adjusted observers

source/RobotAPI/components/units/BusInspectionUnitObserver.h

@@ -33,11 +33,11 @@ namespace armarx
      * \brief
      */
     class BusInspectionUnitObserverPropertyDefinitions:
-        public ComponentPropertyDefinitions
+        public ObserverPropertyDefinitions
     {
     public:
         BusInspectionUnitObserverPropertyDefinitions(std::string prefix):
-            ComponentPropertyDefinitions(prefix)
+            ObserverPropertyDefinitions(prefix)
         {
             defineOptionalProperty<std::string>("BusInspectionUnitTopicName", "HALCycleTimes", "Name of the BusInspectionUnit Topic");
         }

source/RobotAPI/components/units/ForceTorqueObserver.cpp

@@ -116,7 +116,7 @@ void ForceTorqueObserver::visualizerFunction()
         return;
     }
     float maxTorque = getProperty<float>("MaxExpectedTorqueValue");
-    float torqueVisuDeathZone = getProperty<float>("TorqueVisuDeathZone");
+    float torqueVisuDeadZone = getProperty<float>("TorqueVisuDeadZone");
     float arrowLength = getProperty<float>("MaxForceArrowLength").getValue();
     float forceFactor = getProperty<float>("ForceVisualizerFactor").getValue();
     auto channels = getAvailableChannels(false);
@@ -162,7 +162,7 @@ void ForceTorqueObserver::visualizerFunction()
                     Eigen::Vector3f dirYglobal = FramedDirection(Eigen::Vector3f::UnitY(), torque->frame, torque->agent).toGlobalEigen(localRobot);
                     Eigen::Vector3f dirZglobal = FramedDirection(Eigen::Vector3f::UnitZ(), torque->frame, torque->agent).toGlobalEigen(localRobot);
                     //                ARMARX_INFO << channel.first << VAROUT(torque) << VAROUT(dirXglobal) << VAROUT(dirYglobal) << VAROUT(dirZglobal);
-                    if (fabs(torque->x) > torqueVisuDeathZone)
+                    if (fabs(torque->x) > torqueVisuDeadZone)
                     {
                         batchPrx->setCircleArrowVisu("Torques",
                                                      "TorqueX" +  channel.first,
@@ -179,7 +179,7 @@ void ForceTorqueObserver::visualizerFunction()
                         batchPrx->removeCircleVisu("Torques",
                                                    "TorqueX" +  channel.first);
                     }
-                    if (fabs(torque->y) > torqueVisuDeathZone)
+                    if (fabs(torque->y) > torqueVisuDeadZone)
                     {
                         batchPrx->setCircleArrowVisu("Torques",
                                                      "TorqueY" +  channel.first,
@@ -197,7 +197,7 @@ void ForceTorqueObserver::visualizerFunction()
                                                    "TorqueY" +  channel.first);
 
                     }
-                    if (fabs(torque->z) > torqueVisuDeathZone)
+                    if (fabs(torque->z) > torqueVisuDeadZone)
                     {
                         batchPrx->setCircleArrowVisu("Torques",
                                                      "TorqueZ" +  channel.first,

source/RobotAPI/components/units/ForceTorqueObserver.h

@@ -35,11 +35,11 @@ namespace armarx
      * \brief
      */
     class ForceTorqueObserverPropertyDefinitions:
-        public ComponentPropertyDefinitions
+        public ObserverPropertyDefinitions
     {
     public:
         ForceTorqueObserverPropertyDefinitions(std::string prefix):
-            ComponentPropertyDefinitions(prefix)
+            ObserverPropertyDefinitions(prefix)
         {
             defineRequiredProperty<std::string>("ForceTorqueTopicName", "Name of the ForceTorqueUnit Topic");
             defineOptionalProperty<bool>("VisualizeForce", true, "Visualize the force with an arrow in the debug drawer");
@@ -47,7 +47,7 @@ namespace armarx
             defineOptionalProperty<int>("VisualizeForceUpdateFrequency", 30, "Frequency with which the force is visualized");
             defineOptionalProperty<float>("ForceVisualizerFactor", 0.01f, "Factor by which the forces are scaled to fit into 0..1 (only for visulization) ");
             defineOptionalProperty<float>("MaxExpectedTorqueValue", 30, "The torque visualization circle reaches the full circle at this value");
-            defineOptionalProperty<float>("TorqueVisuDeathZone", 1, "Torques below this threshold are not visualized.");
+            defineOptionalProperty<float>("TorqueVisuDeadZone", 1, "Torques below this threshold are not visualized.");
             defineOptionalProperty<float>("MaxForceArrowLength", 150, "Length of the force visu arrow in mm");
             defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the RobotStateComponent that should be used");
             defineOptionalProperty<std::string>("SensorRobotNodeMapping", "", "Triplets of sensor node name, target frame robot node name and optional channel name: Sensor values are also reported in the frame of the robot node: e. g. SensorName:RobotNodeName[:ChannelName],SensorName2:RobotNodeName2[:ChannelName2]");

source/RobotAPI/components/units/HapticObserver.h

@@ -39,11 +39,11 @@ namespace armarx
      * \brief
      */
     class HapticObserverPropertyDefinitions:
-        public ComponentPropertyDefinitions
+        public ObserverPropertyDefinitions
     {
     public:
         HapticObserverPropertyDefinitions(std::string prefix):
-            ComponentPropertyDefinitions(prefix)
+            ObserverPropertyDefinitions(prefix)
         {
             defineOptionalProperty<std::string>("HapticTopicName", "HapticValues", "Name of the HapticUnit Topic");
         }

source/RobotAPI/components/units/InertialMeasurementUnitObserver.h

@@ -38,11 +38,11 @@ namespace armarx
      * \brief
      */
     class InertialMeasurementUnitObserverPropertyDefinitions:
-        public ComponentPropertyDefinitions
+        public ObserverPropertyDefinitions
     {
     public:
         InertialMeasurementUnitObserverPropertyDefinitions(std::string prefix):
-            ComponentPropertyDefinitions(prefix)
+            ObserverPropertyDefinitions(prefix)
         {
             defineOptionalProperty<std::string>("IMUTopicName", "IMUValues", "Name of the IMU Topic.");
             defineOptionalProperty<std::string>("DebugDrawerTopic", "DebugDrawerUpdates", "Name of the DebugDrawerTopic");

source/RobotAPI/components/units/KinematicUnitObserver.cpp

@@ -279,14 +279,14 @@ void KinematicUnitObserver::nameValueMapToDataFields(const std::string& channelN
         boost::unordered_map< ::std::string, ::armarx::VariantBasePtr> map;
         if (timestamp < 0)
         {
-            for (const auto & it : nameValueMap)
+            for (const auto& it : nameValueMap)
             {
                 map[it.first] = new Variant(it.second);
             }
         }
         else
         {
-            for (const auto & it : nameValueMap)
+            for (const auto& it : nameValueMap)
             {
                 map[it.first] = new TimedVariant(new Variant(it.second), IceUtil::Time::microSeconds(timestamp));
             }
@@ -302,6 +302,6 @@ void KinematicUnitObserver::nameValueMapToDataFields(const std::string& channelN
 
 PropertyDefinitionsPtr KinematicUnitObserver::createPropertyDefinitions()
 {
-    return PropertyDefinitionsPtr(new KinematicUnitPropertyDefinitions(
+    return PropertyDefinitionsPtr(new KinematicUnitObserverPropertyDefinitions(
                                       getConfigIdentifier()));
 }

source/RobotAPI/components/units/KinematicUnitObserver.h

@@ -39,6 +39,19 @@ namespace armarx
     ARMARX_CREATE_CHECK(KinematicUnitObserver, equals)
     ARMARX_CREATE_CHECK(KinematicUnitObserver, larger)
 
+    class KinematicUnitObserverPropertyDefinitions:
+        public ObserverPropertyDefinitions
+    {
+    public:
+        KinematicUnitObserverPropertyDefinitions(std::string prefix):
+            ObserverPropertyDefinitions(prefix)
+        {
+            defineRequiredProperty<std::string>("RobotNodeSetName", "Robot node set name as defined in robot xml file, e.g. 'LeftArm'");
+            defineRequiredProperty<std::string>("RobotFileName", "Robot file name, e.g. robot_model.xml");
+            defineOptionalProperty<std::string>("RobotFileNameProject", "", "Project in which the robot filename is located (if robot is loaded from an external project)");
+        }
+    };
+
     /**
      * \class KinematicUnitObserver
      * \ingroup RobotAPI-SensorActorUnits-observers

source/RobotAPI/components/units/PlatformUnitObserver.cpp

@@ -110,6 +110,6 @@ void PlatformUnitObserver::nameValueMapToDataFields(std::string channelName, ::I
 
 PropertyDefinitionsPtr PlatformUnitObserver::createPropertyDefinitions()
 {
-    return PropertyDefinitionsPtr(new PlatformUnitPropertyDefinitions(
+    return PropertyDefinitionsPtr(new PlatformUnitObserverPropertyDefinitions(
                                       getConfigIdentifier()));
 }

source/RobotAPI/components/units/PlatformUnitObserver.h

@@ -41,6 +41,21 @@ namespace armarx
     ARMARX_CREATE_CHECK(PlatformUnitObserver, larger)
     ARMARX_CREATE_CHECK(PlatformUnitObserver, inrange)
 
+    /**
+     * \class PlatformUnitPropertyDefinitions
+     * \brief Defines all necessary properties for armarx::PlatformUnit
+     */
+    class PlatformUnitObserverPropertyDefinitions:
+        public ObserverPropertyDefinitions
+    {
+    public:
+        PlatformUnitObserverPropertyDefinitions(std::string prefix):
+            ObserverPropertyDefinitions(prefix)
+        {
+            defineOptionalProperty<std::string>("PlatformName", "Platform", "Name of the platform (will publish values on PlatformName + 'State')");
+        }
+    };
+
     /**
      * \class PlatformUnitObserver
      * \ingroup RobotAPI-SensorActorUnits-observers

source/RobotAPI/components/units/TCPControlUnitObserver.h

@@ -32,11 +32,11 @@ namespace armarx
      * \brief
      */
     class TCPControlUnitObserverPropertyDefinitions:
-        public ComponentPropertyDefinitions
+        public ObserverPropertyDefinitions
     {
     public:
         TCPControlUnitObserverPropertyDefinitions(std::string prefix):
-            ComponentPropertyDefinitions(prefix)
+            ObserverPropertyDefinitions(prefix)
         {
             defineOptionalProperty<std::string>("TCPControlUnitName", "TCPControlUnit", "Name of the TCPControlUnit");
         }