diff --git a/source/RobotAPI/components/units/BusInspectionUnitObserver.h b/source/RobotAPI/components/units/BusInspectionUnitObserver.h
index 5002dcddd02eadb4f2098a470c27dc4c68bb70fe..3eded4de0a5f465b1680bf08180a327791ba8090 100644
--- a/source/RobotAPI/components/units/BusInspectionUnitObserver.h
+++ b/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");
}
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.cpp b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
index 15f074fe8bdbd5a74cb0d1040f3ac3f1092f3fc5..3da9203909f6cea42ab04cd05594731352c73a96 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.cpp
+++ b/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,
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.h b/source/RobotAPI/components/units/ForceTorqueObserver.h
index 3523590c4885f942af7e9acde190c3891aaf106a..023ad353e1508ac719b1b753608eb6bd11a71cef 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.h
+++ b/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]");
diff --git a/source/RobotAPI/components/units/HapticObserver.h b/source/RobotAPI/components/units/HapticObserver.h
index 96f0704c1eca256a5ad9245ad0bc4c1c298ebefe..5ecbe9f1a8ab9422534ea463ba023c455a29812a 100644
--- a/source/RobotAPI/components/units/HapticObserver.h
+++ b/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");
}
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
index 4265a8729f9ff8301ef1717587b44cfeced50dc4..51fdfd7960b9ac4aee4c93accf6b8b10650ead2c 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
+++ b/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");
diff --git a/source/RobotAPI/components/units/KinematicUnitObserver.cpp b/source/RobotAPI/components/units/KinematicUnitObserver.cpp
index 6e862edf25b145c3290f97115a0ae2a92eb1cc4b..b0cdbf2ff435e957c171f9d29e0c818f58ff73f8 100644
--- a/source/RobotAPI/components/units/KinematicUnitObserver.cpp
+++ b/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()));
}
diff --git a/source/RobotAPI/components/units/KinematicUnitObserver.h b/source/RobotAPI/components/units/KinematicUnitObserver.h
index 3d7948296ddac3333f5ccef1f20d5b0721ff7c9a..2baecf1ba803c8c75b9ac3353e6d1c611284206c 100644
--- a/source/RobotAPI/components/units/KinematicUnitObserver.h
+++ b/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
diff --git a/source/RobotAPI/components/units/PlatformUnitObserver.cpp b/source/RobotAPI/components/units/PlatformUnitObserver.cpp
index 01c6bfd20e173a4ad2893ebd99782958d47d7898..7a4c166d1783af3864a1185c5d5983d63fcaada9 100644
--- a/source/RobotAPI/components/units/PlatformUnitObserver.cpp
+++ b/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()));
}
diff --git a/source/RobotAPI/components/units/PlatformUnitObserver.h b/source/RobotAPI/components/units/PlatformUnitObserver.h
index 9b4709a0d0fe816e06db3412780dfac819310536..4f47296b450b27f0d51cc40206fce87f41f6db9e 100644
--- a/source/RobotAPI/components/units/PlatformUnitObserver.h
+++ b/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
diff --git a/source/RobotAPI/components/units/TCPControlUnitObserver.h b/source/RobotAPI/components/units/TCPControlUnitObserver.h
index 263833c7e264755af68cd9a649774fda46edfe80..4da4a7da8c631705f7b7521036946198fa811f05 100644
--- a/source/RobotAPI/components/units/TCPControlUnitObserver.h
+++ b/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");
}