diff --git a/etc/doxygen/pages/armarpose.dox b/etc/doxygen/pages/armarpose.dox
index 1b2b13736d32f4e5478230f657248452e4bd13ea..c3c4b2494f9de2f04f007489180acdfb40b8ce70 100644
--- a/etc/doxygen/pages/armarpose.dox
+++ b/etc/doxygen/pages/armarpose.dox
@@ -17,7 +17,7 @@ function.
\section FramedPose-Possible-Frames Frames of coordinates
The frame of FramedX or LinkedX is technically just a string.
The possible values are the names of the robot nodes (use \ref RobotAPI-HowTos-RobotViewer "RobotViewer" app of Simox to inspect them).
-For global poses the exists the global constant string variable armarx::GlobalFrame located in the FramedPose.h.
+For global poses exists the global constant string variable armarx::GlobalFrame located in the FramedPose.h.
Use this variable if you specify global poses and an empty Agent-string. Empty frames should be avoided (though, an empty string is mostly considered as the global frame).
\section FramedPose-FramedPositionCreation Creation of new FramedPositions
diff --git a/source/RobotAPI/components/units/CMakeLists.txt b/source/RobotAPI/components/units/CMakeLists.txt
index 94ed1485e1eabb750ad5ae80748008faea129bc6..90567cf96caddb0d174100b504237265888f06a2 100644
--- a/source/RobotAPI/components/units/CMakeLists.txt
+++ b/source/RobotAPI/components/units/CMakeLists.txt
@@ -74,3 +74,5 @@ set(LIB_FILES
)
armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+
+add_subdirectory(relays)
diff --git a/source/RobotAPI/components/units/relays/CMakeLists.txt b/source/RobotAPI/components/units/relays/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..26d539f34c8e5624a614fa891b8f7a19a04f01fd
--- /dev/null
+++ b/source/RobotAPI/components/units/relays/CMakeLists.txt
@@ -0,0 +1,16 @@
+set(LIB_NAME RobotAPIUnitListenerRelays)
+armarx_set_target("RobotAPI Unit Listener Relays Library: ${LIB_NAME}")
+
+set(LIBS ArmarXCore RobotAPIInterfaces)
+
+set(LIB_HEADERS
+ KinematicUnitListenerRelay.h
+ InertialMeasurementUnitListenerRelay.h
+ ForceTorqueUnitListenerRelay.h
+ RobotStateListenerRelay.h
+)
+
+set(LIB_FILES syntaxcheck.cpp)
+
+armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+
diff --git a/source/RobotAPI/components/units/relays/ForceTorqueUnitListenerRelay.h b/source/RobotAPI/components/units/relays/ForceTorqueUnitListenerRelay.h
new file mode 100644
index 0000000000000000000000000000000000000000..581a1d175f57226d5d93dfc76f18c4bed13cc9e1
--- /dev/null
+++ b/source/RobotAPI/components/units/relays/ForceTorqueUnitListenerRelay.h
@@ -0,0 +1,56 @@
+/*
+ * 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 VisionX::ArmarXObjects::ForceTorqueUnitListenerRelay
+ * @author Raphael Grimm ( ufdrv at student dot kit dot edu )
+ * @date 2016
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXCore/core/util/noop.h>
+#include <RobotAPI/interface/units/ForceTorqueUnit.h>
+
+namespace armarx
+{
+ class ForceTorqueUnitListenerRelay :
+ virtual public ManagedIceObject,
+ virtual public ForceTorqueUnitListener
+ {
+ public:
+ using CallbackFunctionSensorValues = std::function<void(const std::string&, const FramedDirectionBasePtr&, const FramedDirectionBasePtr&)>;
+
+ // ForceTorqueUnitListener interface
+ virtual void reportSensorValues(const std::string& sensorNodeName, const FramedDirectionBasePtr& forces, const FramedDirectionBasePtr& torques, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportSensorValues(sensorNodeName, forces, torques);
+ }
+ protected:
+ // ManagedIceObject interface
+ virtual void onInitComponent()
+ {
+ usingTopic(topicName);
+ }
+ virtual void onConnectComponent() {}
+ virtual std::string getDefaultName() const
+ {
+ return "ForceTorqueUnitListenerRelay";
+ }
+ public:
+ std::string topicName;
+ CallbackFunctionSensorValues callbackReportSensorValues {noop<const std::string&, const FramedDirectionBasePtr&, const FramedDirectionBasePtr&>};
+ };
+ using ForceTorqueUnitListenerRelayPtr = IceInternal::Handle<ForceTorqueUnitListenerRelay>;
+}
diff --git a/source/RobotAPI/components/units/relays/InertialMeasurementUnitListenerRelay.h b/source/RobotAPI/components/units/relays/InertialMeasurementUnitListenerRelay.h
new file mode 100644
index 0000000000000000000000000000000000000000..69e2b0c1bab1d394517684a60ab328d3a95ec55d
--- /dev/null
+++ b/source/RobotAPI/components/units/relays/InertialMeasurementUnitListenerRelay.h
@@ -0,0 +1,56 @@
+/*
+ * 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 VisionX::ArmarXObjects::InertialMeasurementUnitListenerRelay
+ * @author Raphael Grimm ( ufdrv at student dot kit dot edu )
+ * @date 2016
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXCore/core/util/noop.h>
+#include <RobotAPI/interface/units/InertialMeasurementUnit.h>
+
+namespace armarx
+{
+ class InertialMeasurementUnitListenerRelay :
+ virtual public ManagedIceObject,
+ virtual public InertialMeasurementUnitListener
+ {
+ public:
+ using CallbackFunctionSensorValues = std::function<void(const std::string&, const std::string&, const IMUData&, const TimestampBasePtr&)>;
+
+ // InertialMeasurementUnitListener interface
+ virtual void reportSensorValues(const std::string& device, const std::string& name, const IMUData& values, const TimestampBasePtr& timestamp, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportSensorValues(device, name, values, timestamp);
+ }
+ protected:
+ // ManagedIceObject interface
+ virtual void onInitComponent()
+ {
+ usingTopic(topicName);
+ }
+ virtual void onConnectComponent() {}
+ virtual std::string getDefaultName() const
+ {
+ return "InertialMeasurementUnitListenerRelay";
+ }
+ public:
+ std::string topicName;
+ CallbackFunctionSensorValues callbackReportSensorValues {noop<const std::string&, const std::string&, const IMUData&, const TimestampBasePtr&>};
+ };
+ using InertialMeasurementUnitListenerRelayPtr = IceInternal::Handle<InertialMeasurementUnitListenerRelay>;
+}
diff --git a/source/RobotAPI/components/units/relays/KinematicUnitListenerRelay.h b/source/RobotAPI/components/units/relays/KinematicUnitListenerRelay.h
new file mode 100644
index 0000000000000000000000000000000000000000..cbf2d2e2bab5bdc57acadcbb9b78f4fbcca806cb
--- /dev/null
+++ b/source/RobotAPI/components/units/relays/KinematicUnitListenerRelay.h
@@ -0,0 +1,94 @@
+/*
+ * 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 VisionX::ArmarXObjects::KinematicUnitListenerRelay
+ * @author Raphael Grimm ( ufdrv at student dot kit dot edu )
+ * @date 2016
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXCore/core/util/noop.h>
+#include <RobotAPI/interface/units/KinematicUnitInterface.h>
+
+namespace armarx
+{
+ class KinematicUnitListenerRelay :
+ virtual public ManagedIceObject,
+ virtual public KinematicUnitListener
+ {
+ public:
+ using CallbackFunctionModes = std::function<void(const NameControlModeMap&, Ice::Long, bool)>;
+ using CallbackFunctionState = std::function<void(const NameStatusMap&, Ice::Long, bool)>;
+ using CallbackFunctionValue = std::function<void(const NameValueMap&, Ice::Long, bool)>;
+
+ // KinematicUnitListener interface
+ virtual void reportControlModeChanged(const NameControlModeMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportControlModeChanged(map, time, changes);
+ }
+ virtual void reportJointAngles(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportJointAngles(map, time, changes);
+ }
+ virtual void reportJointVelocities(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportJointVelocities(map, time, changes);
+ }
+ virtual void reportJointTorques(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportJointTorques(map, time, changes);
+ }
+ virtual void reportJointAccelerations(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportJointAccelerations(map, time, changes);
+ }
+ virtual void reportJointCurrents(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportJointCurrents(map, time, changes);
+ }
+ virtual void reportJointMotorTemperatures(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportJointMotorTemperatures(map, time, changes);
+ }
+ virtual void reportJointStatuses(const NameStatusMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportJointStatuses(map, time, changes);
+ }
+
+ protected:
+ // ManagedIceObject interface
+ virtual void onInitComponent()
+ {
+ usingTopic(topicName);
+ }
+ virtual void onConnectComponent() {}
+ virtual std::string getDefaultName() const
+ {
+ return "KinematicUnitListenerRelay";
+ }
+ public:
+ std::string topicName;
+ CallbackFunctionModes callbackReportControlModeChanged {noop<const NameControlModeMap&, Ice::Long, bool>};
+ CallbackFunctionValue callbackReportJointAngles {noop<const NameValueMap&, Ice::Long, bool>};
+ CallbackFunctionValue callbackReportJointVelocities {noop<const NameValueMap&, Ice::Long, bool>};
+ CallbackFunctionValue callbackReportJointTorques {noop<const NameValueMap&, Ice::Long, bool>};
+ CallbackFunctionValue callbackReportJointAccelerations {noop<const NameValueMap&, Ice::Long, bool>};
+ CallbackFunctionValue callbackReportJointCurrents {noop<const NameValueMap&, Ice::Long, bool>};
+ CallbackFunctionValue callbackReportJointMotorTemperatures {noop<const NameValueMap&, Ice::Long, bool>};
+ CallbackFunctionState callbackReportJointStatuses {noop<const NameStatusMap&, Ice::Long, bool>};
+ };
+ using KinematicUnitListenerRelayPtr = IceInternal::Handle<KinematicUnitListenerRelay>;
+}
diff --git a/source/RobotAPI/components/units/relays/RobotStateListenerRelay.h b/source/RobotAPI/components/units/relays/RobotStateListenerRelay.h
new file mode 100644
index 0000000000000000000000000000000000000000..839160995c58304031c199884a0e7fbac3517661
--- /dev/null
+++ b/source/RobotAPI/components/units/relays/RobotStateListenerRelay.h
@@ -0,0 +1,61 @@
+/*
+ * 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 VisionX::ArmarXObjects::KinematicUnitListenerRelay
+ * @author Raphael Grimm ( ufdrv at student dot kit dot edu )
+ * @date 2016
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXCore/core/util/noop.h>
+#include <RobotAPI/interface/core/RobotState.h>
+
+namespace armarx
+{
+ class RobotStateListenerRelay :
+ virtual public ManagedIceObject,
+ virtual public RobotStateListenerInterface
+ {
+ public:
+ using CallbackFunctionValue = std::function<void(const NameValueMap& , Ice::Long, bool)>;
+ using CallbackFunctionPose = std::function<void(const FramedPoseBasePtr &, Ice::Long, bool)>;
+
+ virtual void reportJointValues(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportJointValues(map, time, changes);
+ }
+ void reportGlobalRobotRootPose(const FramedPoseBasePtr & pose, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportGlobalRobotRootPose(pose, time, changes);
+ }
+ protected:
+ // ManagedIceObject interface
+ virtual void onInitComponent()
+ {
+ usingTopic(topicName);
+ }
+ virtual void onConnectComponent() {}
+ virtual std::string getDefaultName() const
+ {
+ return "RobotStateListener";
+ }
+ public:
+ std::string topicName;
+ CallbackFunctionValue callbackReportJointValues {noop<const NameValueMap& , Ice::Long, bool>};
+ CallbackFunctionPose callbackReportGlobalRobotRootPose {noop<const FramedPoseBasePtr &, Ice::Long, bool>};
+ };
+ using RobotStateListenerRelayPtr = IceInternal::Handle<RobotStateListenerRelay>;
+}
diff --git a/source/RobotAPI/components/units/relays/syntaxcheck.cpp b/source/RobotAPI/components/units/relays/syntaxcheck.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..82b6a31b758ca9668e4219e346f9ae3be5e4a477
--- /dev/null
+++ b/source/RobotAPI/components/units/relays/syntaxcheck.cpp
@@ -0,0 +1,3 @@
+#include "KinematicUnitListenerRelay.h"
+#include "InertialMeasurementUnitListenerRelay.h"
+#include "ForceTorqueUnitListenerRelay.h"
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.cpp b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.cpp
index 62653b98433caa6fc0a7161015624b742b03b494..b9b89a1aa2a77401face43df6c20670fbb61dde9 100644
--- a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.cpp
@@ -67,7 +67,7 @@ void DebugDrawerViewerWidgetController::onConnectComponent()
// create the debugdrawer component
std::string debugDrawerComponentName = "GUIDebugDrawer_" + getName();
ARMARX_INFO << "Creating component " << debugDrawerComponentName;
- debugDrawer = Component::create<DebugDrawerComponent>(properties, debugDrawerComponentName);
+ debugDrawer = Component::create<DebugDrawerComponent>(getIceProperties(), debugDrawerComponentName);
if (mutex3D)
{
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 53a516e7beeeb7119ed6bc04991e58ed9eaa23ff..b04f22369c2d16013d97c12dd9478614d5633e05 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -32,6 +32,8 @@
#include <ArmarXCore/core/ArmarXObjectScheduler.h>
#include <ArmarXCore/core/ArmarXManager.h>
+#include <ArmarXCore/util/json/JSONObject.h>
+
#include <VirtualRobot/XML/RobotIO.h>
// Qt headers
@@ -44,6 +46,7 @@
#include <QTableView>
#include <QCheckBox>
#include <QTableWidget>
+#include <QClipboard>
#include <Inventor/SoDB.h>
#include <Inventor/Qt/SoQt.h>
@@ -107,7 +110,7 @@ void KinematicUnitWidgetController::onInitComponent()
// create the debugdrawer component
std::string debugDrawerComponentName = "KinemticUnitGUIDebugDrawer_" + getName();
ARMARX_INFO << "Creating component " << debugDrawerComponentName;
- debugDrawer = Component::create<DebugDrawerComponent>(properties, debugDrawerComponentName);
+ debugDrawer = Component::create<DebugDrawerComponent>(getIceProperties(), debugDrawerComponentName);
showVisuLayers(false);
if (mutex3D)
@@ -160,7 +163,7 @@ void KinematicUnitWidgetController::onConnectComponent()
packages.push_back(Application::GetProjectName());
ARMARX_VERBOSE << "ArmarX packages " << packages;
- for (const std::string& projectName : packages)
+ for (const std::string & projectName : packages)
{
if (projectName.empty())
{
@@ -336,6 +339,8 @@ void KinematicUnitWidgetController::saveSettings(QSettings* settings)
}
+
+
void KinematicUnitWidgetController::showVisuLayers(bool show)
{
if (debugDrawer)
@@ -351,6 +356,34 @@ void KinematicUnitWidgetController::showVisuLayers(bool show)
}
}
+void KinematicUnitWidgetController::copyToClipboard()
+{
+ NameValueMap values;
+ {
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+
+ if (selectedControlMode == ePositionControl)
+ {
+ values = reportedJointAngles;
+ }
+ else if (selectedControlMode == eVelocityControl)
+ {
+ values = reportedJointVelocities;
+ }
+ }
+
+ JSONObjectPtr serializer = new JSONObject();
+ for (auto & kv : values)
+ {
+ serializer->setFloat(kv.first, kv.second);
+ }
+ const QString json = QString::fromStdString(serializer->asString(true));
+ QClipboard* clipboard = QApplication::clipboard();
+ clipboard->setText(json);
+ QApplication::processEvents();
+}
+
+
void KinematicUnitWidgetController::updateGuiElements()
{
// modelUpdateCB();
@@ -380,6 +413,7 @@ void KinematicUnitWidgetController::connectSlots()
connect(ui.radioButtonVelocityControl, SIGNAL(clicked(bool)), this, SLOT(setControlModeVelocity()));
connect(ui.radioButtonTorqueControl, SIGNAL(clicked(bool)), this, SLOT(setControlModeTorque()));
+ connect(ui.copyToClipboard, SIGNAL(clicked()), this, SLOT(copyToClipboard()));
connect(ui.showDebugLayer, SIGNAL(toggled(bool)), this, SLOT(showVisuLayers(bool)), Qt::QueuedConnection);
connect(this, SIGNAL(jointAnglesReported()), this, SLOT(updateJointAnglesTable()), Qt::QueuedConnection);
@@ -858,14 +892,14 @@ void KinematicUnitWidgetController::updateControlModesTable()
switch (currentMode)
{
- /*case eNoMode:
- state = "None";
- break;
-
- case eUnknownMode:
- state = "Unknown";
- break;
- */
+ /*case eNoMode:
+ state = "None";
+ break;
+
+ case eUnknownMode:
+ state = "Unknown";
+ break;
+ */
case eDisabled:
state = "Disabled";
break;
@@ -1171,7 +1205,7 @@ void KinematicUnitWidgetController::reportControlModeChanged(const NameControlMo
// return;
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
- for (auto& e : jointModes)
+ for (auto & e : jointModes)
{
// ARMARX_INFO << "Setting jointMode of joint " << e.first << " to " << e.second;
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 8ad61492751cd192b24fb7ceaec68dd7f901d1ea..7675b133b391f489aeb9f8d4a4d82067e2a653d9 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -253,6 +253,7 @@ namespace armarx
protected slots:
void showVisuLayers(bool show);
+ void copyToClipboard();
private:
boost::recursive_mutex mutexNodeSet;
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui
index 0df7579fe4607e0a75623700567cfc792e3ea7ac..333937df642d635cd235f3433a7637232601e0ac 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui
@@ -46,7 +46,14 @@
</item>
<item>
<layout class="QGridLayout" name="gridLayout">
- <item row="2" column="2" colspan="2">
+ <item row="2" column="0" colspan="2">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Select Joint</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="2" colspan="3">
<widget class="QComboBox" name="nodeListComboBox">
<property name="enabled">
<bool>true</bool>
@@ -59,7 +66,7 @@
</property>
</widget>
</item>
- <item row="3" column="2" colspan="2">
+ <item row="3" column="2" colspan="3">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QRadioButton" name="radioButtonPositionControl">
@@ -157,10 +164,7 @@
</item>
</layout>
</item>
- <item row="4" column="2">
- <layout class="QHBoxLayout" name="horizontalLayout_4"/>
- </item>
- <item row="5" column="3">
+ <item row="6" column="4">
<widget class="QCheckBox" name="showDebugLayer">
<property name="text">
<string>debug layer</string>
@@ -170,29 +174,24 @@
</property>
</widget>
</item>
- <item row="5" column="2">
- <widget class="QSlider" name="horizontalSliderKinematicUnitPos">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="minimum">
- <number>-100</number>
- </property>
- <property name="maximum">
- <number>100</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="tickPosition">
- <enum>QSlider::TicksBelow</enum>
+ <item row="4" column="2">
+ <layout class="QHBoxLayout" name="horizontalLayout_4"/>
+ </item>
+ <item row="3" column="0" colspan="2">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>Control Mode</string>
</property>
- <property name="tickInterval">
- <number>0</number>
+ </widget>
+ </item>
+ <item row="6" column="1">
+ <widget class="QLabel" name="labelUnit">
+ <property name="text">
+ <string/>
</property>
</widget>
</item>
- <item row="5" column="0">
+ <item row="6" column="0">
<widget class="QLCDNumber" name="lcdNumberKinematicUnitJointValue">
<property name="enabled">
<bool>true</bool>
@@ -211,24 +210,32 @@
</property>
</widget>
</item>
- <item row="5" column="1">
- <widget class="QLabel" name="labelUnit">
- <property name="text">
- <string/>
+ <item row="6" column="2">
+ <widget class="QSlider" name="horizontalSliderKinematicUnitPos">
+ <property name="enabled">
+ <bool>true</bool>
</property>
- </widget>
- </item>
- <item row="3" column="0" colspan="2">
- <widget class="QLabel" name="label_2">
- <property name="text">
- <string>Control Mode</string>
+ <property name="minimum">
+ <number>-100</number>
+ </property>
+ <property name="maximum">
+ <number>100</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="tickPosition">
+ <enum>QSlider::TicksBelow</enum>
+ </property>
+ <property name="tickInterval">
+ <number>0</number>
</property>
</widget>
</item>
- <item row="2" column="0" colspan="2">
- <widget class="QLabel" name="label">
+ <item row="6" column="3">
+ <widget class="QPushButton" name="copyToClipboard">
<property name="text">
- <string>Select Joint</string>
+ <string>Copy Values</string>
</property>
</widget>
</item>
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
index 764ff8214e825d22975f2a61274d4cbfa5c6e7f3..d7aa2b8c2c3b3955c0280b36d875cd3f891dee79 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
@@ -124,7 +124,7 @@ void RobotViewerWidgetController::onInitComponent()
{
std::string debugDrawerComponentName = "RobotViewerGUIDebugDrawer_" + getName();
ARMARX_INFO << "Creating component " << debugDrawerComponentName;
- debugDrawer = Component::create<DebugDrawerComponent>(properties, debugDrawerComponentName);
+ debugDrawer = Component::create<DebugDrawerComponent>(getIceProperties(), debugDrawerComponentName);
if (mutex3D)
{