Merge branch 'master' of https://i61wiki.itec.uka.de/git/robot-api

source/RobotAPI/components/units/HapticObserver.h

@@ -41,7 +41,7 @@ namespace armarx
         HapticObserverPropertyDefinitions(std::string prefix):
             ComponentPropertyDefinitions(prefix)
         {
-            defineRequiredProperty<std::string>("HapticTopicName", "Name of the HapticUnit Topic");
+            defineOptionalProperty<std::string>("HapticTopicName", "HapticValues", "Name of the HapticUnit Topic");
         }
     };
 

source/RobotAPI/interface/visualization/DebugDrawerInterface.ice

@@ -31,6 +31,18 @@
 module armarx
 {
 
+    /*!
+     * \brief The Color struct
+     * Values in [0,1]
+     */
+    struct DrawColor
+    {
+         float r;
+         float g;
+         float b;
+    };
+
+
     /*!
       * \brief A layered drawing interface.
       * All drawing operations are identified with a layer name in order to distinguish different drawing entitties.
@@ -45,7 +57,9 @@ module armarx
          * \param poseName The internal name of the pose (can be used to update/disable the drawing).
          * \param globalPose The pose in global coordinate syetem.
          */
-        void setPoseLayerVisu(string layerName, string poseName, PoseBase globalPose);
+        void setPoseVisu(string layerName, string poseName, PoseBase globalPose);
+
+        void setLineVisu(string layerName, string lineName, Vector3Base globalPosition1, Vector3Base globalPosition2, float lineWidth, DrawColor color);
 
         /*!
          * \brief setPoseVisu draws on the "debug" layer
@@ -53,18 +67,21 @@ module armarx
          * \param globalPose
          */
         void setPoseDebugLayerVisu(string poseName, PoseBase globalPose);
+        void setLineDebugLayerVisu(string lineName, Vector3Base globalPosition1, Vector3Base globalPosition2, float lineWidth, DrawColor color);
 
         /*!
          * \brief Remove visualization of coordinate system.
          * \param layerName The name of the drawing layer.
          * \param poseName The name of the pose.
          */
-        void removePoseLayerVisu(string layerName, string poseName);
+        void removePoseVisu(string layerName, string poseName);
+        void removeLineVisu(string layerName, string lineName);
 
         /*!
          * \brief Removes pose from the "debug" layer.
          */
         void removePoseDebugLayerVisu(string poseName);
+        void removeLineDebugLayerVisu(string lineName);
 
     };