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Commit 5d4ee48e authored by Nikolaus Vahrenkamp's avatar Nikolaus Vahrenkamp
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fixed merge errors

parent d35a883e
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......@@ -18,7 +18,7 @@ if (Eigen3_FOUND AND Simox_FOUND)
${Simox_INCLUDE_DIRS})
endif()
set(COMPONENT_LIBS RobotAPIInterfaces RobotAPICore ArmarXCoreInterfaces ArmarXCore ArmarXCoreObservers ${MMMCORE_LIBRARIES})
set(COMPONENT_LIBS RobotAPIInterfaces RobotComponentsInterfaces RobotAPICore ArmarXCoreInterfaces ArmarXCore ArmarXCoreObservers ${MMMCORE_LIBRARIES})
set(SOURCES
./MMMPlayer.cpp
......
......@@ -373,7 +373,7 @@ void MMMPlayer::run()
// debugObserver->setDebugDatafield(jointName, "i", new Variant(pid->second->integral* pid->second->Ki));
// debugObserver->setDebugDatafield(jointName, "d", new Variant(pid->second->derivative * pid->second->Kd));
// debugObserver->setDebugDatafield(jointName, "velocity", new Variant(targetVelocities[jointName]));
}
//}
// targetVelocities[jointName] = 0.0;
auto pid = PIDs.find(jointName);
......@@ -401,7 +401,7 @@ void MMMPlayer::run()
kin->setJointVelocities(targetVelocities);
if(!usePIDController)
kin->setJointAngles(targetPositionValues);
}
//}
ARMARX_VERBOSE << deactivateSpam(3) << "Playing frame " << currentFrame;
// currentFrame+=direction;
......@@ -445,7 +445,6 @@ void MMMPlayer::onDisconnectComponent()
{
if(task)
task->stop();
}
kin->stop();
}
......
......@@ -25,8 +25,6 @@
#include <MMM/Motion/Motion.h>
#include <ArmarXCore/core/Component.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
......@@ -36,6 +34,9 @@
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <RobotComponents/interface/components/MMMPlayerInterface.h>
namespace armarx
{
/**
......@@ -49,7 +50,7 @@ namespace armarx
MMMPlayerPropertyDefinitions(std::string prefix):
ComponentPropertyDefinitions(prefix)
{
, defineRequiredProperty<std::string>("KinematicUnitName", "Name of the KinematicUnit to which the joint values should be sent");
defineRequiredProperty<std::string>("KinematicUnitName", "Name of the KinematicUnit to which the joint values should be sent");
defineRequiredProperty<std::string>("KinematicTopicName", "Name of the KinematicUnit reporting topic");
defineOptionalProperty<std::string>("ArmarXProjects", "", "Comma-separated list with names of ArmarXProjects (e.g. 'Armar3,Armar4'). The MMM XML File can be specified relatively to a data path of one of these projects.");
defineOptionalProperty<std::string>("MMMFile", "", "Path to MMM XML File");
......@@ -95,7 +96,7 @@ namespace armarx
*/
class MMMPlayer :
virtual public armarx::Component,
public MMMPlayerInterface
public armarx::MMMPlayerInterface
{
public:
/**
......
add_subdirectory(RobotIKPlugin)
add_subdirectory(MMMPlayerGuiPlugin)
add_subdirectory(MMMPlayerPlugin)
......
......@@ -35,7 +35,7 @@ set(GUI_UIS
MMMPlayerConfigDialog.ui
)
set(COMPONENT_LIBS RobotAPIUnits ArmarXInterfaces ArmarXCoreEigen3Variants ${Simox_LIBRARIES})
set(COMPONENT_LIBS RobotAPIUnits RobotComponentsInterfaces ArmarXCoreInterfaces ArmarXCoreEigen3Variants ${Simox_LIBRARIES})
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
......
......@@ -2,10 +2,10 @@
#include "MMMPlayerConfigDialog.h"
#include "ui_MMMPlayerConfigDialog.h"
#include <Core/core/system/ArmarXDataPath.h>
#include <Core/observers/variant/SingleTypeVariantList.h>
#include <Core/util/variants/eigen3/MatrixVariant.h>
#include <Core/observers/variant/TimestampVariant.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/observers/variant/SingleTypeVariantList.h>
#include <ArmarXCore/util/variants/eigen3/MatrixVariant.h>
#include <ArmarXCore/observers/variant/TimestampVariant.h>
#include <IceUtil/Time.h>
......
......@@ -27,15 +27,15 @@
/* ArmarX headers */
#include "ui_MMMPlayerGuiPlugin.h"
#include <Core/core/Component.h>
#include <Gui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <Gui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
#include <Core/observers/Observer.h>
#include <ArmarXCore/core/Component.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
#include <ArmarXCore/observers/Observer.h>
/* Qt headers */
#include <QtGui/QMainWindow>
#include <QtCore/QTimer>
#include <RobotAPI/interface/units/MMMPlayerInterface.h>
#include <RobotComponents/interface/components/MMMPlayerInterface.h>
#include <string>
#include <QLayout>
......
......@@ -12,6 +12,7 @@ set(SLICE_FILES
components/ViewSelectionInterface.ice
components/DMPComponentBase.ice
components/RobotIK.ice
components/MMMPlayerInterface.ice
)
# generate the interface library
......
/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation; either version 2 of
* the License, or (at your option) any later version.
*
* 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package RobotAPI
* @author Thomas von der Heyde <tvh242 at hotmail dot com>
* @copyright 2014
* @license http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
*/
* 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/>.
*
* @package RobotComponents
* @author Patrick Grube
* @copyright 2015
* @license http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
*/
#ifndef _ARMARX_ROBOTAPI_UNITS_MMMPLAYERINTERFACE_SLICE_
#define _ARMARX_ROBOTAPI_UNITS_MMMPLAYERINTERFACE_SLICE_
#ifndef _ARMARX_ROBOTCOMPONENTS_UNITS_MMMPLAYERINTERFACE_SLICE_
#define _ARMARX_ROBOTCOMPONENTS_UNITS_MMMPLAYERINTERFACE_SLICE_
#include <RobotAPI/interface/units/UnitInterface.ice>
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
......
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