Started with revising force torque units (one unit per sensor, one observer for all unist).

source/RobotAPI/interface/units/ForceTorqueUnit.ice

@@ -35,35 +35,26 @@
 
 module armarx
 {
-
-
-    //sequence<string> StringMap;
     interface ForceTorqueUnitInterface extends armarx::SensorActorUnitInterface
     {
-        //void setOffset(FramedVector3Map forceTorqueOffsets);
-        //void setToNull(StringMap sensorNames);
         void setOffset(FramedVector3Base forceOffsets, FramedVector3Base torqueOffsets);
         void setToNull();
     };
 
-
-
     interface ForceTorqueUnitListener
     {
-        //void reportSensorValues(string type, FramedVector3Map forces);
-
-        //void reportSensorForceValues(FramedVector3Map forces);
-        //void reportSensorTorqueValues(FramedVector3Map torques);
-        void reportSensorValues(FramedVector3Base forces,FramedVector3Base torques);
-        void reportSensorForceValues(FramedVector3Base forces);
-        void reportSensorTorqueValues(FramedVector3Base torques);
+		/*!
+			\param sensorNodeName The RobotNode on which the sensor is mounted.
+			\param forces Set to zero if not available.
+			\param torques Set to zero if not available.
+		*/
+        void reportSensorValues(string sensorNodeName, FramedVector3Base forces, FramedVector3Base torques);
     };
 
     interface ForceTorqueUnitObserverInterface extends ObserverInterface, ForceTorqueUnitListener
     {
 
     };
-
 };
 
 #endif

source/RobotAPI/libraries/units/ForceTorqueObserver.h

@@ -37,18 +37,10 @@ namespace armarx
         void onInitObserver();
         void onConnectObserver();
 
-        //void reportSensorValues(const std::string & type, const ::armarx::FramedVector3Map& newForces, const ::Ice::Current& = ::Ice::Current());
-        //void reportSensorForceValues(const ::armarx::FramedVector3Map& newForces, const ::Ice::Current& = ::Ice::Current());
-        //void reportSensorTorqueValues(const ::armarx::FramedVector3Map& newTorques, const ::Ice::Current& = ::Ice::Current());
-        void reportSensorValues(const ::armarx::FramedVector3BasePtr &forces, const ::armarx::FramedVector3BasePtr &torques, const ::Ice::Current& = ::Ice::Current());
+         void reportSensorValues(const ::armarx::FramedVector3BasePtr &forces, const ::armarx::FramedVector3BasePtr &torques, const ::Ice::Current& = ::Ice::Current());
         void reportSensorForceValues(const ::armarx::FramedVector3BasePtr &forces, const ::Ice::Current& = ::Ice::Current());
         void reportSensorTorqueValues(const ::armarx::FramedVector3BasePtr &torques, const ::Ice::Current& = ::Ice::Current());
 
-
-//        void reportForceWithOffset(const ::armarx::FramedVector3Map& newForces, const ::Ice::Current& = ::Ice::Current());
-//        void reportTorqueRaw(const ::armarx::FramedVector3Map& newTorques, const ::Ice::Current& = ::Ice::Current());
-//        void reportTorqueWithOffset(const ::armarx::FramedVector3Map& newTorques, const ::Ice::Current& = ::Ice::Current());
-
         /**
          * @see PropertyUser::createPropertyDefinitions()
          */