From 6599d90ed25f7fa670f8b5603cf282b24e8c6d57 Mon Sep 17 00:00:00 2001
From: Nikolaus Vahrenkamp <vahrenkamp@kit.edu>
Date: Thu, 18 Feb 2016 17:11:48 +0100
Subject: [PATCH] removing deprecated sources
---
.../KinematicUnitConfigDialog.h | 3 -
.../KinematicUnitGuiPlugin.h | 3 -
.../Backup/RobotViewerConfigDialog.cpp | 89 ---
.../Backup/RobotViewerConfigDialog.h | 74 ---
.../Backup/RobotViewerConfigDialog.ui | 63 --
.../Backup/RobotViewerGuiPlugin.cpp | 489 --------------
.../Backup/RobotViewerGuiPlugin.h | 179 ------
.../Backup/RobotViewerGuiPlugin.ui | 90 ---
.../CMakeLists.txt | 56 --
.../RobotIKConfigDialog.cpp | 99 ---
.../RobotIKConfigDialog.h | 70 --
.../RobotIKConfigDialog.ui | 63 --
.../RobotIKGuiPlugin.cpp | 606 ------------------
.../RobotIKGuiPlugin.h | 145 -----
.../RobotIKGuiPlugin.ui | 318 ---------
.../RobotViewer.cpp | 329 ----------
.../RobotViewer.h | 25 -
.../RobotViewerWidget.cpp | 33 -
.../RobotViewerWidget.h | 45 --
19 files changed, 2779 deletions(-)
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.cpp
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.h
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.ui
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.cpp
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.h
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.ui
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/CMakeLists.txt
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.cpp
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.h
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.ui
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.cpp
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.h
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.ui
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.cpp
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.h
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.cpp
delete mode 100644 source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.h
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
index f1366c34e..9e0ab1ea9 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
@@ -68,10 +68,7 @@ namespace armarx
private:
IceProxyFinderBase* proxyFinder;
- //IceProxyFinderBase* proxyFinderRobotState;
- //IceProxyFinderBase* topicFinder;
Ui::KinematicUnitConfigDialog* ui;
- //QFileDialog* fileDialog;
std::string uuid;
friend class KinematicUnitWidgetController;
};
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 656ba4d10..b96569876 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -224,9 +224,6 @@ namespace armarx
KinematicUnitInterfacePrx kinematicUnitInterfacePrx;// send commands to kinematic unit
KinematicUnitListenerPrx kinematicUnitListenerPrx; // receive reports from kinematic unit
-
- //RobotStateComponentInterfacePrx robotStateComponentPrx;
-
bool verbose;
std::string kinematicUnitFile;
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.cpp
deleted file mode 100644
index 1b467821f..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.cpp
+++ /dev/null
@@ -1,89 +0,0 @@
-/*
-* 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 ArmarX::
-* @author Mirko Waechter ( mirko.waechter at kit dot edu)
-* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
-* GNU General Public License
-*/
-
-#include "RobotViewerConfigDialog.h"
-#include "ui_RobotViewerConfigDialog.h"
-
-#include <QTimer>
-#include <QPushButton>
-#include <QMessageBox>
-
-
-#include <IceUtil/UUID.h>
-
-#include <Gui/ArmarXGuiLib/utility/IceProxyFinder.h>
-
-#include <RobotAPI/interface/core/RobotState.h>
-
-using namespace armarx;
-
-RobotViewerConfigDialog::RobotViewerConfigDialog(QWidget* parent) :
- QDialog(parent),
- ui(new Ui::RobotViewerConfigDialog),
- uuid(IceUtil::generateUUID())
-{
- ui->setupUi(this);
-
- connect(this->ui->buttonBox, SIGNAL(accepted()), this, SLOT(verifyConfig()));
- ui->buttonBox->button(QDialogButtonBox::Ok)->setDefault(true);
- proxyFinder = new IceProxyFinder<RobotStateComponentInterfacePrx>(this);
- proxyFinder->setSearchMask("RobotState*");
- ui->gridLayout->addWidget(proxyFinder, 2, 1, 1, 2);
-}
-
-RobotViewerConfigDialog::~RobotViewerConfigDialog()
-{
- delete ui;
-}
-
-void RobotViewerConfigDialog::onInitComponent()
-{
- proxyFinder->setIceManager(getIceManager());
-}
-
-void RobotViewerConfigDialog::onConnectComponent()
-{
-
-}
-
-void RobotViewerConfigDialog::onExitComponent()
-{
- QObject::disconnect();
-
-}
-
-
-
-void RobotViewerConfigDialog::verifyConfig()
-{
- if (proxyFinder->getSelectedProxyName().trimmed().length() == 0)
- {
- QMessageBox::critical(this, "Invalid Configuration", "The proxy name must not be empty");
- }
- else
- {
- this->accept();
- }
-}
-
-
-
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.h
deleted file mode 100644
index 9c8237d10..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.h
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
-* 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 ArmarX::
-* @author Nikolaus Vahrenkamp
-* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
-* GNU General Public License
-*/
-
-#ifndef RobotViewerCONFIGDIALOG_H
-#define RobotViewerCONFIGDIALOG_H
-
-#include <QDialog>
-#include <QFileDialog>
-
-#include <ArmarXCore/core/services/tasks/RunningTask.h>
-#include <ArmarXCore/core/IceManager.h>
-#include <ArmarXCore/core/ManagedIceObject.h>
-#include <Gui/ArmarXGuiLib/utility/IceProxyFinder.h>
-
-namespace Ui
-{
- class RobotViewerConfigDialog;
-}
-
-namespace armarx
-{
- class RobotViewerConfigDialog :
- public QDialog,
- virtual public ManagedIceObject
- {
- Q_OBJECT
-
- public:
- explicit RobotViewerConfigDialog(QWidget* parent = 0);
- ~RobotViewerConfigDialog();
-
- // inherited from ManagedIceObject
- std::string getDefaultName() const
- {
- return "RobotViewerConfigDialog" + uuid;
- }
- void onInitComponent();
- void onConnectComponent();
- void onExitComponent();
-
- void updateRobotViewerList();
- signals:
-
- public slots:
- void verifyConfig();
- private:
-
- IceProxyFinderBase* proxyFinder;
- Ui::RobotViewerConfigDialog* ui;
- std::string uuid;
- friend class RobotViewerWidgetController;
- };
-}
-
-#endif
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.ui b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.ui
deleted file mode 100644
index d5716a334..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.ui
+++ /dev/null
@@ -1,63 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>RobotViewerConfigDialog</class>
- <widget class="QDialog" name="RobotViewerConfigDialog">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>527</width>
- <height>96</height>
- </rect>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="windowTitle">
- <string>Dialog</string>
- </property>
- <property name="toolTip">
- <string/>
- </property>
- <layout class="QGridLayout" name="gridLayout_2">
- <item row="1" column="0">
- <widget class="QDialogButtonBox" name="buttonBox">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="standardButtons">
- <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <layout class="QGridLayout" name="gridLayout"/>
- </item>
- </layout>
- </widget>
- <tabstops>
- <tabstop>buttonBox</tabstop>
- </tabstops>
- <resources/>
- <connections>
- <connection>
- <sender>buttonBox</sender>
- <signal>rejected()</signal>
- <receiver>RobotViewerConfigDialog</receiver>
- <slot>reject()</slot>
- <hints>
- <hint type="sourcelabel">
- <x>316</x>
- <y>260</y>
- </hint>
- <hint type="destinationlabel">
- <x>286</x>
- <y>274</y>
- </hint>
- </hints>
- </connection>
- </connections>
-</ui>
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.cpp
deleted file mode 100644
index 77a3673d5..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.cpp
+++ /dev/null
@@ -1,489 +0,0 @@
-#include "RobotViewerGuiPlugin.h"
-#include "RobotViewerConfigDialog.h"
-
-#include <RobotAPI/gui-plugins/RobotViewerPlugin/ui_RobotViewerConfigDialog.h>
-
-#include <ArmarXCore/core/system/ArmarXDataPath.h>
-#include <ArmarXCore/core/ArmarXObjectScheduler.h>
-#include <ArmarXCore/core/ArmarXManager.h>
-#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
-#include <ArmarXCore/core/application/Application.h>
-
-#include <VirtualRobot/XML/RobotIO.h>
-
-// Qt headers
-#include <Qt>
-#include <QtGlobal>
-
-#include <QPushButton>
-
-#include <QCheckBox>
-
-
-#include <Inventor/SoDB.h>
-#include <Inventor/Qt/SoQt.h>
-// System
-#include <stdio.h>
-#include <string>
-#include <string.h>
-#include <stdlib.h>
-#include <iostream>
-#include <cmath>
-
-#include <boost/filesystem.hpp>
-
-#define TIMER_MS 33
-#define ROBOTSTATE_NAME_DEFAULT "RobotStateComponent"
-
-using namespace armarx;
-using namespace VirtualRobot;
-using namespace std;
-
-
-RobotViewerGuiPlugin::RobotViewerGuiPlugin()
-{
- addWidget<RobotViewerWidgetController>();
-}
-
-
-RobotViewerWidgetController::RobotViewerWidgetController()
-{
- robotStateComponentName = "";
- rootVisu = NULL;
- robotVisu = NULL;
- debugLayerVisu = NULL;
-
- timerSensor = NULL;
-
- // init gui
- ui.setupUi(getWidget());
- getWidget()->setEnabled(false);
-}
-
-
-void RobotViewerWidgetController::onInitComponent()
-{
- bool createDebugDrawer = true;
- verbose = true;
-
- usingProxy(robotStateComponentName);
- usingProxy(robotIKName);
- usingProxy(kinematicUnitComponentName);
-
-
- rootVisu = new SoSeparator();
- rootVisu->ref();
-
- robotVisu = new SoSeparator;
- robotVisu->ref();
- rootVisu->addChild(robotVisu);
-
- // create the debugdrawer component
- if (createDebugDrawer)
- {
- std::string debugDrawerComponentName = "RobotViewerGUIDebugDrawer_" + getName();
- ARMARX_INFO << "Creating component " << debugDrawerComponentName;
- debugDrawer = Component::create<DebugDrawerComponent>(properties, debugDrawerComponentName);
-
- if (mutex3D)
- {
- debugDrawer->setMutex(mutex3D);
- }
- else
- {
- ARMARX_ERROR << " No 3d mutex available...";
- }
-
- ArmarXManagerPtr m = getArmarXManager();
- m->addObject(debugDrawer);
-
-
- {
- boost::recursive_mutex::scoped_lock lock(*mutex3D);
- debugLayerVisu = new SoSeparator();
- debugLayerVisu->ref();
- debugLayerVisu->addChild(debugDrawer->getVisualization());
- rootVisu->addChild(debugLayerVisu);
- }
- }
-
- showRoot(true);
-}
-
-void RobotViewerWidgetController::onConnectComponent()
-{
- robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>(robotStateComponentName);
- kinematicUnitInterfacePrx = getProxy<KinematicUnitInterfacePrx>(kinematicUnitComponentName);
- robotIKPrx = getProxy<RobotIKInterfacePrx>(robotIKName);
-
-
- if (robotVisu)
- {
- robotVisu->removeAllChildren();
- }
-
- robot.reset();
-
- std::string rfile;
- StringList includePaths;
-
- // get robot filename
- try
- {
-
- StringList packages = robotStateComponentPrx->getArmarXPackages();
- packages.push_back(Application::GetProjectName());
- ARMARX_VERBOSE << "ArmarX packages " << packages;
-
- for (const std::string& projectName : packages)
- {
- if (projectName.empty())
- {
- continue;
- }
-
- CMakePackageFinder project(projectName);
- StringList projectIncludePaths;
- auto pathsString = project.getDataDir();
- boost::split(projectIncludePaths,
- pathsString,
- boost::is_any_of(";,"),
- boost::token_compress_on);
- includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
-
- }
-
- rfile = robotStateComponentPrx->getRobotFilename();
- ARMARX_VERBOSE << "Relative robot file " << rfile;
- ArmarXDataPath::getAbsolutePath(rfile, rfile, includePaths);
- ARMARX_VERBOSE << "Absolute robot file " << rfile;
- }
- catch (...)
- {
- ARMARX_ERROR << "Unable to retrieve robot filename";
- }
-
- try
- {
- ARMARX_INFO << "Loading robot from file " << rfile;
- robot = loadRobotFile(rfile);
- }
- catch (...)
- {
- ARMARX_ERROR << "Failed to init robot";
- }
-
- if (!robot)
- {
- getObjectScheduler()->terminate();
-
- if (getWidget()->parentWidget())
- {
- getWidget()->parentWidget()->close();
- }
-
- std::cout << "returning" << std::endl;
- return;
- }
-
- {
- boost::recursive_mutex::scoped_lock lock(*mutex3D);
-
- CoinVisualizationPtr robotViewerVisualization = robot->getVisualization<CoinVisualization>();
-
- if (robotViewerVisualization)
- {
- robotVisu->addChild(robotViewerVisualization->getCoinVisualization());
- }
- else
- {
- ARMARX_WARNING << "no robot visu available...";
- }
- }
-
- // start update timer
- SoSensorManager* sensor_mgr = SoDB::getSensorManager();
- timerSensor = new SoTimerSensor(timerCB, this);
- timerSensor->setInterval(SbTime(TIMER_MS / 1000.0f));
- sensor_mgr->insertTimerSensor(timerSensor);
-
- connectSlots();
- enableMainWidgetAsync(true);
-}
-
-void RobotViewerWidgetController::onDisconnectComponent()
-{
-
- ARMARX_INFO << "Disconnecting component";
-
- // stop update timer
- if (timerSensor)
- {
- SoSensorManager* sensor_mgr = SoDB::getSensorManager();
- sensor_mgr->removeTimerSensor(timerSensor);
- }
-
- ARMARX_INFO << "Disconnecting component: timer stopped";
-
- robotStateComponentPrx = NULL;
- {
- boost::recursive_mutex::scoped_lock lock(*mutex3D);
-
- if (robotVisu)
- {
- ARMARX_INFO << "Disconnecting component: removing visu";
- robotVisu->removeAllChildren();
- }
-
- robot.reset();
- }
- ARMARX_INFO << "Disconnecting component: finished";
-}
-
-
-void RobotViewerWidgetController::onExitComponent()
-{
- enableMainWidgetAsync(false);
-
- {
- boost::recursive_mutex::scoped_lock lock(*mutex3D);
-
- if (debugLayerVisu)
- {
- debugLayerVisu->removeAllChildren();
- debugLayerVisu->unref();
- debugLayerVisu = NULL;
- }
-
- if (robotVisu)
- {
- robotVisu->removeAllChildren();
- robotVisu->unref();
- robotVisu = NULL;
- }
-
- if (rootVisu)
- {
- rootVisu->removeAllChildren();
- rootVisu->unref();
- rootVisu = NULL;
- }
- }
-
- /*
- if (debugDrawer && debugDrawer->getObjectScheduler())
- {
- ARMARX_INFO << "Removing DebugDrawer component...";
- debugDrawer->getObjectScheduler()->terminate();
- ARMARX_INFO << "Removing DebugDrawer component...done";
- }
- */
-}
-
-QPointer<QDialog> RobotViewerWidgetController::getConfigDialog(QWidget* parent)
-{
- if (!dialog)
- {
- dialog = new RobotViewerConfigDialog(parent);
- dialog->setName(dialog->getDefaultName());
-
- }
-
- return qobject_cast<RobotViewerConfigDialog*>(dialog);
-}
-
-
-
-void RobotViewerWidgetController::configured()
-{
- ARMARX_VERBOSE << "RobotViewerWidget::configured()";
- robotStateComponentName = dialog->proxyFinder->getSelectedProxyName().trimmed().toStdString();
-
- //TODO: Config dialog erweitern
-
- robotIKName = "RobotIK";
- kinematicUnitComponentName = "Armar3KinematicUnit";
-}
-
-
-void RobotViewerWidgetController::loadSettings(QSettings* settings)
-{
- robotStateComponentName = settings->value("RobotStateComponent", QString::fromStdString(ROBOTSTATE_NAME_DEFAULT)).toString().toStdString();
-}
-
-void RobotViewerWidgetController::saveSettings(QSettings* settings)
-{
- settings->setValue("RobotStateComponent", QString::fromStdString(robotStateComponentName));
-}
-
-
-void RobotViewerWidgetController::showVisuLayers(bool show)
-{
- if (debugDrawer)
- {
- if (show)
- {
- debugDrawer->enableAllLayers();
- }
- else
- {
- debugDrawer->disableAllLayers();
- }
- }
-}
-
-void RobotViewerWidgetController::showRoot(bool show)
-{
- if (!debugDrawer)
- {
- return;
- }
-
- std::string poseName("root");
-
- if (show)
- {
- Eigen::Matrix4f gp = Eigen::Matrix4f::Identity();
- PosePtr gpP(new Pose(gp));
- debugDrawer->setPoseDebugLayerVisu(poseName, gpP);
- }
- else
- {
- debugDrawer->removePoseDebugLayerVisu(poseName);
- }
-}
-
-void RobotViewerWidgetController::showRobot(bool show)
-{
- if (!robotVisu)
- {
- return;
- }
-
- boost::recursive_mutex::scoped_lock lock(*mutex3D);
-
- if (show && rootVisu->findChild(robotVisu) < 0)
- {
- rootVisu->addChild(robotVisu);
- }
- else if (!show && rootVisu->findChild(robotVisu) >= 0)
- {
- rootVisu->removeChild(robotVisu);
- }
-}
-SoNode* RobotViewerWidgetController::getScene()
-{
- return rootVisu;
-}
-
-void RobotViewerWidgetController::timerCB(void* data, SoSensor* sensor)
-{
- RobotViewerWidgetController* controller = static_cast<RobotViewerWidgetController*>(data);
-
- if (!controller)
- {
- return;
- }
-
- controller->updateRobotVisu();
-}
-
-
-void RobotViewerWidgetController::connectSlots()
-{
- connect(this, SIGNAL(robotStatusUpdated()), this, SLOT(updateRobotVisu()));
- connect(ui.cbDebugLayer, SIGNAL(toggled(bool)), this, SLOT(showVisuLayers(bool)), Qt::QueuedConnection);
- connect(ui.cbRoot, SIGNAL(toggled(bool)), this, SLOT(showRoot(bool)), Qt::QueuedConnection);
- connect(ui.cbRobot, SIGNAL(toggled(bool)), this, SLOT(showRobot(bool)), Qt::QueuedConnection);
-}
-
-
-
-VirtualRobot::RobotPtr RobotViewerWidgetController::loadRobotFile(std::string fileName)
-{
- VirtualRobot::RobotPtr robot;
-
- if (!ArmarXDataPath::getAbsolutePath(fileName, fileName))
- {
- ARMARX_INFO << "Could not find Robot XML file with name " << fileName;
- }
-
- robot = RobotIO::loadRobot(fileName);
-
- if (!robot)
- {
- ARMARX_INFO << "Could not find Robot XML file with name " << fileName;
- }
-
- return robot;
-}
-
-
-
-void RobotViewerWidgetController::updateRobotVisu()
-{
- boost::recursive_mutex::scoped_lock lock(*mutex3D);
-
- if (!robotStateComponentPrx || !robot)
- {
- return;
- }
-
- try
- {
- RemoteRobot::synchronizeLocalClone(robot, robotStateComponentPrx);
- }
- catch (...)
- {
- ARMARX_INFO << deactivateSpam(5) << "Robot synchronization failed";
- return;
- }
-
- Eigen::Matrix4f gp = robot->getGlobalPose();
- QString roboInfo("Robot Pose (global): pos: ");
- roboInfo += QString::number(gp(0, 3), 'f', 2);
- roboInfo += QString(", ");
- roboInfo += QString::number(gp(1, 3), 'f', 2);
- roboInfo += QString(", ");
- roboInfo += QString::number(gp(2, 3), 'f', 2);
- roboInfo += QString(", rot:");
- Eigen::Vector3f rpy;
- VirtualRobot::MathTools::eigen4f2rpy(gp, rpy);
- roboInfo += QString::number(rpy(0), 'f', 2);
- roboInfo += QString(", ");
- roboInfo += QString::number(rpy(1), 'f', 2);
- roboInfo += QString(", ");
- roboInfo += QString::number(rpy(2), 'f', 2);
- ui.leRobotInfo->setText(roboInfo);
-}
-
-void RobotViewerWidgetController::solveIK()
-{
- //auto robotNodeSets = robot->getRobotNodeSets();
-
- ::Ice::AsyncResultPtr asyncResult = robotIKPrx->begin_computeIKGlobalPose("LeftArm", new Pose(), eAll);
-
- while (!asyncResult->isCompleted())
- {
- qApp->processEvents();
- }
-
- auto targetJointAngles = robotIKPrx->end_computeIKGlobalPose(asyncResult);
-
- kinematicUnitInterfacePrx->setJointAngles(targetJointAngles);
- //kinematicUnitInterfacePrx->switchControlMode();
-}
-
-void RobotViewerWidgetController::setMutex3D(boost::shared_ptr<boost::recursive_mutex> mutex3D)
-{
- //ARMARX_IMPORTANT << "set mutex3d :" << mutex3D.get();
- this->mutex3D = mutex3D;
-
- if (debugDrawer)
- {
- debugDrawer->setMutex(mutex3D);
- }
-}
-
-
-Q_EXPORT_PLUGIN2(armarx_gui_RobotViewerGuiPlugin, RobotViewerGuiPlugin)
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.h
deleted file mode 100644
index dc38933e6..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.h
+++ /dev/null
@@ -1,179 +0,0 @@
-/*
-* 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 ArmarX::Component::RobotViewerGuiPlugin
-* @author Nikolaus Vahrenkamp
-* @copyright 2015 KIT
-* @license http://www.gnu.org/licenses/gpl-2.0.txt
-* GNU General Public License
-
-*/
-
-#ifndef ARMARX_COMPONENT_ROBOTVIEWER_GUI_H
-#define ARMARX_COMPONENT_ROBOTVIEWER_GUI_H
-
-/* ArmarX headers */
-#include <RobotAPI/gui-plugins/RobotViewerPlugin/ui_RobotViewerGuiPlugin.h>
-#include <RobotAPI/components/DebugDrawer/DebugDrawerComponent.h>
-#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
-#include <RobotAPI/interface/core/RobotIK.h>
-
-#include <Gui/ArmarXGuiLib/ArmarXGuiPlugin.h>
-#include <Gui/ArmarXGuiLib/ArmarXComponentWidgetController.h>
-
-#include <ArmarXCore/core/Component.h>
-
-/* Qt headers */
-#include <QtGui/QMainWindow>
-
-
-#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/Nodes/RobotNode.h>
-#include <VirtualRobot/RobotNodeSet.h>
-#include <VirtualRobot/Visualization/VisualizationFactory.h>
-#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
-#include <RobotAPI/interface/core/RobotState.h>
-
-#include <boost/shared_ptr.hpp>
-
-#include <Inventor/sensors/SoTimerSensor.h>
-
-namespace armarx
-{
- typedef boost::shared_ptr<VirtualRobot::CoinVisualization> CoinVisualizationPtr;
-
- class RobotViewerConfigDialog;
-
- /**
- \class RobotViewerGuiPlugin
- \brief This plugin provides a generic widget showing a 3D model of the robot. The robot is articulated and moved according to the corresponding RemoteRobot.
- Further, DebugDrawer methods are available.
- \see RobotViewerWidget
- */
- class RobotViewerGuiPlugin :
- public ArmarXGuiPlugin
- {
- public:
- RobotViewerGuiPlugin();
-
- QString getPluginName()
- {
- return "RobotViewerGuiPlugin";
- }
- };
-
- /**
- \class RobotViewerWidget
- \brief This widget shows a 3D model of the robot. The robot is articulated and moved according to the corresponding RemoteRobot.
- Further, DebugDrawer methods are available.
- \image html RobotViewerGUI.png
- When you add the widget to the Gui, you need to specify the following parameters:
-
- Parameter Name | Example Value | Required? | Description
- :---------------- | :-------------: | :-------------- |:--------------------
- Proxy | RobotStateComponent | Yes | The name of the robot state component.
-
- \ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
- \see RobotViewerGuiPlugin
- */
- class RobotViewerWidgetController :
- public ArmarXComponentWidgetController
- {
- Q_OBJECT
- public:
-
- RobotViewerWidgetController();
- virtual ~RobotViewerWidgetController() {}
-
- // inherited from Component
- virtual void onInitComponent();
- virtual void onConnectComponent();
- virtual void onDisconnectComponent();
- virtual void onExitComponent();
-
- // inherited of ArmarXWidget
- virtual QString getWidgetName() const
- {
- return "RobotControl.RobotIK";
- }
- QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
- virtual void loadSettings(QSettings* settings);
- virtual void saveSettings(QSettings* settings);
- void configured();
-
- SoNode* getScene();
-
- // overwrite setMutex, so that we can inform the debugdrawer
- virtual void setMutex3D(boost::shared_ptr<boost::recursive_mutex> mutex3D);
-
- signals:
-
- void robotStatusUpdated();
-
- public slots:
-
- void updateRobotVisu();
- void solveIK();
-
-
-
- protected:
- void connectSlots();
-
-
- Ui::RobotViewerGuiPlugin ui;
-
- bool verbose;
-
-
- RobotStateComponentInterfacePrx robotStateComponentPrx;
- KinematicUnitInterfacePrx kinematicUnitInterfacePrx;
- RobotIKInterfacePrx robotIKPrx;
-
- VirtualRobot::RobotPtr robot;
-
- SoSeparator* robotVisu;
- SoSeparator* rootVisu;
-
- std::string robotStateComponentName;
- std::string kinematicUnitComponentName;
- std::string robotIKName;
-
- SoTimerSensor* timerSensor;
-
- SoSeparator* debugLayerVisu;
- armarx::DebugDrawerComponentPtr debugDrawer;
-
- static void timerCB(void* data, SoSensor* sensor);
- protected slots:
- void showVisuLayers(bool show);
- void showRoot(bool show);
- void showRobot(bool show);
- private:
-
- // init stuff
- VirtualRobot::RobotPtr loadRobotFile(std::string fileName);
-
- CoinVisualizationPtr getCoinVisualization(VirtualRobot::RobotPtr robot);
-
-
- QPointer<QWidget> __widget;
- QPointer<RobotViewerConfigDialog> dialog;
-
- };
- typedef boost::shared_ptr<RobotViewerWidgetController> RobotViewerGuiPluginPtr;
-}
-
-#endif
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.ui b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.ui
deleted file mode 100644
index 2a8526ac8..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.ui
+++ /dev/null
@@ -1,90 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>RobotViewerGuiPlugin</class>
- <widget class="QWidget" name="RobotViewerGuiPlugin">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>912</width>
- <height>100</height>
- </rect>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>100</height>
- </size>
- </property>
- <property name="windowTitle">
- <string>Form</string>
- </property>
- <layout class="QGridLayout" name="gridLayout_2">
- <item row="0" column="1">
- <widget class="QCheckBox" name="cbDebugLayer">
- <property name="text">
- <string>show debug layer</string>
- </property>
- <property name="checked">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLineEdit" name="leRobotInfo">
- <property name="enabled">
- <bool>false</bool>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <layout class="QVBoxLayout" name="verticalLayout">
- <property name="sizeConstraint">
- <enum>QLayout::SetMaximumSize</enum>
- </property>
- <item>
- <widget class="QLabel" name="labelRobotViewerName">
- <property name="font">
- <font>
- <family>AlArabiya</family>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>RobotViewer</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="1" column="1">
- <widget class="QCheckBox" name="cbRoot">
- <property name="text">
- <string>show root</string>
- </property>
- <property name="checked">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QCheckBox" name="cbRobot">
- <property name="text">
- <string>show robot</string>
- </property>
- <property name="checked">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/CMakeLists.txt
deleted file mode 100644
index bc97728d1..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/CMakeLists.txt
+++ /dev/null
@@ -1,56 +0,0 @@
-armarx_set_target("RobotIKGuiPlugin")
-
-find_package(Qt4 COMPONENTS QtCore QtGui QtOpenGL QUIET)
-
-find_package(Eigen3 QUIET)
-
-# VirtualRobot (adds dependencies to Coin3D and SoQt)
-find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
-#find_package(ArmarXGui QUIET)
-
-armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
-
-armarx_build_if(QT_FOUND "Qt not available")
-armarx_build_if(QT_QTOPENGL_FOUND "QtOpenGL not available")
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-armarx_build_if(Simox_FOUND "VirtualRobot not available")
-
-include(${QT_USE_FILE})
-
-include_directories(${Eigen3_INCLUDE_DIR})
-include_directories(${Simox_INCLUDE_DIRS})
-
-
-set(SOURCES
- RobotIKGuiPlugin.cpp
- RobotIKConfigDialog.cpp
- RobotViewer.cpp
- RobotViewerWidget.cpp
-)
-set(HEADERS
- RobotIKGuiPlugin.h
- RobotIKConfigDialog.h
- RobotViewer.h
- RobotViewerWidget.h
-)
-
-set(GUI_MOC_HDRS
- RobotIKGuiPlugin.h
- RobotIKConfigDialog.h
- RobotViewer.h
- RobotViewerWidget.h
-)
-
-set(GUI_UIS
- RobotIKGuiPlugin.ui
- RobotIKConfigDialog.ui
-)
-
-set(COMPONENT_LIBS RobotAPIUnits DebugDrawer ${Simox_LIBRARIES})
-
-
-
-
-if (ArmarXGui_FOUND)
- armarx_gui_library(RobotIKGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" )
-endif()
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.cpp
deleted file mode 100644
index 54b438f34..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.cpp
+++ /dev/null
@@ -1,99 +0,0 @@
-/*
-* 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 ArmarX::
-* @author Philipp Schmidt
-* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
-* GNU General Public License
-*/
-
-//Configuration dialog
-#include "RobotIKConfigDialog.h"
-#include "ui_RobotIKConfigDialog.h"
-
-//RobotAPI includes for different Components
-#include <RobotAPI/interface/core/RobotIK.h>
-#include <RobotAPI/interface/core/RobotState.h>
-
-//Qt includes
-#include <QPushButton>
-#include <QMessageBox>
-
-//Ice includes
-#include <IceUtil/UUID.h>
-
-armarx::RobotIKConfigDialog::RobotIKConfigDialog(QWidget* parent) :
- QDialog(parent),
- ui(new Ui::RobotIKConfigDialog),
- uuid(IceUtil::generateUUID())
-{
- ui->setupUi(this);
-
- //Connect OK Button to the event checking the input parameters
- connect(this->ui->buttonBox, SIGNAL(accepted()), this, SLOT(verifyConfiguration()));
-
- //Set OK button as default for convenience
- ui->buttonBox->button(QDialogButtonBox::Ok)->setDefault(true);
-
- //Initialize proxyFinders for every component
- robotStateComponentProxyFinder = new IceProxyFinder<RobotStateComponentInterfacePrx>(this);
- robotStateComponentProxyFinder->setSearchMask("RobotState*");
- ui->gridLayout->addWidget(robotStateComponentProxyFinder, 1, 1);
-
- kinematicUnitComponentProxyFinder = new IceProxyFinder<KinematicUnitInterfacePrx>(this);
- kinematicUnitComponentProxyFinder->setSearchMask("Armar3Kinematic*");
- ui->gridLayout->addWidget(kinematicUnitComponentProxyFinder, 2, 1);
-
- robotIKComponentProxyFinder = new IceProxyFinder<RobotIKInterfacePrx>(this);
- robotIKComponentProxyFinder->setSearchMask("RobotIK*");
- ui->gridLayout->addWidget(robotIKComponentProxyFinder, 3, 1);
-}
-
-armarx::RobotIKConfigDialog::~RobotIKConfigDialog()
-{
- delete ui;
-}
-
-void armarx::RobotIKConfigDialog::onInitComponent()
-{
- robotStateComponentProxyFinder->setIceManager(this->getIceManager());
- kinematicUnitComponentProxyFinder->setIceManager(this->getIceManager());
- robotIKComponentProxyFinder->setIceManager(this->getIceManager());
-}
-
-void armarx::RobotIKConfigDialog::onConnectComponent()
-{
-
-}
-
-void armarx::RobotIKConfigDialog::onExitComponent()
-{
- QObject::disconnect();
-}
-
-void armarx::RobotIKConfigDialog::verifyConfiguration()
-{
- if (robotStateComponentProxyFinder->getSelectedProxyName().trimmed().length() == 0
- || kinematicUnitComponentProxyFinder->getSelectedProxyName().trimmed().length() == 0
- || robotIKComponentProxyFinder->getSelectedProxyName().trimmed().length() == 0)
- {
- QMessageBox::critical(this, "Invalid Configuration", "The proxy name must not be empty");
- }
- else
- {
- this->accept();
- }
-}
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.h
deleted file mode 100644
index 3d34f2f6c..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/*
-* 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 ArmarX::
-* @author Philipp Schmidt
-* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
-* GNU General Public License
-*/
-
-#ifndef RobotIKCONFIGDIALOG_H
-#define RobotIKCONFIGDIALOG_H
-
-//ArmarX includes
-#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
-
-//Qt includes
-#include <QDialog>
-
-namespace Ui
-{
- class RobotIKConfigDialog;
-}
-
-namespace armarx
-{
- class RobotIKConfigDialog : public QDialog, virtual public ManagedIceObject
- {
- Q_OBJECT
- friend class RobotIKWidgetController;
-
- public:
- explicit RobotIKConfigDialog(QWidget* parent = 0);
- ~RobotIKConfigDialog();
-
- // inherited from ManagedIceObject
- std::string getDefaultName() const
- {
- return "RobotIKConfigDialog" + uuid;
- }
- void onInitComponent();
- void onConnectComponent();
- void onExitComponent();
-
- public slots:
- void verifyConfiguration();
-
- private:
- IceProxyFinderBase* robotStateComponentProxyFinder;
- IceProxyFinderBase* kinematicUnitComponentProxyFinder;
- IceProxyFinderBase* robotIKComponentProxyFinder;
-
- Ui::RobotIKConfigDialog* ui;
- std::string uuid;
- };
-}
-
-#endif
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.ui b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.ui
deleted file mode 100644
index 280951dbb..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.ui
+++ /dev/null
@@ -1,63 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>RobotIKConfigDialog</class>
- <widget class="QDialog" name="RobotIKConfigDialog">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>527</width>
- <height>96</height>
- </rect>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="windowTitle">
- <string>RobotIKConfigDialog</string>
- </property>
- <property name="toolTip">
- <string/>
- </property>
- <layout class="QGridLayout" name="gridLayout_2">
- <item row="1" column="0">
- <widget class="QDialogButtonBox" name="buttonBox">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="standardButtons">
- <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <layout class="QGridLayout" name="gridLayout"/>
- </item>
- </layout>
- </widget>
- <tabstops>
- <tabstop>buttonBox</tabstop>
- </tabstops>
- <resources/>
- <connections>
- <connection>
- <sender>buttonBox</sender>
- <signal>rejected()</signal>
- <receiver>RobotIKConfigDialog</receiver>
- <slot>reject()</slot>
- <hints>
- <hint type="sourcelabel">
- <x>316</x>
- <y>260</y>
- </hint>
- <hint type="destinationlabel">
- <x>286</x>
- <y>274</y>
- </hint>
- </hints>
- </connection>
- </connections>
-</ui>
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.cpp
deleted file mode 100644
index 3e2badc6d..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.cpp
+++ /dev/null
@@ -1,606 +0,0 @@
-/*
-* 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 ArmarX::
-* @author Philipp Schmidt
-* @date 2015
-* @license http://www.gnu.org/licenses/gpl-2.0.txt
-* GNU General Public License
-
-*/
-
-#include "RobotIKGuiPlugin.h"
-#include "RobotViewer.h"
-
-/* ArmarX includes */
-#include <ArmarXCore/core/system/ArmarXDataPath.h>
-#include <ArmarXCore/core/ArmarXObjectScheduler.h>
-#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
-#include <ArmarXCore/core/application/Application.h>
-
-/* Virtual Robot includes */
-#include <VirtualRobot/XML/RobotIO.h>
-#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
-
-/* Coin includes */
-#include <Inventor/actions/SoGetMatrixAction.h>
-#include <Inventor/actions/SoSearchAction.h>
-#include <Inventor/SbViewportRegion.h>
-
-#define ROBOT_UPDATE_TIMER_MS 33
-#define TEXTFIELD_UPDATE_TIMER_MS 200
-
-armarx::RobotIKGuiPlugin::RobotIKGuiPlugin()
-{
- addWidget<RobotIKWidgetController>();
-}
-
-armarx::RobotIKWidgetController::RobotIKWidgetController() : startUpCameraPositioningFlag(true)
-{
- //Initialize Gui
- ui.setupUi(getWidget());
- getWidget()->setEnabled(false);
-
- //Alignment for ui
- this->ui.verticalLayout->setAlignment(Qt::AlignTop);
-
- //Label color can not be set in designer, so we do it here
- this->ui.reachableLabel->setStyleSheet("QLabel { color : red; }");
-
- //Component names
- robotStateComponentName = "";
- robotIKComponentName = "";
- kinematicUnitComponentName = "";
-
- manipSeparator = NULL;
- currentSeparator = NULL;
- tcpManip = NULL;
- tcpManipTransform = NULL;
- tcpManipColor = NULL;
- tcpManipSphere = NULL;
- tcpCurrentTransform = NULL;
- tcpCurrentColor = NULL;
- tcpCurrentSphere = NULL;
- robotUpdateSensor = NULL;
- textFieldUpdateSensor = NULL;
-}
-
-void armarx::RobotIKWidgetController::onInitComponent()
-{
- //Prepare proxies
- usingProxy(robotStateComponentName);
- usingProxy(robotIKComponentName);
- usingProxy(kinematicUnitComponentName);
-}
-
-void armarx::RobotIKWidgetController::onConnectComponent()
-{
- //Get all proxies
- robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>(robotStateComponentName);
- kinematicUnitInterfacePrx = getProxy<KinematicUnitInterfacePrx>(kinematicUnitComponentName);
- robotIKPrx = getProxy<RobotIKInterfacePrx>(robotIKComponentName);
-
- //Load robot
- robot = loadRobot(getIncludePaths());
-
- if (!robot)
- {
- getObjectScheduler()->terminate();
-
- if (getWidget()->parentWidget())
- {
- getWidget()->parentWidget()->close();
- }
-
- ARMARX_ERROR << "RobotIKPlugin: Unable to load robot file! Terminating." << std::endl;
- return;
- }
-
- //Get visualization for our robot and add it to scene graph
- CoinVisualizationPtr robotViewerVisualization = robot->getVisualization<VirtualRobot::CoinVisualization>();
- this->ui.robotViewer->getRobotViewer()->getRootNode()->addChild(robotViewerVisualization->getCoinVisualization());
-
- //Make a timer update robo pose every time tick
- SoSensorManager* sensor_mgr = SoDB::getSensorManager();
- robotUpdateSensor = new SoTimerSensor(robotUpdateTimerCB, this);
- robotUpdateSensor->setInterval(SbTime(ROBOT_UPDATE_TIMER_MS / 1000.0f));
- sensor_mgr->insertTimerSensor(robotUpdateSensor);
-
- //And a timer to update the labels
- textFieldUpdateSensor = new SoTimerSensor(textFieldUpdateTimerCB, this);
- textFieldUpdateSensor->setInterval(SbTime(TEXTFIELD_UPDATE_TIMER_MS / 1000.0f));
- sensor_mgr->insertTimerSensor(textFieldUpdateSensor);
-
- //Get all kinematic chain descriptions and add them to the combo box
- auto robotNodeSets = robot->getRobotNodeSets();
-
- for (VirtualRobot::RobotNodeSetPtr s : robotNodeSets)
- {
- this->ui.comboBox->addItem(QString::fromStdString(s->getName()));
- }
-
- //Make sure comboBox is enabled so you can select a kinematic chain
- this->ui.comboBox->setEnabled(true);
-
- //Get all caertesian selections and add them
- this->ui.cartesianselection->addItem(QString::fromStdString("Orientation and Position"));
- this->ui.cartesianselection->addItem(QString::fromStdString("Position"));
- this->ui.cartesianselection->addItem(QString::fromStdString("Orientation"));
- this->ui.cartesianselection->addItem(QString::fromStdString("X position"));
- this->ui.cartesianselection->addItem(QString::fromStdString("Y position"));
- this->ui.cartesianselection->addItem(QString::fromStdString("Z position"));
-
- //Make sure it is enabled
- this->ui.cartesianselection->setEnabled(true);
- this->ui.cartesianselection->setCurrentIndex(0);
-
- connectSlots();
- enableMainWidgetAsync(true);
-}
-
-void armarx::RobotIKWidgetController::onDisconnectComponent()
-{
- //Stop timers
- SoSensorManager* sensor_mgr = SoDB::getSensorManager();
- sensor_mgr->removeTimerSensor(textFieldUpdateSensor);
- sensor_mgr->removeTimerSensor(robotUpdateSensor);
-
- //Remove all options in comboBox
- this->ui.comboBox->clear();
-
- //Disable ui controls
- this->ui.comboBox->setEnabled(false);
- this->ui.moveTCP->setEnabled(false);
- this->ui.reachableLabel->setEnabled(false);
- this->ui.reachableLabel->setText(QString::fromStdString("No kinematic chain selected"));
- this->ui.reachableLabel->setStyleSheet("QLabel { color : red; }");
- this->ui.errorValue->setEnabled(false);
- this->ui.errorValue->setText(QString::fromStdString("Calculated error: 0"));
- this->ui.errorValue->setEnabled(false);
- this->ui.pushButton->setEnabled(false);
- this->ui.currentPose->setEnabled(false);
- this->ui.currentPoseMatrix->setEnabled(false);
- this->ui.desiredPose->setEnabled(false);
- this->ui.desiredPoseMatrix->setEnabled(false);
- this->ui.resetManip->setEnabled(false);
-
- //Remove all visualization
- this->ui.robotViewer->getRobotViewer()->getRootNode()->removeAllChildren();
-
- //Reset visualization pointers
- manipSeparator = NULL;
- currentSeparator = NULL;
- tcpManip = NULL;
- tcpManipTransform = NULL;
- tcpManipColor = NULL;
- tcpManipSphere = NULL;
- tcpCurrentTransform = NULL;
- tcpCurrentColor = NULL;
- tcpCurrentSphere = NULL;
- robotUpdateSensor = NULL;
- textFieldUpdateSensor = NULL;
-
- //Delete proxies
- robotStateComponentPrx = NULL;
- kinematicUnitInterfacePrx = NULL;
- robotIKPrx = NULL;
-}
-
-void armarx::RobotIKWidgetController::onExitComponent()
-{
- enableMainWidgetAsync(false);
-}
-
-QPointer<QDialog> armarx::RobotIKWidgetController::getConfigDialog(QWidget* parent)
-{
- if (!dialog)
- {
- dialog = new RobotIKConfigDialog(parent);
- }
-
- return qobject_cast<RobotIKConfigDialog*>(dialog);
-}
-
-void armarx::RobotIKWidgetController::loadSettings(QSettings* settings)
-{
-
-}
-
-void armarx::RobotIKWidgetController::saveSettings(QSettings* settings)
-{
-
-}
-
-void armarx::RobotIKWidgetController::configured()
-{
- robotStateComponentName = dialog->robotStateComponentProxyFinder->getSelectedProxyName().trimmed().toStdString();
- robotIKComponentName = dialog->robotIKComponentProxyFinder->getSelectedProxyName().trimmed().toStdString();
- kinematicUnitComponentName = dialog->kinematicUnitComponentProxyFinder->getSelectedProxyName().trimmed().toStdString();
-}
-
-void armarx::RobotIKWidgetController::solveIK()
-{
- auto targetJointAngles = getIKSolution();
-
- if (targetJointAngles.isReachable)
- {
- //Switch all control modes to ePositionControl
- std::vector<VirtualRobot::RobotNodePtr> rn = robot->getRobotNodeSet(this->ui.comboBox->currentText().toStdString())->getAllRobotNodes();
- NameControlModeMap jointModes;
- NameValueMap jointAngles;
-
- for (unsigned int i = 0; i < rn.size(); i++)
- {
- jointModes[rn[i]->getName()] = ePositionControl;
- jointAngles[rn[i]->getName()] = 0.0f;
- }
-
- kinematicUnitInterfacePrx->switchControlMode(jointModes);
- kinematicUnitInterfacePrx->setJointAngles(targetJointAngles.jointAngles);
- }
-}
-
-void armarx::RobotIKWidgetController::kinematicChainChanged(const QString& arg1)
-{
- //An item has been selected, so we can allow the user to use the ui now
- //The manipulator will be set to the position of the current tcp, so this pose
- //has to be reachable!
- this->ui.moveTCP->setEnabled(true);
- this->ui.reachableLabel->setEnabled(true);
- this->ui.reachableLabel->setText(QString::fromStdString("Pose reachable!"));
- this->ui.reachableLabel->setStyleSheet("QLabel { color : green; }");
- this->ui.errorValue->setText(QString::fromStdString("Calculated error: 0"));
- this->ui.errorValue->setEnabled(true);
- this->ui.pushButton->setEnabled(true);
- this->ui.currentPose->setEnabled(true);
- this->ui.currentPoseMatrix->setEnabled(true);
- this->ui.desiredPose->setEnabled(true);
- this->ui.desiredPoseMatrix->setEnabled(true);
- this->ui.resetManip->setEnabled(true);
-
- //Remove all current tcp and desired tcp pose visualization if present
- if (currentSeparator)
- {
- this->ui.robotViewer->getRobotViewer()->getRootNode()->removeChild(currentSeparator);
- }
-
- if (manipSeparator)
- {
- this->ui.robotViewer->getRobotViewer()->getRootNode()->removeChild(manipSeparator);
- }
-
- //Create new Visualization
- manipSeparator = new SoSeparator;
- currentSeparator = new SoSeparator;
-
- tcpCurrentColor = new SoMaterial;
- tcpCurrentColor->transparency = 0.6f;
- tcpCurrentSphere = new SoSphere;
- tcpCurrentSphere->radius = 0.06f;
- tcpManipColor = new SoMaterial;
- tcpManipColor->ambientColor.setValue(0, 1, 0);
- tcpManipColor->transparency = 0.3f;
- tcpManipSphere = new SoSphere;
- tcpManipSphere->radius = 0.06f;
- tcpManip = new SoTransformerManip;
-
- //We need this null separator to remove the scale knobs
- //This won't lead to memory leak, because this guy
- //will be deleted when the separator itself gets removed
- //from the scene graph
- SoSeparator* nullSep = new SoSeparator;
-
- //Make all scale knobs disappear
- tcpManip->getDragger()->setPart("scale1", nullSep);
- tcpManip->getDragger()->setPart("scale2", nullSep);
- tcpManip->getDragger()->setPart("scale3", nullSep);
- tcpManip->getDragger()->setPart("scale4", nullSep);
- tcpManip->getDragger()->setPart("scale5", nullSep);
- tcpManip->getDragger()->setPart("scale6", nullSep);
- tcpManip->getDragger()->setPart("scale7", nullSep);
- tcpManip->getDragger()->setPart("scale8", nullSep);
-
- tcpManip->getDragger()->addFinishCallback(manipFinishCallback, this);
- tcpCurrentTransform = new SoTransform;
- tcpManipTransform = new SoTransform;
-
- manipSeparator->addChild(tcpManipTransform);
- manipSeparator->addChild(tcpManip);
- manipSeparator->addChild(tcpManipColor);
- manipSeparator->addChild(tcpManipSphere);
-
- currentSeparator->addChild(tcpCurrentTransform);
- currentSeparator->addChild(tcpCurrentColor);
- currentSeparator->addChild(tcpCurrentSphere);
-
- this->ui.robotViewer->getRobotViewer()->getRootNode()->insertChild(currentSeparator, 0);
- this->ui.robotViewer->getRobotViewer()->getRootNode()->insertChild(manipSeparator, 0);
-
- //Get TCP pose
- Eigen::Matrix4f mat = robot->getRobotNodeSet(arg1.toStdString())->getTCP()->getGlobalPose();
- mat(0, 3) /= 1000;
- mat(1, 3) /= 1000;
- mat(2, 3) /= 1000;
-
- //Apply to current and desired visualizer
- tcpCurrentTransform->setMatrix(VirtualRobot::CoinVisualizationFactory::getSbMatrix(mat));
- tcpManipTransform->setMatrix(VirtualRobot::CoinVisualizationFactory::getSbMatrix(mat));
-
- /*tcpManip->translation.setValue(mat(0, 3) / 1000, mat(1, 3) / 1000, mat(2, 3) / 1000);
- tcpManip->rotation.setValue(SbRotation(VirtualRobot::CoinVisualizationFactory::getSbMatrix(mat)));*/
-}
-
-void armarx::RobotIKWidgetController::caertesianSelectionChanged(const QString& arg1)
-{
- //If there is a manip in the scene we pretend it just moved to update color etc.
- if (tcpManip)
- {
- manipFinishCallback(this, NULL);
- }
-}
-
-void armarx::RobotIKWidgetController::resetManip()
-{
- //Triggers reset of manipulator in kinematicChainChanged
- kinematicChainChanged(this->ui.comboBox->currentText());
-}
-
-void armarx::RobotIKWidgetController::connectSlots()
-{
- connect(ui.resetManip, SIGNAL(clicked()), this, SLOT(resetManip()), Qt::QueuedConnection);
- connect(ui.pushButton, SIGNAL(clicked()), this, SLOT(solveIK()), Qt::QueuedConnection);
- connect(ui.comboBox, SIGNAL(currentIndexChanged(QString)), this, SLOT(kinematicChainChanged(QString)), Qt::UniqueConnection);
- connect(ui.cartesianselection, SIGNAL(currentIndexChanged(QString)), this, SLOT(caertesianSelectionChanged(QString)), Qt::UniqueConnection);
-}
-
-armarx::StringList armarx::RobotIKWidgetController::getIncludePaths()
-{
- StringList includePaths;
-
- try
- {
- StringList packages = robotStateComponentPrx->getArmarXPackages();
- packages.push_back(Application::GetProjectName());
-
- for (const std::string& projectName : packages)
- {
- if (projectName.empty())
- {
- continue;
- }
-
- CMakePackageFinder project(projectName);
- StringList projectIncludePaths;
- auto pathsString = project.getDataDir();
- boost::split(projectIncludePaths,
- pathsString,
- boost::is_any_of(";,"),
- boost::token_compress_on);
- includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
- }
- }
- catch (...)
- {
- ARMARX_ERROR << "Unable to retrieve robot filename." << std::endl;
- }
-
- return includePaths;
-}
-
-VirtualRobot::RobotPtr armarx::RobotIKWidgetController::loadRobot(StringList includePaths)
-{
- try
- {
- std::string rfile = robotStateComponentPrx->getRobotFilename();
- ArmarXDataPath::getAbsolutePath(rfile, rfile, includePaths);
- return VirtualRobot::RobotIO::loadRobot(rfile);
- }
- catch (...)
- {
- ARMARX_ERROR << "Unable to load robot from file" << std::endl;
- return VirtualRobot::RobotPtr();
- }
-}
-
-void armarx::RobotIKWidgetController::manipFinishCallback(void* data, SoDragger* dragger)
-{
- RobotIKWidgetController* controller = static_cast<RobotIKWidgetController*>(data);
-
- auto targetJointAngles = controller->getIKSolution();
-
- if (targetJointAngles.isReachable)
- {
- //Green
- controller->tcpManipColor->ambientColor.setValue(0, 1, 0);
- controller->ui.reachableLabel->setText(QString::fromStdString("Pose reachable!"));
- controller->ui.reachableLabel->setStyleSheet("QLabel { color : green; }");
- }
- else
- {
- //Red
- controller->tcpManipColor->ambientColor.setValue(1, 0, 0);
- controller->ui.reachableLabel->setText(QString::fromStdString("Pose unreachable!"));
- controller->ui.reachableLabel->setStyleSheet("QLabel { color : red; }");
- }
-
- //Display calculated error
- controller->ui.errorValue->setText(QString::fromStdString("Calculated error: " + boost::lexical_cast<std::string>(targetJointAngles.error)));
-}
-
-void armarx::RobotIKWidgetController::robotUpdateTimerCB(void* data, SoSensor* sensor)
-{
- RobotIKWidgetController* controller = static_cast<RobotIKWidgetController*>(data);
-
- if (!controller || !controller->robotStateComponentPrx || !controller->robot)
- {
- return;
- }
-
- try
- {
- armarx::RemoteRobot::synchronizeLocalClone(controller->robot, controller->robotStateComponentPrx);
-
- if (controller->currentSeparator)
- {
- Eigen::Matrix4f tcpMatrix = controller->robot->getRobotNodeSet(controller->ui.comboBox->currentText().toStdString())->getTCP()->getGlobalPose();
- //Apply tcp position to indicator
- tcpMatrix(0, 3) /= 1000;
- tcpMatrix(1, 3) /= 1000;
- tcpMatrix(2, 3) /= 1000;
- controller->tcpCurrentTransform->setMatrix(VirtualRobot::CoinVisualizationFactory::getSbMatrix(tcpMatrix));
- }
-
- if (controller->startUpCameraPositioningFlag)
- {
- controller->ui.robotViewer->getRobotViewer()->cameraViewAll();
- controller->startUpCameraPositioningFlag = false;
- }
- }
- catch (...) {};
-}
-
-void armarx::RobotIKWidgetController::textFieldUpdateTimerCB(void* data, SoSensor* sensor)
-{
- RobotIKWidgetController* controller = static_cast<RobotIKWidgetController*>(data);
-
- if (!controller)
- {
- return;
- }
-
- if (controller->currentSeparator)
- {
- Eigen::Matrix4f tcpMatrix = controller->robot->getRobotNodeSet(controller->ui.comboBox->currentText().toStdString())->getTCP()->getGlobalPose();
-
- //Set text label to tcp matrix
- std::stringstream buffer;
- buffer << tcpMatrix;
- std::string matrixText = buffer.str();
- controller->ui.currentPoseMatrix->setText(QString::fromStdString(matrixText));
-
- //Set text label for desired tcp pose
- //Therefore calculate current manipulator pose
- SoGetMatrixAction* action = new SoGetMatrixAction(SbViewportRegion());
- SoSearchAction sa;
- sa.setNode(controller->tcpManipSphere);
- sa.setSearchingAll(TRUE); // Search all nodes
- SoBaseKit::setSearchingChildren(TRUE); // Even inside nodekits
- sa.apply(controller->ui.robotViewer->getRobotViewer()->getRootNode());
-
- action->apply(sa.getPath());
-
- SbMatrix matrix = action->getMatrix();
-
- Eigen::Matrix4f mat = Eigen::Matrix4f::Identity();
- mat(0, 0) = matrix[0][0];
- mat(0, 1) = matrix[1][0];
- mat(0, 2) = matrix[2][0];
- mat(0, 3) = matrix[3][0] * 1000;
-
- mat(1, 0) = matrix[0][1];
- mat(1, 1) = matrix[1][1];
- mat(1, 2) = matrix[2][1];
- mat(1, 3) = matrix[3][1] * 1000;
-
- mat(2, 0) = matrix[0][2];
- mat(2, 1) = matrix[1][2];
- mat(2, 2) = matrix[2][2];
- mat(2, 3) = matrix[3][2] * 1000;
-
- mat(3, 0) = matrix[0][3];
- mat(3, 1) = matrix[1][3];
- mat(3, 2) = matrix[2][3];
- mat(3, 3) = matrix[3][3];
-
- //Set text label to manip matrix
- std::stringstream buffer2;
- buffer2 << mat;
- std::string matrixText2 = buffer2.str();
- controller->ui.desiredPoseMatrix->setText(QString::fromStdString(matrixText2));
-
- delete(action);
- }
-}
-
-armarx::ExtendedIKResult armarx::RobotIKWidgetController::getIKSolution()
-{
- SoGetMatrixAction* action = new SoGetMatrixAction(SbViewportRegion());
- SoSearchAction sa;
- sa.setNode(tcpManipSphere);
- sa.setSearchingAll(TRUE); // Search all nodes
- SoBaseKit::setSearchingChildren(TRUE); // Even inside nodekits
- sa.apply(this->ui.robotViewer->getRobotViewer()->getRootNode());
-
- action->apply(sa.getPath());
-
- SbMatrix matrix = action->getMatrix();
-
- Eigen::Matrix4f mat = Eigen::Matrix4f::Identity();
- mat(0, 0) = matrix[0][0];
- mat(0, 1) = matrix[1][0];
- mat(0, 2) = matrix[2][0];
- mat(0, 3) = matrix[3][0] * 1000;
-
- mat(1, 0) = matrix[0][1];
- mat(1, 1) = matrix[1][1];
- mat(1, 2) = matrix[2][1];
- mat(1, 3) = matrix[3][1] * 1000;
-
- mat(2, 0) = matrix[0][2];
- mat(2, 1) = matrix[1][2];
- mat(2, 2) = matrix[2][2];
- mat(2, 3) = matrix[3][2] * 1000;
-
- mat(3, 0) = matrix[0][3];
- mat(3, 1) = matrix[1][3];
- mat(3, 2) = matrix[2][3];
- mat(3, 3) = matrix[3][3];
-
- // mat = robot->getRootNode()->toLocalCoordinateSystem(mat);
- return (robotIKPrx->computeExtendedIKGlobalPose(this->ui.comboBox->currentText().toStdString(), new armarx::Pose(mat),
- convertOption(this->ui.cartesianselection->currentText().toStdString())));
-}
-
-armarx::CartesianSelection armarx::RobotIKWidgetController::convertOption(std::string option)
-{
- if (option == "Orientation and Position")
- {
- return eAll;
- }
- else if (option == "Position")
- {
- return ePosition;
- }
- else if (option == "Orientation")
- {
- return eOrientation;
- }
- else if (option == "X position")
- {
- return eX;
- }
- else if (option == "Y position")
- {
- return eY;
- }
- else if (option == "Z position")
- {
- return eZ;
- }
-
- return eAll;
-}
-
-Q_EXPORT_PLUGIN2(armarx_gui_RobotIKGuiPlugin, armarx::RobotIKGuiPlugin)
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.h
deleted file mode 100644
index 3dd135614..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.h
+++ /dev/null
@@ -1,145 +0,0 @@
-/*
-* 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 ArmarX::
-* @author Philipp Schmidt
-* @date 2015
-* @license http://www.gnu.org/licenses/gpl-2.0.txt
-* GNU General Public License
-
-*/
-
-#ifndef RobotIKGUIPLUGIN_H
-#define RobotIKGUIPLUGIN_H
-
-//Gui
-#include "RobotIKConfigDialog.h"
-#include "ui_RobotIKGuiPlugin.h"
-
-//ArmarX includes
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <RobotAPI/interface/core/RobotIK.h>
-#include <RobotAPI/interface/core/RobotState.h>
-#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
-
-//Qt includes
-#include <QObject>
-
-//VirtualRobot includes
-#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
-
-//Inventor includes
-#include <Inventor/sensors/SoTimerSensor.h>
-#include <Inventor/manips/SoTransformerManip.h>
-#include <Inventor/nodes/SoSphere.h>
-#include <Inventor/nodes/SoMaterial.h>
-
-namespace armarx
-{
- class RobotIKConfigDialog;
-
- class RobotIKGuiPlugin : public ArmarXGuiPlugin
- {
- public:
- RobotIKGuiPlugin();
-
- QString getPluginName()
- {
- return "RobotIKGuiPlugin";
- }
- };
-
- class RobotIKWidgetController : public ArmarXComponentWidgetController
- {
- Q_OBJECT
-
- public:
- RobotIKWidgetController();
- virtual ~RobotIKWidgetController() {}
-
- // inherited from Component
- virtual void onInitComponent();
- virtual void onConnectComponent();
- virtual void onDisconnectComponent();
- virtual void onExitComponent();
-
- // inherited of ArmarXWidget
- virtual QString getWidgetName() const
- {
- return "RobotControl.RobotIK";
- }
- QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
- virtual void loadSettings(QSettings* settings);
- virtual void saveSettings(QSettings* settings);
- void configured();
-
- public slots:
- void solveIK();
- void kinematicChainChanged(const QString& arg1);
- void caertesianSelectionChanged(const QString& arg1);
- void resetManip();
-
- protected:
- RobotStateComponentInterfacePrx robotStateComponentPrx;
- KinematicUnitInterfacePrx kinematicUnitInterfacePrx;
- RobotIKInterfacePrx robotIKPrx;
-
- Ui::RobotIKGuiPlugin ui;
-
- private:
- void connectSlots();
- std::string robotStateComponentName;
- std::string kinematicUnitComponentName;
- std::string robotIKComponentName;
-
- QPointer<RobotIKConfigDialog> dialog;
-
- VirtualRobot::RobotPtr robot;
- StringList getIncludePaths();
- VirtualRobot::RobotPtr loadRobot(StringList includePaths);
-
- SoSeparator* manipSeparator;
- SoSeparator* currentSeparator;
-
- SoTransformerManip* tcpManip;
- static void manipFinishCallback(void* data, SoDragger* manip);
- SoTransform* tcpManipTransform;
- SoMaterial* tcpManipColor;
- SoSphere* tcpManipSphere;
-
- SoTransform* tcpCurrentTransform;
- SoMaterial* tcpCurrentColor;
- SoSphere* tcpCurrentSphere;
-
- SoTimerSensor* robotUpdateSensor;
- static void robotUpdateTimerCB(void* data, SoSensor* sensor);
-
- SoTimerSensor* textFieldUpdateSensor;
- static void textFieldUpdateTimerCB(void* data, SoSensor* sensor);
-
- ExtendedIKResult getIKSolution();
-
- CartesianSelection convertOption(std::string option);
-
- bool startUpCameraPositioningFlag;
-
- };
- typedef boost::shared_ptr<RobotIKWidgetController> RobotIKGuiPluginPtr;
- typedef boost::shared_ptr<VirtualRobot::CoinVisualization> CoinVisualizationPtr;
-}
-
-#endif
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.ui b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.ui
deleted file mode 100644
index 4e41df70c..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.ui
+++ /dev/null
@@ -1,318 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>RobotIKGuiPlugin</class>
- <widget class="QWidget" name="RobotIKGuiPlugin">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>1143</width>
- <height>663</height>
- </rect>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>100</height>
- </size>
- </property>
- <property name="windowTitle">
- <string>Form</string>
- </property>
- <layout class="QGridLayout" name="gridLayout_2">
- <item row="0" column="0">
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <widget class="armarx::RobotViewerWidget" name="robotViewer" native="true"/>
- </item>
- <item>
- <layout class="QVBoxLayout" name="verticalLayout">
- <property name="sizeConstraint">
- <enum>QLayout::SetMinimumSize</enum>
- </property>
- <item>
- <widget class="QLabel" name="choseKinematic">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Choose kinematic chain to use:</string>
- </property>
- <property name="scaledContents">
- <bool>false</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="comboBox"/>
- </item>
- <item>
- <widget class="QLabel" name="caertesianselectionlabel">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Select what to take into account when solving IK:</string>
- </property>
- <property name="scaledContents">
- <bool>false</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="cartesianselection">
- <property name="enabled">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="verticalSpacer">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeType">
- <enum>QSizePolicy::Fixed</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QLabel" name="reachableLabel">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>15</pointsize>
- </font>
- </property>
- <property name="text">
- <string>No kinematic chain selected</string>
- </property>
- <property name="textFormat">
- <enum>Qt::AutoText</enum>
- </property>
- <property name="scaledContents">
- <bool>false</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="errorValue">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>15</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Calculated error: 0</string>
- </property>
- <property name="textFormat">
- <enum>Qt::AutoText</enum>
- </property>
- <property name="scaledContents">
- <bool>false</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="moveTCP">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Move TCP to pose of manipulator in the 3D Viewer:</string>
- </property>
- <property name="scaledContents">
- <bool>false</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pushButton">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="text">
- <string>Move TCP</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="resetManip">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="text">
- <string>Reset manipulator to current TCP pose</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="verticalSpacer_2">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeType">
- <enum>QSizePolicy::Fixed</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QLabel" name="currentPose">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>13</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Current pose of TCP:</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="currentPoseMatrix">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>No kinematic chain selected</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="verticalSpacer_3">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeType">
- <enum>QSizePolicy::Fixed</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QLabel" name="desiredPose">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>13</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Desired pose of TCP:</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="desiredPoseMatrix">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>No kinematic chain selected</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- <customwidgets>
- <customwidget>
- <class>armarx::RobotViewerWidget</class>
- <extends>QWidget</extends>
- <header>RobotAPI/gui-plugins/RobotIKPlugin/RobotViewerWidget.h</header>
- <container>1</container>
- </customwidget>
- </customwidgets>
- <resources/>
- <connections/>
- <slots>
- <slot>focusCameraChanged()</slot>
- </slots>
-</ui>
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.cpp
deleted file mode 100644
index 51827017e..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.cpp
+++ /dev/null
@@ -1,329 +0,0 @@
-#include "RobotViewer.h"
-
-#include <Inventor/nodes/SoSeparator.h>
-#include <Inventor/nodes/SoPickStyle.h>
-#include <Inventor/nodes/SoMaterial.h>
-#include <Inventor/nodes/SoDrawStyle.h>
-#include <Inventor/nodes/SoVertexProperty.h>
-#include <Inventor/nodes/SoLineSet.h>
-
-#include <Inventor/events/SoMouseButtonEvent.h>
-#include <Inventor/events/SoLocation2Event.h>
-
-armarx::RobotViewer::RobotViewer(QWidget* widget) : SoQtExaminerViewer(widget), sceneRootNode(new SoSeparator), contentRootNode(new SoSeparator), camera(new SoPerspectiveCamera)
-{
- this->setBackgroundColor(SbColor(150 / 255.0f, 150 / 255.0f, 150 / 255.0f));
- this->setAccumulationBuffer(true);
- this->setHeadlight(true);
- this->setViewing(false);
- this->setDecoration(false);
-#ifdef WIN32
-#ifndef _DEBUG
- this->setAntialiasing(true, 4);
-#endif
-#endif
- this->setTransparencyType(SoGLRenderAction::SORTED_OBJECT_BLEND);
- this->setFeedbackVisibility(true);
-
- //Create scene root node
- sceneRootNode->ref();
- this->setSceneGraph(sceneRootNode);
-
- //Add camera to scene
- sceneRootNode->addChild(camera);
- this->setCamera(camera);
-
- //Give camera standard position
- camera->position.setValue(SbVec3f(10, -10, 5));
- camera->pointAt(SbVec3f(0, 0, 0), SbVec3f(0, 0, 1));
-
- //Add gridfloor root and make it unpickable
- SoSeparator* gridFloorRoot = new SoSeparator();
- SoPickStyle* unpickable = new SoPickStyle();
- unpickable->style = SoPickStyle::UNPICKABLE;
- SoPickStyle* pickable = new SoPickStyle();
- pickable->style = SoPickStyle::SHAPE;
-
- sceneRootNode->addChild(unpickable);
- sceneRootNode->addChild(gridFloorRoot);
- sceneRootNode->addChild(pickable);
-
- /*/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- Here we draw our grid floor. To change the way the grid floor is drawn change the following constants.
- GRIDSIZE: How many lines to display for each direction of each axis.
- E. g.: 2 would lead to 2 lines in negative and positive direction respectively, plus indicator for axis.
- 5 lines in sum.
- GRIDUNIT: Factor for coin units, e.g. 2 means between 2 lines there is space for 2 coin units.
- GRIDSUBSIZE: How many subunits to display between the larger lines. So 5 would lead to 3 lines between 2 large lines for 5
- subunits.
- GRIDPATTERN: Pattern for sublines. Bitpattern, where 1 is line and 0 is no line.
- //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////*/
- const int GRIDSIZE = 3;
- const int GRIDUNIT = 15;
- const int GRIDSUBSIZE = 10;
- const short GRIDPATTERN = 0xCCCC;
-
- //Red material for X axis
- SoMaterial* red = new SoMaterial;
- red->diffuseColor = SbColor(1, 0, 0);
- //Green material for Y axis
- SoMaterial* green = new SoMaterial;
- green->diffuseColor = SbColor(0, 1, 0);
- //Blue material for Z axis
- SoMaterial* blue = new SoMaterial;
- blue->diffuseColor = SbColor(0, 0, 1);
-
- //Small lines
- SoDrawStyle* thinStyle = new SoDrawStyle;
- thinStyle->lineWidth = 1;
- thinStyle->linePattern = GRIDPATTERN;
- //Larger lines
- SoDrawStyle* largeStyle = new SoDrawStyle;
- largeStyle->lineWidth = 2;
-
- //Our set of vertices for the grid lines
- SoVertexProperty* vertices = new SoVertexProperty;
- SoVertexProperty* subVertices = new SoVertexProperty;
- SoVertexProperty* xVertices = new SoVertexProperty;
- SoVertexProperty* yVertices = new SoVertexProperty;
- SoVertexProperty* zVertices = new SoVertexProperty;
-
- //Definition of which vertex belongs to which line and should be connected
- SoLineSet* lines = new SoLineSet;
- SoLineSet* subLines = new SoLineSet;
- SoLineSet* xLines = new SoLineSet;
- SoLineSet* yLines = new SoLineSet;
- SoLineSet* zLines = new SoLineSet;
-
- //Add 2 vertices for X axis
- xVertices->vertex.set1Value(0, GRIDSIZE * GRIDUNIT, 0, 0);
- xVertices->vertex.set1Value(1, -(GRIDSIZE * GRIDUNIT), 0, 0);
- //Connect them to a line by adding '2' to numVertices at the correct position
- xLines->numVertices.set1Value(0, 2);
-
- //Y axis
- yVertices->vertex.set1Value(0, 0, GRIDSIZE * GRIDUNIT, 0);
- yVertices->vertex.set1Value(1, 0, -(GRIDSIZE * GRIDUNIT), 0);
- yLines->numVertices.set1Value(0, 2);
-
- //Z axis
- zVertices->vertex.set1Value(0, 0, 0, GRIDSIZE * GRIDUNIT);
- zVertices->vertex.set1Value(1, 0, 0, -(GRIDSIZE * GRIDUNIT));
- zLines->numVertices.set1Value(0, 2);
-
- //Counters to keep track of vertex index
- int verticescounter = 0;
- int subverticescounter = 0;
-
- //Draw all lines parallel to the X and Y axis and all sublines, excepted axis itself
- for (int i = -(GRIDSIZE * GRIDUNIT); i < GRIDUNIT * (GRIDSIZE + 1); i += GRIDUNIT)
- {
- if (i != 0)
- {
- vertices->vertex.set1Value(verticescounter++, GRIDSIZE * GRIDUNIT, i, 0);
- vertices->vertex.set1Value(verticescounter++, -(GRIDSIZE * GRIDUNIT), i, 0);
- lines->numVertices.set1Value((verticescounter - 1) / 2, 2);
-
- vertices->vertex.set1Value(verticescounter++, i, GRIDSIZE * GRIDUNIT, 0);
- vertices->vertex.set1Value(verticescounter++, i, -(GRIDSIZE * GRIDUNIT), 0);
- lines->numVertices.set1Value((verticescounter - 1) / 2, 2);
- }
-
- //If this is not the last line to draw, draw sublines
- if (i < GRIDUNIT * GRIDSIZE)
- {
- float delta = (float)GRIDUNIT / (float)GRIDSUBSIZE;
-
- for (int n = 1; n < GRIDSUBSIZE; n++)
- {
- subVertices->vertex.set1Value(subverticescounter++, GRIDSIZE * GRIDUNIT, (float)i + (float)n * delta, 0);
- subVertices->vertex.set1Value(subverticescounter++, -(GRIDSIZE * GRIDUNIT), (float)i + (float)n * delta, 0);
- subLines->numVertices.set1Value((subverticescounter - 1) / 2, 2);
-
- subVertices->vertex.set1Value(subverticescounter++, (float)i + (float)n * delta, GRIDSIZE * GRIDUNIT, 0);
- subVertices->vertex.set1Value(subverticescounter++, (float)i + (float)n * delta, -(GRIDSIZE * GRIDUNIT), 0);
- subLines->numVertices.set1Value((subverticescounter - 1) / 2, 2);
- }
- }
- }
-
-
- lines->vertexProperty.setValue(vertices);
- subLines->vertexProperty.setValue(subVertices);
- xLines->vertexProperty.setValue(xVertices);
- yLines->vertexProperty.setValue(yVertices);
- zLines->vertexProperty.setValue(zVertices);
-
- gridFloorRoot->addChild(thinStyle);
- gridFloorRoot->addChild(subLines);
- gridFloorRoot->addChild(largeStyle);
- gridFloorRoot->addChild(lines);
- gridFloorRoot->addChild(red);
- gridFloorRoot->addChild(xLines);
- gridFloorRoot->addChild(green);
- gridFloorRoot->addChild(yLines);
- gridFloorRoot->addChild(blue);
- gridFloorRoot->addChild(zLines);
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////
- //Gridfloor done
-
- //Create content root node
- sceneRootNode->addChild(contentRootNode);
-}
-
-armarx::RobotViewer::~RobotViewer()
-{
- sceneRootNode->unref();
-}
-
-SoSeparator* armarx::RobotViewer::getRootNode()
-{
- return this->contentRootNode;
-}
-
-void armarx::RobotViewer::cameraViewAll()
-{
- camera->viewAll(this->contentRootNode, SbViewportRegion());
-}
-
-//Override the default navigation behaviour of the SoQtExaminerViewer
-SbBool armarx::RobotViewer::processSoEvent(const SoEvent* const event)
-{
- const SoType type(event->getTypeId());
-
- //Remapping mouse press events
- if (type.isDerivedFrom(SoMouseButtonEvent::getClassTypeId()))
- {
- SoMouseButtonEvent* const ev = (SoMouseButtonEvent*) event;
- const int button = ev->getButton();
- const SbBool press = ev->getState() == SoButtonEvent::DOWN ? TRUE : FALSE;
-
- //LEFT MOUSE BUTTON
- if (button == SoMouseButtonEvent::BUTTON1)
- {
- SoQtExaminerViewer::processSoEvent(ev);
- }
-
- //MIDDLE MOUSE BUTTON
- if (button == SoMouseButtonEvent::BUTTON3)
- {
- /*Middle mouse button now is used for all changes in camera perspective.
- To also display the cool little rotation cursor, viewing mode is set to on
- while button is down*/
-
- //Enable or disable viewing mode while BUTTON3 pressed
- if (press)
- {
- if (!this->isViewing())
- {
- this->setViewing(true);
- }
- }
- else
- {
- if (this->isViewing())
- {
- this->setViewing(false);
- }
- }
-
- //Remap BUTTON3 to BUTTON1
- ev->setButton(SoMouseButtonEvent::BUTTON1);
-
- //Make sure this REALLY only can happen when viewing mode is on.
- //Zooming can also turn it on and it leads to weird effects when doing both
- //(deselections in scene etc.) because SoQtExaminerViewer passes BUTTON1
- //events up to scenegraph when not in viewing mode.
- if (this->isViewing())
- {
- return SoQtExaminerViewer::processSoEvent(ev);
- }
- }
-
- //MOUSE WHEEL UP AND DOWN
- if (button == SoMouseButtonEvent::BUTTON4 || button == SoMouseButtonEvent::BUTTON5)
- {
- /*Zooming is allowed, so just use it. We have to temporarily turn viewing mode
- on to make SoQtExaminerViewer allow zooming.*/
-
- //Swap BUTTON4 and BUTTON5 because zooming out while scrolling up is just retarded
- ev->setButton(button == SoMouseButtonEvent::BUTTON4 ?
- SoMouseButtonEvent::BUTTON5 : SoMouseButtonEvent::BUTTON4);
-
- //Zooming is allowed, so just pass it and temporarily set viewing mode on, if it is not already
- //(otherwise coin gives us warning messages...)
- if (!this->isViewing())
- {
- if (!this->isViewing())
- {
- this->setViewing(true);
- }
-
- SoQtExaminerViewer::processSoEvent(ev);
-
- if (this->isViewing())
- {
- this->setViewing(false);
- }
- }
- else
- {
- SoQtExaminerViewer::processSoEvent(ev);
- }
-
- return TRUE;
- }
- }
-
- // Keyboard handling
- if (type.isDerivedFrom(SoKeyboardEvent::getClassTypeId()))
- {
- const SoKeyboardEvent* const ev = (const SoKeyboardEvent*) event;
-
- /*The escape key and super key (windows key) is used to switch between
- viewing modes. We need to disable this behaviour completely.*/
-
- //65513 seems to be the super key, which is not available in the enum of keys in coin....
- if (ev->getKey() == SoKeyboardEvent::ESCAPE || ev->getKey() == 65513)
- {
- return TRUE;
- }
- else if (ev->getKey() == SoKeyboardEvent::S && ev->getState() == SoButtonEvent::DOWN)
- {
- if (!this->isSeekMode())
- {
- if (!this->isViewing())
- {
- this->setViewing(true);
- }
-
- SoQtExaminerViewer::processSoEvent(ev);
- this->setSeekTime(0.5);
- this->seekToPoint(ev->getPosition());
-
- if (this->isViewing())
- {
- this->setViewing(false);
- }
- }
- }
- else
- {
- SoQtExaminerViewer::processSoEvent(ev);
- }
-
- SoQtExaminerViewer::processSoEvent(ev);
- }
-
- //Let all move events trough
- if (type.isDerivedFrom(SoLocation2Event::getClassTypeId()))
- {
- return SoQtExaminerViewer::processSoEvent(event);
- }
-
- //YOU SHALL NOT PASS!
- return TRUE;
-
- return SoQtExaminerViewer::processSoEvent(event);
-}
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.h
deleted file mode 100644
index d5997ec42..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#ifndef __RobotViewer_h__
-#define __RobotViewer_h__
-
-/* Coin headers */
-#include <Inventor/nodes/SoPerspectiveCamera.h>
-#include <Inventor/Qt/viewers/SoQtExaminerViewer.h>
-
-namespace armarx
-{
- class RobotViewer : public SoQtExaminerViewer
- {
- public:
- RobotViewer(QWidget* widget);
- ~RobotViewer();
- SoSeparator* getRootNode();
- void cameraViewAll();
- private:
- virtual SbBool processSoEvent(const SoEvent* const event);
- SoSeparator* sceneRootNode;
- SoSeparator* contentRootNode;
- SoPerspectiveCamera* camera;
- };
-}
-
-#endif
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.cpp
deleted file mode 100644
index dd925f98f..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.cpp
+++ /dev/null
@@ -1,33 +0,0 @@
-#include "RobotViewerWidget.h"
-
-#include <QGridLayout>
-
-armarx::RobotViewerWidget::RobotViewerWidget(QWidget* parent) : QWidget(parent)
-{
- this->setContentsMargins(1, 1, 1, 1);
-
- QGridLayout* grid = new QGridLayout();
- grid->setContentsMargins(0, 0, 0, 0);
- this->setLayout(grid);
- this->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
-
- QWidget* view1 = new QWidget(this);
- view1->setMinimumSize(100, 100);
- view1->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
-
- viewer.reset(new RobotViewer(view1));
- viewer->show();
-
- grid->addWidget(view1, 0, 0, 1, 2);
-}
-
-
-armarx::RobotViewerWidget::~RobotViewerWidget()
-{
-
-}
-
-RobotViewerPtr armarx::RobotViewerWidget::getRobotViewer()
-{
- return viewer;
-}
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.h
deleted file mode 100644
index ccb8d9979..000000000
--- a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.h
+++ /dev/null
@@ -1,45 +0,0 @@
-#ifndef RobotViewerWidget_h
-#define RobotViewerWidget_h
-
-/* Qt headers */
-#include <QWidget>
-
-/* boost headers */
-#include <boost/smart_ptr/shared_ptr.hpp>
-
-#include "RobotViewer.h"
-
-typedef boost::shared_ptr<armarx::RobotViewer> RobotViewerPtr;
-
-namespace armarx
-{
- class RobotViewerWidget : public QWidget
- {
- Q_OBJECT
-
- public:
- /**
- * Constructor.
- * Constructs a robot viewer widget.
- * Expects a controller::ControllerPtr.
- *
- * @param control shared pointer to controller::controller
- * @param parent parent widget
- *
- */
- explicit RobotViewerWidget(QWidget* parent = 0);
-
- /**
- * Destructor.
- *
- */
- ~RobotViewerWidget();
-
- RobotViewerPtr getRobotViewer();
-
- private:
- RobotViewerPtr viewer;
- };
-}
-
-#endif
--
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