diff --git a/etc/doxygen/HumanoidRobotAPI.Doxyfile.in b/etc/doxygen/HumanoidRobotAPI.Doxyfile.in
deleted file mode 100644
index 75cafd574b624dca2c32693dd71a3911a5a82d19..0000000000000000000000000000000000000000
--- a/etc/doxygen/HumanoidRobotAPI.Doxyfile.in
+++ /dev/null
@@ -1,1374 +0,0 @@
-# Doxyfile 1.5.5
-
-# This file describes the settings to be used by the documentation system
-# doxygen (www.doxygen.org) for a project
-#
-# All text after a hash (#) is considered a comment and will be ignored
-# The format is:
-# TAG = value [value, ...]
-# For lists items can also be appended using:
-# TAG += value [value, ...]
-# Values that contain spaces should be placed between quotes (" ")
-
-#---------------------------------------------------------------------------
-# Project related configuration options
-#---------------------------------------------------------------------------
-
-# This tag specifies the encoding used for all characters in the config file
-# that follow. The default is UTF-8 which is also the encoding used for all
-# text before the first occurrence of this tag. Doxygen uses libiconv (or the
-# iconv built into libc) for the transcoding. See
-# http://www.gnu.org/software/libiconv for the list of possible encodings.
-
-DOXYFILE_ENCODING = UTF-8
-
-# The PROJECT_NAME tag is a single word (or a sequence of words surrounded
-# by quotes) that should identify the project.
-
-PROJECT_NAME = "@PROJECT_NAME@"
-
-# The PROJECT_NUMBER tag can be used to enter a project or revision number.
-# This could be handy for archiving the generated documentation or
-# if some version control system is used.
-
-PROJECT_NUMBER =
-
-# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
-# base path where the generated documentation will be put.
-# If a relative path is entered, it will be relative to the location
-# where doxygen was started. If left blank the current directory will be used.
-
-OUTPUT_DIRECTORY = "@PROJECT_BINARY_DIR@"
-
-# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
-# 4096 sub-directories (in 2 levels) under the output directory of each output
-# format and will distribute the generated files over these directories.
-# Enabling this option can be useful when feeding doxygen a huge amount of
-# source files, where putting all generated files in the same directory would
-# otherwise cause performance problems for the file system.
-
-CREATE_SUBDIRS = NO
-
-# The OUTPUT_LANGUAGE tag is used to specify the language in which all
-# documentation generated by doxygen is written. Doxygen will use this
-# information to generate all constant output in the proper language.
-# The default language is English, other supported languages are:
-# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional,
-# Croatian, Czech, Danish, Dutch, Farsi, Finnish, French, German, Greek,
-# Hungarian, Italian, Japanese, Japanese-en (Japanese with English messages),
-# Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, Polish,
-# Portuguese, Romanian, Russian, Serbian, Slovak, Slovene, Spanish, Swedish,
-# and Ukrainian.
-
-OUTPUT_LANGUAGE = English
-
-# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
-# include brief member descriptions after the members that are listed in
-# the file and class documentation (similar to JavaDoc).
-# Set to NO to disable this.
-
-BRIEF_MEMBER_DESC = YES
-
-# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
-# the brief description of a member or function before the detailed description.
-# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
-# brief descriptions will be completely suppressed.
-
-REPEAT_BRIEF = YES
-
-# This tag implements a quasi-intelligent brief description abbreviator
-# that is used to form the text in various listings. Each string
-# in this list, if found as the leading text of the brief description, will be
-# stripped from the text and the result after processing the whole list, is
-# used as the annotated text. Otherwise, the brief description is used as-is.
-# If left blank, the following values are used ("$name" is automatically
-# replaced with the name of the entity): "The $name class" "The $name widget"
-# "The $name file" "is" "provides" "specifies" "contains"
-# "represents" "a" "an" "the"
-
-ABBREVIATE_BRIEF =
-
-# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
-# Doxygen will generate a detailed section even if there is only a brief
-# description.
-
-ALWAYS_DETAILED_SEC = NO
-
-# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
-# inherited members of a class in the documentation of that class as if those
-# members were ordinary class members. Constructors, destructors and assignment
-# operators of the base classes will not be shown.
-
-INLINE_INHERITED_MEMB = NO
-
-# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
-# path before files name in the file list and in the header files. If set
-# to NO the shortest path that makes the file name unique will be used.
-
-FULL_PATH_NAMES = YES
-
-# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
-# can be used to strip a user-defined part of the path. Stripping is
-# only done if one of the specified strings matches the left-hand part of
-# the path. The tag can be used to show relative paths in the file list.
-# If left blank the directory from which doxygen is run is used as the
-# path to strip.
-
-STRIP_FROM_PATH =
-
-# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of
-# the path mentioned in the documentation of a class, which tells
-# the reader which header file to include in order to use a class.
-# If left blank only the name of the header file containing the class
-# definition is used. Otherwise one should specify the include paths that
-# are normally passed to the compiler using the -I flag.
-
-STRIP_FROM_INC_PATH =
-
-# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
-# (but less readable) file names. This can be useful is your file systems
-# doesn't support long names like on DOS, Mac, or CD-ROM.
-
-SHORT_NAMES = NO
-
-# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
-# will interpret the first line (until the first dot) of a JavaDoc-style
-# comment as the brief description. If set to NO, the JavaDoc
-# comments will behave just like regular Qt-style comments
-# (thus requiring an explicit @brief command for a brief description.)
-
-JAVADOC_AUTOBRIEF = YES
-
-# If the QT_AUTOBRIEF tag is set to YES then Doxygen will
-# interpret the first line (until the first dot) of a Qt-style
-# comment as the brief description. If set to NO, the comments
-# will behave just like regular Qt-style comments (thus requiring
-# an explicit \brief command for a brief description.)
-
-QT_AUTOBRIEF = NO
-
-# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen
-# treat a multi-line C++ special comment block (i.e. a block of //! or ///
-# comments) as a brief description. This used to be the default behaviour.
-# The new default is to treat a multi-line C++ comment block as a detailed
-# description. Set this tag to YES if you prefer the old behaviour instead.
-
-MULTILINE_CPP_IS_BRIEF = NO
-
-# If the DETAILS_AT_TOP tag is set to YES then Doxygen
-# will output the detailed description near the top, like JavaDoc.
-# If set to NO, the detailed description appears after the member
-# documentation.
-
-DETAILS_AT_TOP = NO
-
-# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
-# member inherits the documentation from any documented member that it
-# re-implements.
-
-INHERIT_DOCS = YES
-
-# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce
-# a new page for each member. If set to NO, the documentation of a member will
-# be part of the file/class/namespace that contains it.
-
-SEPARATE_MEMBER_PAGES = NO
-
-# The TAB_SIZE tag can be used to set the number of spaces in a tab.
-# Doxygen uses this value to replace tabs by spaces in code fragments.
-
-TAB_SIZE = 8
-
-# This tag can be used to specify a number of aliases that acts
-# as commands in the documentation. An alias has the form "name=value".
-# For example adding "sideeffect=\par Side Effects:\n" will allow you to
-# put the command \sideeffect (or @sideeffect) in the documentation, which
-# will result in a user-defined paragraph with heading "Side Effects:".
-# You can put \n's in the value part of an alias to insert newlines.
-
-ALIASES = prop="- \b "
-ALIASES += componentproperties="\xrefitem componentproperties \"Component properties\" \"Component properties\""
-
-# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C
-# sources only. Doxygen will then generate output that is more tailored for C.
-# For instance, some of the names that are used will be different. The list
-# of all members will be omitted, etc.
-
-OPTIMIZE_OUTPUT_FOR_C = YES
-
-# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java
-# sources only. Doxygen will then generate output that is more tailored for
-# Java. For instance, namespaces will be presented as packages, qualified
-# scopes will look different, etc.
-
-OPTIMIZE_OUTPUT_JAVA = NO
-
-# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
-# sources only. Doxygen will then generate output that is more tailored for
-# Fortran.
-
-OPTIMIZE_FOR_FORTRAN = NO
-
-# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
-# sources. Doxygen will then generate output that is tailored for
-# VHDL.
-
-OPTIMIZE_OUTPUT_VHDL = NO
-
-# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
-# to include (a tag file for) the STL sources as input, then you should
-# set this tag to YES in order to let doxygen match functions declarations and
-# definitions whose arguments contain STL classes (e.g. func(std::string); v.s.
-# func(std::string) {}). This also make the inheritance and collaboration
-# diagrams that involve STL classes more complete and accurate.
-
-BUILTIN_STL_SUPPORT = NO
-
-# If you use Microsoft's C++/CLI language, you should set this option to YES to
-# enable parsing support.
-
-CPP_CLI_SUPPORT = NO
-
-# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only.
-# Doxygen will parse them like normal C++ but will assume all classes use public
-# instead of private inheritance when no explicit protection keyword is present.
-
-SIP_SUPPORT = NO
-
-# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
-# tag is set to YES, then doxygen will reuse the documentation of the first
-# member in the group (if any) for the other members of the group. By default
-# all members of a group must be documented explicitly.
-
-DISTRIBUTE_GROUP_DOC = NO
-
-# Set the SUBGROUPING tag to YES (the default) to allow class member groups of
-# the same type (for instance a group of public functions) to be put as a
-# subgroup of that type (e.g. under the Public Functions section). Set it to
-# NO to prevent subgrouping. Alternatively, this can be done per class using
-# the \nosubgrouping command.
-
-SUBGROUPING = YES
-
-# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum
-# is documented as struct, union, or enum with the name of the typedef. So
-# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
-# with name TypeT. When disabled the typedef will appear as a member of a file,
-# namespace, or class. And the struct will be named TypeS. This can typically
-# be useful for C code in case the coding convention dictates that all compound
-# types are typedef'ed and only the typedef is referenced, never the tag name.
-
-TYPEDEF_HIDES_STRUCT = NO
-
-#---------------------------------------------------------------------------
-# Build related configuration options
-#---------------------------------------------------------------------------
-
-# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
-# documentation are documented, even if no documentation was available.
-# Private class members and static file members will be hidden unless
-# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
-
-EXTRACT_ALL = NO
-
-# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
-# will be included in the documentation.
-
-EXTRACT_PRIVATE = NO
-
-# If the EXTRACT_STATIC tag is set to YES all static members of a file
-# will be included in the documentation.
-
-EXTRACT_STATIC = NO
-
-# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
-# defined locally in source files will be included in the documentation.
-# If set to NO only classes defined in header files are included.
-
-EXTRACT_LOCAL_CLASSES = YES
-
-# This flag is only useful for Objective-C code. When set to YES local
-# methods, which are defined in the implementation section but not in
-# the interface are included in the documentation.
-# If set to NO (the default) only methods in the interface are included.
-
-EXTRACT_LOCAL_METHODS = NO
-
-# If this flag is set to YES, the members of anonymous namespaces will be
-# extracted and appear in the documentation as a namespace called
-# 'anonymous_namespace{file}', where file will be replaced with the base
-# name of the file that contains the anonymous namespace. By default
-# anonymous namespace are hidden.
-
-EXTRACT_ANON_NSPACES = NO
-
-# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
-# undocumented members of documented classes, files or namespaces.
-# If set to NO (the default) these members will be included in the
-# various overviews, but no documentation section is generated.
-# This option has no effect if EXTRACT_ALL is enabled.
-
-HIDE_UNDOC_MEMBERS = NO
-
-# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
-# undocumented classes that are normally visible in the class hierarchy.
-# If set to NO (the default) these classes will be included in the various
-# overviews. This option has no effect if EXTRACT_ALL is enabled.
-
-HIDE_UNDOC_CLASSES = NO
-
-# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
-# friend (class|struct|union) declarations.
-# If set to NO (the default) these declarations will be included in the
-# documentation.
-
-HIDE_FRIEND_COMPOUNDS = NO
-
-# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
-# documentation blocks found inside the body of a function.
-# If set to NO (the default) these blocks will be appended to the
-# function's detailed documentation block.
-
-HIDE_IN_BODY_DOCS = NO
-
-# The INTERNAL_DOCS tag determines if documentation
-# that is typed after a \internal command is included. If the tag is set
-# to NO (the default) then the documentation will be excluded.
-# Set it to YES to include the internal documentation.
-
-INTERNAL_DOCS = NO
-
-# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
-# file names in lower-case letters. If set to YES upper-case letters are also
-# allowed. This is useful if you have classes or files whose names only differ
-# in case and if your file system supports case sensitive file names. Windows
-# and Mac users are advised to set this option to NO.
-
-CASE_SENSE_NAMES = YES
-
-# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
-# will show members with their full class and namespace scopes in the
-# documentation. If set to YES the scope will be hidden.
-
-HIDE_SCOPE_NAMES = NO
-
-# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
-# will put a list of the files that are included by a file in the documentation
-# of that file.
-
-SHOW_INCLUDE_FILES = YES
-
-# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
-# is inserted in the documentation for inline members.
-
-INLINE_INFO = YES
-
-# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
-# will sort the (detailed) documentation of file and class members
-# alphabetically by member name. If set to NO the members will appear in
-# declaration order.
-
-SORT_MEMBER_DOCS = YES
-
-# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
-# brief documentation of file, namespace and class members alphabetically
-# by member name. If set to NO (the default) the members will appear in
-# declaration order.
-
-SORT_BRIEF_DOCS = YES
-
-# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the
-# hierarchy of group names into alphabetical order. If set to NO (the default)
-# the group names will appear in their defined order.
-
-SORT_GROUP_NAMES = NO
-
-# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
-# sorted by fully-qualified names, including namespaces. If set to
-# NO (the default), the class list will be sorted only by class name,
-# not including the namespace part.
-# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
-# Note: This option applies only to the class list, not to the
-# alphabetical list.
-
-SORT_BY_SCOPE_NAME = NO
-
-# The GENERATE_TODOLIST tag can be used to enable (YES) or
-# disable (NO) the todo list. This list is created by putting \todo
-# commands in the documentation.
-
-GENERATE_TODOLIST = YES
-
-# The GENERATE_TESTLIST tag can be used to enable (YES) or
-# disable (NO) the test list. This list is created by putting \test
-# commands in the documentation.
-
-GENERATE_TESTLIST = YES
-
-# The GENERATE_BUGLIST tag can be used to enable (YES) or
-# disable (NO) the bug list. This list is created by putting \bug
-# commands in the documentation.
-
-GENERATE_BUGLIST = YES
-
-# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
-# disable (NO) the deprecated list. This list is created by putting
-# \deprecated commands in the documentation.
-
-GENERATE_DEPRECATEDLIST= YES
-
-# The ENABLED_SECTIONS tag can be used to enable conditional
-# documentation sections, marked by \if sectionname ... \endif.
-
-ENABLED_SECTIONS =
-
-# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
-# the initial value of a variable or define consists of for it to appear in
-# the documentation. If the initializer consists of more lines than specified
-# here it will be hidden. Use a value of 0 to hide initializers completely.
-# The appearance of the initializer of individual variables and defines in the
-# documentation can be controlled using \showinitializer or \hideinitializer
-# command in the documentation regardless of this setting.
-
-MAX_INITIALIZER_LINES = 30
-
-# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
-# at the bottom of the documentation of classes and structs. If set to YES the
-# list will mention the files that were used to generate the documentation.
-
-SHOW_USED_FILES = YES
-
-# If the sources in your project are distributed over multiple directories
-# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy
-# in the documentation. The default is NO.
-
-SHOW_DIRECTORIES = NO
-
-# The FILE_VERSION_FILTER tag can be used to specify a program or script that
-# doxygen should invoke to get the current version for each file (typically from
-# the version control system). Doxygen will invoke the program by executing (via
-# popen()) the command <command> <input-file>, where <command> is the value of
-# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file
-# provided by doxygen. Whatever the program writes to standard output
-# is used as the file version. See the manual for examples.
-
-FILE_VERSION_FILTER =
-
-#---------------------------------------------------------------------------
-# configuration options related to warning and progress messages
-#---------------------------------------------------------------------------
-
-# The QUIET tag can be used to turn on/off the messages that are generated
-# by doxygen. Possible values are YES and NO. If left blank NO is used.
-
-QUIET = NO
-
-# The WARNINGS tag can be used to turn on/off the warning messages that are
-# generated by doxygen. Possible values are YES and NO. If left blank
-# NO is used.
-
-WARNINGS = YES
-
-# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
-# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
-# automatically be disabled.
-
-WARN_IF_UNDOCUMENTED = YES
-
-# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
-# potential errors in the documentation, such as not documenting some
-# parameters in a documented function, or documenting parameters that
-# don't exist or using markup commands wrongly.
-
-WARN_IF_DOC_ERROR = YES
-
-# This WARN_NO_PARAMDOC option can be abled to get warnings for
-# functions that are documented, but have no documentation for their parameters
-# or return value. If set to NO (the default) doxygen will only warn about
-# wrong or incomplete parameter documentation, but not about the absence of
-# documentation.
-
-WARN_NO_PARAMDOC = NO
-
-# The WARN_FORMAT tag determines the format of the warning messages that
-# doxygen can produce. The string should contain the $file, $line, and $text
-# tags, which will be replaced by the file and line number from which the
-# warning originated and the warning text. Optionally the format may contain
-# $version, which will be replaced by the version of the file (if it could
-# be obtained via FILE_VERSION_FILTER)
-
-WARN_FORMAT = "$file:$line: $text"
-
-# The WARN_LOGFILE tag can be used to specify a file to which warning
-# and error messages should be written. If left blank the output is written
-# to stderr.
-
-WARN_LOGFILE =
-
-#---------------------------------------------------------------------------
-# configuration options related to the input files
-#---------------------------------------------------------------------------
-
-# The INPUT tag can be used to specify the files and/or directories that contain
-# documented source files. You may enter file names like "myfile.cpp" or
-# directories like "/usr/src/myproject". Separate the files or directories
-# with spaces.
-
-INPUT = "@PROJECT_SOURCE_DIR@/source" \
- "@PROJECT_DOCUMENTATION_DIR@/doxygen" \
- "@PROJECT_BINARY_DIR@/propertydocs.dox"
-
-# This tag can be used to specify the character encoding of the source files
-# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
-# also the default input encoding. Doxygen uses libiconv (or the iconv built
-# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for
-# the list of possible encodings.
-
-INPUT_ENCODING = UTF-8
-
-# If the value of the INPUT tag contains directories, you can use the
-# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
-# and *.h) to filter out the source-files in the directories. If left
-# blank the following patterns are tested:
-# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx
-# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90
-
-FILE_PATTERNS =
-
-# The RECURSIVE tag can be used to turn specify whether or not subdirectories
-# should be searched for input files as well. Possible values are YES and NO.
-# If left blank NO is used.
-
-RECURSIVE = YES
-
-# The EXCLUDE tag can be used to specify files and/or directories that should
-# excluded from the INPUT source files. This way you can easily exclude a
-# subdirectory from a directory tree whose root is specified with the INPUT tag.
-
-EXCLUDE =
-
-# The EXCLUDE_SYMLINKS tag can be used select whether or not files or
-# directories that are symbolic links (a Unix filesystem feature) are excluded
-# from the input.
-
-EXCLUDE_SYMLINKS = NO
-
-# If the value of the INPUT tag contains directories, you can use the
-# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
-# certain files from those directories. Note that the wildcards are matched
-# against the file with absolute path, so to exclude all test directories
-# for example use the pattern */test/*
-
-EXCLUDE_PATTERNS = moc* \
- */.svn/* \
- */interface/* \
- */build/* \
- */templates/* \
- */scripts/* \
- */doc/html/* \
- */cmake/* \
- */config/* \
- */test/* \
-
-
-
-# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
-# (namespaces, classes, functions, etc.) that should be excluded from the
-# output. The symbol name can be a fully qualified name, a word, or if the
-# wildcard * is used, a substring. Examples: ANamespace, AClass,
-# AClass::ANamespace, ANamespace::*Test
-
-EXCLUDE_SYMBOLS =
-
-# The EXAMPLE_PATH tag can be used to specify one or more files or
-# directories that contain example code fragments that are included (see
-# the \include command).
-
-EXAMPLE_PATH = @PROJECT_DOCUMENTATION_SNIPPET_DIR_REL@
-
-# If the value of the EXAMPLE_PATH tag contains directories, you can use the
-# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
-# and *.h) to filter out the source-files in the directories. If left
-# blank all files are included.
-
-EXAMPLE_PATTERNS =
-
-# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
-# searched for input files to be used with the \include or \dontinclude
-# commands irrespective of the value of the RECURSIVE tag.
-# Possible values are YES and NO. If left blank NO is used.
-
-EXAMPLE_RECURSIVE = NO
-
-# The IMAGE_PATH tag can be used to specify one or more files or
-# directories that contain image that are included in the documentation (see
-# the \image command).
-
-IMAGE_PATH = @PROJECT_DOCUMENTATION_IMAGE_DIR_REL@
-
-# The INPUT_FILTER tag can be used to specify a program that doxygen should
-# invoke to filter for each input file. Doxygen will invoke the filter program
-# by executing (via popen()) the command <filter> <input-file>, where <filter>
-# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
-# input file. Doxygen will then use the output that the filter program writes
-# to standard output. If FILTER_PATTERNS is specified, this tag will be
-# ignored.
-
-INPUT_FILTER =
-
-# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
-# basis. Doxygen will compare the file name with each pattern and apply the
-# filter if there is a match. The filters are a list of the form:
-# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
-# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER
-# is applied to all files.
-
-FILTER_PATTERNS =
-
-# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
-# INPUT_FILTER) will be used to filter the input files when producing source
-# files to browse (i.e. when SOURCE_BROWSER is set to YES).
-
-FILTER_SOURCE_FILES = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to source browsing
-#---------------------------------------------------------------------------
-
-# If the SOURCE_BROWSER tag is set to YES then a list of source files will
-# be generated. Documented entities will be cross-referenced with these sources.
-# Note: To get rid of all source code in the generated output, make sure also
-# VERBATIM_HEADERS is set to NO.
-
-SOURCE_BROWSER = NO
-
-# Setting the INLINE_SOURCES tag to YES will include the body
-# of functions and classes directly in the documentation.
-
-INLINE_SOURCES = NO
-
-# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
-# doxygen to hide any special comment blocks from generated source code
-# fragments. Normal C and C++ comments will always remain visible.
-
-STRIP_CODE_COMMENTS = YES
-
-# If the REFERENCED_BY_RELATION tag is set to YES (the default)
-# then for each documented function all documented
-# functions referencing it will be listed.
-
-REFERENCED_BY_RELATION = NO
-
-# If the REFERENCES_RELATION tag is set to YES (the default)
-# then for each documented function all documented entities
-# called/used by that function will be listed.
-
-REFERENCES_RELATION = NO
-
-# If the REFERENCES_LINK_SOURCE tag is set to YES (the default)
-# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from
-# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will
-# link to the source code. Otherwise they will link to the documentstion.
-
-REFERENCES_LINK_SOURCE = YES
-
-# If the USE_HTAGS tag is set to YES then the references to source code
-# will point to the HTML generated by the htags(1) tool instead of doxygen
-# built-in source browser. The htags tool is part of GNU's global source
-# tagging system (see http://www.gnu.org/software/global/global.html). You
-# will need version 4.8.6 or higher.
-
-USE_HTAGS = NO
-
-# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
-# will generate a verbatim copy of the header file for each class for
-# which an include is specified. Set to NO to disable this.
-
-VERBATIM_HEADERS = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the alphabetical class index
-#---------------------------------------------------------------------------
-
-# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
-# of all compounds will be generated. Enable this if the project
-# contains a lot of classes, structs, unions or interfaces.
-
-ALPHABETICAL_INDEX = NO
-
-# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
-# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
-# in which this list will be split (can be a number in the range [1..20])
-
-COLS_IN_ALPHA_INDEX = 5
-
-# In case all classes in a project start with a common prefix, all
-# classes will be put under the same header in the alphabetical index.
-# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
-# should be ignored while generating the index headers.
-
-IGNORE_PREFIX =
-
-#---------------------------------------------------------------------------
-# configuration options related to the HTML output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
-# generate HTML output.
-
-GENERATE_HTML = YES
-
-# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `html' will be used as the default path.
-
-HTML_OUTPUT = @PROJECT_DOCUMENTATION_HTML_OUTPUT_DIR_REL@
-
-# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
-# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
-# doxygen will generate files with .html extension.
-
-HTML_FILE_EXTENSION = .html
-
-# The HTML_HEADER tag can be used to specify a personal HTML header for
-# each generated HTML page. If it is left blank doxygen will generate a
-# standard header.
-
-HTML_HEADER = @PROJECT_DOCUMENTATION_LAYOUT_DIR_REL@/Header.html
-
-# The HTML_FOOTER tag can be used to specify a personal HTML footer for
-# each generated HTML page. If it is left blank doxygen will generate a
-# standard footer.
-
-HTML_FOOTER = @PROJECT_DOCUMENTATION_LAYOUT_DIR_REL@/Footer.html
-
-# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
-# style sheet that is used by each HTML page. It can be used to
-# fine-tune the look of the HTML output. If the tag is left blank doxygen
-# will generate a default style sheet. Note that doxygen will try to copy
-# the style sheet file to the HTML output directory, so don't put your own
-# stylesheet in the HTML output directory as well, or it will be erased!
-
-HTML_STYLESHEET = @PROJECT_DOCUMENTATION_LAYOUT_DIR_REL@/Doxygen.css
-
-# Customized layout
-
-LAYOUT_FILE = @PROJECT_DOCUMENTATION_LAYOUT_DIR_REL@/DoxygenLayout.xml
-
-# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
-# files or namespaces will be aligned in HTML using tables. If set to
-# NO a bullet list will be used.
-
-HTML_ALIGN_MEMBERS = YES
-
-# If the GENERATE_HTMLHELP tag is set to YES, additional index files
-# will be generated that can be used as input for tools like the
-# Microsoft HTML help workshop to generate a compiled HTML help file (.chm)
-# of the generated HTML documentation.
-
-GENERATE_HTMLHELP = NO
-
-# If the GENERATE_DOCSET tag is set to YES, additional index files
-# will be generated that can be used as input for Apple's Xcode 3
-# integrated development environment, introduced with OSX 10.5 (Leopard).
-# To create a documentation set, doxygen will generate a Makefile in the
-# HTML output directory. Running make will produce the docset in that
-# directory and running "make install" will install the docset in
-# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find
-# it at startup.
-
-GENERATE_DOCSET = NO
-
-# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the
-# feed. A documentation feed provides an umbrella under which multiple
-# documentation sets from a single provider (such as a company or product suite)
-# can be grouped.
-
-DOCSET_FEEDNAME = "Doxygen generated docs"
-
-# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that
-# should uniquely identify the documentation set bundle. This should be a
-# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen
-# will append .docset to the name.
-
-DOCSET_BUNDLE_ID = org.doxygen.Project
-
-# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
-# documentation will contain sections that can be hidden and shown after the
-# page has loaded. For this to work a browser that supports
-# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox
-# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari).
-
-HTML_DYNAMIC_SECTIONS = NO
-
-# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
-# be used to specify the file name of the resulting .chm file. You
-# can add a path in front of the file if the result should not be
-# written to the html output directory.
-
-CHM_FILE =
-
-# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
-# be used to specify the location (absolute path including file name) of
-# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
-# the HTML help compiler on the generated index.hhp.
-
-HHC_LOCATION =
-
-# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
-# controls if a separate .chi index file is generated (YES) or that
-# it should be included in the master .chm file (NO).
-
-GENERATE_CHI = NO
-
-# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
-# controls whether a binary table of contents is generated (YES) or a
-# normal table of contents (NO) in the .chm file.
-
-BINARY_TOC = NO
-
-# The TOC_EXPAND flag can be set to YES to add extra items for group members
-# to the contents of the HTML help documentation and to the tree view.
-
-TOC_EXPAND = NO
-
-# The DISABLE_INDEX tag can be used to turn on/off the condensed index at
-# top of each HTML page. The value NO (the default) enables the index and
-# the value YES disables it.
-
-DISABLE_INDEX = NO
-
-# This tag can be used to set the number of enum values (range [1..20])
-# that doxygen will group on one line in the generated HTML documentation.
-
-ENUM_VALUES_PER_LINE = 4
-
-# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be
-# generated containing a tree-like index structure (just like the one that
-# is generated for HTML Help). For this to work a browser that supports
-# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+,
-# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are
-# probably better off using the HTML help feature.
-
-GENERATE_TREEVIEW = NO
-
-# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
-# used to set the initial width (in pixels) of the frame in which the tree
-# is shown.
-
-TREEVIEW_WIDTH = 250
-
-#---------------------------------------------------------------------------
-# configuration options related to the LaTeX output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
-# generate Latex output.
-
-GENERATE_LATEX = NO
-
-# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `latex' will be used as the default path.
-
-LATEX_OUTPUT = latex
-
-# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
-# invoked. If left blank `latex' will be used as the default command name.
-
-LATEX_CMD_NAME = latex
-
-# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
-# generate index for LaTeX. If left blank `makeindex' will be used as the
-# default command name.
-
-MAKEINDEX_CMD_NAME = makeindex
-
-# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
-# LaTeX documents. This may be useful for small projects and may help to
-# save some trees in general.
-
-COMPACT_LATEX = NO
-
-# The PAPER_TYPE tag can be used to set the paper type that is used
-# by the printer. Possible values are: a4, a4wide, letter, legal and
-# executive. If left blank a4wide will be used.
-
-PAPER_TYPE = a4wide
-
-# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
-# packages that should be included in the LaTeX output.
-
-EXTRA_PACKAGES =
-
-# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
-# the generated latex document. The header should contain everything until
-# the first chapter. If it is left blank doxygen will generate a
-# standard header. Notice: only use this tag if you know what you are doing!
-
-LATEX_HEADER =
-
-# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
-# is prepared for conversion to pdf (using ps2pdf). The pdf file will
-# contain links (just like the HTML output) instead of page references
-# This makes the output suitable for online browsing using a pdf viewer.
-
-PDF_HYPERLINKS = YES
-
-# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
-# plain latex in the generated Makefile. Set this option to YES to get a
-# higher quality PDF documentation.
-
-USE_PDFLATEX = YES
-
-# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
-# command to the generated LaTeX files. This will instruct LaTeX to keep
-# running if errors occur, instead of asking the user for help.
-# This option is also used when generating formulas in HTML.
-
-LATEX_BATCHMODE = NO
-
-# If LATEX_HIDE_INDICES is set to YES then doxygen will not
-# include the index chapters (such as File Index, Compound Index, etc.)
-# in the output.
-
-LATEX_HIDE_INDICES = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the RTF output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
-# The RTF output is optimized for Word 97 and may not look very pretty with
-# other RTF readers or editors.
-
-GENERATE_RTF = NO
-
-# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `rtf' will be used as the default path.
-
-RTF_OUTPUT = rtf
-
-# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
-# RTF documents. This may be useful for small projects and may help to
-# save some trees in general.
-
-COMPACT_RTF = NO
-
-# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
-# will contain hyperlink fields. The RTF file will
-# contain links (just like the HTML output) instead of page references.
-# This makes the output suitable for online browsing using WORD or other
-# programs which support those fields.
-# Note: wordpad (write) and others do not support links.
-
-RTF_HYPERLINKS = NO
-
-# Load stylesheet definitions from file. Syntax is similar to doxygen's
-# config file, i.e. a series of assignments. You only have to provide
-# replacements, missing definitions are set to their default value.
-
-RTF_STYLESHEET_FILE =
-
-# Set optional variables used in the generation of an rtf document.
-# Syntax is similar to doxygen's config file.
-
-RTF_EXTENSIONS_FILE =
-
-#---------------------------------------------------------------------------
-# configuration options related to the man page output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
-# generate man pages
-
-GENERATE_MAN = NO
-
-# The MAN_OUTPUT tag is used to specify where the man pages will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `man' will be used as the default path.
-
-MAN_OUTPUT = man
-
-# The MAN_EXTENSION tag determines the extension that is added to
-# the generated man pages (default is the subroutine's section .3)
-
-MAN_EXTENSION = .3
-
-# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
-# then it will generate one additional man file for each entity
-# documented in the real man page(s). These additional files
-# only source the real man page, but without them the man command
-# would be unable to find the correct page. The default is NO.
-
-MAN_LINKS = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the XML output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_XML tag is set to YES Doxygen will
-# generate an XML file that captures the structure of
-# the code including all documentation.
-
-GENERATE_XML = NO
-
-# The XML_OUTPUT tag is used to specify where the XML pages will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `xml' will be used as the default path.
-
-XML_OUTPUT = xml
-
-# The XML_SCHEMA tag can be used to specify an XML schema,
-# which can be used by a validating XML parser to check the
-# syntax of the XML files.
-
-XML_SCHEMA =
-
-# The XML_DTD tag can be used to specify an XML DTD,
-# which can be used by a validating XML parser to check the
-# syntax of the XML files.
-
-XML_DTD =
-
-# If the XML_PROGRAMLISTING tag is set to YES Doxygen will
-# dump the program listings (including syntax highlighting
-# and cross-referencing information) to the XML output. Note that
-# enabling this will significantly increase the size of the XML output.
-
-XML_PROGRAMLISTING = YES
-
-#---------------------------------------------------------------------------
-# configuration options for the AutoGen Definitions output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
-# generate an AutoGen Definitions (see autogen.sf.net) file
-# that captures the structure of the code including all
-# documentation. Note that this feature is still experimental
-# and incomplete at the moment.
-
-GENERATE_AUTOGEN_DEF = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the Perl module output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_PERLMOD tag is set to YES Doxygen will
-# generate a Perl module file that captures the structure of
-# the code including all documentation. Note that this
-# feature is still experimental and incomplete at the
-# moment.
-
-GENERATE_PERLMOD = NO
-
-# If the PERLMOD_LATEX tag is set to YES Doxygen will generate
-# the necessary Makefile rules, Perl scripts and LaTeX code to be able
-# to generate PDF and DVI output from the Perl module output.
-
-PERLMOD_LATEX = NO
-
-# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
-# nicely formatted so it can be parsed by a human reader. This is useful
-# if you want to understand what is going on. On the other hand, if this
-# tag is set to NO the size of the Perl module output will be much smaller
-# and Perl will parse it just the same.
-
-PERLMOD_PRETTY = YES
-
-# The names of the make variables in the generated doxyrules.make file
-# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
-# This is useful so different doxyrules.make files included by the same
-# Makefile don't overwrite each other's variables.
-
-PERLMOD_MAKEVAR_PREFIX =
-
-#---------------------------------------------------------------------------
-# Configuration options related to the preprocessor
-#---------------------------------------------------------------------------
-
-# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
-# evaluate all C-preprocessor directives found in the sources and include
-# files.
-
-ENABLE_PREPROCESSING = YES
-
-# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
-# names in the source code. If set to NO (the default) only conditional
-# compilation will be performed. Macro expansion can be done in a controlled
-# way by setting EXPAND_ONLY_PREDEF to YES.
-
-MACRO_EXPANSION = NO
-
-# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
-# then the macro expansion is limited to the macros specified with the
-# PREDEFINED and EXPAND_AS_DEFINED tags.
-
-EXPAND_ONLY_PREDEF = NO
-
-# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
-# in the INCLUDE_PATH (see below) will be search if a #include is found.
-
-SEARCH_INCLUDES = YES
-
-# The INCLUDE_PATH tag can be used to specify one or more directories that
-# contain include files that are not input files but should be processed by
-# the preprocessor.
-
-INCLUDE_PATH =
-
-# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
-# patterns (like *.h and *.hpp) to filter out the header-files in the
-# directories. If left blank, the patterns specified with FILE_PATTERNS will
-# be used.
-
-INCLUDE_FILE_PATTERNS =
-
-# The PREDEFINED tag can be used to specify one or more macro names that
-# are defined before the preprocessor is started (similar to the -D option of
-# gcc). The argument of the tag is a list of macros of the form: name
-# or name=definition (no spaces). If the definition and the = are
-# omitted =1 is assumed. To prevent a macro definition from being
-# undefined via #undef or recursively expanded use the := operator
-# instead of the = operator.
-
-PREDEFINED =
-
-# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
-# this tag can be used to specify a list of macro names that should be expanded.
-# The macro definition that is found in the sources will be used.
-# Use the PREDEFINED tag if you want to use a different macro definition.
-
-EXPAND_AS_DEFINED =
-
-# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
-# doxygen's preprocessor will remove all function-like macros that are alone
-# on a line, have an all uppercase name, and do not end with a semicolon. Such
-# function macros are typically used for boiler-plate code, and will confuse
-# the parser if not removed.
-
-SKIP_FUNCTION_MACROS = YES
-
-#---------------------------------------------------------------------------
-# Configuration::additions related to external references
-#---------------------------------------------------------------------------
-
-# The TAGFILES option can be used to specify one or more tagfiles.
-# Optionally an initial location of the external documentation
-# can be added for each tagfile. The format of a tag file without
-# this location is as follows:
-# TAGFILES = file1 file2 ...
-# Adding location for the tag files is done as follows:
-# TAGFILES = file1=loc1 "file2 = loc2" ...
-# where "loc1" and "loc2" can be relative or absolute paths or
-# URLs. If a location is present for each tag, the installdox tool
-# does not have to be run to correct the links.
-# Note that each tag file must have a unique name
-# (where the name does NOT include the path)
-# If a tag file is not located in the directory in which doxygen
-# is run, you must also specify the path to the tagfile here.
-
-TAGFILES =
-
-# When a file name is specified after GENERATE_TAGFILE, doxygen will create
-# a tag file that is based on the input files it reads.
-
-GENERATE_TAGFILE = "@PROJECT_DOCUMENTATION_HTML_OUTPUT_DIR@/@PROJECT_NAME@.tag"
-
-# If the ALLEXTERNALS tag is set to YES all external classes will be listed
-# in the class index. If set to NO only the inherited external classes
-# will be listed.
-
-ALLEXTERNALS = NO
-
-# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
-# in the modules index. If set to NO, only the current project's groups will
-# be listed.
-
-EXTERNAL_GROUPS = YES
-
-# The PERL_PATH should be the absolute path and name of the perl script
-# interpreter (i.e. the result of `which perl').
-
-PERL_PATH = /usr/bin/perl
-
-#---------------------------------------------------------------------------
-# Configuration options related to the dot tool
-#---------------------------------------------------------------------------
-
-# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
-# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base
-# or super classes. Setting the tag to NO turns the diagrams off. Note that
-# this option is superseded by the HAVE_DOT option below. This is only a
-# fallback. It is recommended to install and use dot, since it yields more
-# powerful graphs.
-
-CLASS_DIAGRAMS = YES
-
-# You can define message sequence charts within doxygen comments using the \msc
-# command. Doxygen will then run the mscgen tool (see
-# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the
-# documentation. The MSCGEN_PATH tag allows you to specify the directory where
-# the mscgen tool resides. If left empty the tool is assumed to be found in the
-# default search path.
-
-MSCGEN_PATH =
-
-# If set to YES, the inheritance and collaboration graphs will hide
-# inheritance and usage relations if the target is undocumented
-# or is not a class.
-
-HIDE_UNDOC_RELATIONS = YES
-
-# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
-# available from the path. This tool is part of Graphviz, a graph visualization
-# toolkit from AT&T and Lucent Bell Labs. The other options in this section
-# have no effect if this option is set to NO (the default)
-
-HAVE_DOT = NO
-
-# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
-# will generate a graph for each documented class showing the direct and
-# indirect inheritance relations. Setting this tag to YES will force the
-# the CLASS_DIAGRAMS tag to NO.
-
-CLASS_GRAPH = YES
-
-# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
-# will generate a graph for each documented class showing the direct and
-# indirect implementation dependencies (inheritance, containment, and
-# class references variables) of the class with other documented classes.
-
-COLLABORATION_GRAPH = YES
-
-# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen
-# will generate a graph for groups, showing the direct groups dependencies
-
-GROUP_GRAPHS = YES
-
-# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
-# collaboration diagrams in a style similar to the OMG's Unified Modeling
-# Language.
-
-UML_LOOK = NO
-
-# If set to YES, the inheritance and collaboration graphs will show the
-# relations between templates and their instances.
-
-TEMPLATE_RELATIONS = NO
-
-# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
-# tags are set to YES then doxygen will generate a graph for each documented
-# file showing the direct and indirect include dependencies of the file with
-# other documented files.
-
-INCLUDE_GRAPH = YES
-
-# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
-# HAVE_DOT tags are set to YES then doxygen will generate a graph for each
-# documented header file showing the documented files that directly or
-# indirectly include this file.
-
-INCLUDED_BY_GRAPH = YES
-
-# If the CALL_GRAPH and HAVE_DOT options are set to YES then
-# doxygen will generate a call dependency graph for every global function
-# or class method. Note that enabling this option will significantly increase
-# the time of a run. So in most cases it will be better to enable call graphs
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diff --git a/etc/doxygen/layout/Doxygen.css b/etc/doxygen/layout/Doxygen.css
deleted file mode 100644
index c7f9d74596183c8592dfff56ed5fa082c1cfc42e..0000000000000000000000000000000000000000
--- a/etc/doxygen/layout/Doxygen.css
+++ /dev/null
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-{
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- #side-nav { display: none; }
- #nav-path { display: none; }
- body { overflow:visible; }
- h1, h2, h3, h4, h5, h6 { page-break-after: avoid; }
- .summary { display: none; }
- .memitem { page-break-inside: avoid; }
- #doc-content
- {
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- overflow:inherit;
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- }
- pre.fragment
- {
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- white-space: -moz-pre-wrap; /* Moz */
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- white-space: pre-wrap; /* CSS3 */
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diff --git a/etc/doxygen/layout/Footer.html b/etc/doxygen/layout/Footer.html
deleted file mode 100644
index 1219e7fbd50376eeb04eed7292bf406626995655..0000000000000000000000000000000000000000
--- a/etc/doxygen/layout/Footer.html
+++ /dev/null
@@ -1,9 +0,0 @@
-<!--BEGIN GENERATE_TREEVIEW-->
- <li class="footer">$generatedby
- <a href="http://www.doxygen.org/index.html">
- <img class="footer" src="doxygen.png" alt="doxygen"/></a> $doxygenversion </li>
- </ul>
- </div>
-<!--END GENERATE_TREEVIEW-->
-</body>
-</html>
diff --git a/etc/doxygen/layout/Header.html b/etc/doxygen/layout/Header.html
deleted file mode 100644
index d8bd2e3b0e5e79b96cba175278b73bf6952c9ef3..0000000000000000000000000000000000000000
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-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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-<!--BEGIN PROJECT_NAME--><title>$projectname: $title</title><!--END PROJECT_NAME-->
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-<!--$treeview
-$search
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- <tbody>
- <tr style="height: 56px;">
- <!--BEGIN PROJECT_LOGO>
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- <div id="projectname">$projectname
- <!--BEGIN PROJECT_NUMBER--> <span id="projectnumber">$projectnumber</span><!--END PROJECT_NUMBER-->
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diff --git a/etc/doxygen/pages/0.Overview.dox b/etc/doxygen/pages/0.Overview.dox
new file mode 100644
index 0000000000000000000000000000000000000000..263e9a36cbb5fbc034d7f17753fbfe64cbe2b5b6
--- /dev/null
+++ b/etc/doxygen/pages/0.Overview.dox
@@ -0,0 +1,18 @@
+/**
+\defgroup RobotAPI RobotAPI Overview
+
+The ArmarX project RobotAPI is based on the ArmarXCore Framework.
+
+\par Components
+RobotAPI provides the following components
+- armarx::ComponentX: ComponentX description
+
+Each component can provide several properties which are set on command line or via a configuration file.
+See \ref componentproperties for an overview of properties.
+
+\par Applications
+- armarx::ApplicationY: Description of ApplicationY
+
+\par interface Interface Documentation
+Documentation of interfaces available in ArmarXCore is available on the \ref slicedocumentation "Slice Documentation" page.
+*/
diff --git a/etc/doxygen/pages/1.Installation.dox b/etc/doxygen/pages/1.Installation.dox
new file mode 100644
index 0000000000000000000000000000000000000000..dbd71ecac7b475ffb3c206c1b3ecb1a96c4481f3
--- /dev/null
+++ b/etc/doxygen/pages/1.Installation.dox
@@ -0,0 +1,8 @@
+/**
+\addtogroup Installation 1. Installation
+
+\defgroup RobotAPI-Installation RobotAPI Installation
+\ingroup RobotAPI Installation
+
+RobotAPI depends on ArmarXCore and ArmarXGui which must be installed.
+*/
diff --git a/etc/doxygen/pages/2.Tutorials.dox b/etc/doxygen/pages/2.Tutorials.dox
new file mode 100644
index 0000000000000000000000000000000000000000..b169a345b2fb3181b06e90c675ea70e3ae58639b
--- /dev/null
+++ b/etc/doxygen/pages/2.Tutorials.dox
@@ -0,0 +1,8 @@
+/**
+\addtogroup Tutorials 2. Tutorials
+
+\defgroup RobotAPI-Tutorials RobotAPI Tutorials
+\ingroup RobotAPI Tutorials
+
+...
+*/
diff --git a/etc/doxygen/pages/RobotAPI-API-4-remoterobot.dox b/etc/doxygen/pages/3.HowTos.RemoteRobot.dox
similarity index 92%
rename from etc/doxygen/pages/RobotAPI-API-4-remoterobot.dox
rename to etc/doxygen/pages/3.HowTos.RemoteRobot.dox
index bab878d25656793fefe58f80188f2632f802cd13..e803f42eea59b4f6e27a77c2b1845657a6d23f6d 100644
--- a/etc/doxygen/pages/RobotAPI-API-4-remoterobot.dox
+++ b/etc/doxygen/pages/3.HowTos.RemoteRobot.dox
@@ -1,8 +1,8 @@
/**
-\defgroup remoterobot Robot State and Remote Robot
-\ingroup api-robotapi
+\page RobotAPI-HowTos-RemoteRobot Robot State and Remote Robot
+\ingroup RobotAPI-HowTos
-\section remoterobot-start Starting a RobotStateComponent
+\section RobotAPI-HowTos-RemoteRobot-Start Starting a RobotStateComponent
The RobotState component serves as a central component for storing all robot related data. For now this data covers the current joint angles of the robot.<br>
The RobotStateComponent implements a KinematicUnitListener, hence it reacts on all joint updates that are reported by a KinematicUnit component. An exemplary startup script could look like this
@@ -17,7 +17,7 @@ $SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/RobotStateComponentRun --Ice.Con
\endcode
-With the correspondign configuration in ./config/Armar3Config.cfg:
+With the corresponding configuration in ./config/Armar3Config.cfg:
\code
# setup for KinemticUnitSimulation
@@ -32,7 +32,7 @@ ArmarX.RobotStateComponent.ObjectName = RobotStateComponent
\endcode
-\section remoterobot-access Accessing the RobotStateComponent
+\section RobotAPI-HowTos-RemoteRobot-Access Accessing the RobotStateComponent
The RobotStateComponent provides several methods for accessing the current configuration of the robot and for getting a snapshot of the current state which is compatible with
models of the Simox/VirtualRobot framework. With these models the whole functionality of Simox (http://simox.sf.net) can be used, e.g. IK solving, collision detection or motion and grasp planning.
diff --git a/etc/doxygen/pages/3.howto b/etc/doxygen/pages/3.HowTos.dox
similarity index 73%
rename from etc/doxygen/pages/3.howto
rename to etc/doxygen/pages/3.HowTos.dox
index 95622dcd89b67c212deb3ff84dd46782aced1d87..abb2dc4a0f95ad228aa0e763a8c3a1b641e53237 100644
--- a/etc/doxygen/pages/3.howto
+++ b/etc/doxygen/pages/3.HowTos.dox
@@ -1,9 +1,11 @@
/**
-\page robotapi-howtos HowTos
+\addtogroup HowTos 3. HowTos
-\subpage robotapi-howtos-eigen-from-pose
+\defgroup RobotAPI-HowTos RobotAPI HowTos
+\ingroup RobotAPI HowTos
-\page robotapi-howtos-eigen-from-pose How to convert a Variant pose into an Eigen Matrix
+\page RobotAPI-HowTos-Eigen-From-Pose How to convert a Variant pose into an Eigen Matrix
+\ingroup RobotAPI-HowTos
\code
#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
diff --git a/etc/doxygen/pages/4.FAQ.dox b/etc/doxygen/pages/4.FAQ.dox
new file mode 100644
index 0000000000000000000000000000000000000000..63bf5e41091b54a70afba3e6aeca2dbdc69aae1b
--- /dev/null
+++ b/etc/doxygen/pages/4.FAQ.dox
@@ -0,0 +1,8 @@
+/**
+\addtogroup FAQ 4. FAQ
+
+\defgroup RobotAPI-FAQ RobotAPI FAQ
+\ingroup RobotAPI FAQ
+
+...
+*/
diff --git a/etc/doxygen/pages/5.Components.dox b/etc/doxygen/pages/5.Components.dox
new file mode 100644
index 0000000000000000000000000000000000000000..d99251036c390793fd454fba30b767c26f801cf5
--- /dev/null
+++ b/etc/doxygen/pages/5.Components.dox
@@ -0,0 +1,8 @@
+/**
+\addtogroup Components 5. Components
+
+\defgroup RobotAPI-Components RobotAPI Components
+\ingroup RobotAPI Components
+
+...
+*/
diff --git a/etc/doxygen/pages/API-RobotAPI.dox b/etc/doxygen/pages/API-RobotAPI.dox
deleted file mode 100644
index d53a5dcaa2bfe2b98308903d75e65dfb9611d1f6..0000000000000000000000000000000000000000
--- a/etc/doxygen/pages/API-RobotAPI.dox
+++ /dev/null
@@ -1,5 +0,0 @@
-/**
-
- \defgroup api-robotapi RobotAPI
-
-*/
diff --git a/etc/doxygen/pages/motioncontrol.dox b/etc/doxygen/pages/MotionControl.dox
similarity index 98%
rename from etc/doxygen/pages/motioncontrol.dox
rename to etc/doxygen/pages/MotionControl.dox
index 981916a8e14dc0796a672386d2d48f0673d1af03..e5beee9a28c44f9f290fd726fc3da5d6256a69d6 100644
--- a/etc/doxygen/pages/motioncontrol.dox
+++ b/etc/doxygen/pages/MotionControl.dox
@@ -1,6 +1,6 @@
/**
- \defgroup MotionControl ArmarX MotionControl
- \ingroup robotapi-states
+ \defgroup RobotAPI-MotionControl RobotAPI MotionControl
+ \ingroup RobotAPI
\section Overview Overview of the implemented functionality in MotionControl
All functionality is implemented with State to provide a convenient interface
diff --git a/etc/doxygen/pages/RobotAPI-API-1-overview.dox b/etc/doxygen/pages/RobotAPI-API-1-overview.dox
deleted file mode 100644
index 117fdce24debf5c68ea96dd9748b1f2650492d18..0000000000000000000000000000000000000000
--- a/etc/doxygen/pages/RobotAPI-API-1-overview.dox
+++ /dev/null
@@ -1,19 +0,0 @@
- /*!
- * \defgroup robotapi-overview Overview
- * \ingroup api-robotapi
- *
- * The ArmarX project RobotAPI is based on the ArmarXCore Framework.
- *
- * \par Components
- * RobotAPI provides the following components
- * - armarx::ComponentX: ComponentX description
- *
- * Each component can provide several properties which are set on command line or via a configuration file.
- * See \ref componentproperties for an overview of properties.
- *
- * \par Applications
- * - armarx::ApplicationY: Description of ApplicationY
- *
- * \par interface Interface Documentation
- * Documentation of interfaces available in ArmarXCore is available on the \ref slicedocumentation "Slice Documentation" page.
- */
diff --git a/etc/doxygen/pages/RobotAPI-API-3-states.dox b/etc/doxygen/pages/RobotAPI-API-3-states.dox
deleted file mode 100644
index 472220c5aede76504cdbfcb73fba892a7bc5f2c9..0000000000000000000000000000000000000000
--- a/etc/doxygen/pages/RobotAPI-API-3-states.dox
+++ /dev/null
@@ -1,6 +0,0 @@
-/**
-
- \defgroup robotapi-states States
- \ingroup api-robotapi
-
-*/
diff --git a/etc/doxygen/pages/RobotAPI-API-2-units.dox b/etc/doxygen/pages/SensorActorUnits.dox
similarity index 77%
rename from etc/doxygen/pages/RobotAPI-API-2-units.dox
rename to etc/doxygen/pages/SensorActorUnits.dox
index d410231304b51af867fd039c7c1f45d19f01e88e..df7431ce017d6bdd24a1882877947e4cbadcbb91 100644
--- a/etc/doxygen/pages/RobotAPI-API-2-units.dox
+++ b/etc/doxygen/pages/SensorActorUnits.dox
@@ -1,6 +1,6 @@
/**
- \defgroup SensorActorUnits Sensor-Actor Units
- \ingroup api-robotapi
+ \defgroup RobotAPI-SensorActorUnits RobotAPI Sensor-Actor Units
+ \ingroup RobotAPI
Sensor-Actor units
diff --git a/etc/doxygen/pages/mainpage.dox b/etc/doxygen/pages/mainpage.dox
index 9559ec2b9c25fa60e68225c9edf5fa6cdadeb010..ec316950eb1d7ce953f3fd4b439ef16cb1b252e0 100644
--- a/etc/doxygen/pages/mainpage.dox
+++ b/etc/doxygen/pages/mainpage.dox
@@ -1,6 +1,4 @@
-/*! \mainpage
-
-- \subpage robotapi-overview
-- \subpage remoterobot
-
- */
+/**
+\mainpage
+\ref RobotAPI "RobotAPI Overview"
+*/
diff --git a/etc/doxygen/pages/slicedocumentation.dox b/etc/doxygen/pages/slicedocumentation.dox
deleted file mode 100644
index 25eaf8d746f002fb93764956066a49206dde79b5..0000000000000000000000000000000000000000
--- a/etc/doxygen/pages/slicedocumentation.dox
+++ /dev/null
@@ -1,5 +0,0 @@
-/**
- \page robotapi-slicedocumentation Slice Documentation
- \ingroup api-robotapi
- <a href="slice/index.html"> Slice Documentation </a>
-*/
diff --git a/etc/doxygen/snippets/.gitkeep b/etc/doxygen/snippets/.gitkeep
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/scenarios/CMakeLists.txt b/scenarios/CMakeLists.txt
index 3b942c24894a6fabe2d760ff167cf0bf34138b8c..6b4016fb238767681d7f3a951c6fafcd39c2feab 100644
--- a/scenarios/CMakeLists.txt
+++ b/scenarios/CMakeLists.txt
@@ -1,4 +1,4 @@
-add_subdirectory(WeissHapticSensorsUnitTest)
-add_subdirectory(MotionControlTest)
-add_subdirectory(statecharttestscenario)
+add_subdirectory(tests)
+
+
diff --git a/scenarios/RemoteRobotTest/RemoteRobotTestProject/build/.gitkeep b/scenarios/RemoteRobotTest/RemoteRobotTestProject/build/.gitkeep
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/scenarios/MotionControlTest/CMakeLists.txt b/scenarios/deprecated/MotionControlTest/CMakeLists.txt
similarity index 100%
rename from scenarios/MotionControlTest/CMakeLists.txt
rename to scenarios/deprecated/MotionControlTest/CMakeLists.txt
diff --git a/scenarios/MotionControlTest/MotionControlTestGui.ini b/scenarios/deprecated/MotionControlTest/MotionControlTestGui.ini
similarity index 100%
rename from scenarios/MotionControlTest/MotionControlTestGui.ini
rename to scenarios/deprecated/MotionControlTest/MotionControlTestGui.ini
diff --git a/scenarios/MotionControlTest/MotionControlTestGuiDavid.ini b/scenarios/deprecated/MotionControlTest/MotionControlTestGuiDavid.ini
similarity index 100%
rename from scenarios/MotionControlTest/MotionControlTestGuiDavid.ini
rename to scenarios/deprecated/MotionControlTest/MotionControlTestGuiDavid.ini
diff --git a/scenarios/MotionControlTest/config/ArmarXGui.cfg b/scenarios/deprecated/MotionControlTest/config/ArmarXGui.cfg
similarity index 100%
rename from scenarios/MotionControlTest/config/ArmarXGui.cfg
rename to scenarios/deprecated/MotionControlTest/config/ArmarXGui.cfg
diff --git a/scenarios/MotionControlTest/config/ArmarXLogger.cfg b/scenarios/deprecated/MotionControlTest/config/ArmarXLogger.cfg
similarity index 100%
rename from scenarios/MotionControlTest/config/ArmarXLogger.cfg
rename to scenarios/deprecated/MotionControlTest/config/ArmarXLogger.cfg
diff --git a/scenarios/MotionControlTest/config/ConditionHandler.cfg b/scenarios/deprecated/MotionControlTest/config/ConditionHandler.cfg
similarity index 100%
rename from scenarios/MotionControlTest/config/ConditionHandler.cfg
rename to scenarios/deprecated/MotionControlTest/config/ConditionHandler.cfg
diff --git a/scenarios/MotionControlTest/config/DummyObjectRecognitionConfig.txt b/scenarios/deprecated/MotionControlTest/config/DummyObjectRecognitionConfig.txt
similarity index 100%
rename from scenarios/MotionControlTest/config/DummyObjectRecognitionConfig.txt
rename to scenarios/deprecated/MotionControlTest/config/DummyObjectRecognitionConfig.txt
diff --git a/scenarios/MotionControlTest/config/Global.cfg b/scenarios/deprecated/MotionControlTest/config/Global.cfg
similarity index 100%
rename from scenarios/MotionControlTest/config/Global.cfg
rename to scenarios/deprecated/MotionControlTest/config/Global.cfg
diff --git a/scenarios/MotionControlTest/config/GuiConfig.ini b/scenarios/deprecated/MotionControlTest/config/GuiConfig.ini
similarity index 100%
rename from scenarios/MotionControlTest/config/GuiConfig.ini
rename to scenarios/deprecated/MotionControlTest/config/GuiConfig.ini
diff --git a/scenarios/MotionControlTest/config/HeadUnit.cfg b/scenarios/deprecated/MotionControlTest/config/HeadUnit.cfg
similarity index 100%
rename from scenarios/MotionControlTest/config/HeadUnit.cfg
rename to scenarios/deprecated/MotionControlTest/config/HeadUnit.cfg
diff --git a/scenarios/MotionControlTest/config/HeadUnitObserver.cfg b/scenarios/deprecated/MotionControlTest/config/HeadUnitObserver.cfg
similarity index 100%
rename from scenarios/MotionControlTest/config/HeadUnitObserver.cfg
rename to scenarios/deprecated/MotionControlTest/config/HeadUnitObserver.cfg
diff --git a/scenarios/MotionControlTest/config/KinematicUnitObserver.cfg b/scenarios/deprecated/MotionControlTest/config/KinematicUnitObserver.cfg
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rename from scenarios/MotionControlTest/config/KinematicUnitObserver.cfg
rename to scenarios/deprecated/MotionControlTest/config/KinematicUnitObserver.cfg
diff --git a/scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg b/scenarios/deprecated/MotionControlTest/config/KinematicUnitSimulation.cfg
similarity index 100%
rename from scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg
rename to scenarios/deprecated/MotionControlTest/config/KinematicUnitSimulation.cfg
diff --git a/scenarios/MotionControlTest/config/MotionControlTest.cfg b/scenarios/deprecated/MotionControlTest/config/MotionControlTest.cfg
similarity index 100%
rename from scenarios/MotionControlTest/config/MotionControlTest.cfg
rename to scenarios/deprecated/MotionControlTest/config/MotionControlTest.cfg
diff --git a/scenarios/MotionControlTest/config/ObjectDB.txt b/scenarios/deprecated/MotionControlTest/config/ObjectDB.txt
similarity index 100%
rename from scenarios/MotionControlTest/config/ObjectDB.txt
rename to scenarios/deprecated/MotionControlTest/config/ObjectDB.txt
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rename from scenarios/MotionControlTest/config/ObjectMemory.cfg
rename to scenarios/deprecated/MotionControlTest/config/ObjectMemory.cfg
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rename to scenarios/deprecated/MotionControlTest/config/RobotControl.cfg
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rename from scenarios/TCPMoverScenario/configs/HeadUnit.cfg
rename to scenarios/deprecated/TCPMoverScenario/configs/HeadUnit.cfg
diff --git a/scenarios/TCPMoverScenario/configs/RobotUnit.cfg b/scenarios/deprecated/TCPMoverScenario/configs/RobotUnit.cfg
similarity index 100%
rename from scenarios/TCPMoverScenario/configs/RobotUnit.cfg
rename to scenarios/deprecated/TCPMoverScenario/configs/RobotUnit.cfg
diff --git a/scenarios/TCPMoverScenario/configs/RobotUnitObserver.cfg b/scenarios/deprecated/TCPMoverScenario/configs/RobotUnitObserver.cfg
similarity index 100%
rename from scenarios/TCPMoverScenario/configs/RobotUnitObserver.cfg
rename to scenarios/deprecated/TCPMoverScenario/configs/RobotUnitObserver.cfg
diff --git a/scenarios/tests/CMakeLists.txt b/scenarios/tests/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8aec5dbf1ec6f311c170e0720c834d0f0a145101
--- /dev/null
+++ b/scenarios/tests/CMakeLists.txt
@@ -0,0 +1,6 @@
+
+add_subdirectory(statecharttestscenario)
+add_subdirectory(WeissHapticSensorsUnitTest)
+
+
+
diff --git a/scenarios/RemoteRobotTest/RemoteRobotTestProject/CMakeLists.txt b/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/CMakeLists.txt
similarity index 100%
rename from scenarios/RemoteRobotTest/RemoteRobotTestProject/CMakeLists.txt
rename to scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/CMakeLists.txt
diff --git a/scenarios/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProject.cpp b/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProject.cpp
similarity index 100%
rename from scenarios/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProject.cpp
rename to scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProject.cpp
diff --git a/scenarios/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProject.h b/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProject.h
similarity index 100%
rename from scenarios/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProject.h
rename to scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProject.h
diff --git a/scenarios/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProjectApp.h b/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProjectApp.h
similarity index 100%
rename from scenarios/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProjectApp.h
rename to scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProjectApp.h
diff --git a/etc/doxygen/images/.gitkeep b/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/build/.gitkeep
similarity index 100%
rename from etc/doxygen/images/.gitkeep
rename to scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/build/.gitkeep
diff --git a/scenarios/RemoteRobotTest/RemoteRobotTestProject/test/RemoteRobotTestProjectTest.cpp b/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/test/RemoteRobotTestProjectTest.cpp
similarity index 100%
rename from scenarios/RemoteRobotTest/RemoteRobotTestProject/test/RemoteRobotTestProjectTest.cpp
rename to scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/test/RemoteRobotTestProjectTest.cpp
diff --git a/scenarios/RemoteRobotTest/configs/ArmarXGui.cfg b/scenarios/tests/RemoteRobotTest/configs/ArmarXGui.cfg
similarity index 100%
rename from scenarios/RemoteRobotTest/configs/ArmarXGui.cfg
rename to scenarios/tests/RemoteRobotTest/configs/ArmarXGui.cfg
diff --git a/scenarios/RemoteRobotTest/configs/ConditionHandler.cfg b/scenarios/tests/RemoteRobotTest/configs/ConditionHandler.cfg
similarity index 100%
rename from scenarios/RemoteRobotTest/configs/ConditionHandler.cfg
rename to scenarios/tests/RemoteRobotTest/configs/ConditionHandler.cfg
diff --git a/scenarios/RemoteRobotTest/configs/DummyObjectRecognitionConfig.txt b/scenarios/tests/RemoteRobotTest/configs/DummyObjectRecognitionConfig.txt
similarity index 100%
rename from scenarios/RemoteRobotTest/configs/DummyObjectRecognitionConfig.txt
rename to scenarios/tests/RemoteRobotTest/configs/DummyObjectRecognitionConfig.txt
diff --git a/scenarios/RemoteRobotTest/configs/HeadUnit.cfg b/scenarios/tests/RemoteRobotTest/configs/HeadUnit.cfg
similarity index 100%
rename from scenarios/RemoteRobotTest/configs/HeadUnit.cfg
rename to scenarios/tests/RemoteRobotTest/configs/HeadUnit.cfg
diff --git a/scenarios/RemoteRobotTest/configs/HeadUnitObserver.cfg b/scenarios/tests/RemoteRobotTest/configs/HeadUnitObserver.cfg
similarity index 100%
rename from scenarios/RemoteRobotTest/configs/HeadUnitObserver.cfg
rename to scenarios/tests/RemoteRobotTest/configs/HeadUnitObserver.cfg
diff --git a/scenarios/RemoteRobotTest/configs/ObjectMemoryConfig.txt b/scenarios/tests/RemoteRobotTest/configs/ObjectMemoryConfig.txt
similarity index 100%
rename from scenarios/RemoteRobotTest/configs/ObjectMemoryConfig.txt
rename to scenarios/tests/RemoteRobotTest/configs/ObjectMemoryConfig.txt
diff --git a/scenarios/RemoteRobotTest/configs/ObjectMemoryObserverConfig.txt b/scenarios/tests/RemoteRobotTest/configs/ObjectMemoryObserverConfig.txt
similarity index 100%
rename from scenarios/RemoteRobotTest/configs/ObjectMemoryObserverConfig.txt
rename to scenarios/tests/RemoteRobotTest/configs/ObjectMemoryObserverConfig.txt
diff --git a/scenarios/RemoteRobotTest/configs/RobotStateComponent.cfg b/scenarios/tests/RemoteRobotTest/configs/RobotStateComponent.cfg
similarity index 100%
rename from scenarios/RemoteRobotTest/configs/RobotStateComponent.cfg
rename to scenarios/tests/RemoteRobotTest/configs/RobotStateComponent.cfg
diff --git a/scenarios/WeissHapticSensorsUnitTest/CMakeLists.txt b/scenarios/tests/WeissHapticSensorsUnitTest/CMakeLists.txt
similarity index 100%
rename from scenarios/WeissHapticSensorsUnitTest/CMakeLists.txt
rename to scenarios/tests/WeissHapticSensorsUnitTest/CMakeLists.txt
diff --git a/scenarios/WeissHapticSensorsUnitTest/config/HapticObserverApp.cfg b/scenarios/tests/WeissHapticSensorsUnitTest/config/HapticObserverApp.cfg
similarity index 100%
rename from scenarios/WeissHapticSensorsUnitTest/config/HapticObserverApp.cfg
rename to scenarios/tests/WeissHapticSensorsUnitTest/config/HapticObserverApp.cfg
diff --git a/scenarios/WeissHapticSensorsUnitTest/config/WeissHapticSensorApp.cfg b/scenarios/tests/WeissHapticSensorsUnitTest/config/WeissHapticSensorApp.cfg
similarity index 100%
rename from scenarios/WeissHapticSensorsUnitTest/config/WeissHapticSensorApp.cfg
rename to scenarios/tests/WeissHapticSensorsUnitTest/config/WeissHapticSensorApp.cfg
diff --git a/scenarios/WeissHapticSensorsUnitTest/config/WeissHapticSensorsUnitApp.cfg b/scenarios/tests/WeissHapticSensorsUnitTest/config/WeissHapticSensorsUnitApp.cfg
similarity index 100%
rename from scenarios/WeissHapticSensorsUnitTest/config/WeissHapticSensorsUnitApp.cfg
rename to scenarios/tests/WeissHapticSensorsUnitTest/config/WeissHapticSensorsUnitApp.cfg
diff --git a/scenarios/WeissHapticSensorsUnitTest/jquery.min.js b/scenarios/tests/WeissHapticSensorsUnitTest/jquery.min.js
similarity index 100%
rename from scenarios/WeissHapticSensorsUnitTest/jquery.min.js
rename to scenarios/tests/WeissHapticSensorsUnitTest/jquery.min.js
diff --git a/scenarios/WeissHapticSensorsUnitTest/jquery.sparkline.js b/scenarios/tests/WeissHapticSensorsUnitTest/jquery.sparkline.js
similarity index 100%
rename from scenarios/WeissHapticSensorsUnitTest/jquery.sparkline.js
rename to scenarios/tests/WeissHapticSensorsUnitTest/jquery.sparkline.js
diff --git a/scenarios/WeissHapticSensorsUnitTest/startGui.sh b/scenarios/tests/WeissHapticSensorsUnitTest/startGui.sh
similarity index 100%
rename from scenarios/WeissHapticSensorsUnitTest/startGui.sh
rename to scenarios/tests/WeissHapticSensorsUnitTest/startGui.sh
diff --git a/scenarios/WeissHapticSensorsUnitTest/tactile.html b/scenarios/tests/WeissHapticSensorsUnitTest/tactile.html
similarity index 100%
rename from scenarios/WeissHapticSensorsUnitTest/tactile.html
rename to scenarios/tests/WeissHapticSensorsUnitTest/tactile.html
diff --git a/scenarios/statecharttestscenario/CMakeLists.txt b/scenarios/tests/statecharttestscenario/CMakeLists.txt
similarity index 100%
rename from scenarios/statecharttestscenario/CMakeLists.txt
rename to scenarios/tests/statecharttestscenario/CMakeLists.txt
diff --git a/scenarios/statecharttestscenario/config/ConditionHandler.cfg b/scenarios/tests/statecharttestscenario/config/ConditionHandler.cfg
similarity index 100%
rename from scenarios/statecharttestscenario/config/ConditionHandler.cfg
rename to scenarios/tests/statecharttestscenario/config/ConditionHandler.cfg
diff --git a/scenarios/statecharttestscenario/config/RobotControl.cfg b/scenarios/tests/statecharttestscenario/config/RobotControl.cfg
similarity index 100%
rename from scenarios/statecharttestscenario/config/RobotControl.cfg
rename to scenarios/tests/statecharttestscenario/config/RobotControl.cfg
diff --git a/scenarios/statecharttestscenario/config/SystemObserver.cfg b/scenarios/tests/statecharttestscenario/config/SystemObserver.cfg
similarity index 100%
rename from scenarios/statecharttestscenario/config/SystemObserver.cfg
rename to scenarios/tests/statecharttestscenario/config/SystemObserver.cfg
diff --git a/source/RobotAPI/applications/CMakeLists.txt b/source/RobotAPI/applications/CMakeLists.txt
index ae2814a3e2a54a15950fb74373d170de49230489..7f12f2afebcbebfa09fb433328bc5b6d1260c7d0 100644
--- a/source/RobotAPI/applications/CMakeLists.txt
+++ b/source/RobotAPI/applications/CMakeLists.txt
@@ -21,3 +21,5 @@ add_subdirectory(HandUnitObserver)
add_subdirectory(HandUnitSimulation)
add_subdirectory(ForceTorqueUnitSimulation)
+
+add_subdirectory(MMMPlayer)
diff --git a/source/RobotAPI/applications/MMMPlayer/CMakeLists.txt b/source/RobotAPI/applications/MMMPlayer/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1aa2b39a4c3f68a824af971907286c0716c0eef0
--- /dev/null
+++ b/source/RobotAPI/applications/MMMPlayer/CMakeLists.txt
@@ -0,0 +1,23 @@
+armarx_component_set_name("MMMPlayerApp")
+
+find_package(MMMCore QUIET)
+armarx_build_if(MMMCore_FOUND "MMMCORE not available")
+if(MMMCore_FOUND)
+ include_directories(${MMMCORE_INCLUDE_DIRS})
+endif()
+
+find_package(Eigen3 QUIET)
+
+
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+
+
+if (Eigen3_FOUND)
+ include_directories(${Eigen3_INCLUDE_DIR})
+endif()
+
+set(COMPONENT_LIBS MMMPlayer ArmarXInterfaces ArmarXCore ${MMMCORE_LIBRARIES})
+
+set(EXE_SOURCE MMMPlayerApp.h main.cpp)
+
+armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/MMMPlayer/MMMPlayerApp.h b/source/RobotAPI/applications/MMMPlayer/MMMPlayerApp.h
new file mode 100644
index 0000000000000000000000000000000000000000..809e37f4b7e6a2082fc2c7ed2225ba580fe8053b
--- /dev/null
+++ b/source/RobotAPI/applications/MMMPlayer/MMMPlayerApp.h
@@ -0,0 +1,56 @@
+/*
+ * 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::application::MMMPlayer
+ * @author Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_APPLICATION_RobotAPI_MMMPlayer_H
+#define _ARMARX_APPLICATION_RobotAPI_MMMPlayer_H
+
+
+#include <RobotAPI/components/MMMPlayer/MMMPlayer.h>
+
+#include <Core/core/application/Application.h>
+#include <Core/core/Component.h>
+
+
+namespace armarx
+{
+ /**
+ * @class MMMPlayerApp
+ * @brief A brief description
+ *
+ * Detailed Description
+ */
+ class MMMPlayerApp :
+ virtual public armarx::Application
+ {
+ /**
+ * @see armarx::Application::setup()
+ */
+ void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
+ Ice::PropertiesPtr properties)
+ {
+ registry->addObject( Component::create<MMMPlayer>(properties) );
+ }
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/applications/MMMPlayer/main.cpp b/source/RobotAPI/applications/MMMPlayer/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..32f1a335c2cb18dc3d88afb9730c784cbb7fe4f2
--- /dev/null
+++ b/source/RobotAPI/applications/MMMPlayer/main.cpp
@@ -0,0 +1,33 @@
+/*
+ * 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::application::MMMPlayer
+ * @author Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "MMMPlayerApp.h"
+#include <Core/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+ armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::MMMPlayerApp > ();
+ app->setName("MMMPlayer");
+
+ return app->main(argc, argv);
+}
diff --git a/source/RobotAPI/components/CMakeLists.txt b/source/RobotAPI/components/CMakeLists.txt
index fc7fbec75fddbc0fe6d7fff4f94613fe28b035d9..409b27488c2e48a25cd570c670175b5f22b33e91 100644
--- a/source/RobotAPI/components/CMakeLists.txt
+++ b/source/RobotAPI/components/CMakeLists.txt
@@ -1,3 +1,5 @@
add_subdirectory(units)
-add_subdirectory(WeissHapticSensorListener)
\ No newline at end of file
+add_subdirectory(WeissHapticSensorListener)
+add_subdirectory(DebugDrawer)
+add_subdirectory(MMMPlayer)
diff --git a/source/RobotAPI/components/DebugDrawer/CMakeLists.txt b/source/RobotAPI/components/DebugDrawer/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a7c6e10dc4b49d0c47b10e3cfa4e54a9d329fcb5
--- /dev/null
+++ b/source/RobotAPI/components/DebugDrawer/CMakeLists.txt
@@ -0,0 +1,28 @@
+armarx_component_set_name("DebugDrawer")
+
+find_package(Eigen3 QUIET)
+find_package(Simox QUIET)
+
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+
+if (Eigen3_FOUND AND Simox_FOUND)
+
+ include_directories(
+ ${Eigen3_INCLUDE_DIR}
+ ${Simox_INCLUDE_DIRS}
+ ${Simox_EXTERNAL_INCLUDE_DIRS})
+ message ("Simox_EXTERNAL_INCLUDE_DIRS:${Simox_EXTERNAL_INCLUDE_DIRS}")
+ message ("Simox_EXTERNAL_LIBRARY_FLAGS:${Simox_EXTERNAL_LIBRARY_FLAGS}")
+
+ add_definitions(${Simox_EXTERNAL_LIBRARY_FLAGS})
+
+endif()
+
+set(COMPONENT_LIBS ArmarXCore RobotAPIInterfaces RobotAPIRemoteRobot ${Simox_LIBRARIES})
+
+set(SOURCES DebugDrawerComponent.cpp)
+set(HEADERS DebugDrawerComponent.h)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..93126363d9bd55d0f6f4b6fbec3da171fb19d83c
--- /dev/null
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
@@ -0,0 +1,382 @@
+/*
+ * 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::ArmarXObjects::DebugDrawerComponent
+ * @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu )
+ * @author Peter Kaiser ( peter dot kaiser at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "DebugDrawerComponent.h"
+
+#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
+#include <Inventor/nodes/SoUnits.h>
+#include <Inventor/nodes/SoCube.h>
+#include <Inventor/nodes/SoMaterial.h>
+#include <Inventor/nodes/SoAnnotation.h>
+#include <Inventor/nodes/SoTransform.h>
+#include <Inventor/nodes/SoFont.h>
+#include <Inventor/nodes/SoText2.h>
+
+using namespace VirtualRobot;
+
+namespace armarx{
+
+
+DebugDrawerComponent::DebugDrawerComponent()
+{
+ if (!mutex)
+ mutex.reset(new boost::recursive_mutex());
+
+ coinVisu = new SoSeparator;
+ coinVisu->ref();
+
+ SoUnits *u = new SoUnits();
+ u->units = SoUnits::MILLIMETERS;
+ coinVisu->addChild(u);
+
+ debugVisu = new SoSeparator;
+ debugVisu->ref();
+}
+
+void DebugDrawerComponent::onInitComponent()
+{
+ usingTopic(getProperty<std::string>("DebugDrawerTopic").getValue());
+
+ enable = getProperty<bool>("ShowDebugDrawing").getValue();
+ if (enable)
+ coinVisu->addChild(debugVisu);
+}
+
+void DebugDrawerComponent::onConnectComponent()
+{
+}
+
+void DebugDrawerComponent::onExitComponent()
+{
+ ARMARX_DEBUG << "onExitComponent";
+ clearDebugLayer();
+ coinVisu->unref();
+ debugVisu->unref();
+}
+
+void DebugDrawerComponent::enableVisu(bool e)
+{
+ ScopedRecursiveLockPtr lock = getScopedLock();
+ if (e)
+ {
+ if (coinVisu->findChild(debugVisu)<0)
+ coinVisu->addChild(debugVisu);
+ } else
+ {
+ if (coinVisu->findChild(debugVisu)>=0)
+ coinVisu->removeChild(debugVisu);
+ }
+}
+
+
+
+void DebugDrawerComponent::drawCoordSystem(const std::string &name, Eigen::Matrix4f &globalPose, float scale)
+{
+ ScopedRecursiveLockPtr l = getScopedLock();
+ ARMARX_DEBUG << "drawing coord system";
+
+ if (scale<=0)
+ {
+ if (addedCoordVisualizations.find(name) == addedCoordVisualizations.end())
+ {
+ return;
+ }
+ debugVisu->removeChild(addedCoordVisualizations[name]);
+ addedCoordVisualizations.erase(name);
+ return;
+ }
+
+ if (addedCoordVisualizations.find(name) == addedCoordVisualizations.end())
+ {
+ SoSeparator *newS = new SoSeparator;
+ SoMatrixTransform* newM = new SoMatrixTransform;
+ newS->addChild(newM);
+ std::string n = name;
+ newS->addChild(CoinVisualizationFactory::CreateCoordSystemVisualization(scale,&n));
+ addedCoordVisualizations[name] = newS;
+ debugVisu->addChild(newS);
+ }
+ SoSeparator *s = addedCoordVisualizations[name];
+ SoMatrixTransform* m = (SoMatrixTransform*)(s->getChild(0));
+ SbMatrix mNew = CoinVisualizationFactory::getMatrixTransform(globalPose)->matrix.getValue();
+ m->matrix.setValue(mNew);
+
+ ARMARX_DEBUG << "end";
+}
+
+
+
+void DebugDrawerComponent::drawLine(const std::string &name, Eigen::Vector3f &p1, Eigen::Vector3f &p2, float scale, VirtualRobot::VisualizationFactory::Color &color)
+{
+ ScopedRecursiveLockPtr l = getScopedLock();
+ ARMARX_DEBUG << "drawLine" << flush;
+
+ removeLine(name);
+
+ SoSeparator *newS = new SoSeparator;
+ Eigen::Matrix4f lp1 = Eigen::Matrix4f::Identity();
+ lp1(0,3) = p1.x(); lp1(1,3) = p1.y(); lp1(2,3) = p1.z();
+ Eigen::Matrix4f lp2 = Eigen::Matrix4f::Identity();
+ lp2(0,3) = p2.x(); lp2(1,3) = p2.y(); lp2(2,3) = p2.z();
+ newS->addChild(CoinVisualizationFactory::createCoinLine(lp1, lp2, scale, color.r, color.g, color.b));
+ addedLineVisualizations[name] = newS;
+ debugVisu->addChild(newS);
+}
+
+void DebugDrawerComponent::drawBox(const std::string &name, Eigen::Matrix4f &globalPose, float width, float height, float depth, VisualizationFactory::Color &color)
+{
+ ScopedRecursiveLockPtr l = getScopedLock();
+ ARMARX_DEBUG << "drawBox";
+
+ removeBox(name);
+
+ SoSeparator *newS = new SoSeparator;
+ newS->addChild(CoinVisualizationFactory::getMatrixTransform(globalPose));
+
+ SoMaterial *material = new SoMaterial;
+ material->ambientColor.setValue(color.r, color.g, color.b);
+ material->diffuseColor.setValue(color.r, color.g, color.b);
+ material->transparency.setValue(color.transparency);
+ newS->addChild(material);
+
+ SoCube *cube = new SoCube;
+ cube->width = width;
+ cube->height = height;
+ cube->depth = depth;
+ newS->addChild(cube);
+
+ addedBoxVisualizations[name] = newS;
+ debugVisu->addChild(newS);
+}
+
+void DebugDrawerComponent::drawText(const std::string &name, const std::string &text, const Eigen::Vector3f &position, const VisualizationFactory::Color &color, int size)
+{
+ ScopedRecursiveLockPtr l = getScopedLock();
+ ARMARX_DEBUG << "drawText";
+
+ removeText(name);
+
+ SoSeparator *sep = new SoSeparator;
+
+ SoAnnotation *ann = new SoAnnotation;
+ sep->addChild(ann);
+
+ SoMaterial *mat = new SoMaterial;
+ mat->ambientColor.setValue(color.r, color.g, color.b);
+ mat->diffuseColor.setValue(color.r, color.g, color.b);
+ mat->transparency.setValue(color.transparency);
+ ann->addChild(mat);
+
+ SoTransform *tr = new SoTransform;
+ tr->translation.setValue(position.x(), position.y(), position.z());
+ ann->addChild(tr);
+
+ SoFont *font = new SoFont;
+ font->name.setValue("TGS_Triplex_Roman");
+ font->size = size;
+ ann->addChild(font);
+
+ SoText2 *te = new SoText2;
+ te->string = text.c_str();
+ te->justification = SoText2::CENTER;
+ ann->addChild(te);
+
+ addedTextVisualizations[name] = sep;
+ debugVisu->addChild(sep);
+}
+
+
+
+void DebugDrawerComponent::removeLine(const std::string &name)
+{
+ ScopedRecursiveLockPtr l = getScopedLock();
+ if (addedLineVisualizations.find(name) == addedLineVisualizations.end())
+ {
+ return;
+ }
+ debugVisu->removeChild(addedLineVisualizations[name]);
+ addedLineVisualizations.erase(name);
+}
+
+void DebugDrawerComponent::removeBox(const std::string &name)
+{
+ ScopedRecursiveLockPtr l = getScopedLock();
+ if(addedBoxVisualizations.find(name) == addedBoxVisualizations.end())
+ {
+ return;
+ }
+
+ debugVisu->removeChild(addedBoxVisualizations[name]);
+ addedBoxVisualizations.erase(name);
+}
+
+void DebugDrawerComponent::removeText(const std::string &name)
+{
+ ScopedRecursiveLockPtr l = getScopedLock();
+ if(addedTextVisualizations.find(name) == addedTextVisualizations.end())
+ {
+ return;
+ }
+
+ debugVisu->removeChild(addedTextVisualizations[name]);
+ addedTextVisualizations.erase(name);
+}
+
+
+void DebugDrawerComponent::setPoseVisu(const std::string &layerName, const std::string &poseName, const PoseBasePtr &globalPose, const Ice::Current &)
+{
+ ARMARX_DEBUG << VAROUT(layerName) << VAROUT(poseName);
+ Eigen::Matrix4f gp = PosePtr::dynamicCast(globalPose)->toEigen();
+ drawCoordSystem(poseName,gp,1.0f);
+}
+
+void DebugDrawerComponent::setPoseDebugLayerVisu(const std::string &poseName, const PoseBasePtr &globalPose, const Ice::Current &)
+{
+ std::string d("debug");
+ setPoseVisu(d,poseName,globalPose);
+}
+
+void DebugDrawerComponent::removePoseVisu(const std::string &layerName, const std::string &poseName, const Ice::Current &)
+{
+ Eigen::Matrix4f gp = Eigen::Matrix4f::Identity();
+ drawCoordSystem(poseName,gp,0);
+}
+
+void DebugDrawerComponent::removePoseDebugLayerVisu(const std::string &poseName, const Ice::Current &)
+{
+ std::string d("debug");
+ removePoseVisu(d,poseName);
+}
+
+void DebugDrawerComponent::setLineVisu(const std::string &layerName, const std::string &lineName, const Vector3BasePtr &globalPosition1, const Vector3BasePtr &globalPosition2, float lineWidth, const DrawColor &color, const Ice::Current &)
+{
+ Eigen::Vector3f p1 = Vector3Ptr::dynamicCast(globalPosition1)->toEigen();
+ Eigen::Vector3f p2 = Vector3Ptr::dynamicCast(globalPosition2)->toEigen();
+ VirtualRobot::VisualizationFactory::Color c(color.r,color.g,color.b, 1 - color.a);
+ drawLine(lineName,p1,p2,lineWidth,c);
+}
+
+void DebugDrawerComponent::setLineDebugLayerVisu(const std::string &lineName, const Vector3BasePtr &globalPosition1, const Vector3BasePtr &globalPosition2, float lineWidth, const DrawColor &color, const Ice::Current &)
+{
+ setLineVisu("debug",lineName,globalPosition1,globalPosition2, lineWidth, color);
+}
+
+void DebugDrawerComponent::removeLineVisu(const std::string &layerName, const std::string &lineName, const Ice::Current &)
+{
+ removeLine(lineName);
+}
+
+void DebugDrawerComponent::removeLineDebugLayerVisu(const std::string &lineName, const Ice::Current &)
+{
+ removeLineVisu("debug",lineName);
+}
+
+void DebugDrawerComponent::setBoxVisu(const std::string &layerName, const std::string &boxName, const PoseBasePtr &globalPose, const Vector3BasePtr &dimensions, const DrawColor &color, const Ice::Current &)
+{
+ ARMARX_DEBUG << VAROUT(layerName) << VAROUT(boxName);
+
+ Eigen::Matrix4f gp = PosePtr::dynamicCast(globalPose)->toEigen();
+ VirtualRobot::VisualizationFactory::Color c(color.r,color.g,color.b, 1 - color.a);
+
+ drawBox(boxName, gp, dimensions->x, dimensions->y, dimensions->z, c);
+}
+
+void DebugDrawerComponent::setBoxDebugLayerVisu(const std::string &boxName, const PoseBasePtr &globalPose, const Vector3BasePtr &dimensions, const DrawColor &color, const Ice::Current &)
+{
+ setBoxVisu("debug", boxName, globalPose, dimensions, color);
+}
+
+void DebugDrawerComponent::removeBoxVisu(const std::string &layerName, const std::string &boxName, const Ice::Current &)
+{
+ removeBox(boxName);
+}
+
+void DebugDrawerComponent::removeBoxDebugLayerVisu(const std::string &boxName, const Ice::Current &)
+{
+ removeBoxVisu("debug", boxName);
+}
+
+void DebugDrawerComponent::setTextVisu(const std::string &layerName, const std::string &textName, const std::string &text, const Vector3BasePtr &globalPosition, const DrawColor &color, int size, const Ice::Current &)
+{
+ ARMARX_DEBUG << VAROUT(layerName) << VAROUT(textName);
+
+ drawText(textName, text, Vector3Ptr::dynamicCast(globalPosition)->toEigen(), VirtualRobot::VisualizationFactory::Color(color.r, color.g, color.b, 1 - color.a), size);
+}
+
+void DebugDrawerComponent::setTextDebugLayerVisu(const std::string &textName, const std::string &text, const Vector3BasePtr &globalPosition, const DrawColor &color, int size, const Ice::Current &)
+{
+ setTextVisu("debug", textName, text, globalPosition, color, size);
+}
+
+void DebugDrawerComponent::removeTextVisu(const std::string &layerName, const std::string &textName, const Ice::Current &)
+{
+ removeText(textName);
+}
+
+void DebugDrawerComponent::removeTextDebugLayerVisu(const std::string &textName, const Ice::Current &)
+{
+ removeTextVisu("debug", textName);
+}
+
+void DebugDrawerComponent::clear(const std::string &layerName, const Ice::Current &)
+{
+ ARMARX_VERBOSE << "Clearing layer " << layerName;
+
+ ScopedRecursiveLockPtr l = getScopedLock();
+ addedCoordVisualizations.clear();
+ addedLineVisualizations.clear();
+ addedBoxVisualizations.clear();
+ addedTextVisualizations.clear();
+ debugVisu->removeAllChildren();
+}
+
+void DebugDrawerComponent::clearDebugLayer(const Ice::Current &)
+{
+ ARMARX_VERBOSE << "Clearing debug layer...";
+
+ clear("debug");
+}
+
+void DebugDrawerComponent::setMutex(boost::shared_ptr<boost::recursive_mutex> m)
+{
+ mutex = m;
+}
+
+ScopedRecursiveLockPtr DebugDrawerComponent::getScopedLock()
+{
+ ScopedRecursiveLockPtr l;
+ if (mutex)
+ l.reset(new ScopedRecursiveLock(*mutex));
+ return l;
+}
+
+
+SoSeparator* DebugDrawerComponent::getVisualization()
+{
+ return coinVisu;
+}
+
+}
+
+
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
new file mode 100644
index 0000000000000000000000000000000000000000..a9a4fddf23dcc0ed273dbb6cbbb86b4e910e0a17
--- /dev/null
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
@@ -0,0 +1,161 @@
+/*
+ * 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::ArmarXObjects::DebugDrawerComponent
+ * @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu )
+ * @author Peter Kaiser ( peter dot kaiser at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef __ARMARX_DEBUGDRAWERCOMPONENT_H__
+#define __ARMARX_DEBUGDRAWERCOMPONENT_H__
+
+
+// Coin3D & SoQt
+#include <Inventor/nodes/SoNode.h>
+#include <Inventor/nodes/SoSeparator.h>
+
+// ArmarX
+#include <Core/core/Component.h>
+#include <Core/core/logging/Logging.h>
+#include <Core/core/services/tasks/RunningTask.h>
+#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/interface/robotstate/RobotState.h>
+
+#include <VirtualRobot/VirtualRobotCommon.h>
+
+namespace armarx{
+
+/**
+ * @class ArmarXPhysicsWorldPropertyDefinitions
+ * @brief
+ */
+class DebugDrawerPropertyDefinitions:
+ public ComponentPropertyDefinitions
+{
+public:
+ DebugDrawerPropertyDefinitions(std::string prefix):
+ ComponentPropertyDefinitions(prefix)
+ {
+ defineOptionalProperty<bool>("ShowDebugDrawing", true, "The simulator implements the DebugDrawerInterface. The debug visualizations (e.g. coordinate systems) can enabled/disbaled with this flag.");
+ defineOptionalProperty<std::string>("DebugDrawerTopic", "DebugDrawerUpdates", "Name of the DebugDrawerTopic");
+ }
+};
+
+
+class DebugDrawerComponent :
+ virtual public armarx::DebugDrawerInterface,
+ virtual public Component
+{
+public:
+
+ DebugDrawerComponent();
+
+ // inherited from Component
+ virtual std::string getDefaultName() const { return "DebugDrawer"; }
+ virtual void onInitComponent();
+ virtual void onConnectComponent();
+ virtual void onExitComponent();
+
+
+
+ /**
+ * @see PropertyUser::createPropertyDefinitions()
+ */
+ virtual PropertyDefinitionsPtr createPropertyDefinitions()
+ {
+ return PropertyDefinitionsPtr(new DebugDrawerPropertyDefinitions(
+ getConfigIdentifier()));
+ }
+
+ /*!
+ * \brief Enable or disable debug layer visu
+ * \param e
+ */
+ void enableVisu(bool e);
+
+ /* Inherited from DebugDrawerInterface. */
+ virtual void setPoseVisu(const std::string& layerName, const std::string& poseName, const ::armarx::PoseBasePtr& globalPose, const ::Ice::Current& = ::Ice::Current());
+ virtual void setPoseDebugLayerVisu(const std::string& poseName, const ::armarx::PoseBasePtr& globalPose, const ::Ice::Current& = ::Ice::Current());
+ virtual void removePoseVisu(const std::string& layerName, const std::string& poseName, const ::Ice::Current& = ::Ice::Current());
+ virtual void removePoseDebugLayerVisu(const std::string& poseName, const ::Ice::Current& = ::Ice::Current());
+
+ virtual void setLineVisu(const std::string& layerName, const std::string& lineName, const ::armarx::Vector3BasePtr& globalPosition1, const ::armarx::Vector3BasePtr& globalPosition2, float lineWidth, const ::armarx::DrawColor &color, const ::Ice::Current& = ::Ice::Current());
+ virtual void setLineDebugLayerVisu(const std::string& lineName, const ::armarx::Vector3BasePtr& globalPosition1, const ::armarx::Vector3BasePtr& globalPosition2, float lineWidth, const ::armarx::DrawColor &color, const ::Ice::Current& = ::Ice::Current());
+ virtual void removeLineVisu(const std::string& layerName, const std::string& lineName, const ::Ice::Current& = ::Ice::Current());
+ virtual void removeLineDebugLayerVisu(const std::string& lineName, const ::Ice::Current& = ::Ice::Current());
+
+ virtual void setBoxVisu(const std::string &layerName, const std::string &boxName, const ::armarx::PoseBasePtr &globalPose, const ::armarx::Vector3BasePtr &dimensions, const DrawColor &color, const ::Ice::Current& = ::Ice::Current());
+ virtual void setBoxDebugLayerVisu(const std::string &boxName, const ::armarx::PoseBasePtr &globalPose, const ::armarx::Vector3BasePtr &dimensions, const DrawColor &color, const ::Ice::Current& = ::Ice::Current());
+ virtual void removeBoxVisu(const std::string &layerName, const std::string &boxName, const ::Ice::Current& = ::Ice::Current());
+ virtual void removeBoxDebugLayerVisu(const std::string& boxName, const ::Ice::Current& = ::Ice::Current());
+
+ virtual void setTextVisu(const std::string &layerName, const std::string &textName, const std::string &text, const ::armarx::Vector3BasePtr &globalPosition, const DrawColor &color, int size, const ::Ice::Current& = ::Ice::Current());
+ virtual void setTextDebugLayerVisu(const std::string &textName, const std::string &text, const ::armarx::Vector3BasePtr &globalPosition, const DrawColor &color, int size, const ::Ice::Current& = ::Ice::Current());
+ virtual void removeTextVisu(const std::string &layerName, const std::string &textName, const ::Ice::Current& = ::Ice::Current());
+ virtual void removeTextDebugLayerVisu(const std::string& textName, const ::Ice::Current& = ::Ice::Current());
+
+
+
+ virtual void clear(const std::string& layerName, const ::Ice::Current& = ::Ice::Current());
+ virtual void clearDebugLayer(const ::Ice::Current& = ::Ice::Current());
+
+ /*!
+ * \brief getScopedLock If using the coin visualization it must be ensured that all rendering calls are protected with this mutex
+ * \return The lock that is automatically destructed when leaving the current scope.
+ */
+ ScopedRecursiveLockPtr getScopedLock();
+
+ /*!
+ * \brief getVisualization Ensure that all access to this node is protected with the scoped lock mutex.
+ * \return The visualization
+ */
+ SoSeparator* getVisualization();
+
+ void setMutex(boost::shared_ptr<boost::recursive_mutex> m);
+
+protected:
+
+ void drawCoordSystem(const std::string &name, Eigen::Matrix4f &globalPose, float scale);
+ void drawLine(const std::string &name, Eigen::Vector3f &p1, Eigen::Vector3f &p2, float scale, VirtualRobot::VisualizationFactory::Color &color);
+ void drawBox(const std::string &name, Eigen::Matrix4f &globalPose, float width, float height, float depth, VirtualRobot::VisualizationFactory::Color &color);
+ void drawText(const std::string &name, const std::string &text, const Eigen::Vector3f &position, const VirtualRobot::VisualizationFactory::Color &color, int size);
+
+ void removeLine(const std::string &name);
+ void removeBox(const std::string &name);
+ void removeText(const std::string &name);
+
+ SoSeparator* coinVisu;
+ SoSeparator* debugVisu;
+
+ bool enable;
+
+ std::map<std::string, SoSeparator*> addedCoordVisualizations;
+ std::map<std::string, SoSeparator*> addedLineVisualizations;
+ std::map<std::string, SoSeparator*> addedBoxVisualizations;
+ std::map<std::string, SoSeparator*> addedTextVisualizations;
+
+ boost::shared_ptr<boost::recursive_mutex> mutex;
+};
+
+typedef IceInternal::Handle<DebugDrawerComponent> DebugDrawerComponentPtr;
+
+}
+
+#endif
diff --git a/source/RobotAPI/components/MMMPlayer/CMakeLists.txt b/source/RobotAPI/components/MMMPlayer/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..874be9722114757ae9e6f6e85d305a0dc6849a5e
--- /dev/null
+++ b/source/RobotAPI/components/MMMPlayer/CMakeLists.txt
@@ -0,0 +1,35 @@
+armarx_component_set_name("MMMPlayer")
+
+find_package(MMMCore QUIET)
+armarx_build_if(MMMCore_FOUND "MMMCORE not available")
+if(MMMCore_FOUND)
+ include_directories(${MMMCORE_INCLUDE_DIRS})
+endif()
+
+find_package(Eigen3 QUIET)
+find_package(Simox QUIET)
+
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+
+if (Eigen3_FOUND AND Simox_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR}
+ ${Simox_INCLUDE_DIRS})
+endif()
+
+set(COMPONENT_LIBS RobotAPIInterfaces ArmarXInterfaces ArmarXCore ${MMMCORE_LIBRARIES})
+
+set(SOURCES
+./MMMPlayer.cpp
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.cpp
+)
+set(HEADERS
+./MMMPlayer.h
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+# add unit tests
+add_subdirectory(test)
diff --git a/source/RobotAPI/components/MMMPlayer/MMMPlayer.cpp b/source/RobotAPI/components/MMMPlayer/MMMPlayer.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e2fec8f83e395b725704c6def3d4cdad6c0b33de
--- /dev/null
+++ b/source/RobotAPI/components/MMMPlayer/MMMPlayer.cpp
@@ -0,0 +1,122 @@
+/*
+ * 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::ArmarXObjects::MMMPlayer
+ * @author Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "MMMPlayer.h"
+#include <MMM/Motion/MotionReaderXML.h>
+
+#include <Core/core/exceptions/local/ExpressionException.h>
+
+#include <Core/core/system/ArmarXDataPath.h>
+
+
+using namespace armarx;
+using namespace MMM;
+
+
+void MMMPlayer::onInitComponent()
+{
+ usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
+ motionFPS = 1;
+ desiredFPS = 1;
+
+}
+
+
+void MMMPlayer::onConnectComponent()
+{
+ {
+ ScopedLock lock(playerMutex);
+ currentFrame = 0;
+ MotionReaderXML reader;
+ auto motionPath = getProperty<std::string>("MMMFile").getValue();
+ ArmarXDataPath::getAbsolutePath(motionPath, motionPath);
+ motion = reader.loadMotion(motionPath);
+ if(!motion)
+ {
+ terminate();
+ return;
+ }
+ jointNames = motion->getJointNames();
+ if(motion->getNumFrames() > 1)
+ {
+ float frameDuration = motion->getMotionFrame(1)->timestep - motion->getMotionFrame(0)->timestep;
+ ARMARX_CHECK_EXPRESSION(frameDuration != 0);
+ ARMARX_CHECK_EXPRESSION(frameDuration > 0)
+ motionFPS = 1.0f/frameDuration;
+ ARMARX_VERBOSE << VAROUT(motionFPS);
+ }
+ }
+ kin = getProxy<KinematicUnitInterfacePrx>(getProperty<std::string>("KinematicUnitName").getValue());
+ desiredFPS = getProperty<float>("FPS").getValue();
+ task = new PeriodicTask<MMMPlayer>(this, &MMMPlayer::run, 1000.0f/desiredFPS, true, "MMMPlayerTask");
+ task->start();
+
+}
+
+
+void MMMPlayer::run()
+{
+ ScopedLock lock(playerMutex);
+ if(currentFrame >= motion->getNumFrames())
+ {
+ currentFrame = 0;
+ }
+ auto frame = motion->getMotionFrame(currentFrame);
+ NameValueMap targetValues;
+ NameValueMap targetVelocities;
+ NameControlModeMap modes;
+ ARMARX_CHECK_EXPRESSION((int)jointNames.size() == frame->joint.rows());
+ for (size_t i = 0; i < jointNames.size(); ++i) {
+ const auto& jointName = jointNames.at(i);
+ targetValues[jointName] = frame->joint[i];
+ auto vel = frame->joint_vel[i];
+ if(vel != 0.0f)
+ {
+ targetVelocities[jointName] = vel * desiredFPS/motionFPS;
+ }
+ modes[jointName] = ePositionControl;
+ }
+ kin->switchControlMode(modes);
+ kin->setJointAngles(targetValues);
+ ARMARX_VERBOSE << deactivateSpam(3) << "Playing frame " << currentFrame;
+ currentFrame++;
+}
+
+void MMMPlayer::onDisconnectComponent()
+{
+ if(task)
+ task->stop();
+}
+
+
+void MMMPlayer::onExitComponent()
+{
+
+}
+
+PropertyDefinitionsPtr MMMPlayer::createPropertyDefinitions()
+{
+ return PropertyDefinitionsPtr(new MMMPlayerPropertyDefinitions(
+ getConfigIdentifier()));
+}
+
diff --git a/source/RobotAPI/components/MMMPlayer/MMMPlayer.h b/source/RobotAPI/components/MMMPlayer/MMMPlayer.h
new file mode 100644
index 0000000000000000000000000000000000000000..425e8c58fc6207df7f158eda33195bf342413eaa
--- /dev/null
+++ b/source/RobotAPI/components/MMMPlayer/MMMPlayer.h
@@ -0,0 +1,113 @@
+/*
+ * 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::ArmarXObjects::MMMPlayer
+ * @author Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_COMPONENT_RobotAPI_MMMPlayer_H
+#define _ARMARX_COMPONENT_RobotAPI_MMMPlayer_H
+
+#include <MMM/Motion/Motion.h>
+
+
+
+#include <Core/core/Component.h>
+
+#include <RobotAPI/interface/units/KinematicUnitInterface.h>
+
+#include <Core/core/services/tasks/PeriodicTask.h>
+
+namespace armarx
+{
+ /**
+ * @class MMMPlayerPropertyDefinitions
+ * @brief
+ * @ingroup Components
+ */
+ class MMMPlayerPropertyDefinitions:
+ public ComponentPropertyDefinitions
+ {
+ public:
+ MMMPlayerPropertyDefinitions(std::string prefix):
+ ComponentPropertyDefinitions(prefix)
+ {
+ defineRequiredProperty<std::string>("MMMFile", "Path to MMM XML File");
+ defineRequiredProperty<std::string>("KinematicUnitName", "Name of the KinematicUnit to which the joint values should be sent");
+ defineOptionalProperty<float>("FPS", 100.0f, "FPS with which the recording should be executed. Velocities will be adapted.");
+ }
+ };
+
+ /**
+ * @class MMMPlayer
+ * @brief A brief description
+ *
+ * Detailed Description
+ */
+ class MMMPlayer :
+ virtual public armarx::Component
+ {
+ public:
+ /**
+ * @see armarx::ManagedIceObject::getDefaultName()
+ */
+ virtual std::string getDefaultName() const
+ {
+ return "MMMPlayer";
+ }
+
+ protected:
+ /**
+ * @see armarx::ManagedIceObject::onInitComponent()
+ */
+ virtual void onInitComponent();
+
+ /**
+ * @see armarx::ManagedIceObject::onConnectComponent()
+ */
+ virtual void onConnectComponent();
+
+ /**
+ * @see armarx::ManagedIceObject::onDisconnectComponent()
+ */
+ virtual void onDisconnectComponent();
+
+ /**
+ * @see armarx::ManagedIceObject::onExitComponent()
+ */
+ virtual void onExitComponent();
+
+ /**
+ * @see PropertyUser::createPropertyDefinitions()
+ */
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+
+ void run();
+ Mutex playerMutex;
+ MMM::MotionPtr motion;
+ KinematicUnitInterfacePrx kin;
+ PeriodicTask<MMMPlayer>::pointer_type task;
+ StringList jointNames;
+ size_t currentFrame;
+ float motionFPS;
+ float desiredFPS;
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/components/MMMPlayer/test/CMakeLists.txt b/source/RobotAPI/components/MMMPlayer/test/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..16a4cf72988867edbe64273efc0970b571548e5f
--- /dev/null
+++ b/source/RobotAPI/components/MMMPlayer/test/CMakeLists.txt
@@ -0,0 +1,5 @@
+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore MMMPlayer)
+
+armarx_add_test(MMMPlayerTest MMMPlayerTest.cpp "${LIBS}")
\ No newline at end of file
diff --git a/source/RobotAPI/components/MMMPlayer/test/MMMPlayerTest.cpp b/source/RobotAPI/components/MMMPlayer/test/MMMPlayerTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..326edd5156a723b5b205d7a29ec561e2d2f18e6d
--- /dev/null
+++ b/source/RobotAPI/components/MMMPlayer/test/MMMPlayerTest.cpp
@@ -0,0 +1,38 @@
+/*
+ * 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::ArmarXObjects::MMMPlayer
+ * @author Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXObjects::MMMPlayer
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include <RobotAPI/components/MMMPlayer/MMMPlayer.h>
+
+#include <iostream>
+
+BOOST_AUTO_TEST_CASE(testExample)
+{
+ armarx::MMMPlayer instance;
+
+ BOOST_CHECK_EQUAL(true, true);
+}
diff --git a/source/RobotAPI/components/units/KinematicUnitSimulation.cpp b/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
index f7c0eabf15bf6c11dac0c6ce09bbc6625023e5f3..7f801b90c0f892a04fb24a72d24da865c6f2620a 100644
--- a/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
@@ -209,7 +209,7 @@ void KinematicUnitSimulation::setJointAngles(const NameValueMap& targetJointAngl
actualJointAngles[targetJointName] = iterJoints->second.angle;
}
else
- ARMARX_WARNING << "Joint not found!";
+ ARMARX_WARNING << deactivateSpam(1) << "Joint '" << targetJointName << "' not found!";
}
if (aValueChanged)
listenerPrx->reportJointAngles(actualJointAngles, aValueChanged);
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/CMakeLists.txt b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/CMakeLists.txt
index 067b093164b490d8ccd4541cd371375030848b7a..9f431bf614218a146dfeea5210fce6df9723dd35 100644
--- a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/CMakeLists.txt
@@ -15,13 +15,14 @@ include(${QT_USE_FILE})
include(${ArmarXGui_CMAKE_DIR}/ArmarXGui.cmake)
file(GLOB SOURCES PlatformUnitGuiPlugin.cpp
- PlatformUnitConfigDialog.cpp)
+ PlatformUnitConfigDialog.cpp JoystickControlWidget.cpp)
file(GLOB HEADERS PlatformUnitGuiPlugin.h
- PlatformUnitConfigDialog.h)
+ PlatformUnitConfigDialog.h JoystickControlWidget.h)
set(GUI_MOC_HDRS
PlatformUnitGuiPlugin.h
PlatformUnitConfigDialog.h
+ JoystickControlWidget.h
)
set(GUI_UIS
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/JoystickControlWidget.cpp b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/JoystickControlWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..012939ed961b879745755dfc816bb3e137cb42b7
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/JoystickControlWidget.cpp
@@ -0,0 +1,212 @@
+/*
+ * 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 ArmarX::RobotAPI
+ * @author Raphael Grimm <ufdrv at student dot kit dot edu>
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "JoystickControlWidget.h"
+
+//qt
+#include <QVBoxLayout>
+#include <QPen>
+#include <QBrush>
+#include <QColor>
+#include <QSizePolicy>
+
+//std
+#include <memory>
+#include <cmath>
+
+#include <iostream>
+
+namespace armarx
+{
+
+ JoystickControlWidgetQGraphicsView::JoystickControlWidgetQGraphicsView(QGraphicsScene* scene, QWidget* parent):
+ QGraphicsView{scene, parent}
+ {
+ }
+
+ JoystickControlWidgetQGraphicsView::~JoystickControlWidgetQGraphicsView()
+ {
+ }
+
+ void JoystickControlWidgetQGraphicsView::mousePressEvent(QMouseEvent* event)
+ {
+ emit positionChanged(mapToScene(event->pos()));
+ }
+
+ void JoystickControlWidgetQGraphicsView::mouseMoveEvent(QMouseEvent* event)
+ {
+ emit positionChanged(mapToScene(event->pos()));
+ }
+ void JoystickControlWidgetQGraphicsView::mouseReleaseEvent(QMouseEvent*)
+ {
+ emit positionChanged({0,0});
+ }
+
+ JoystickControlWidget::JoystickControlWidget(bool useQuadrant3and4, QWidget *parent) :
+ QWidget{parent},
+ onlyQuadrant2and1{!useQuadrant3and4},
+ nibble{},
+ steps{0}
+ {
+ //build scene + use explicit pens (on some platforms the default ones dont have the desired default values)
+ std::unique_ptr<QGraphicsScene> scene{new QGraphicsScene{}};
+ QPen pen{Qt::black,0};
+ //bounding circle
+ scene->addEllipse(-1,-1,2,2,pen);
+ //inner circle
+ scene->addEllipse(-0.13,-0.13,0.26,0.26,pen);
+ //cross
+ scene->addLine(0,-1,0,1,pen);
+ scene->addLine(-1,0,1,0,pen);
+ //nibble
+ QPen penRed{Qt::darkRed};
+ penRed.setCosmetic(true);
+ nibble = scene->addEllipse(-0.1,-0.1,0.2,0.2, penRed, QBrush{Qt::darkRed});
+
+ //build view
+ std::unique_ptr<JoystickControlWidgetQGraphicsView>
+ viewPtr{new JoystickControlWidgetQGraphicsView{scene.release()}};
+ view = viewPtr.get();
+
+ view->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+ view->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+ view->setSceneRect(-1,-1,2, (onlyQuadrant2and1?1:2));
+
+ //connect
+ connect(viewPtr.get(), SIGNAL(positionChanged(QPointF)), this, SLOT(setNibble(QPointF)));
+
+ //set gui
+ std::unique_ptr<QVBoxLayout> layout{new QVBoxLayout{}};
+ layout->setSpacing(0);
+ layout->setContentsMargins(0,0,0,0);
+ layout->addWidget(viewPtr.release());
+ setLayout(layout.release());
+
+ }
+
+ QPointF JoystickControlWidget::getPosition() const
+ {
+ return nibble->pos();
+ }
+
+ double JoystickControlWidget::getRotation() const
+ {
+ //if the nibble is in the middle return the angle 0.
+ //otherwise use polar coordinates (up is 0, down pi, Quadrant I & IV are positive)
+ auto pos = getPosition();
+ auto length= std::hypot(pos.x(), pos.y());
+ auto normalized= pos/length;
+
+ if(length==0)
+ {
+ return 0;
+ }
+ else
+ {
+ if(normalized.x()<0)
+ {
+ return -std::acos(-normalized.y());
+ }
+ else
+ {
+ return std::acos(-normalized.y());
+ }
+ }
+ }
+
+ void JoystickControlWidget::setNibble(QPointF pos)
+ {
+ if(onlyQuadrant2and1 && (pos.y()>0))
+ {
+ //project position to quadrant II & I
+ pos.setY(0);
+ }
+
+ auto length= std::hypot(pos.x(), pos.y());
+ auto normalized= pos/length;
+
+ if(length!=0)
+ {
+
+ if(steps==0)
+ {
+ //dont snap
+ pos = (length>1)?normalized : pos;
+ }
+ else
+ {
+ //snapp to step
+ double stepSize = 1.0/steps;
+ //length/(1.0/steps) => length*steps
+ // +0.3*stepSize => if the border of the step is more forgiving
+ double newLength = static_cast<unsigned int>(length*steps+0.3*stepSize)*stepSize;
+ pos=std::fmin(1, newLength)*normalized;
+ }
+ }
+
+ //set position
+ nibble->setPos( pos);
+
+ //flip y (from downwards to upwards)
+ pos.setY(-pos.y());
+
+ //emit signals
+ emit positionChanged(pos);
+
+ emit rotationChanged(getRotation());
+ }
+
+ void JoystickControlWidget::resizeEvent(QResizeEvent*)
+ {
+ int width;
+ int height;
+ //calculate size
+ if(onlyQuadrant2and1)
+ {
+ height= std::min(contentsRect().width()/2,contentsRect().height());
+ width=height*2;
+ }
+ else
+ {
+ width= std::min(contentsRect().width(),contentsRect().height());
+ height=width;
+ }
+ //if minsz=maxsz you block resizing
+ view->setMinimumSize(0.9*width,0.9*height);
+ view->setMaximumSize(width,height);
+ auto viewScaleFactor = 0.49*width;
+ view->setTransform(QTransform::fromScale(viewScaleFactor,viewScaleFactor));
+ }
+
+
+ void JoystickControlWidget::setSteps(int stepCount)
+ {
+ steps= (stepCount<0)?0:stepCount;
+ }
+
+ int JoystickControlWidget::getSteps()
+ {
+ return steps;
+ }
+}// namespace armarx
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/JoystickControlWidget.h b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/JoystickControlWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..b11fb1732b9cffb365c9bccf116b985164ef9cc5
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/JoystickControlWidget.h
@@ -0,0 +1,164 @@
+/*
+ * 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 ArmarX::RobotAPI
+ * @author Raphael Grimm <ufdrv at student dot kit dot edu>
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARXGUI_PLUGINS_JOYSTICKCONTROLWIDGET_H
+#define _ARMARXGUI_PLUGINS_JOYSTICKCONTROLWIDGET_H
+
+//boost
+#include <boost/shared_ptr.hpp>
+
+//qt
+#include <QWidget>
+#include <QGraphicsView>
+#include <QGraphicsScene>
+#include <QMouseEvent>
+#include <QResizeEvent>
+
+#include <QPointF>
+#include <QPointer>
+#include <QGraphicsEllipseItem>
+
+namespace armarx
+{
+ /**
+ * @brief Provides the coordinates of mouse events through signals.
+ * Used in JoystickControlWidget.
+ */
+ class JoystickControlWidgetQGraphicsView:public QGraphicsView
+ {
+ Q_OBJECT
+ public:
+ JoystickControlWidgetQGraphicsView(QGraphicsScene* scene, QWidget* parent = nullptr);
+ virtual ~JoystickControlWidgetQGraphicsView();
+
+ public:
+ /**
+ * @brief Passes the mapped mouse coordinates of the event through the signal positionChanged.
+ * @param event Contains the coordinates
+ */
+ virtual void mousePressEvent(QMouseEvent* event);
+
+ /**
+ * @brief Passes the mapped mouse coordinates of the event through the signal positionChanged.
+ * @param event Contains the coordinates
+ */
+ virtual void mouseMoveEvent(QMouseEvent* event);
+
+ /**
+ * @brief Passes (0;0) through the signal positionChanged.
+ */
+ virtual void mouseReleaseEvent(QMouseEvent*);
+ signals:
+ /**
+ * @brief Sends the mouse position on press or move in the scene coordinates.
+ * On mouse release (0;0) is send.
+ */
+ void positionChanged(QPointF);
+ };//JoystickControlWidgetQGraphicsView
+
+ /**
+ * @brief Provides a simple joystick control.
+ */
+ class JoystickControlWidget : public QWidget
+ {
+ Q_OBJECT
+ public:
+ explicit JoystickControlWidget(bool useQuadrant3and4 = true, QWidget *parent = 0);
+
+ /**
+ * @brief Returns the angle of the control in polar coordinates (-pi,pi].
+ * The top position is 0. The bottom position is pi. The Quadrants 1 and 4 have positive value.
+ * @return The angle of the control in polar coordinates (-pi,pi].
+ */
+ double getRotation() const;
+
+ /**
+ * @brief Returns the position of the nibble.
+ * The position is in a circle with the radius 1 around (0;0)
+ * @return The position of the nibble.
+ */
+ QPointF getPosition() const;
+
+ public slots:
+ /**
+ * @brief Sets the steps of the control. (0=> unlimited steps)
+ * @param stepCount The new step count. (values <0 will be used as 0)
+ */
+ void setSteps(int stepCount);
+
+ /**
+ * @brief Returns the steps of the control. (0=> unlimited steps)
+ * @return The steps of the control. (0=> unlimited steps)
+ */
+ int getSteps();
+
+ signals:
+ /**
+ * @brief Passes the position of the control.
+ * The position is in a circle with the radius 1 around (0;0)
+ */
+ void positionChanged(QPointF);
+
+ /**
+ * @brief Passes the angle of the control in polar coordinates (-pi,pi].
+ * The top position is 0. The bottom position is pi. The Quadrants 1 and 4 have positive value.
+ */
+ void rotationChanged(double);
+
+ protected:
+ virtual void resizeEvent(QResizeEvent * event);
+
+ private slots:
+ /**
+ * @brief Sets the nibble to pos. (pos will be transformed to be a valid position)
+ * @param pos The new position.
+ */
+ void setNibble(QPointF pos);
+
+ private:
+ /**
+ * @brief The view containing the scene.
+ */
+ QPointer<JoystickControlWidgetQGraphicsView> view;
+ /**
+ * @brief Whether only quadrant 1 and 2 are in use
+ */
+ bool onlyQuadrant2and1;
+
+ //QGraphicsEllipseItem is no QObject so it cant be stored in a QPointer.
+ /**
+ * @brief The control item of this widget. (the red dot)
+ */
+ QGraphicsEllipseItem* nibble;
+
+ /**
+ * @brief The steps of the control. (0=> unlimited steps)
+ */
+ int steps;
+ };// class JoystickControlWidget
+
+ typedef boost::shared_ptr<JoystickControlWidget> JoystickControlWidgetPtr;
+
+}// namespace armarx
+#endif
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
index fc01d3ee6e312e004b09d424c8745715b80aeda0..8961ea4c2f0f64fdbffb38193b5ef8add7262a19 100644
--- a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
@@ -9,6 +9,10 @@
#include <QPushButton>
#include <QLabel>
#include <QLineEdit>
+#include <QHBoxLayout>
+
+//std
+#include <memory>
using namespace armarx;
@@ -18,13 +22,32 @@ PlatformUnitGuiPlugin::PlatformUnitGuiPlugin()
addWidget<PlatformUnitWidget>();
}
-
PlatformUnitWidget::PlatformUnitWidget() :
platformUnitProxyName("PlatformUnitDynamicSimulation"),
- platformName("Platform")
+ platformName("Platform"),
+ speedCtrl{nullptr},
+ rotaCtrl{nullptr},
+ ctrlEvaluationTimer{},
+ platformRotation{0}
{
// init gui
ui.setupUi(getWidget());
+ //init joystick controls
+ std::unique_ptr<JoystickControlWidget> speed{new JoystickControlWidget{}};
+ speedCtrl = speed.get();
+ speedCtrl->setSteps(2);
+ //use upper semicircle for rotation
+ std::unique_ptr<JoystickControlWidget> rotat{new JoystickControlWidget{false}};
+ rotaCtrl = rotat.get();
+ rotaCtrl->setSteps(1);
+ //add joystick controls
+ ui.verticalLayoutRotation->addWidget(new QLabel{"Rotation"});
+ ui.verticalLayoutRotation->addWidget(rotat.release());
+ ui.verticalLayoutSpeed->addWidget(new QLabel{"Direction"});
+ ui.verticalLayoutSpeed->addWidget(speed.release());
+ //set up the timer
+ ctrlEvaluationTimer.setSingleShot(false);
+ ctrlEvaluationTimer.start(CONTROL_TICK_RATE);//tickrate in ms
}
@@ -79,6 +102,7 @@ void PlatformUnitWidget::saveSettings(QSettings *settings)
void PlatformUnitWidget::connectSlots()
{
connect(ui.buttonMoveToPosition, SIGNAL(clicked()), this, SLOT(moveTo()));
+ connect(&ctrlEvaluationTimer, SIGNAL(timeout()), this, SLOT(controlTimerTick()));
}
void PlatformUnitWidget::moveTo()
@@ -97,6 +121,7 @@ void PlatformUnitWidget::reportPlatformPose(::Ice::Float currentPlatformPosition
ui.labelCurrentPositionX->setText(QString::number(currentPlatformPositionX));
ui.labelCurrentPositionY->setText(QString::number(currentPlatformPositionY));
ui.labelCurrentRotation->setText(QString::number(currentPlatformRotation));
+ platformRotation =currentPlatformRotation;
}
void PlatformUnitWidget::reportNewTargetPose(::Ice::Float newPlatformPositionX, ::Ice::Float newPlatformPositionY, ::Ice::Float newPlatformRotation, const Ice::Current& c)
@@ -111,5 +136,49 @@ void PlatformUnitWidget::reportPlatformVelocity(::Ice::Float currentPlatformVelo
}
+void PlatformUnitWidget::controlTimerTick()
+{
+ //speed control cant be tested in the simulator:
+ //platformUnitProxy->move(targetPlatformVelocityX, targetPlatformVelocityY, targetPlatformVelocityRotation);
+ //[20496][12:09:21.196][PlatformUnitDynamicSimulation][PlatformUnitDynamicSimulation]: NYI
+ //
+ // the manual transformation in the platform system using the rotation has problems:
+ // - more floating point operations => bigger errors
+ // - the platform moves => the rotation changes a small bit => the platforms starts to turn
+ //
+ // the problems maybe will be solved by setting velocities (but this is nyi in the simulator)
+
+ ::Ice::Float posAcc = 10.0f;
+ ::Ice::Float rotAcc = 0.1f;
+
+ //normalize to [-1,1]
+ auto rot = -rotaCtrl->getRotation()/static_cast<float>(M_PI);
+ ::Ice::Float rotInc = rot;
+
+ auto pos = speedCtrl->getPosition()*60;
+ //flip y
+ pos.setY(-pos.y());
+ auto len = std::hypot(pos.x(),pos.y());
+
+ ::Ice::Float posXInc = 0;
+ ::Ice::Float posYInc = 0;
+
+ if(std::abs(len)>0.01)
+ {
+ // rotation=0 => lookDirection = (0,1)
+ //
+ //rotate the vector
+ // cos alpha -sin alpha * x
+ // sin alpha cos alpha y
+ posXInc =pos.x()*std::cos(platformRotation) - pos.y()*std::sin(platformRotation);
+ posYInc =pos.x()*std::sin(platformRotation) + pos.y()*std::cos(platformRotation);
+ }
+ //only update positions if required
+ if(rotInc!=0 || posXInc !=0 || posYInc!=0)
+ {
+ platformUnitProxy->moveRelative(posXInc,posYInc,rotInc, posAcc, rotAcc);
+ }
+}
+
Q_EXPORT_PLUGIN2(armar3_gui_PlatformUnitGuiPlugin, PlatformUnitGuiPlugin)
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
index f791b42d1a9f28c07ec1e48250afd5cbfcca8908..16839d5913835f471c31ab2c99fb4b3dee5bc999 100644
--- a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
@@ -27,6 +27,7 @@
/* ArmarX headers */
#include "ui_PlatformUnitGuiPlugin.h"
+#include "JoystickControlWidget.h"
#include <Core/core/Component.h>
#include <Gui/ArmarXGuiLib/ArmarXGuiPlugin.h>
#include <Gui/ArmarXGuiLib/ArmarXComponentWidgetController.h>
@@ -35,6 +36,7 @@
/* Qt headers */
#include <QtGui/QMainWindow>
+#include <QTimer>
#include <string>
@@ -108,6 +110,9 @@ namespace armarx
Ui::PlatformUnitGuiPlugin ui;
+ private slots:
+ void controlTimerTick();
+
private:
std::string platformUnitProxyName;
std::string platformName;
@@ -116,6 +121,33 @@ namespace armarx
QPointer<QWidget> __widget;
QPointer<PlatformUnitConfigDialog> dialog;
+
+ /**
+ * @brief A Joystick control for the platform speed.
+ * (currently the velocity control is nyi is the simulator so this is emulated by
+ * adding a delta to the target positions)
+ */
+ QPointer<JoystickControlWidget> speedCtrl;
+
+ /**
+ * @brief A Joystick control for the platform rotation.
+ */
+ QPointer<JoystickControlWidget> rotaCtrl;
+
+ /**
+ * @brief A timer to evaluate the speedCtrl and rotaCtrl
+ */
+ QTimer ctrlEvaluationTimer;
+
+ /**
+ * @brief Holds the last reported platform rotation. (required to emulate the speed control)
+ */
+ ::Ice::Float platformRotation;
+
+ /**
+ * @brief The tick rate (in ms) for the ctrlEvaluationTimer.
+ */
+ static const int CONTROL_TICK_RATE = 250;
};
typedef boost::shared_ptr<PlatformUnitWidget> PlatformUnitGuiPluginPtr;
}
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.ui b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.ui
index 5a21e34a0317a54e21ab7e2dd81b895b04b59a0b..77ce3ca22a6da1634b0f1f85882447c5f1f3deff 100644
--- a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.ui
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.ui
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>360</width>
- <height>190</height>
+ <height>350</height>
</rect>
</property>
<property name="sizePolicy">
@@ -25,29 +25,48 @@
<x>9</x>
<y>9</y>
<width>341</width>
- <height>171</height>
+ <height>331</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="1">
<widget class="QLabel" name="labelCurrent">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
<property name="text">
<string>Current Position</string>
</property>
</widget>
</item>
- <item row="2" column="2">
- <widget class="QLineEdit" name="editTargetPositionY"/>
+ <item row="0" column="2">
+ <widget class="QLabel" name="labelTarget">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Target Position</string>
+ </property>
+ </widget>
</item>
- <item row="1" column="0">
- <widget class="QLabel" name="labelPositionX">
+ <item row="4" column="2">
+ <widget class="QPushButton" name="buttonMoveToPosition">
<property name="text">
- <string>X Position</string>
+ <string>Move To Position</string>
</property>
</widget>
</item>
- <item row="3" column="2">
- <widget class="QLineEdit" name="editTargetRotation"/>
+ <item row="1" column="2">
+ <widget class="QLineEdit" name="editTargetPositionX"/>
+ </item>
+ <item row="2" column="2">
+ <widget class="QLineEdit" name="editTargetPositionY"/>
</item>
<item row="2" column="0">
<widget class="QLabel" name="labelPositionY">
@@ -56,23 +75,16 @@
</property>
</widget>
</item>
- <item row="3" column="0">
- <widget class="QLabel" name="labelRotation">
- <property name="text">
- <string>Rotation</string>
- </property>
- </widget>
+ <item row="3" column="2">
+ <widget class="QLineEdit" name="editTargetRotation"/>
</item>
- <item row="0" column="2">
- <widget class="QLabel" name="labelTarget">
+ <item row="1" column="1">
+ <widget class="QLabel" name="labelCurrentPositionX">
<property name="text">
- <string>Target Position</string>
+ <string>0</string>
</property>
</widget>
</item>
- <item row="1" column="2">
- <widget class="QLineEdit" name="editTargetPositionX"/>
- </item>
<item row="2" column="1">
<widget class="QLabel" name="labelCurrentPositionY">
<property name="text">
@@ -80,27 +92,37 @@
</property>
</widget>
</item>
- <item row="1" column="1">
- <widget class="QLabel" name="labelCurrentPositionX">
+ <item row="3" column="0">
+ <widget class="QLabel" name="labelRotation">
<property name="text">
- <string>0</string>
+ <string>Rotation</string>
</property>
</widget>
</item>
- <item row="3" column="1">
- <widget class="QLabel" name="labelCurrentRotation">
+ <item row="1" column="0">
+ <widget class="QLabel" name="labelPositionX">
<property name="text">
- <string>0</string>
+ <string>X Position</string>
</property>
</widget>
</item>
- <item row="4" column="2">
- <widget class="QPushButton" name="buttonMoveToPosition">
+ <item row="3" column="1">
+ <widget class="QLabel" name="labelCurrentRotation">
<property name="text">
- <string>Move To Position</string>
+ <string>0</string>
</property>
</widget>
</item>
+ <item row="5" column="0" colspan="3">
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayoutSpeed"/>
+ </item>
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayoutRotation"/>
+ </item>
+ </layout>
+ </item>
</layout>
</widget>
</widget>
diff --git a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
index 97863966089d30d2e83433c59852d443cd32b1cc..9666317ad1a4e617afdcd1251619bd72c8c1d7c4 100644
--- a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
+++ b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
@@ -40,6 +40,7 @@ module armarx
float r;
float g;
float b;
+ float a;
};
@@ -58,8 +59,9 @@ module armarx
* \param globalPose The pose in global coordinate syetem.
*/
void setPoseVisu(string layerName, string poseName, PoseBase globalPose);
-
void setLineVisu(string layerName, string lineName, Vector3Base globalPosition1, Vector3Base globalPosition2, float lineWidth, DrawColor color);
+ void setBoxVisu(string layerName, string boxName, PoseBase globalPose, Vector3Base dimensions, DrawColor color);
+ void setTextVisu(string layerName, string textName, string text, Vector3Base globalPosition, DrawColor color, int size);
/*!
* \brief setPoseVisu draws on the "debug" layer
@@ -68,6 +70,8 @@ module armarx
*/
void setPoseDebugLayerVisu(string poseName, PoseBase globalPose);
void setLineDebugLayerVisu(string lineName, Vector3Base globalPosition1, Vector3Base globalPosition2, float lineWidth, DrawColor color);
+ void setBoxDebugLayerVisu(string boxName, PoseBase globalPose, Vector3Base dimensions, DrawColor color);
+ void setTextDebugLayerVisu(string textName, string text, Vector3Base globalPosition, DrawColor color, int size);
/*!
* \brief Remove visualization of coordinate system.
@@ -76,12 +80,26 @@ module armarx
*/
void removePoseVisu(string layerName, string poseName);
void removeLineVisu(string layerName, string lineName);
+ void removeBoxVisu(string layerName, string boxName);
+ void removeTextVisu(string layerName, string textName);
/*!
* \brief Removes pose from the "debug" layer.
*/
void removePoseDebugLayerVisu(string poseName);
void removeLineDebugLayerVisu(string lineName);
+ void removeBoxDebugLayerVisu(string boxName);
+ void removeTextDebugLayerVisu(string textName);
+
+ /*!
+ * \brief clear removes all visualizations for the given layer
+ * \param layerName The name identifies the layer.
+ */
+ void clear(string layerName);
+ /*!
+ * \brief clearDebugLayer calls <code>clear("debug");</code>
+ */
+ void clearDebugLayer();
};