Merge branch 'Ice3.7'

CMakeLists.txt

 # RobotAPI
-cmake_minimum_required(VERSION 2.8)
-#if(NOT DEFINED CMAKE_SUPPRESS_DEVELOPER_WARNINGS)
-#     set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS 1 CACHE INTERNAL "No dev warnings")
-#endif()
+cmake_minimum_required(VERSION 3.10.2)
 
 if(POLICY CMP0043)
     cmake_policy(SET CMP0043 OLD)
@@ -28,18 +25,6 @@ if(REQUIRE_SIMOX)
 else()
     find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 endif()
-if (Simox_FOUND)
-        setupSimoxExternalLibraries()
-    if(ARMARX_USE_QT5)
-        if(Simox_USE_QT4)
-            message(FATAL_ERROR "ArmarX uses Qt5 and Simox uses Qt4")
-        endif()
-    else()
-        if(Simox_USE_QT5)
-            message(FATAL_ERROR "ArmarX uses Qt4 and Simox uses Qt5")
-        endif()
-    endif()
-endif()
 
 add_subdirectory(source)
 

data/RobotAPI/VariantInfo-RobotAPI.xml

@@ -13,6 +13,7 @@
         <Variant baseType="::armarx::LinkedDirectionBase" dataType="::armarx::LinkedDirection" humanName="LinkedDirection" include="RobotAPI/libraries/core/LinkedPose.h" />
         <Variant baseType="::armarx::OrientedPointBase" dataType="::armarx::OrientedPoint" humanName="OrientedPoint" include="RobotAPI/libraries/core/OrientedPoint.h" />
         <Variant baseType="::armarx::FramedOrientedPointBase" dataType="::armarx::FramedOrientedPoint" humanName="FramedOrientedPoint" include="RobotAPI/libraries/core/FramedOrientedPoint.h" />
+        <Variant baseType="::armarx::CartesianPositionControllerConfigBase" dataType="::armarx::CartesianPositionControllerConfig" humanName="CartesianPositionControllerConfig" include="RobotAPI/libraries/core/CartesianPositionController.h" />
         <Variant baseType="::armarx::TrajectoryBase" dataType="::armarx::Trajectory" humanName="Trajectory"  include="RobotAPI/libraries/core/Trajectory.h"/>
     </Lib>
     <Lib name="RobotAPIInterfaces">
@@ -189,7 +190,11 @@
             <onConnect>remoteRobot.reset(new RemoteRobot(robotStateComponent-&gt;getSynchronizedRobot()));</onConnect>
             <stateMethod header="const VirtualRobot::RobotPtr getRobot() const">return %getContext%-&gt;getRobot();</stateMethod>
 
-            <method header="const VirtualRobot::RobotPtr getLocalRobot() const">return robotPoolStructure->getRobot();</method>
+            <method header="const VirtualRobot::RobotPtr getLocalRobot(bool performInitialRobotSync = true) const">VirtualRobot::RobotPtr robot = robotPoolStructure->getRobot();
+                if(performInitialRobotSync) {
+                    ::armarx::RemoteRobot::synchronizeLocalClone(robot, getRobotStateComponent());
+                }
+                return robot;</method>
             <method header="const VirtualRobot::RobotPtr getLocalCollisionRobot() const">return robotPoolCollision->getRobot();</method>
             <method header="const RobotNameHelperPtr getRobotNameHelper() const">return robotNameHelper;</method>
             <member>VirtualRobot::RobotPtr localRobot;</member>
@@ -203,7 +208,7 @@
             <onConnect>localCollisionRobot = RemoteRobot::createLocalCloneFromFile(robotStateComponent, VirtualRobot::RobotIO::eCollisionModel);</onConnect>
             <onConnect>robotPoolCollision.reset(new RobotPool(localCollisionRobot,2));</onConnect>
             <onConnect>robotNameHelper = RobotNameHelper::Create(robotStateComponent->getRobotInfo(), getSelectedStatechartProfile());</onConnect>
-            <stateMethod header="const VirtualRobot::RobotPtr getLocalRobot() const">return %getContext%-&gt;getLocalRobot();</stateMethod>
+            <stateMethod header="const VirtualRobot::RobotPtr getLocalRobot(bool performInitialRobotSync = true) const">return %getContext%-&gt;getLocalRobot(performInitialRobotSync);</stateMethod>
             <stateMethod header="const VirtualRobot::RobotPtr getLocalCollisionRobot() const">return %getContext%-&gt;getLocalCollisionRobot();</stateMethod>
             <stateMethod header="const RobotNameHelperPtr getRobotNameHelper() const">return %getContext%-&gt;getRobotNameHelper();</stateMethod>
 

etc/cmake/UseRobotAPI.cmake

 # This file contains macros for projects depending on RobotAPI
+find_package(Simox QUIET)
+find_package(Eigen3 QUIET)

scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/CMakeLists.txt

@@ -2,9 +2,7 @@ armarx_component_set_name("DebugDrawerTestApp")
 
 find_package(Eigen3 QUIET)
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-if(Eigen3_FOUND)
-    include_directories(SYSTEM ${Eigen3_INCLUDE_DIR})
-endif()
+
 
 set(COMPONENT_LIBS
 ArmarXCoreInterfaces
@@ -16,4 +14,6 @@ DebugDrawer
 set(EXE_SOURCE main.cpp DebugDrawerTestApp.h DebugDrawerTest.h DebugDrawerTest.cpp)
 
 armarx_add_component_executable("${EXE_SOURCE}")
-
+if(Eigen3_FOUND)
+    target_include_directories(DebugDrawerTestAppRun SYSTEM PUBLIC ${Eigen3_INCLUDE_DIR})
+endif()

scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/CMakeLists.txt

@@ -32,25 +32,18 @@ armarx_component_set_name(RemoteRobotTestProject)
 
 set(COMPONENT_BUILD TRUE)
 
-find_package(Eigen3 QUIET)
 find_package(Simox QUIET)
 
 armarx_component_if(COMPONENT_BUILD "component disabled")
-armarx_component_if(Eigen3_FOUND "Eigen3 not available")
 armarx_component_if(Simox_FOUND "VirtualRobot not available")
 
 if (ARMARX_BUILD)
-    include_directories(${ArmarXCore_INCLUDE_DIRS})
-    include_directories(SYSTEM ${Eigen3_INCLUDE_DIR})
-    include_directories(${Simox_INCLUDE_DIR})
     
     set(COMPONENT_LIBS
         RemoteRobotTestProjectInterfaces
-        ArmarXInterfaces
         ArmarXCoreRemoteRobot
         ArmarXCore
-        ${Simox_LIBRARIES}
-        ${Coin3D_LIBRARIES}
+        VirtualRobot
     )
 
     set(SOURCES RemoteRobotTestProject.cpp

source/RobotAPI/applications/CMakeLists.txt

@@ -39,8 +39,11 @@ add_subdirectory(MetaWearIMUObserver)
 add_subdirectory(RobotNameService)
 add_subdirectory(SpeechObserver)
 add_subdirectory(DummyTextToSpeech)
-add_subdirectory(ProsthesisObserver)
+add_subdirectory(KITProstheticHandUnit)
 add_subdirectory(CyberGloveObserver)
 add_subdirectory(RobotHealth)
 add_subdirectory(RobotHealthDummy)
-add_subdirectory(GraspCandidateObserver)
\ No newline at end of file
+add_subdirectory(GraspCandidateObserver)
+
+
+add_subdirectory(FrameTracking)
\ No newline at end of file

source/RobotAPI/applications/CyberGloveObserver/CMakeLists.txt

 armarx_component_set_name("CyberGloveObserverApp")
-
-#find_package(MyLib QUIET)
-#armarx_build_if(MyLib_FOUND "MyLib not available")
-#
-# all include_directories must be guarded by if(Xyz_FOUND)
-# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
-#if(MyLib_FOUND)
-#    include_directories(${MyLib_INCLUDE_DIRS})
-#endif()
-
-set(COMPONENT_LIBS
-    ArmarXCoreInterfaces
-    ArmarXCore
-    CyberGloveObserver
-)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
+set(COMPONENT_LIBS CyberGloveObserver)
+armarx_add_component_executable("main.cpp")

source/RobotAPI/applications/DummyTextToSpeech/CMakeLists.txt

 armarx_component_set_name("DummyTextToSpeechApp")
-
-#find_package(MyLib QUIET)
-#armarx_build_if(MyLib_FOUND "MyLib not available")
-#
-# all include_directories must be guarded by if(Xyz_FOUND)
-# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
-#if(MyLib_FOUND)
-#    include_directories(${MyLib_INCLUDE_DIRS})
-#endif()
-
-set(COMPONENT_LIBS
-    ArmarXCoreInterfaces
-    ArmarXCore
-    DummyTextToSpeech
-)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
+set(COMPONENT_LIBS DummyTextToSpeech)
+armarx_add_component_executable("main.cpp")

source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt

 armarx_component_set_name(ForceTorqueUnitSimulation)
-
-find_package(Eigen3 QUIET)
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-
-if (Eigen3_FOUND)
-    include_directories(SYSTEM ${Eigen3_INCLUDE_DIR})
-endif()
-
 set(COMPONENT_LIBS RobotAPIUnits)
-
-set(SOURCES main.cpp)
-
-armarx_add_component_executable("${SOURCES}")
+armarx_add_component_executable("main.cpp")

source/RobotAPI/applications/ProsthesisObserver/CMakeLists.txt → source/RobotAPI/applications/FrameTracking/CMakeLists.txt

-armarx_component_set_name("ProsthesisObserverApp")
+armarx_component_set_name("FrameTrackingApp")
+set(COMPONENT_LIBS FrameTracking)
+armarx_add_component_executable(main.cpp)
 
 #find_package(MyLib QUIET)
 #armarx_build_if(MyLib_FOUND "MyLib not available")
-#
-# all include_directories must be guarded by if(Xyz_FOUND)
+# all target_include_directories must be guarded by if(Xyz_FOUND)
 # for multiple libraries write: if(X_FOUND AND Y_FOUND)....
 #if(MyLib_FOUND)
-#    include_directories(${MyLib_INCLUDE_DIRS})
+#    target_include_directories(FrameTracking PUBLIC ${MyLib_INCLUDE_DIRS})
 #endif()
-
-set(COMPONENT_LIBS
-    ArmarXCoreInterfaces
-    ArmarXCore
-    ProsthesisObserver
-)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")

source/RobotAPI/applications/ProsthesisObserver/main.cpp → source/RobotAPI/applications/FrameTracking/main.cpp

@@ -13,14 +13,14 @@
  * You should have received a copy of the GNU General Public License
  * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
- * @package    RobotAPI::application::ProsthesisObserver
- * @author     JuliaStarke ( julia dot starke at kit dot edu )
- * @date       2018
+ * @package    RobotAPI::application::FrameTracking
+ * @author     Adrian Knobloch ( adrian dot knobloch at student dot kit dot edu )
+ * @date       2019
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
 
-#include <RobotAPI/components/ProsthesisObserver/ProsthesisObserver.h>
+#include <RobotAPI/components/FrameTracking/FrameTracking.h>
 
 #include <ArmarXCore/core/application/Application.h>
 #include <ArmarXCore/core/Component.h>
@@ -28,5 +28,5 @@
 
 int main(int argc, char* argv[])
 {
-    return armarx::runSimpleComponentApp < armarx::ProsthesisObserver > (argc, argv, "ProsthesisObserver");
+    return armarx::runSimpleComponentApp < armarx::FrameTracking > (argc, argv, "FrameTracking");
 }

source/RobotAPI/applications/HandUnitSimulation/CMakeLists.txt

 armarx_component_set_name("HandUnitSimulation")
-
-find_package(Eigen3 QUIET)
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-
-if (Eigen3_FOUND)
-    include_directories(SYSTEM ${Eigen3_INCLUDE_DIR})
-endif()
-
-set(COMPONENT_LIBS RobotAPIUnits ArmarXCoreInterfaces ArmarXCore)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
+set(COMPONENT_LIBS RobotAPIUnits)
+armarx_add_component_executable("main.cpp")

source/RobotAPI/applications/HapticObserver/CMakeLists.txt

 armarx_component_set_name("HapticObserverApp")
-
-find_package(Eigen3 QUIET)
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-
-if (Eigen3_FOUND)
-    include_directories(SYSTEM ${Eigen3_INCLUDE_DIR})
-endif()
-
 set(COMPONENT_LIBS RobotAPIUnits)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
+armarx_add_component_executable("main.cpp")

source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt

 armarx_component_set_name(HeadIKUnit)
-
-find_package(Eigen3 QUIET)
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-
-if (Eigen3_FOUND)
-    include_directories(SYSTEM ${Eigen3_INCLUDE_DIR})
-endif()
-
-find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-if(Simox_FOUND)
-    include_directories(${Simox_INCLUDE_DIRS})
-endif()
-
 set(COMPONENT_LIBS RobotAPIUnits)
-
-set(SOURCES main.cpp)
-
-armarx_add_component_executable("${SOURCES}")
+armarx_add_component_executable("main.cpp")

source/RobotAPI/applications/KITProstheticHandObserver/CMakeLists.txt

+armarx_component_set_name("KITProstheticHandObserverApp")
+set(COMPONENT_LIBS KITProstheticHandObserver)
+armarx_add_component_executable("main.cpp")

source/RobotAPI/applications/moved_to_robotcomponents_RobotIK/main.cpp → source/RobotAPI/applications/KITProstheticHandObserver/main.cpp

 /*
  * This file is part of ArmarX.
  *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
  * ArmarX is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License version 2 as
  * published by the Free Software Foundation.
@@ -15,20 +13,20 @@
  * You should have received a copy of the GNU General Public License
  * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
- * @package    RobotAPI::applications::RobotIK
- * @author     Joshua Haustein
- * @date       2015
+ * @package    RobotAPI::application::KITProstheticHandObserver
+ * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date       2018
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
 
-#include "RobotIKApp.h"
+#include <RobotAPI/components/KITProstheticHandObserver/KITProstheticHandObserver.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/logging/Logging.h>
 
 int main(int argc, char* argv[])
 {
-    armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::RobotIKApp>();
-    app->setName("RobotIK");
-
-    return app->main(argc, argv);
+    return armarx::runSimpleComponentApp < armarx::KITProstheticHandObserver > (argc, argv, "KITProstheticHandObserver");
 }

source/RobotAPI/applications/KITProstheticHandUnit/CMakeLists.txt

+armarx_component_set_name("KITProstheticHandUnitApp")
+set(COMPONENT_LIBS KITProstheticHandUnit)
+armarx_add_component_executable("main.cpp")

source/RobotAPI/applications/KITProstheticHandUnit/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 version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::application::KITProstheticHandUnit
+ * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date       2018
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include <RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
+#include <QCoreApplication>
+
+int main(int argc, char* argv[])
+{
+    QCoreApplication a(argc, argv);
+    return armarx::runSimpleComponentApp < armarx::KITProstheticHandUnit > (argc, argv, "KITProstheticHandUnit");
+}

source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt

-
 armarx_component_set_name(KinematicUnitSimulation)
-
-find_package(Eigen3 QUIET)
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-
-if (Eigen3_FOUND)
-    include_directories(SYSTEM ${Eigen3_INCLUDE_DIR})
-endif()
-
-find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-if(Simox_FOUND)
-    include_directories(${Simox_INCLUDE_DIRS})
-endif()
-
 set(COMPONENT_LIBS RobotAPIUnits)
-
-set(SOURCES main.cpp)
-
-armarx_add_component_executable("${SOURCES}")
+armarx_add_component_executable("main.cpp")

source/RobotAPI/applications/OptoForceUnit/CMakeLists.txt

 armarx_component_set_name("OptoForceUnitApp")
-
-find_package(OptoForceOMD QUIET)
-armarx_build_if(OptoForceOMD_FOUND "OptoForceOMD not available")
-
-if(OptoForceOMD_FOUND)
-    include_directories(SYSTEM ${OptoForceOMD_INCLUDE_DIR})
-endif()
-
-#message("OptoForceOMD_INCLUDE_DIR: " ${OptoForceOMD_INCLUDE_DIR})
-#message("OptoForceOMD_LIBRARIES: " ${OptoForceOMD_LIBRARIES})
-
-set(COMPONENT_LIBS ArmarXCoreInterfaces ArmarXCore ${OptoForceOMD_LIBRARIES})
-
-set(COMPONENT_LIBS
-    ArmarXCoreInterfaces
-    ArmarXCore
-    OptoForceUnit
-)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
+set(COMPONENT_LIBS  OptoForceUnit)
+armarx_add_component_executable("main.cpp")