diff --git a/etc/doxygen/pages/3.howto b/etc/doxygen/pages/3.howto
new file mode 100644
index 0000000000000000000000000000000000000000..95622dcd89b67c212deb3ff84dd46782aced1d87
--- /dev/null
+++ b/etc/doxygen/pages/3.howto
@@ -0,0 +1,22 @@
+/**
+\page robotapi-howtos HowTos
+
+\subpage robotapi-howtos-eigen-from-pose
+
+\page robotapi-howtos-eigen-from-pose How to convert a Variant pose into an Eigen Matrix
+
+\code
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
+#include <VirtualRobot/LinkedCoordinate.h>
+#include <Eigen/Core>
+
+std::string refFrame = "Base";
+FramedPositionPtr position = getInput<FramedPosition>("position");
+FramedOrientationPtr orientation = getInput<FramedOrientation>("orientation");
+
+VirtualRobot::LinkedCoordinate pose = ArmarPose::createLinkedCoordinate(context->remoteRobot, position, orientation);
+
+Eigen::Matrix4f matrix = pose.getInFrame(refFrame);
+
+\endcode
+*/
diff --git a/source/RobotAPI/components/units/HandUnit.cpp b/source/RobotAPI/components/units/HandUnit.cpp
index 853743acb1c0c773a577d58c12849a349772ad9e..d11f1fb8e9f0c324f9e7328082cd4218db81e5d2 100644
--- a/source/RobotAPI/components/units/HandUnit.cpp
+++ b/source/RobotAPI/components/units/HandUnit.cpp
@@ -77,7 +77,6 @@ void HandUnit::onInitComponent()
for (size_t i=0;i<actors.size();i++)
{
EndEffectorActorPtr a = actors[i];
- ARMARX_WARNING_S << "here is a hack to make the stuff compile - but it will probably crash when run!";
std::vector<EndEffectorActor::ActorDefinition> ads;// = a->getDefinition();
for (size_t j=0;j<ads.size();j++)
{
@@ -91,13 +90,13 @@ void HandUnit::onInitComponent()
const std::vector<std::string> endeffectorPreshapes = robot->getEndEffector(endeffectorName)->getPreshapes();
- preshapeNames = new SingleTypeVariantList(VariantType::String);
+ shapeNames = new SingleTypeVariantList(VariantType::String);
std::vector<std::string>::const_iterator iter = endeffectorPreshapes.begin();
while(iter != endeffectorPreshapes.end())
{
Variant currentPreshape;
currentPreshape.setString(*iter);
- preshapeNames->addVariant(currentPreshape);
+ shapeNames->addVariant(currentPreshape);
iter++;
}
@@ -125,24 +124,15 @@ void HandUnit::onExitComponent()
}
-void HandUnit::open(const Ice::Current& c)
-{
-}
-
-
-void HandUnit::close(const Ice::Current& c)
-{
-}
-
-void HandUnit::preshape(const std::string& preshapeName, const Ice::Current& c)
+void HandUnit::shape(const std::string& shapeName, const Ice::Current& c)
{
}
-SingleTypeVariantListBasePtr HandUnit::getPreshapeNames(const Ice::Current& c)
+SingleTypeVariantListBasePtr HandUnit::getShapeNames(const Ice::Current& c)
{
- return preshapeNames;
+ return shapeNames;
}
@@ -153,10 +143,10 @@ PropertyDefinitionsPtr HandUnit::createPropertyDefinitions()
}
-NameValueMap HandUnit::getPreshapeJointValues(const std::string &preshapeName, const Ice::Current &)
+NameValueMap HandUnit::getShapeJointValues(const std::string &shapeName, const Ice::Current &)
{
EndEffectorPtr efp = robot->getEndEffector(getProperty<std::string>("EndeffectorName").getValue());
- RobotConfigPtr rc = efp->getPreshape(preshapeName);
+ RobotConfigPtr rc = efp->getPreshape(shapeName);
return rc->getRobotNodeJointValueMap();
}
diff --git a/source/RobotAPI/components/units/HandUnit.h b/source/RobotAPI/components/units/HandUnit.h
index 31c5c3729d57bc8b4107910bc599c936d132410a..8fc88cd1f94f72803d1bb50f8aac6fb000635ac5 100644
--- a/source/RobotAPI/components/units/HandUnit.h
+++ b/source/RobotAPI/components/units/HandUnit.h
@@ -114,24 +114,24 @@ namespace armarx
/**
* Send command to the hand to open all fingers.
*/
- virtual void open(const Ice::Current& c = ::Ice::Current());
+ //virtual void open(const Ice::Current& c = ::Ice::Current());
/**
* Send command to the hand to close all fingers.
*/
- virtual void close(const Ice::Current& c = ::Ice::Current());
+ //virtual void close(const Ice::Current& c = ::Ice::Current());
/**
- * Send command to the hand to form a specific preshape position.
+ * Send command to the hand to form a specific shape position. The shapes are defined in the robot.xml file.
*/
- virtual void preshape(const std::string& preshapeName, const Ice::Current& c = ::Ice::Current());
+ virtual void shape(const std::string& shapeName, const Ice::Current& c = ::Ice::Current());
/**
- * @return a list of strings for preshape positions which can be used together with HandUnit::preshape().
+ * @return a list of strings for shape positions which can be used together with HandUnit::shape().
*/
- virtual SingleTypeVariantListBasePtr getPreshapeNames(const Ice::Current& c = ::Ice::Current());
+ virtual SingleTypeVariantListBasePtr getShapeNames(const Ice::Current& c = ::Ice::Current());
- NameValueMap getPreshapeJointValues(const std::string &preshapeName, const Ice::Current & c = ::Ice::Current());
+ NameValueMap getShapeJointValues(const std::string &shapeName, const Ice::Current & c = ::Ice::Current());
void setObjectGrasped(const std::string &objectName, const Ice::Current &);
void setObjectReleased(const std::string &objectName, const Ice::Current &);
@@ -152,9 +152,9 @@ namespace armarx
*/
std::string listenerChannelName;
/**
- * List containing the names of all valid preshapes.
+ * List containing the names of all valid shapes.
*/
- SingleTypeVariantListPtr preshapeNames;
+ SingleTypeVariantListPtr shapeNames;
VirtualRobot::RobotPtr robot;
VirtualRobot::EndEffectorPtr eef;
diff --git a/source/RobotAPI/components/units/HandUnitObserver.cpp b/source/RobotAPI/components/units/HandUnitObserver.cpp
index cdb899d599f314c45bc75c8c8019c8339d6cf668..31c93458e48ec1e4d3c39e4e8281431bf4704cc2 100644
--- a/source/RobotAPI/components/units/HandUnitObserver.cpp
+++ b/source/RobotAPI/components/units/HandUnitObserver.cpp
@@ -12,7 +12,7 @@ using namespace armarx;
void HandUnitObserver::onInitObserver()
{
- usingTopic("LeftHandState");
+ /*usingTopic("LeftHandState");
usingTopic("RightHandState");
offerChannel("leftHand", "Gives information about the state of the left robot hand.");
@@ -34,7 +34,7 @@ void HandUnitObserver::onInitObserver()
updateChannel("rightHand");
offerConditionCheck("equals", new armarx::ConditionCheckEquals());
- offerConditionCheck("updated", new armarx::ConditionCheckUpdated());
+ offerConditionCheck("updated", new armarx::ConditionCheckUpdated());*/
}
@@ -52,7 +52,7 @@ void HandUnitObserver::onExitObserver()
}
-
+/*
void HandUnitObserver::reportHandClosed(bool isLeftHand, const Ice::Current&)
{
if (isLeftHand)
@@ -86,11 +86,12 @@ void HandUnitObserver::reportHandOpened(bool isLeftHand, const Ice::Current&)
updateChannel("rightHand");
}
}
+*/
-
-void HandUnitObserver::reportHandPreshaped(bool isLeftHand, const Ice::Current&)
+void HandUnitObserver::reportHandShaped(const std::string &handName, const std::string &shapeName, const Ice::Current&)
{
- if (isLeftHand)
+ // todo
+ /*if (isLeftHand)
{
setDataField("leftHand", "isOpen", false);
setDataField("leftHand", "isClosed", false);
@@ -101,14 +102,15 @@ void HandUnitObserver::reportHandPreshaped(bool isLeftHand, const Ice::Current&)
setDataField("rightHand", "isOpen", false);
setDataField("rightHand", "isClosed", false);
updateChannel("rightHand");
- }
+ }*/
}
-void HandUnitObserver::reportNewHandShapeName(bool isLeftHand, const std::string& handShapeName, const Ice::Current&)
+void HandUnitObserver::reportNewHandShapeName(const std::string &handName, const std::string& handShapeName, const Ice::Current&)
{
- if (isLeftHand)
+ // todo
+ /*if (isLeftHand)
{
setDataField("leftHand", "shapeName", handShapeName);
updateChannel("leftHand");
@@ -117,5 +119,5 @@ void HandUnitObserver::reportNewHandShapeName(bool isLeftHand, const std::string
{
setDataField("rightHand", "shapeName", handShapeName);
updateChannel("rightHand");
- }
+ }*/
}
diff --git a/source/RobotAPI/components/units/HandUnitObserver.h b/source/RobotAPI/components/units/HandUnitObserver.h
index 98134d4fd2dd18b180eafe2405e353f8658aa06b..1ac69c33e61fe04b9bd8daf44dc2f6f957574cd2 100644
--- a/source/RobotAPI/components/units/HandUnitObserver.h
+++ b/source/RobotAPI/components/units/HandUnitObserver.h
@@ -43,6 +43,7 @@ namespace armarx
};
+ // TODO !!!
class HandUnitObserver :
virtual public Observer,
virtual public HandUnitListener
@@ -50,8 +51,6 @@ namespace armarx
public:
HandUnitObserver(){}
- //void setTopicName(std::string topicName);
-
// framework hooks
virtual std::string getDefaultName() const { return "HandUnitObserver"; }
virtual void onInitObserver();
@@ -59,10 +58,9 @@ namespace armarx
virtual void onExitObserver();
// observer interface
- virtual void reportHandClosed(bool isLeftHand, const ::Ice::Current& = ::Ice::Current());
- virtual void reportHandOpened(bool isLeftHand, const ::Ice::Current& = ::Ice::Current());
- virtual void reportHandPreshaped(bool isLeftHand, const ::Ice::Current& = ::Ice::Current());
- virtual void reportNewHandShapeName(bool isLeftHand, const ::std::string& handShapeName, const ::Ice::Current& = ::Ice::Current());
+ // implementation: todo...
+ virtual void reportHandShaped(const std::string &handName, const std::string &shapeName, const ::Ice::Current& = ::Ice::Current());
+ virtual void reportNewHandShapeName(const std::string &handName, const ::std::string& handShapeName, const ::Ice::Current& = ::Ice::Current());
/**
* @see PropertyUser::createPropertyDefinitions()
diff --git a/source/RobotAPI/components/units/HandUnitSimulation.cpp b/source/RobotAPI/components/units/HandUnitSimulation.cpp
index 01c2dfd4d7195f9c16344e4a2be14088e9e3179a..e46bd2ab944933dbd0c6a0eb32d8b4759bfeea4f 100644
--- a/source/RobotAPI/components/units/HandUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/HandUnitSimulation.cpp
@@ -50,19 +50,8 @@ void HandUnitSimulation::onExitHandUnit()
-void HandUnitSimulation::open(const Ice::Current& c)
-{
-}
-
-
-
-void HandUnitSimulation::close(const Ice::Current& c)
-{
-}
-
-
-void HandUnitSimulation::preshape(const std::string& preshapeName, const Ice::Current& c)
+void HandUnitSimulation::setShape(const std::string& shapeName, const Ice::Current& c)
{
}
diff --git a/source/RobotAPI/components/units/HandUnitSimulation.h b/source/RobotAPI/components/units/HandUnitSimulation.h
index 3ae8f22abd74b97cd6345f91981dc7dae492bd1e..233428a5b58bf148eee16489ddf4dd310fb4a1ca 100644
--- a/source/RobotAPI/components/units/HandUnitSimulation.h
+++ b/source/RobotAPI/components/units/HandUnitSimulation.h
@@ -52,7 +52,7 @@ namespace armarx
* @brief This class defines an interface for providing high level access to robot hands
* @ingroup SensorActorUnits
*
- * An instance of a HandUnitSimulation provides means to open, close, and preshape hands.
+ * An instance of a HandUnitSimulation provides means to open, close, and shape hands.
* It uses the HandUnitListener Ice interface to report updates of its current state
*
*/
@@ -79,20 +79,12 @@ namespace armarx
*/
virtual void onExitHandUnit();
- /**
- * Send command to the hand to open all fingers.
- */
- virtual void open(const Ice::Current& c = ::Ice::Current());
- /**
- * Send command to the hand to close all fingers.
- */
- virtual void close(const Ice::Current& c = ::Ice::Current());
/**
- * Send command to the hand to form a specific preshape position.
+ * Send command to the hand to form a specific shape position.
*/
- virtual void preshape(const std::string& preshapeName, const Ice::Current& c = ::Ice::Current());
+ virtual void setShape(const std::string& shapeName, const Ice::Current& c = ::Ice::Current());
protected:
diff --git a/source/RobotAPI/components/units/HapticObserver.h b/source/RobotAPI/components/units/HapticObserver.h
index 71c19b9e9b1172c87601ad2d64c0fc985d0ec0fc..fde75d4eaaf909528c7d081326fc7b80269583d4 100644
--- a/source/RobotAPI/components/units/HapticObserver.h
+++ b/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");
}
};
diff --git a/source/RobotAPI/components/units/HapticUnit.cpp b/source/RobotAPI/components/units/HapticUnit.cpp
index cea65e6336bcf02052273894137db21c4e6df7c8..aef0f4e890a05766782217b1ccdcc5b08caf6437 100644
--- a/source/RobotAPI/components/units/HapticUnit.cpp
+++ b/source/RobotAPI/components/units/HapticUnit.cpp
@@ -27,14 +27,13 @@ using namespace armarx;
void HapticUnit::onInitComponent()
{
- listenerName = "HapticValues";
- offeringTopic(listenerName);
+ offeringTopic(getProperty<std::string>("HapticTopicName").getValue());
onInitHapticUnit();
}
void HapticUnit::onConnectComponent()
{
- listenerPrx = getTopic<HapticUnitListenerPrx>(listenerName);
+ hapticTopicPrx = getTopic<HapticUnitListenerPrx>(getProperty<std::string>("HapticTopicName").getValue());
onStartHapticUnit();
}
diff --git a/source/RobotAPI/components/units/HapticUnit.h b/source/RobotAPI/components/units/HapticUnit.h
index 00a1ebb37786f044db87c75a69451d5fbe70ceb0..a018851c99d91cac519548f4d055f4bd39607ffd 100644
--- a/source/RobotAPI/components/units/HapticUnit.h
+++ b/source/RobotAPI/components/units/HapticUnit.h
@@ -41,7 +41,7 @@ namespace armarx
HapticUnitPropertyDefinitions(std::string prefix) :
ComponentPropertyDefinitions(prefix)
{
- // No required properties
+ defineOptionalProperty<std::string>("HapticTopicName", "HapticValues", "Name of the Haptic Topic.");
}
};
@@ -63,8 +63,7 @@ namespace armarx
virtual PropertyDefinitionsPtr createPropertyDefinitions();
protected:
- HapticUnitListenerPrx listenerPrx;
- std::string listenerName;
+ HapticUnitListenerPrx hapticTopicPrx;
};
}
diff --git a/source/RobotAPI/interface/units/HandUnitInterface.ice b/source/RobotAPI/interface/units/HandUnitInterface.ice
index b223021af082526cbd248a149fce0405783133c4..fe74608186e942cd18d121c96bd4e760345a0b53 100644
--- a/source/RobotAPI/interface/units/HandUnitInterface.ice
+++ b/source/RobotAPI/interface/units/HandUnitInterface.ice
@@ -38,11 +38,11 @@ module armarx
interface HandUnitInterface extends SensorActorUnitInterface
{
- void open();
- void close();
- void preshape(string preshapeName);
- SingleTypeVariantListBase getPreshapeNames();
- NameValueMap getPreshapeJointValues(string preshapeName);
+ void setShape(string shapeName);
+ SingleTypeVariantListBase getShapeNames();
+ NameValueMap getShapeJointValues(string shapeName);
+
+
/*!
* \brief Inform the hand unit that an object has been successfully grasped.
@@ -60,10 +60,8 @@ module armarx
interface HandUnitListener extends armarx::ObserverInterface
{
- void reportHandClosed(bool isLeftHand);
- void reportHandOpened(bool isLeftHand);
- void reportHandPreshaped(bool isLeftHand);
- void reportNewHandShapeName(bool isLeftHand, string handShapeName);
+ void reportHandShaped(string handName, string handShapeName);
+ void reportNewHandShapeName(string handName, string handShapeName);
};
diff --git a/source/RobotAPI/interface/units/KinematicUnitInterface.ice b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
index 4c4057da4907c48ec77c86cd7352ad236cb7ce1e..1651057f7b600ec5bea6cc63bf5a6d6eb8a3c439 100644
--- a/source/RobotAPI/interface/units/KinematicUnitInterface.ice
+++ b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
@@ -116,7 +116,7 @@ module armarx
* Depending on the chosen control mode, one or more of the following functions need to be called
* to set all necessary parameters.
*
- * The motion starts after all values have been set.
+ * The motion starts immediately.
*/
void setJointAngles(NameValueMap targetJointAngles) throws OutOfRangeException;
void setJointVelocities(NameValueMap targetJointVelocities) throws OutOfRangeException;
@@ -142,7 +142,7 @@ module armarx
void reportJointStatuses(NameStatusMap actualJointStatuses, bool aValueChanged);
};
- interface KinematicUnitHandInterface extends KinematicUnitInterface
+ /*interface KinematicUnitHandInterface extends KinematicUnitInterface
{
void open();
void close();
@@ -150,14 +150,14 @@ module armarx
void getObjectPoseInHandFrame();
void getHandPoseInObjectFrame();
- };
+ };*/
- interface KinematicUnitHandListener
+ /*interface KinematicUnitHandListener
{
void reportTactileSensorData(NameValueMap actualTactileSensorData);
void reportTactileSensorRawData(NameValueMap actualTactileSensorRawData);
void reportTactileSensorContactData(NameValueMap actualTactileSensorContactData);
- };
+ };*/
};
diff --git a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
index 71917f98f3429a4fdbeaa05598235379f4db6bb7..97863966089d30d2e83433c59852d443cd32b1cc 100644
--- a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
+++ b/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);
};
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensorsUnit.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensorsUnit.cpp
index ad7fc94e2f76e0d7356f8b2bb47fc25a3aaabccf..22bfeca89b8f7024b1cdefdf758cb2641059b756 100755
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensorsUnit.cpp
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensorsUnit.cpp
@@ -122,7 +122,7 @@ void WeissHapticSensorsUnit::onStartHapticUnit()
for(std::vector<boost::shared_ptr<WeissHapticSensor> >::iterator it = sensors.begin(); it != sensors.end(); ++it)
{
- (*it)->setListenerPrx(listenerPrx);
+ (*it)->setListenerPrx(hapticTopicPrx);
(*it)->startSampling();
}
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h
index 6d0488a8397e1bffeb908d4180874313e781bfe1..b0525db2084c1c28bfc4de1ff370c14b7f35e6bc 100755
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensorsUnit.h
@@ -15,7 +15,7 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package Armar4::units
- * @author Peter Kaiser <peter dot kaiser at kit dot edu>
+ * @author Simon Ottenhaus <simon dot ottenhaus at kit dot edu>
* @date 2014
* @copyright http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
@@ -39,16 +39,13 @@ namespace armarx
WeissHapticSensorsUnitPropertyDefinitions(std::string prefix):
HapticUnitPropertyDefinitions(prefix)
{
- //defineOptionalProperty<int>("FirstPipeID", 1, "Id of the first Linux/Xenomai Pipe to use for data transfer");
- //defineOptionalProperty<std::string>("PipeBaseName", "rtp", "Base name of pipe devices");
- //defineOptionalProperty<std::string>("Logfile", "", "Logfile for logging pipe communication");
}
};
class WeissHapticSensorsUnit : virtual public HapticUnit
{
public:
- virtual std::string getDefaultName() { return "HapticUnitArmar4"; }
+ virtual std::string getDefaultName() { return "WeissHapticSensorsUnit"; }
virtual void onInitHapticUnit();
virtual void onStartHapticUnit();
diff --git a/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp b/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
index dcbdd72b4404d9bccf3c68c5b8223a761d44628c..10ec9a97711826ddd828b5b3d060ebb375db2173 100644
--- a/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
+++ b/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
@@ -852,7 +852,7 @@ void DoPreshape::onEnter()
ARMARX_INFO << VAROUT(availableJoints);
if(it != context->handUnits.end())
{
- NameValueMap jointValues = it->second->getPreshapeJointValues(getInput<std::string>("preshapeName"));
+ NameValueMap jointValues = it->second->getShapeJointValues(getInput<std::string>("preshapeName"));
Term jointCondition;
ARMARX_IMPORTANT << VAROUT(jointValues);
for (NameValueMap::const_iterator itJ = jointValues.begin(); itJ != jointValues.end(); ++itJ)
@@ -863,7 +863,7 @@ void DoPreshape::onEnter()
jointCondition = jointCondition && Literal(id, "inrange", Literal::createParameterList((float)(itJ->second - 2.0f/180.0f*M_PI), (float)(itJ->second + 2.0f/180.0f*M_PI)));
}
cond = installCondition<EvSuccess>(jointCondition,"joint angles reached");
- it->second->preshape(getInput<std::string>("preshapeName"));
+ it->second->setShape(getInput<std::string>("preshapeName"));
action = setTimeoutEvent(5000, createEvent<EvSuccess>());
}
@@ -932,7 +932,7 @@ void DoPrefixPreshapeSet::onEnter()
std::map<std::string, HandUnitInterfacePrx>::iterator it = context->handUnits.find(handUnitName);
if(it != context->handUnits.end())
{
- setLocal("preshapes", DoPreshape::GetPreshapeSet(SingleTypeVariantListPtr::dynamicCast(it->second->getPreshapeNames()), getInput<std::string>("preshapePrefix")));
+ setLocal("preshapes", DoPreshape::GetPreshapeSet(SingleTypeVariantListPtr::dynamicCast(it->second->getShapeNames()), getInput<std::string>("preshapePrefix")));
}
else
{
diff --git a/source/RobotAPI/statecharts/motioncontrol/MotionControl.h b/source/RobotAPI/statecharts/motioncontrol/MotionControl.h
index 7e22a3d624662bf5b680213399bed6b2078adb2c..27fd999c71705bd04d159ad1dcc5422d954390aa 100644
--- a/source/RobotAPI/statecharts/motioncontrol/MotionControl.h
+++ b/source/RobotAPI/statecharts/motioncontrol/MotionControl.h
@@ -58,6 +58,8 @@ namespace MotionControl
* \param targetJointValues the desired joint values
* \param targetTolerance tolerance defining how precisely the joint position has to be reached
* \param timeoutInMs a timeout after which the attempt to move is aborted
+ *
+ * \warning Deprecated, use RobotSkills/statecharts/MotionControlGroup/JointPositionControl instead
*/
struct MoveJoints : StateTemplate<MoveJoints>
{
diff --git a/source/RobotAPI/statecharts/placeobject/PlaceObject.cpp b/source/RobotAPI/statecharts/placeobject/PlaceObject.cpp
index ffe624d9dc854d9d57329c4711b06c8b545fda1f..b5429097077bcaec9a0b62661fb241bd64f6f5e9 100644
--- a/source/RobotAPI/statecharts/placeobject/PlaceObject.cpp
+++ b/source/RobotAPI/statecharts/placeobject/PlaceObject.cpp
@@ -166,8 +166,8 @@ namespace armarx
HandUnitInterfacePrx handUnitPrx = context->getHandUnit("RightHandUnit");
if (handUnitPrx)
{
- ARMARX_INFO << "Sending open hand command" << flush;
- handUnitPrx->open();
+ ARMARX_INFO << "Sending open hand command TODO...." << flush;
+ //handUnitPrx->open();
ARMARX_INFO << "TEST: set object released: Vitalis" << flush;
handUnitPrx->setObjectReleased("Vitalis");
} else