Merge branch 'master' of https://i61wiki.itec.uka.de/git/robot-api

data/VariantInfo-RobotAPI.xml → data/RobotAPI/VariantInfo-RobotAPI.xml

 <?xml version="1.0" encoding="utf-8"?>
 <VariantInfo>
 	<Lib name="RobotAPIRemoteRobot">
-		<VariantFactory include="RobotAPI/robotstate/remote/RobotStateObjectFactories.h" />
+		<VariantFactory include="RobotAPI/libraries/robotstate/remote/RobotStateObjectFactories.h" />
 		<Variant baseType="::armarx::Vector3Base" dataType="::armarx::Vector3" humanName="Vector3" />
 		<Variant baseType="::armarx::QuaternionBase" dataType="::armarx::Quaternion" humanName="Quaternion" />
 		<Variant baseType="::armarx::PoseBase" dataType="::armarx::Pose" humanName="Pose" />

scenarios/MotionControlTest/config/KinematicUnitObserver.cfg

@@ -60,7 +60,7 @@
 #  Attributes:
 #  - Case sensitivity:   no
 #  - Required:           yes
-ArmarX.KinematicUnitObserver.RobotFileName = /Armar4/data/robotmodel/ArmarIV.xml
+ArmarX.KinematicUnitObserver.RobotFileName = Armar4/robotmodel/ArmarIV.xml
 
 
 # ArmarX.KinematicUnitObserver.RobotNodeSetName:  Robot node name

scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg

@@ -68,7 +68,7 @@
 #  Attributes:
 #  - Case sensitivity:   no
 #  - Required:           yes
-ArmarX.KinematicUnitSimulation.RobotFileName = /Armar4/data/robotmodel/ArmarIV.xml
+ArmarX.KinematicUnitSimulation.RobotFileName = Armar4/robotmodel/ArmarIV.xml
 
 
 # ArmarX.KinematicUnitSimulation.RobotNodeSetName:  Robot node name

scenarios/MotionControlTest/config/RobotStateComponent.cfg

-ArmarX.RobotStateComponent.RobotFileName=/Armar4/data/robotmodel/ArmarIV.xml       	# model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.RobotStateComponent.RobotFileName=Armar4/robotmodel/ArmarIV.xml       	# model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
 ArmarX.RobotStateComponent.RobotNodeSetName=Robot					# node set name
 ArmarX.RobotStateComponent.ObjectName=RobotStateComponent      			# name of the ICE adapter
 

scenarios/RemoteRobotTest/configs/HeadUnit.cfg

 # test config file for KinematicUnit configured to be a Head
 
-ArmarX.KinematicUnitSimulation.RobotFileName=${ArmarXHome_DIR}/Armar3/data/robotmodel/ArmarIII-Head.xml  # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitSimulation.RobotFileName=Armar3/data/robotmodel/ArmarIII-Head.xml  # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
 ArmarX.KinematicUnitSimulation.RobotNodeSetName=Head          # node set name
 ArmarX.KinematicUnitSimulation.AdapterName=HeadKinematicUnit  # name of the Ice adapter

scenarios/RemoteRobotTest/configs/HeadUnitObserver.cfg

 # test config file for KinematicUnit configured to be a Head
 
-ArmarX.KinematicUnitObserver.RobotFileName=${ArmarXHome_DIR}/Armar3/data/robotmodel/ArmarIII-Head.xml  # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitObserver.RobotFileName=Armar3/data/robotmodel/ArmarIII-Head.xml  # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
 ArmarX.KinematicUnitObserver.RobotNodeSetName=Head                  # node set name
 ArmarX.KinematicUnitObserver.AdapterName=HeadKinematicUnitObserver  # name of the Ice adapter

scenarios/RemoteRobotTest/configs/RobotStateComponent.cfg

 # test config file for KinematicUnit configured to be a Head
 
-ArmarX.RobotStateComponent.RobotFileName=${ArmarXHome_DIR}/Armar3/data/robotmodel/ArmarIII-LeftArm.xml   # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.RobotStateComponent.RobotFileName=Armar3/data/robotmodel/ArmarIII-LeftArm.xml   # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
 ArmarX.RobotStateComponent.RobotNodeSetName=LeftArm         # node set name
 ArmarX.RobotStateComponent.AdapterName=RobotStateComponent  # name of the Ice adapter

scenarios/TCPMoverScenario/configs/ArmarXGui.cfg

@@ -5,7 +5,7 @@ ArmarX.DisableLogging=False
 
 
 ArmarX.KinematicUnitGuiPlugin.MinimumLoggingLevel=Info
-ArmarX.KinematicUnitGuiPlugin.RobotFileName=${ArmarXHome_DIR}/Armar4/data/robotmodel/ArmarIV.xml
+ArmarX.KinematicUnitGuiPlugin.RobotFileName=Armar4/robotmodel/ArmarIV.xml
 ArmarX.KinematicUnitGuiPlugin.RobotNodeSetName=Robot
 ArmarX.KinematicUnitGuiPlugin.KinematicUnitName=RobotKinematicUnit
 #ArmarX.MdiPlugin.Profile=TCPMover

scenarios/TCPMoverScenario/configs/HeadUnit.cfg

 # test config file for KinematicUnit configured to be a Head
 
-ArmarX.KinematicUnitSimulation.RobotFileName=${ArmarXHome_DIR}/Armar4/data/robotmodel/ArmarIV.xml
+ArmarX.KinematicUnitSimulation.RobotFileName=Armar4/robotmodel/ArmarIV.xml
 
 ArmarX.KinematicUnitSimulation.RobotNodeSetName=Robot          # node set name vorher Head
 ArmarX.KinematicUnitSimulation.AdapterName=RobotKinematicUnit  # name of the Ice adapter vorher HeadKinematicUnit

scenarios/TCPMoverScenario/configs/RobotUnit.cfg

 # A test config file for KinematicUnit configured to be a Head
 
-ArmarX.KinematicUnitSimulation.RobotFileName=${ArmarXHome_DIR}/Armar4/data/robotmodel/ArmarIV.xml  # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitSimulation.RobotFileName=Armar4/robotmodel/ArmarIV.xml  # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
 
 ArmarX.KinematicUnitSimulation.RobotNodeSetName=Robot          # node set name vorher Head
 ArmarX.KinematicUnitSimulation.AdapterName=RobotKinematicUnit  # name of the Ice adapter vorher HeadKinematicUnit

scenarios/TCPMoverScenario/configs/RobotUnitObserver.cfg

 # test config file for KinematicUnit configured to be a Head
 
-ArmarX.KinematicUnitObserver.RobotFileName=${ArmarXHome_DIR}/Armar4/data/robotmodel/ArmarIV.xml  # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitObserver.RobotFileName=Armar4/robotmodel/ArmarIV.xml  # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
 ArmarX.KinematicUnitObserver.RobotNodeSetName=Robot                  # node set name
 ArmarX.KinematicUnitObserver.AdapterName=RobotKinematicUnitObserver  # name of the Ice adapter

source/RobotAPI/components/WeissHapticSensorListener/WeissHapticSensorListener.h

@@ -28,7 +28,7 @@
 #include <Core/core/Component.h>
 #include <RobotAPI/interface/units/HapticUnit.h>
 #include <Core/util/variants/eigen3/MatrixVariant.h>
-#include <Core/util/variants/eigen3/VariantObjectFactories.h>
+#include <Core/util/variants/eigen3/Eigen3VariantObjectFactories.h>
 
 
 namespace armarx

source/RobotAPI/components/units/ForceTorqueObserver.cpp

@@ -90,21 +90,16 @@ void ForceTorqueObserver::offerValue(std::string channelName, const std::string
 
 
     channelName += "_pod";
-    if(!existsChannel(channelName))
-    {
-        offerChannel(channelName, type + " on " + channelName);
-        offerDataFieldWithDefault(channelName, type + "_x", Variant(vec->x), type + " on X axis");
-        offerDataFieldWithDefault(channelName, type + "_y", Variant(vec->y), type + " on Y axis");
-        offerDataFieldWithDefault(channelName, type + "_z", Variant(vec->z), type + " on Z axis");
-        offerDataFieldWithDefault(channelName, type + "_frame", Variant(vec->frame), "Frame of " + value);
-    }
-    else
+    if(!existsChannel(channelName) )
     {
-        setDataField(channelName, type + "_x", Variant(vec->x));
-        setDataField(channelName, type + "_y", Variant(vec->y));
-        setDataField(channelName, type + "_z", Variant(vec->z));
-        setDataField(channelName, type + "_frame", Variant(vec->frame));
+        offerChannel(channelName, identifier + " on " + channelName);
     }
+    offerOrUpdateDataField(channelName, identifier + "_x", Variant(vec->x), type + " on X axis");
+    offerOrUpdateDataField(channelName, identifier + "_y", Variant(vec->y), type + " on Y axis");
+    offerOrUpdateDataField(channelName, identifier + "_z", Variant(vec->z), type + " on Z axis");
+    offerOrUpdateDataField(channelName, identifier + "_frame", Variant(vec->frame), "Frame of " + value->frame);
+
+
 
     updateChannel(channelName);
 

source/RobotAPI/components/units/HapticObserver.h

@@ -27,7 +27,8 @@
 #include <RobotAPI/interface/units/HapticUnit.h>
 #include <Core/observers/Observer.h>
 #include <Core/util/variants/eigen3/MatrixVariant.h>
-#include <Core/util/variants/eigen3/VariantObjectFactories.h>
+//#include <Core/util/variants/eigen3/Eigen3LibRegistry.h>
+#include <Core/util/variants/eigen3/Eigen3VariantObjectFactories.h>
 #include <Core/core/services/tasks/PeriodicTask.h>
 
 namespace armarx

source/RobotAPI/components/units/HeadIKUnit.cpp

@@ -44,7 +44,7 @@ namespace armarx
 
 
         //std::string robotModelFile;
-        //ArmarXDataPath::getAbsolutePath("Armar3/data/robotmodel/ArmarIII.xml", robotModelFile);
+        //ArmarXDataPath::getAbsolutePath("Armar3/robotmodel/ArmarIII.xml", robotModelFile);
         //localRobot = VirtualRobot::RobotIO::loadRobot(robotModelFile.c_str(), VirtualRobot::RobotIO::eStructure);
         //VirtualRobot::RobotPtr robotSnapshot(new RemoteRobot(remoteRobotPrx));
         //localRobot->setConfig(robotSnapshot->getConfig());

source/RobotAPI/interface/CMakeLists.txt

@@ -26,6 +26,9 @@ set(SLICE_FILES
     units/TCPControlUnit.ice
     units/TCPMoverUnitInterface.ice
     units/UnitInterface.ice
+
+    visualization/DebugDrawerInterface.ice
+
 )
 
 # generate the interface library

source/RobotAPI/interface/robotstate/RobotState.ice

@@ -120,10 +120,16 @@ module armarx
          * @return proxy to the shared robot which constantly updates all joint values
          */
         SharedRobotInterface* getSynchronizedRobot();
+
         /**
          * @return proxy to a copy of the shared robot with non updating joint values
          */
         SharedRobotInterface* getRobotSnapshot(string time);
+        
+        /**
+         * @return the robot xml filename as specified in the configuration
+         */
+        string getRobotFilename();
     };
 };
 

source/RobotAPI/interface/visualization/DebugDrawerInterface.ice

+/*
+ * 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     Nikolaus Vahrenkamp
+ * @copyright  2014
+ * @license    http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_API_DEBUGDRAWERLAYER_SLICE_
+#define _ARMARX_API_DEBUGDRAWERLAYER_SLICE_
+
+#include <Core/interface/core/UserException.ice>
+#include <Core/interface/core/BasicTypes.ice>
+#include <RobotAPI/interface/robotstate/PoseBase.ice>
+
+module armarx
+{
+
+    /*!
+      * \brief A layered drawing interface.
+      * All drawing operations are identified with a layer name in order to distinguish different drawing entitties.
+      * The layered approach allows a visualizer GUI to enable/disable different layers according to the requested visualization.
+    */
+    interface DebugDrawerInterface
+    {
+
+        /*!
+         * \brief Draw or update a coordinate system.
+         * \param drawLayer A custom name to distinguish different drawing layers.
+         * \param poseName The internal name of the pose (can be used to update/disable the drawing).
+         * \param globalPose The pose in global coordinate syetem.
+         */
+        void setPoseLayerVisu(string layerName, string poseName, PoseBase globalPose);
+
+        /*!
+         * \brief setPoseVisu draws on the "debug" layer
+         * \param poseName
+         * \param globalPose
+         */
+        void setPoseDebugLayerVisu(string poseName, PoseBase globalPose);
+
+        /*!
+         * \brief Remove visualization of coordinate system.
+         * \param layerName The name of the drawing layer.
+         * \param poseName The name of the pose.
+         */
+        void removePoseLayerVisu(string layerName, string poseName);
+
+        /*!
+         * \brief Removes pose from the "debug" layer.
+         */
+        void removePoseDebugLayerVisu(string poseName);
+
+    };
+
+
+};
+
+#endif

source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.h

@@ -6,7 +6,8 @@
 #include "SerialInterface.h"
 #include "TactileSensor.h"
 #include <RobotAPI/interface/units/HapticUnit.h>
-#include <Core/util/variants/eigen3/VariantObjectFactories.h>
+#include <Core/util/variants/eigen3/Eigen3VariantObjectFactories.h>
+//#include <Core/util/variants/eigen3/Eigen3LibRegistry.h>
 #include "TextWriter.h"
 #include <Core/observers/variant/TimestampVariant.h>
 #include <Core/util/variants/eigen3/MatrixVariant.h>

source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp

@@ -151,7 +151,12 @@ namespace armarx
 //        ARMARX_VERBOSE_S << "duration: " << (IceUtil::Time::now() - start).toMilliSeconds() << " ms";
     }
 
-
+    std::string RobotStateComponent::getRobotFilename(const Ice::Current&)
+    {
+		std::string robotFile = getProperty<std::string>("RobotFileName").getValue();
+		return robotFile;
+	}
+	
     void RobotStateComponent::reportControlModeChanged(const NameControlModeMap& jointModes,  bool aValueChanged,const Current& c){}
     void RobotStateComponent::reportJointVelocities(const NameValueMap& jointVelocities,  bool aValueChanged,const Current& c){}
     void RobotStateComponent::reportJointTorques(const NameValueMap& jointTorques,  bool aValueChanged,const Current& c){}