
+armarx::CompositeDiffIK::Target::getPosError() const
+{
+ return (tcp->getPoseInRootFrame().inverse() * target).topRightCorner<3, 1>();
+}
+
+auto
+armarx::CompositeDiffIK::Target::getOriError() const
+{
+ return simox::math::delta_angle(tcp->getPoseInRootFrame(), target);
+}
diff --git a/source/RobotAPI/libraries/diffik/CompositeDiffIK.h b/source/RobotAPI/libraries/diffik/CompositeDiffIK.h
index 2736bfff3..2963293f6 100644
--- a/source/RobotAPI/libraries/diffik/CompositeDiffIK.h
+++ b/source/RobotAPI/libraries/diffik/CompositeDiffIK.h
@@ -22,11 +22,11 @@
*/
#pragma once
+
#include <SimoxUtility/math/distance/delta_angle.h>
-#include <VirtualRobot/Nodes/RobotNode.h>
-#include <VirtualRobot/RobotNodeSet.h>
-#include <VirtualRobot/IK/DifferentialIK.h>
+#include <VirtualRobot/VirtualRobot.h>
+
#include <RobotAPI/libraries/core/CartesianPositionController.h>
#include <RobotAPI/libraries/core/CartesianVelocityController.h>
@@ -150,18 +150,9 @@ namespace armarx
std::vector<TargetStep> ikSteps;
- Eigen::Matrix4f getPoseError() const
- {
- return tcp->getPoseInRootFrame().inverse() * target;
- }
- Eigen::Vector3f getPosError() const
- {
- return (tcp->getPoseInRootFrame().inverse() * target).topRightCorner<3, 1>();
- }
- auto getOriError() const
- {
- return simox::math::delta_angle(tcp->getPoseInRootFrame(), target);
- }
+ Eigen::Matrix4f getPoseError() const;
+ Eigen::Vector3f getPosError() const;
+ auto getOriError() const;
};
typedef std::shared_ptr<Target> TargetPtr;
diff --git a/source/RobotAPI/libraries/diffik/GraspTrajectory.cpp b/source/RobotAPI/libraries/diffik/GraspTrajectory.cpp
index 3e6cdff5c..ae7aace62 100644
--- a/source/RobotAPI/libraries/diffik/GraspTrajectory.cpp
+++ b/source/RobotAPI/libraries/diffik/GraspTrajectory.cpp
@@ -25,6 +25,9 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <VirtualRobot/math/AbstractFunctionR1R6.h>
+#include <VirtualRobot/math/Helpers.h>
+
using namespace armarx;
diff --git a/source/RobotAPI/libraries/diffik/GraspTrajectory.h b/source/RobotAPI/libraries/diffik/GraspTrajectory.h
index 8cc0a7cad..777ed4066 100644
--- a/source/RobotAPI/libraries/diffik/GraspTrajectory.h
+++ b/source/RobotAPI/libraries/diffik/GraspTrajectory.h
@@ -38,9 +38,6 @@
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
#include <ArmarXCore/interface/serialization/Eigen.h>
-#include <VirtualRobot/math/AbstractFunctionR1R6.h>
-#include <VirtualRobot/math/Helpers.h>
-
#include <Eigen/Core>
#include <vector>
diff --git a/source/RobotAPI/libraries/diffik/NaturalDiffIK.cpp b/source/RobotAPI/libraries/diffik/NaturalDiffIK.cpp
index e7497443b..802f1e01c 100644
--- a/source/RobotAPI/libraries/diffik/NaturalDiffIK.cpp
+++ b/source/RobotAPI/libraries/diffik/NaturalDiffIK.cpp
@@ -24,6 +24,11 @@
#include "NaturalDiffIK.h"
+
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
+
#include <RobotAPI/libraries/core/CartesianPositionController.h>
#include <RobotAPI/libraries/core/CartesianVelocityController.h>
diff --git a/source/RobotAPI/libraries/diffik/NaturalDiffIK.h b/source/RobotAPI/libraries/diffik/NaturalDiffIK.h
index 0bdafb506..dbbd1e117 100644
--- a/source/RobotAPI/libraries/diffik/NaturalDiffIK.h
+++ b/source/RobotAPI/libraries/diffik/NaturalDiffIK.h
@@ -23,10 +23,8 @@
#pragma once
-#include <VirtualRobot/Nodes/RobotNode.h>
-#include <VirtualRobot/RobotNodeSet.h>
-#include <VirtualRobot/IK/DifferentialIK.h>
-
+#include <VirtualRobot/VirtualRobot.h>
+#include <VirtualRobot/IK/IKSolver.h>
namespace armarx
{
diff --git a/source/RobotAPI/libraries/diffik/SimpleDiffIK.cpp b/source/RobotAPI/libraries/diffik/SimpleDiffIK.cpp
index c3f1a32db..ef6a4d91b 100644
--- a/source/RobotAPI/libraries/diffik/SimpleDiffIK.cpp
+++ b/source/RobotAPI/libraries/diffik/SimpleDiffIK.cpp
@@ -23,6 +23,9 @@
#include "SimpleDiffIK.h"
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
+
#include <RobotAPI/libraries/core/CartesianPositionController.h>
#include <RobotAPI/libraries/core/CartesianVelocityController.h>
@@ -171,4 +174,21 @@ namespace armarx
return r;
}
-}
+ void
+ SimpleDiffIK::Reachability::aggregate(const Result& result)
+ {
+ ikResults.emplace_back(result);
+ reachable = reachable && result.reached;
+ minimumJointLimitMargin = std::min(minimumJointLimitMargin, result.minimumJointLimitMargin);
+ if (jointLimitMargins.rows() == 0)
+ {
+ jointLimitMargins = result.jointLimitMargins;
+ }
+ else
+ {
+ jointLimitMargins = jointLimitMargins.cwiseMin(result.jointLimitMargins);
+ }
+ maxPosError = std::max(maxPosError, result.posError);
+ maxOriError = std::max(maxOriError, result.oriError);
+ }
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/diffik/SimpleDiffIK.h b/source/RobotAPI/libraries/diffik/SimpleDiffIK.h
index d71ebbee9..583fef2a8 100644
--- a/source/RobotAPI/libraries/diffik/SimpleDiffIK.h
+++ b/source/RobotAPI/libraries/diffik/SimpleDiffIK.h
@@ -25,8 +25,7 @@
#include "DiffIKProvider.h"
-#include <VirtualRobot/Nodes/RobotNode.h>
-#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/VirtualRobot.h>
#include <memory>
@@ -88,22 +87,7 @@ namespace armarx
float maxOriError = 0;
std::vector<Result> ikResults;
- void aggregate(const Result& result)
- {
- ikResults.emplace_back(result);
- reachable = reachable && result.reached;
- minimumJointLimitMargin = std::min(minimumJointLimitMargin, result.minimumJointLimitMargin);
- if (jointLimitMargins.rows() == 0)
- {
- jointLimitMargins = result.jointLimitMargins;
- }
- else
- {
- jointLimitMargins = jointLimitMargins.cwiseMin(result.jointLimitMargins);
- }
- maxPosError = std::max(maxPosError, result.posError);
- maxOriError = std::max(maxOriError, result.oriError);
- }
+ void aggregate(const Result& result);
};
static Result CalculateDiffIK(const Eigen::Matrix4f targetPose, VirtualRobot::RobotNodeSetPtr rns, VirtualRobot::RobotNodePtr tcp = VirtualRobot::RobotNodePtr(), Parameters params = Parameters());
diff --git a/source/RobotAPI/libraries/natik/CartesianNaturalPositionControllerProxy.cpp b/source/RobotAPI/libraries/natik/CartesianNaturalPositionControllerProxy.cpp
index 7a57d550d..bb532f393 100644
--- a/source/RobotAPI/libraries/natik/CartesianNaturalPositionControllerProxy.cpp
+++ b/source/RobotAPI/libraries/natik/CartesianNaturalPositionControllerProxy.cpp
@@ -27,6 +27,8 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
//#include <RobotAPI/libraries/aron/core/navigator/Navigator.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/math/Helpers.h>
#include <VirtualRobot/MathTools.h>
@@ -530,5 +532,3 @@ CartesianNaturalPositionControllerProxy::ScopedJointValueRestore::~ScopedJointVa
//ARMARX_IMPORTANT << "restoring joint values";
rns->setJointValues(jointValues);
}
-
-
diff --git a/source/RobotAPI/libraries/natik/NaturalIK.cpp b/source/RobotAPI/libraries/natik/NaturalIK.cpp
index 76bd6e75e..6a561959d 100644
--- a/source/RobotAPI/libraries/natik/NaturalIK.cpp
+++ b/source/RobotAPI/libraries/natik/NaturalIK.cpp
@@ -23,11 +23,15 @@
#include "NaturalIK.h"
#include <ArmarXCore/core/exceptions/Exception.h>
+
#include <SimoxUtility/math/convert/deg_to_rad.h>
#include <SimoxUtility/math/convert/rad_to_deg.h>
-#include <ArmarXCore/core/logging/Logging.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/math/Helpers.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
using namespace armarx;
NaturalIK::NaturalIK(std::string side, Eigen::Vector3f shoulderPos, float scale)
diff --git a/source/RobotAPI/libraries/natik/NaturalIK.h b/source/RobotAPI/libraries/natik/NaturalIK.h
index 7e1ecb940..e71511d9b 100644
--- a/source/RobotAPI/libraries/natik/NaturalIK.h
+++ b/source/RobotAPI/libraries/natik/NaturalIK.h
@@ -26,7 +26,9 @@
#include <memory>
//#include <RobotAPI/libraries/core/SimpleDiffIK.h>
-#include <VirtualRobot/Nodes/RobotNode.h>
+
+#include <VirtualRobot/VirtualRobot.h>
+
#include <RobotAPI/libraries/diffik/DiffIKProvider.h>
#include <RobotAPI/libraries/diffik/NaturalDiffIK.h>
#include <optional>
diff --git a/source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp b/source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp
index 05a230a8e..b8165c4ba 100644
--- a/source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp
+++ b/source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp
@@ -22,6 +22,7 @@
#include "CollisionModelHelper.h"
+#include <VirtualRobot/CollisionDetection/CollisionModel.h>
#include <VirtualRobot/ManipulationObject.h>
#include <VirtualRobot/SceneObjectSet.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
diff --git a/source/RobotAPI/statecharts/RobotNameHelperTestGroup/TestGetNames.cpp b/source/RobotAPI/statecharts/RobotNameHelperTestGroup/TestGetNames.cpp
index df07b365c..95ee1853b 100644
--- a/source/RobotAPI/statecharts/RobotNameHelperTestGroup/TestGetNames.cpp
+++ b/source/RobotAPI/statecharts/RobotNameHelperTestGroup/TestGetNames.cpp
@@ -21,6 +21,7 @@
*/
#include "TestGetNames.h"
+#include <VirtualRobot/RobotNodeSet.h>
#include <RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h>
@@ -208,4 +209,3 @@ XMLStateFactoryBasePtr TestGetNames::CreateInstance(XMLStateConstructorParams st
{
return XMLStateFactoryBasePtr(new TestGetNames(stateData));
}
-
--
GitLab
From 7a236158349d72bd46920044e8605c4bf78f0397 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 11 Dec 2024 10:51:16 +0100
Subject: [PATCH 2/4] minor fix
---
.../units/RobotUnit/SensorValues/SensorValueForceTorque.h | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueForceTorque.h b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueForceTorque.h
index 776bb731d..707800ad7 100644
--- a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueForceTorque.h
+++ b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueForceTorque.h
@@ -23,7 +23,8 @@
#include <RobotAPI/libraries/core/Pose.h>
-#include "Eigen/Core"
+#include <Eigen/Core>
+
#include "SensorValueBase.h"
namespace armarx
--
GitLab
From a964ca31fbca2d282e2d5056f8e4e837bd9675ef Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 11 Dec 2024 13:38:19 +0100
Subject: [PATCH 3/4] fixing includes in tests
---
.../libraries/core/test/CartesianVelocityControllerTest.cpp | 6 ++++++
.../core/test/CartesianVelocityControllerWithRampTest.cpp | 1 +
2 files changed, 7 insertions(+)
diff --git a/source/RobotAPI/libraries/core/test/CartesianVelocityControllerTest.cpp b/source/RobotAPI/libraries/core/test/CartesianVelocityControllerTest.cpp
index 683ad38f8..9c2f0fc60 100644
--- a/source/RobotAPI/libraries/core/test/CartesianVelocityControllerTest.cpp
+++ b/source/RobotAPI/libraries/core/test/CartesianVelocityControllerTest.cpp
@@ -23,9 +23,15 @@
#define BOOST_TEST_MODULE RobotAPI::CartesianVelocityController::Test
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
+
#include <ArmarXCore/core/test/IceTestHelper.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
+
+#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/XML/RobotIO.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
+#include <VirtualRobot/IK/IKSolver.h>
+
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
#include "../CartesianVelocityController.h"
diff --git a/source/RobotAPI/libraries/core/test/CartesianVelocityControllerWithRampTest.cpp b/source/RobotAPI/libraries/core/test/CartesianVelocityControllerWithRampTest.cpp
index 5ffd4e0ae..a4dcccdce 100644
--- a/source/RobotAPI/libraries/core/test/CartesianVelocityControllerWithRampTest.cpp
+++ b/source/RobotAPI/libraries/core/test/CartesianVelocityControllerWithRampTest.cpp
@@ -20,6 +20,7 @@
* GNU General Public License
*/
+#include <VirtualRobot/IK/DifferentialIK.h>
#define BOOST_TEST_MODULE RobotAPI::CartesianVelocityController::Test
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
--
GitLab
From 60d756d615e12fb451ef217bac68b44205da6dd3 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 12 Dec 2024 17:10:02 +0100
Subject: [PATCH 4/4] adding source file to cmakelists
---
source/RobotAPI/components/DebugDrawer/CMakeLists.txt | 1 +
1 file changed, 1 insertion(+)
diff --git a/source/RobotAPI/components/DebugDrawer/CMakeLists.txt b/source/RobotAPI/components/DebugDrawer/CMakeLists.txt
index 131cc850c..5322817c5 100644
--- a/source/RobotAPI/components/DebugDrawer/CMakeLists.txt
+++ b/source/RobotAPI/components/DebugDrawer/CMakeLists.txt
@@ -5,6 +5,7 @@ set(COMPONENT_LIBS ArmarXCore RobotAPIInterfaces RobotAPICore)
set(SOURCES
DebugDrawerComponent.cpp
DebugDrawerHelper.cpp
+ DebugDrawerUtils.cpp
)
set(HEADERS
DebugDrawerComponent.h
--
GitLab