Merge branch 'master' of https://i61wiki.itec.uka.de/git/robotcomponents

CMakeLists.txt

@@ -22,5 +22,6 @@ find_package(Simox QUIET)
 
 add_subdirectory(etc)
 add_subdirectory(source)
+add_subdirectory(scenarios)
 
 install_project()

etc/doxygen/pages/Components.dox

 /**
-\addtogroup Components 5. Components
+\addtogroup Components Components
 Components are the main building blocks of ArmarX and offer services for other applications via Ice.
 Each component usually implements one Ice interface by which it offers its services.
 They can be configured with \ref armarx-componentproperties via config files.
 
 \defgroup RobotComponents-Components RobotComponents Components
 \ingroup RobotComponents Components
-Multi purpose components like ConditionHandler or SystemObserver that belong the ArmarXCore.
+
+The RobotComponents package provides several generic components which can be configured for usage with a specific robot.
 
 */

etc/doxygen/pages/GuiPlugins.dox

@@ -4,7 +4,7 @@
 
 This is a list of Gui Plugins available in RobotComponents
 
-\subpage RobotComponents-GuiPlugins-WidgetName The page for WidgetName is defined in the WidgetNameWidgetController header file
+\subpage RobotComponents-GuiPlugins-RobotIK "The RobotIK Gui Plugin"
 
 
 */

etc/doxygen/pages/Overview.dox

@@ -2,4 +2,27 @@
 
 \page RobotComponents-Overview RobotComponents Overview
 
+The RobotComponents package introduces several ready-to-use components which provide access to generic robotics algorithms needed for most robot systems.
+The components cover inverse kinematics (IK) and path planning methods which are accompanied by gui-plugins for conventient access.
+
+A complete list of components can be found here:
+\ref RobotComponents-Components "All components of the RobotComponents package"
+
+
+\section RobotComponents-Overview-IK Inverse Kinematics
+
+@copydoc armarx::RobotIK
+
+More details can be found here: \ref armarx::RobotIK "The RobotIK Component"
+
+\section RobotComponents-Overview-PathPlanning Path Planning
+
+@copydoc armarx::AStarPathPlanner
+
+More details can be found here: \ref armarx::AStarPathPlanner "The AStarPathPlanner Component"
+
+\section RobotComponents-Overview-Gui-Plugins Gui Plugins
+
+\subpage RobotComponents-GuiPlugins
+
 */

source/RobotComponents/applications/AStarPathPlanner/AStarPathPlannerApp.h

-/**
+/*
 * 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 as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* 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 Lesser General Public License for more details.
+* 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/>.

source/RobotComponents/applications/AStarPathPlanner/main.cpp

-/**
+/*
 * 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 as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* 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 Lesser General Public License for more details.
+* 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/>.

source/RobotComponents/applications/DMPComponent/DMPComponentApp.h

-/**
+/*
 * 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 as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* 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 Lesser General Public License for more details.
+* 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::applications::AStarPathPlannerApp
-* @author     Raphael Grimm ( ufdrv at student dot kit dot edu )
+* @package    RobotComponents::applications::DMPComponentApp
+* @author
 * @date       2015 Humanoids Group, H2T, KIT
 * @license    http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License

source/RobotComponents/applications/DMPComponent/main.cpp

-/**
+/*
 * 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 as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* 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 Lesser General Public License for more details.
+* 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::applications::AStarPathPlannerApp
-* @author     Raphael Grimm ( ufdrv at student dot kit dot edu )
+* @package    RobotComponents::applications::DMPComponentApp
+* @author
 * @date       2015 Humanoids Group, H2T, KIT
 * @license    http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License

source/RobotComponents/applications/MMMPlayer/MMMPlayerApp.h

@@ -2,14 +2,13 @@
  * 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.
+ * 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 Lesser General Public License for more details.
+ * 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/>.
@@ -17,7 +16,7 @@
  * @package    RobotComponents::application::MMMPlayer
  * @author     Mirko Waechter ( mirko dot waechter at kit dot edu )
  * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl.txt
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
 

source/RobotComponents/applications/MMMPlayer/main.cpp

@@ -2,14 +2,13 @@
  * 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.
+ * 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 Lesser General Public License for more details.
+ * 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/>.
@@ -17,7 +16,7 @@
  * @package    RobotComponents::application::MMMPlayer
  * @author     Mirko Waechter ( mirko dot waechter at kit dot edu )
  * @date       2014
- * @copyright  http://www.gnu.org/licenses/gpl.txt
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
 

source/RobotComponents/applications/RobotIK/RobotIKApp.h

@@ -2,14 +2,13 @@
 * 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.
+* 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 Lesser General Public License for more details.
+* 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/>.
@@ -17,7 +16,7 @@
 * @package    RobotComponents::RobotIK
 * @author     Joshua Haustein ( joshua dot haustein at gmail dot com), Nikolaus Vahrenkamp
 * @date       2015
-* @copyright  http://www.gnu.org/licenses/gpl.txt
+* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 

source/RobotComponents/applications/RobotIK/main.cpp

@@ -2,14 +2,13 @@
  * 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.
+ * 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 Lesser General Public License for more details.
+ * 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/>.
@@ -17,7 +16,7 @@
  * @package    RobotComponents::applications::RobotIK
  * @author     Joshua Haustein, Nikolaus Vahrenkamp
  * @date       2015
- * @copyright  http://www.gnu.org/licenses/gpl.txt
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
 

source/RobotComponents/applications/tests/AStarPathPlannerTest/AStarPathPlannerTestComponent.cpp

-/**
+/*
 * 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 as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* 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 Lesser General Public License for more details.
+* 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/>.
@@ -31,14 +30,14 @@
 void armarx::AStarPathPlannerTestComponent::onInitComponent()
 {
     usingProxy(getProperty<std::string>("WorkingMemoryName").getValue());
-    usingProxy(getProperty<std::string>("DebugDrawerName").getValue());
+    offeringTopic(getProperty<std::string>("DebugDrawerName").getValue());
     usingProxy(getProperty<std::string>("AStarPathPlannerName").getValue());
 }
 
 void armarx::AStarPathPlannerTestComponent::onConnectComponent()
 {
     workingMemoryPrx = getProxy<memoryx::WorkingMemoryInterfacePrx>(getProperty<std::string>("WorkingMemoryName").getValue());
-    debugDrawerPrx = getProxy<armarx::DebugDrawerInterfacePrx>(getProperty<std::string>("DebugDrawerName").getValue());
+    debugDrawerPrx = getTopic<armarx::DebugDrawerInterfacePrx>(getProperty<std::string>("DebugDrawerName").getValue());
     aStarPathPlannerPrx = getProxy<armarx::AStarPathPlannerBasePrx>(getProperty<std::string>("AStarPathPlannerName").getValue());
 
     //pass all objects from the scene to the planner

source/RobotComponents/applications/tests/AStarPathPlannerTest/AStarPathPlannerTestComponent.h

-/**
+/*
 * 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 as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* 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 Lesser General Public License for more details.
+* 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/>.
@@ -40,7 +39,7 @@ namespace armarx
                 ComponentPropertyDefinitions(prefix)
             {
                 defineOptionalProperty<std::string>("WorkingMemoryName", "WorkingMemory", "Name of WorkingMemory component");
-                defineOptionalProperty<std::string>("DebugDrawerName", "ArmarXDebugDrawer", "Name of DebugDrawer component");
+                defineOptionalProperty<std::string>("DebugDrawerName", "DebugDrawerUpdates", "Name of DebugDrawer component");
                 defineOptionalProperty<std::string>("AStarPathPlannerName", "AStarPathPlanner", "Name of AStarPathPlanner component");
             }
     };