added dmp component

source/RobotAPI/components/CMakeLists.txt

@@ -6,3 +6,5 @@ add_subdirectory(MMMPlayer)
 add_subdirectory(robotstate)
 add_subdirectory(RobotIK)
 
+
+add_subdirectory(DMPComponent)
\ No newline at end of file

source/RobotAPI/components/DMPComponent/CMakeLists.txt

+armarx_component_set_name("DMPComponent")
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+#
+# all include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+#    include_directories(${MyLib_INCLUDE_DIRS})
+#endif()
+
+set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore)
+
+set(SOURCES
+./DMPComponent.cpp
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.cpp
+)
+set(HEADERS
+./DMPComponent.h
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+# add unit tests
+add_subdirectory(test)

source/RobotAPI/components/DMPComponent/DMPComponent.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::DMPComponent
+ * @author     Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * @date       2015
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#include "DMPComponent.h"
+
+
+using namespace armarx;
+
+
+void DMPComponent::onInitComponent()
+{
+
+}
+
+
+void DMPComponent::onConnectComponent()
+{
+
+}
+
+
+void DMPComponent::onDisconnectComponent()
+{
+
+}
+
+
+void DMPComponent::onExitComponent()
+{
+
+}
+
+PropertyDefinitionsPtr DMPComponent::createPropertyDefinitions()
+{
+    return PropertyDefinitionsPtr(new DMPComponentPropertyDefinitions(
+                                      getConfigIdentifier()));
+}
+

source/RobotAPI/components/DMPComponent/DMPComponent.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::DMPComponent
+ * @author     Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * @date       2015
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_COMPONENT_RobotAPI_DMPComponent_H
+#define _ARMARX_COMPONENT_RobotAPI_DMPComponent_H
+
+
+#include <Core/core/Component.h>
+
+namespace armarx
+{
+    /**
+     * @class DMPComponentPropertyDefinitions
+     * @brief
+     */
+    class DMPComponentPropertyDefinitions:
+        public armarx::ComponentPropertyDefinitions
+    {
+    public:
+        DMPComponentPropertyDefinitions(std::string prefix):
+            armarx::ComponentPropertyDefinitions(prefix)
+        {
+            //defineRequiredProperty<std::string>("PropertyName", "Description");
+            //defineOptionalProperty<std::string>("PropertyName", "DefaultValue", "Description");
+        }
+    };
+
+    /**
+     * @class DMPComponent
+     * @ingroup Components
+     * @ingroup RobotAPI-Components
+     * @brief A brief description
+     *
+     *
+     * Detailed Description
+     */
+    class DMPComponent :
+        virtual public armarx::Component
+    {
+    public:
+        /**
+         * @see armarx::ManagedIceObject::getDefaultName()
+         */
+        virtual std::string getDefaultName() const
+        {
+            return "DMPComponent";
+        }
+
+    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 armarx::PropertyDefinitionsPtr createPropertyDefinitions();
+    };
+}
+
+#endif

source/RobotAPI/components/DMPComponent/test/CMakeLists.txt

+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore DMPComponent)
+ 
+armarx_add_test(DMPComponentTest DMPComponentTest.cpp "${LIBS}")
\ No newline at end of file

source/RobotAPI/components/DMPComponent/test/DMPComponentTest.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::DMPComponent
+ * @author     Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * @date       2015
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXObjects::DMPComponent
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include <RobotAPI/components/DMPComponent/DMPComponent.h>
+
+#include <iostream>
+
+BOOST_AUTO_TEST_CASE(testExample)
+{
+    armarx::DMPComponent instance;
+
+    BOOST_CHECK_EQUAL(true, true);
+}