diff --git a/scenarios/CMakeLists.txt b/scenarios/CMakeLists.txt
index 47803ece69ba7affb572132ca195d055173eb7ea..3b942c24894a6fabe2d760ff167cf0bf34138b8c 100644
--- a/scenarios/CMakeLists.txt
+++ b/scenarios/CMakeLists.txt
@@ -2,4 +2,3 @@
add_subdirectory(WeissHapticSensorsUnitTest)
add_subdirectory(MotionControlTest)
add_subdirectory(statecharttestscenario)
-add_subdirectory(MovePlatformToLandmarkGroupTest)
diff --git a/scenarios/MovePlatformToLandmarkGroupTest/CMakeLists.txt b/scenarios/MovePlatformToLandmarkGroupTest/CMakeLists.txt
deleted file mode 100644
index d20f40b8b6d3c0ea97e3533a08c865b3d9dfbd3c..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkGroupTest/CMakeLists.txt
+++ /dev/null
@@ -1,26 +0,0 @@
-# Add your components below as shown in the following example:
-#
-# set(SCENARIO_COMPONENTS
-# ConditionHandler
-# Observer
-# PickAndPlaceComponent)
-
-set(SCENARIO_COMPONENTS
- ConditionHandler
- SystemObserver
- RobotControl
-# RobotStateComponent
- PlatformUnitObserver
-# PlatformUnitDynamicSimulation
-# Simulator
- XMLRemoteStateOfferer
- )
-
-# optional 3rd parameter: "path/to/global/config.cfg"
-armarx_scenario("MovePlatformToLandmarkGroupTest" "${SCENARIO_COMPONENTS}")
-
-#set(SCENARIO_CONFIGS
-# config/ComponentName.optionalString.cfg
-# )
-# optional 3rd parameter: "path/to/global/config.cfg"
-#armarx_scenario_from_configs("statecharttestscenario" "${SCENARIO_CONFIGS}")
diff --git a/scenarios/MovePlatformToLandmarkGroupTest/MovePlatformToLandmarkGroupTest.armarxgui b/scenarios/MovePlatformToLandmarkGroupTest/MovePlatformToLandmarkGroupTest.armarxgui
deleted file mode 100644
index 41292d6d01b7c733e3e4466a71732df8e921d1c1..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkGroupTest/MovePlatformToLandmarkGroupTest.armarxgui
+++ /dev/null
@@ -1,38 +0,0 @@
-[General]
-loadedLibs=/home/SMBAD/wittenbe/home/repos/armarx/Gui/build/lib/libConditionViewerGuiPlugin.so, /home/SMBAD/wittenbe/home/repos/armarx/Gui/build/lib/libHandUnitGuiPlugin.so, /home/SMBAD/wittenbe/home/repos/armarx/Gui/build/lib/libHapticUnitGuiPlugin.so, /home/SMBAD/wittenbe/home/repos/armarx/Gui/build/lib/libKinematicUnitGuiPlugin.so, /home/SMBAD/wittenbe/home/repos/armarx/Gui/build/lib/libLoggingGuiPlugin.so, /home/SMBAD/wittenbe/home/repos/armarx/Gui/build/lib/libObserverPropertiesGuiPlugin.so, /home/SMBAD/wittenbe/home/repos/armarx/Gui/build/lib/libPlatformUnitGuiPlugin.so, /home/SMBAD/wittenbe/home/repos/armarx/Gui/build/lib/libSensorActorWidgetsGuiPlugin.so, /home/SMBAD/wittenbe/home/repos/armarx/Gui/build/lib/libStatechartEditorGuiPlugin.so, /home/SMBAD/wittenbe/home/repos/armarx/Gui/build/lib/libStatechartEventSenderGuiPlugin.so, /home/SMBAD/wittenbe/home/repos/armarx/Gui/build/lib/libStateChartGuiPlugin.so, /home/SMBAD/wittenbe/home/repos/armarx/Gui/build/lib/libStatechartViewerGuiPlugin.so, /home/SMBAD/wittenbe/home/repos/armarx/Gui/build/lib/libSystemStateMonitorGuiPlugin.so, /home/SMBAD/wittenbe/home/repos/armarx/MemoryX/build/lib/libWorkingMemoryGuiPlugin.so, /home/SMBAD/wittenbe/home/repos/armarx/SimulationX/build/lib/libSimulatorControlGuiPlugin.so, /home/SMBAD/wittenbe/home/repos/armarx/VisionX/build/lib/libVisionXGuiPlugin.so, /home/SMBAD/wittenbe/home/repos/armarx/Armar4/build/lib/libHardwareGuiPlugin.so
-MainWindowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\x2\x10\0\0\0\x46\0\0\a\x17\0\0\x4\x13\0\0\x2\x11\0\0\0\x62\0\0\a\x16\0\0\x4\x12\0\0\0\0\0\0)
-DockWidgetsState="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x1\0\0\0\x1\0\0\x5\x6\0\0\x3\x82\xfc\x2\0\0\0\x2\xfc\0\0\0\x19\0\0\x2\xd2\0\0\0\xe8\0\xff\xff\xff\xfc\x1\0\0\0\x2\xfb\0\0\0\x1a\0\x44\0o\0\x63\0k\0L\0o\0g\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0\0\0\0\x3\xec\0\0\0\xc8\0\xff\xff\xff\xfb\0\0\0,\0\x44\0o\0\x63\0k\0S\0y\0s\0t\0\x65\0m\0S\0t\0\x61\0t\0\x65\0M\0o\0n\0i\0t\0o\0r\x1\0\0\x3\xf2\0\0\x1\x14\0\0\0\xd3\0\xff\xff\xff\xfb\0\0\0\x1e\0\x44\0o\0\x63\0k\0\x45\0v\0\x65\0n\0t\0S\0\x65\0n\0\x64\0\x65\0r\x1\0\0\x2\xf1\0\0\0\xaa\0\0\0\xaa\0\xff\xff\xff\0\0\0\0\0\0\x3\x82\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)"
-WidgetCustomNames=EventSender, LogViewer, SystemStateMonitor
-
-[EventSender]
-WidgetBaseName=EventSender
-widgetWidth=1286
-widgetHeight=150
-EventSender\1\eventSenderName=startMovePlatformToLandmarkGroupTest
-EventSender\1\description=
-EventSender\1\componentName=RobotControlStateOfferer
-EventSender\1\globalStateIdentifier=RobotStatechart->RobotControl->Functional
-EventSender\1\eventName=EvLoadScenario
-EventSender\1\eventReceiverName=toAll
-EventSender\1\parameters\1\key=proxyName
-EventSender\1\parameters\1\VariantTypeId=-2125418521
-EventSender\1\parameters\1\value=MovePlatformToLandmarkGroupRemoteStateOfferer
-EventSender\1\parameters\2\key=stateName
-EventSender\1\parameters\2\VariantTypeId=-2125418521
-EventSender\1\parameters\2\value=MovePlatformToLandmark
-EventSender\1\parameters\size=2
-EventSender\size=1
-
-[LogViewer]
-WidgetBaseName=LogViewer
-widgetWidth=1004
-widgetHeight=690
-verbosityLevel=1
-autoFilterAdding=true
-
-[SystemStateMonitor]
-WidgetBaseName=SystemStateMonitor
-widgetWidth=276
-widgetHeight=702
-ManagerRepository=@Invalid()
-MonitoredManagers=ArmarXGuiManager, ArmarXSimulatorManager, CommonStorageManager, ConditionHandlerManager, KinematicUnitDynamicSimulationManager, KinematicUnitObserverManager, KinematicUnitSimulationManager, LongtermMemoryManager, MovePlatformAppManager, PlatformUnitDynamicSimulationManager, PlatformUnitObserverManager, PriorKnowledgeManager, RobotControlManager, RobotStateComponentManager, SystemObserverManager, WavingManager
diff --git a/scenarios/MovePlatformToLandmarkGroupTest/config/ConditionHandler.cfg b/scenarios/MovePlatformToLandmarkGroupTest/config/ConditionHandler.cfg
deleted file mode 100644
index fae5ffe0ad36b025157e2105e37c3e2a30f7506c..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkGroupTest/config/ConditionHandler.cfg
+++ /dev/null
@@ -1,92 +0,0 @@
-# ==================================================================
-# ArmarX properties
-# ==================================================================
-
-# ArmarX.CachePath: Path for cache files
-# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
-
-
-# ArmarX.DataPath: Semicolon-separated search list for data files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.DataPath = ""
-
-
-# ArmarX.Verbosity: Global logging level for whole application
-# Attributes:
-# - Default: Verbose
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Verbose
-
-
-# ArmarX.DisableLogging: Turn logging off in whole application
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.DisableLogging = 0
-
-
-# ArmarX.ApplicationName: Application name
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.ApplicationName = ""
-
-
-# ArmarX.Config: Comma-separated list of configuration files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.Config = ""
-
-
-# ==================================================================
-# ArmarX.ConditionHandler properties
-# ==================================================================
-
-# ArmarX.ConditionHandler.HistoryLength: Length of condition history kept by the conditionhandler
-# Attributes:
-# - Default: 1000
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.ConditionHandler.HistoryLength = 1000
-
-
-# ArmarX.ConditionHandler.Observers: Comma seperated observer list
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.ConditionHandler.Observers = ""
-
-
-# ArmarX.ConditionHandler.MinimumLoggingLevel: Local logging level only for this component
-# Attributes:
-# - Default: Undefined
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
-# ArmarX.ConditionHandler.MinimumLoggingLevel = Undefined
-
-
-# ArmarX.ConditionHandler.ObjectName: Name of IceGrid well-known object
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.ConditionHandler.ObjectName = ""
-
-
-
diff --git a/scenarios/MovePlatformToLandmarkGroupTest/config/PlatformUnitObserver.cfg b/scenarios/MovePlatformToLandmarkGroupTest/config/PlatformUnitObserver.cfg
deleted file mode 100644
index e018cd2d6c185fae2a5bc480e6897e86e1fe7915..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkGroupTest/config/PlatformUnitObserver.cfg
+++ /dev/null
@@ -1,84 +0,0 @@
-# ==================================================================
-# ArmarX properties
-# ==================================================================
-
-# ArmarX.CachePath: Path for cache files
-# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
-
-
-# ArmarX.DataPath: Semicolon-separated search list for data files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.DataPath = ""
-
-
-# ArmarX.Verbosity: Global logging level for whole application
-# Attributes:
-# - Default: Verbose
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Verbose
-
-
-# ArmarX.DisableLogging: Turn logging off in whole application
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.DisableLogging = 0
-
-
-# ArmarX.ApplicationName: Application name
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.ApplicationName = ""
-
-
-# ArmarX.Config: Comma-separated list of configuration files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.Config = ""
-
-
-# ==================================================================
-# ArmarX.PlatformUnitObserver properties
-# ==================================================================
-
-# ArmarX.PlatformUnitObserver.PlatformName: Name of the platform (will publish values on PlatformName + 'State')
-# Attributes:
-# - Default: Platform
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.PlatformUnitObserver.PlatformName = Platform
-
-
-# ArmarX.PlatformUnitObserver.MinimumLoggingLevel: Local logging level only for this component
-# Attributes:
-# - Default: Undefined
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
-# ArmarX.PlatformUnitObserver.MinimumLoggingLevel = Undefined
-
-
-# ArmarX.PlatformUnitObserver.ObjectName: Name of IceGrid well-known object
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.PlatformUnitObserver.ObjectName = ""
-
-
-
diff --git a/scenarios/MovePlatformToLandmarkGroupTest/config/RobotControl.cfg b/scenarios/MovePlatformToLandmarkGroupTest/config/RobotControl.cfg
deleted file mode 100644
index cefc98c81c93ac88b47ae16bf4bf448f5b3934c8..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkGroupTest/config/RobotControl.cfg
+++ /dev/null
@@ -1,93 +0,0 @@
-# ==================================================================
-# ArmarX properties
-# ==================================================================
-
-# ArmarX.CachePath: Path for cache files
-# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
-
-
-# ArmarX.DataPath: Semicolon-separated search list for data files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.DataPath = ""
-
-
-# ArmarX.Verbosity: Global logging level for whole application
-# Attributes:
-# - Default: Verbose
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Verbose
-
-
-# ArmarX.DisableLogging: Turn logging off in whole application
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.DisableLogging = 0
-
-
-# ArmarX.ApplicationName: Application name
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.ApplicationName = ""
-
-
-# ArmarX.Config: Comma-separated list of configuration files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.Config = ""
-
-
-# ==================================================================
-# ArmarX.RobotControlStateOfferer properties
-# ==================================================================
-
-# ArmarX.RobotControlStateOfferer.logstates:
-# Attributes:
-# - Default: Comma seperated list with state names to log. If not set, all transitions will be logged
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.RobotControlStateOfferer.logstates = Comma seperated list with state names to log. If not set, all transitions will be logged
-
-
-# ArmarX.RobotControlStateOfferer.enableStatechartLogger: disable/enable statechart logger
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.RobotControlStateOfferer.enableStatechartLogger = 0
-
-
-# ArmarX.RobotControlStateOfferer.MinimumLoggingLevel: Local logging level only for this component
-# Attributes:
-# - Default: Undefined
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
-# ArmarX.RobotControlStateOfferer.MinimumLoggingLevel = Undefined
-
-
-# ArmarX.RobotControlStateOfferer.ObjectName: Name of IceGrid well-known object
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.RobotControlStateOfferer.ObjectName = ""
-
-
-
diff --git a/scenarios/MovePlatformToLandmarkGroupTest/config/SystemObserver.cfg b/scenarios/MovePlatformToLandmarkGroupTest/config/SystemObserver.cfg
deleted file mode 100644
index 7102973bdf909d22014a0c940bfa2b128fffeabd..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkGroupTest/config/SystemObserver.cfg
+++ /dev/null
@@ -1,76 +0,0 @@
-# ==================================================================
-# ArmarX properties
-# ==================================================================
-
-# ArmarX.CachePath: Path for cache files
-# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
-
-
-# ArmarX.DataPath: Semicolon-separated search list for data files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.DataPath = ""
-
-
-# ArmarX.Verbosity: Global logging level for whole application
-# Attributes:
-# - Default: Verbose
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Verbose
-
-
-# ArmarX.DisableLogging: Turn logging off in whole application
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.DisableLogging = 0
-
-
-# ArmarX.ApplicationName: Application name
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.ApplicationName = ""
-
-
-# ArmarX.Config: Comma-separated list of configuration files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.Config = ""
-
-
-# ==================================================================
-# ArmarX.SystemObserver properties
-# ==================================================================
-
-# ArmarX.SystemObserver.MinimumLoggingLevel: Local logging level only for this component
-# Attributes:
-# - Default: Undefined
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
-# ArmarX.SystemObserver.MinimumLoggingLevel = Undefined
-
-
-# ArmarX.SystemObserver.ObjectName: Name of IceGrid well-known object
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.SystemObserver.ObjectName = ""
-
-
-
diff --git a/scenarios/MovePlatformToLandmarkGroupTest/config/XMLRemoteStateOfferer.cfg b/scenarios/MovePlatformToLandmarkGroupTest/config/XMLRemoteStateOfferer.cfg
deleted file mode 100644
index 3bd0bcec6ca0d85f7e733f7b3938601c3a881a30..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkGroupTest/config/XMLRemoteStateOfferer.cfg
+++ /dev/null
@@ -1,83 +0,0 @@
-# ==================================================================
-# ArmarX properties
-# ==================================================================
-
-# ArmarX.CachePath: Path for cache files
-# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
-
-
-# ArmarX.DataPath: Semicolon-separated search list for data files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.DataPath = ""
-
-
-# ArmarX.Verbosity: Global logging level for whole application
-# Attributes:
-# - Default: Verbose
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Debug
-
-
-# ArmarX.DisableLogging: Turn logging off in whole application
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.DisableLogging = 0
-
-
-# ArmarX.ApplicationName: Application name
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.ApplicationName = ""
-
-
-# ArmarX.Config: Comma-separated list of configuration files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.Config = ""
-
-
-# ==================================================================
-# ArmarX.XMLStateComponent properties
-# ==================================================================
-
-# ArmarX.XMLStateComponent.XMLStatechartGroupDefinitionFile: Path to statechart group definition file (*.scgxml)
-# Attributes:
-# - Case sensitivity: no
-# - Required: yes
-ArmarX.XMLStateComponent.XMLStatechartGroupDefinitionFile = RobotAPI/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmarkGroup.scgxml
-
-
-# ArmarX.XMLStateComponent.MinimumLoggingLevel: Local logging level only for this component
-# Attributes:
-# - Default: Undefined
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
-# ArmarX.XMLStateComponent.MinimumLoggingLevel = Undefined
-
-
-# ArmarX.XMLStateComponent.ObjectName: Name of IceGrid well-known object
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.XMLStateComponent.ObjectName = ""
-
-
-
diff --git a/scenarios/MovePlatformToLandmarkGroupTest/config/XMLRemoteStateOfferer1.cfg b/scenarios/MovePlatformToLandmarkGroupTest/config/XMLRemoteStateOfferer1.cfg
deleted file mode 100644
index 0d049a6f8284b65784731218696f4013c401cf2c..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkGroupTest/config/XMLRemoteStateOfferer1.cfg
+++ /dev/null
@@ -1,83 +0,0 @@
-# ==================================================================
-# ArmarX properties
-# ==================================================================
-
-# ArmarX.CachePath: Path for cache files
-# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
-
-
-# ArmarX.DataPath: Semicolon-separated search list for data files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.DataPath = ""
-
-
-# ArmarX.Verbosity: Global logging level for whole application
-# Attributes:
-# - Default: Verbose
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Verbose
-
-
-# ArmarX.DisableLogging: Turn logging off in whole application
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.DisableLogging = 0
-
-
-# ArmarX.ApplicationName: Application name
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
- ArmarX.ApplicationName = "123"
-
-
-# ArmarX.Config: Comma-separated list of configuration files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.Config = ""
-
-
-# ==================================================================
-# ArmarX.XMLStateComponent properties
-# ==================================================================
-
-# ArmarX.XMLStateComponent.XMLStatechartGroupDefinitionFile: Path to statechart group definition file (*.scgxml)
-# Attributes:
-# - Case sensitivity: no
-# - Required: yes
-ArmarX.XMLStateComponent.XMLStatechartGroupDefinitionFile = RobotAPI/source/RobotAPI/statecharts/MovePlatformGroup/MovePlatformGroup.scgxml
-
-
-# ArmarX.XMLStateComponent.MinimumLoggingLevel: Local logging level only for this component
-# Attributes:
-# - Default: Undefined
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
-# ArmarX.XMLStateComponent.MinimumLoggingLevel = Undefined
-
-
-# ArmarX.XMLStateComponent.ObjectName: Name of IceGrid well-known object
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
- ArmarX.XMLStateComponent.ObjectName = "MovePlatformGroup"
-
-
-
diff --git a/scenarios/MovePlatformToLandmarkGroupTest/start_the_scenario_in_SimulatorGui_first b/scenarios/MovePlatformToLandmarkGroupTest/start_the_scenario_in_SimulatorGui_first
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/scenarios/MovePlatformToLandmarkTest/WidgetMovePlatformToLandmarkApp.armarxgui b/scenarios/MovePlatformToLandmarkTest/WidgetMovePlatformToLandmarkApp.armarxgui
deleted file mode 100644
index 81cb8bad1c5d5a2a8e029d180844ba465940dfc7..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkTest/WidgetMovePlatformToLandmarkApp.armarxgui
+++ /dev/null
@@ -1,38 +0,0 @@
-[General]
-loadedLibs=Gui/build/lib/libConditionViewerGuiPlugin.so, Gui/build/lib/libHandUnitGuiPlugin.so, Gui/build/lib/libHardwareGuiPlugin.so, Gui/build/lib/libKinematicUnitGuiPlugin.so, Gui/build/lib/libLoggingGuiPlugin.so, Gui/build/lib/libObjectExaminerGuiPlugin.so, Gui/build/lib/libObserverPropertiesGuiPlugin.so, Gui/build/lib/libPlatformUnitGuiPlugin.so, Gui/build/lib/libSensorActorWidgetsGuiPlugin.so, Gui/build/lib/libStateChartGuiPlugin.so, Gui/build/lib/libSystemStateMonitorGuiPlugin.so, SimulationX/build/lib/libSimulatorControlGuiPlugin.so
-MainWindowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\xff\xff\xff\xff\0\0\0\x18\0\0\a\x80\0\0\x4 \0\0\0\0\0\0\0\0\xff\xff\xff\xfe\xff\xff\xff\xfe\0\0\0\0\x2\0)
-DockWidgetsState="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x1\0\0\0\x1\0\0\a\x80\0\0\x3\xbd\xfc\x2\0\0\0\x2\xfc\0\0\0\x19\0\0\x3\x2\0\0\0\xdc\0\xff\xff\xff\xfc\x1\0\0\0\x2\xfb\0\0\0\x1a\0\x44\0o\0\x63\0k\0L\0o\0g\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0\0\0\0\x5\xdd\0\0\0\xc8\0\xff\xff\xff\xfb\0\0\0,\0\x44\0o\0\x63\0k\0S\0y\0s\0t\0\x65\0m\0S\0t\0\x61\0t\0\x65\0M\0o\0n\0i\0t\0o\0r\x1\0\0\x5\xe3\0\0\x1\x9d\0\0\0\xd3\0\xff\xff\xff\xfb\0\0\0\x1e\0\x44\0o\0\x63\0k\0\x45\0v\0\x65\0n\0t\0S\0\x65\0n\0\x64\0\x65\0r\x1\0\0\x3!\0\0\0\xb5\0\0\0\xaa\0\xff\xff\xff\0\0\0\0\0\0\x3\xbd\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)"
-WidgetCustomNames=EventSender, LogViewer, SystemStateMonitor
-
-[EventSender]
-WidgetBaseName=EventSender
-widgetWidth=1920
-widgetHeight=161
-EventSender\1\eventSenderName=startMovePlatformToLandmarkTest
-EventSender\1\description=
-EventSender\1\componentName=RobotControlStateOfferer
-EventSender\1\globalStateIdentifier=RobotStatechart->RobotControl->Functional
-EventSender\1\eventName=EvLoadScenario
-EventSender\1\eventReceiverName=toAll
-EventSender\1\parameters\1\key=proxyName
-EventSender\1\parameters\1\VariantTypeId=-2125418521
-EventSender\1\parameters\1\value=MovePlatformToLandmarkStateChartStateOfferer
-EventSender\1\parameters\2\key=stateName
-EventSender\1\parameters\2\VariantTypeId=-2125418521
-EventSender\1\parameters\2\value=MovePlatformToLandmarkStateChart
-EventSender\1\parameters\size=2
-EventSender\size=1
-
-[LogViewer]
-WidgetBaseName=LogViewer
-widgetWidth=1501
-widgetHeight=750
-verbosityLevel=1
-autoFilterAdding=true
-
-[SystemStateMonitor]
-WidgetBaseName=SystemStateMonitor
-widgetWidth=413
-widgetHeight=750
-ManagerRepository=@Invalid()
-MonitoredManagers=ArmarXGuiManager, ArmarXSimulatorManager, CommonStorageManager, ConditionHandlerManager, KinematicUnitDynamicSimulationManager, KinematicUnitObserverManager, KinematicUnitSimulationManager, LongtermMemoryManager, MovePlatformAppManager, PlatformUnitDynamicSimulationManager, PlatformUnitObserverManager, PriorKnowledgeManager, RobotControlManager, RobotStateComponentManager, SystemObserverManager, WavingManager
diff --git a/scenarios/MovePlatformToLandmarkTest/configs/ArmarXGui.cfg b/scenarios/MovePlatformToLandmarkTest/configs/ArmarXGui.cfg
deleted file mode 100644
index 72e2e2ed2fb8fed63738266f09fe8ab9994bc0a3..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkTest/configs/ArmarXGui.cfg
+++ /dev/null
@@ -1,7 +0,0 @@
-ArmarX.LoadPlugins=${ArmarXHome_DIR}/Gui/build/lib/libKinematicUnitGuiPlugin.so
-ArmarX.Show3DViewer=yes
-# model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
-ArmarX.KinematicUnitGuiPlugin.RobotFileName=Armar4/data/robotmodel/ArmarIV.xml
-# node set name
-ArmarX.KinematicUnitGuiPlugin.RobotNodeSetName=Robot
-ArmarX.KinematicUnitGuiPlugin.KinematicUnitName=Armar4KinematicUnit
diff --git a/scenarios/MovePlatformToLandmarkTest/configs/ConditionHandler.cfg b/scenarios/MovePlatformToLandmarkTest/configs/ConditionHandler.cfg
deleted file mode 100644
index 3bb2beb8145f198ecfbdd70005c24fe002562c4f..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkTest/configs/ConditionHandler.cfg
+++ /dev/null
@@ -1,92 +0,0 @@
-# ==================================================================
-# ArmarX properties
-# ==================================================================
-
-# ArmarX.CachePath: Path for cache files
-# Attributes:
-# - Default: .cache
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.CachePath = .cache
-
-
-# ArmarX.DataPath: Semicolon-separated search list for data files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.DataPath = ""
-
-
-# ArmarX.Verbosity: Global logging level for whole application
-# Attributes:
-# - Default: Verbose
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Verbose
-
-
-# ArmarX.DisableLogging: Turn logging off in whole application
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.DisableLogging = 0
-
-
-# ArmarX.ApplicationName: Application name
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.ApplicationName = ""
-
-
-# ArmarX.Config: Comma-separated list of configuration files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.Config = ""
-
-
-# ==================================================================
-# ArmarX.ConditionHandler properties
-# ==================================================================
-
-# ArmarX.ConditionHandler.HistoryLength: Length of condition history kept by the conditionhandler
-# Attributes:
-# - Default: 1000
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.ConditionHandler.HistoryLength = 1000
-
-
-# ArmarX.ConditionHandler.Observers: Comma seperated observer list
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.ConditionHandler.Observers = ""
-
-
-# ArmarX.ConditionHandler.MinimumLoggingLevel: Local logging level only for this component
-# Attributes:
-# - Default: Undefined
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
-# ArmarX.ConditionHandler.MinimumLoggingLevel = Undefined
-
-
-# ArmarX.ConditionHandler.ObjectName: Name of IceGrid well-known object
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.ConditionHandler.ObjectName = ""
-
-
-
diff --git a/scenarios/MovePlatformToLandmarkTest/configs/Global.cfg b/scenarios/MovePlatformToLandmarkTest/configs/Global.cfg
deleted file mode 100644
index 77927624693f052359958908ce6d8a1bb0e6bc4f..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkTest/configs/Global.cfg
+++ /dev/null
@@ -1,5 +0,0 @@
-ArmarX.DisableLogging = no
-VisionX.DisableLogging = no
-
-ArmarX.GlobalMinimumLoggingLevel = Verbose
-VisionX.GlobalMinimumLoggingLevel = Verbose
diff --git a/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExample.xml b/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExample.xml
deleted file mode 100644
index 57f2c211283dc7499d812259fbbe80643b1b8824..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExample.xml
+++ /dev/null
@@ -1,45 +0,0 @@
-<MovePlatformToLandmarkStateChart>
- <StateParameters>
- <!--
- x/y are in mm
- for now z=rotation around z axis in radian (values from about -PI to +PI)
- -->
- <targetLandmark>Test1</targetLandmark>
- <landmarkTags>
- <Item0>Start</Item0>
- <Item1>Test1</Item1>
- </landmarkTags>
- <!-- lists of lists seem impossible, hence why there's only one point per landmark-->
- <landmarkPositions>
- <Item0>
- <x>0</x>
- <y>0</y>
- <z>0</z>
- </Item0>
- <Item1>
- <x>0</x>
- <y>10000</y>
- <z>0</z>
- </Item1>
- <Item2>
- <x>0</x>
- <y>10000</y>
- <z>1</z>
- </Item2>
- <Item3>
- <x>-3000</x>
- <y>5000</y>
- <z>1</z>
- </Item3>
- <!--Item4>
- <x>0</x>
- <y>0</y>
- <z>0</z>
- </Item4-->
- </landmarkPositions>
- <positionalAccuracy>11</positionalAccuracy> <!--mm-->
- <orientationalAccuracy>0.2</orientationalAccuracy> <!--rad-->
- <timeoutMoveTo>30001</timeoutMoveTo>
- </StateParameters>
-</MovePlatformToLandmarkStateChart>
-
diff --git a/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml b/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml
deleted file mode 100644
index dc898b10e933fa50bbe51df8ce0242e827c2e923..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<MovePlatformToLandmarkStateChart>
- <StateParameters>
- <!--
- x/y are in mm
- for now z=rotation around z axis in radian (values from about -PI to +PI)
- -->
- <targetLandmark>TableWithRolls</targetLandmark>
- <!-- frame serves as a node name -->
- <landmarkNodes>
- <Item0>
- <x>0</x>
- <y>0</y>
- <z>0</z>
- <frame>Start</frame>
- </Item0>
- <Item1>
- <x>4200</x>
- <y>0</y>
- <z>0</z>
- <frame>1</frame>
- </Item1>
- <Item2>
- <x>4200</x>
- <y>4000</y>
- <z>0</z>
- <frame>2</frame>
- </Item2>
- <Item3>
- <x>4200</x>
- <y>4000</y>
- <z>3</z>
- <frame>Handover</frame>
- </Item3>
- <Item4>
- <x>3100</x>
- <y>6000</y>
- <z>0</z>
- <frame>3</frame>
- </Item4>
- <Item5>
- <x>3300</x>
- <y>8300</y>
- <z>0</z>
- <frame>4</frame>
- </Item5>
- <Item6>
- <x>2600</x>
- <y>7600</y>
- <z>0.8</z>
- <frame>Oven</frame>
- </Item6>
- <Item7>
- <x>3300</x>
- <y>7150</y>
- <z>-1.6</z>
- <frame>TableWithRolls</frame>
- </Item7>
- <Item8>
- <x>2600</x>
- <y>9600</y>
- <z>0.1</z>
- <frame>Sink</frame>
- </Item8>
- <Item9>
- <x>4500</x>
- <y>9400</y>
- <z>0</z>
- <frame>Cupboard7Door</frame>
- </Item9>
- <Item10>
- <x>3200</x>
- <y>9600</y>
- <z>0</z>
- <frame>SinkTable</frame>
- </Item10>
- </landmarkNodes>
- <!-- each edge is defined as "<nodename>;<nodename>" (";" is a delimiter between names,
- so it shouldn't appear in any node name), all edges are bidirectional between the provided nodes -->
- <landmarkEdges>
- <Item0>Start;1</Item0>
- <Item1>1;2</Item1>
- <Item2>2;Handover</Item2>
- <Item3>2;3</Item3>
- <Item4>3;4</Item4>
- <Item5>3;Oven</Item5>
- <Item6>3;TableWithRolls</Item6>
- <Item7>4;Oven</Item7>
- <Item8>4;TableWithRolls</Item8>
- <Item9>4;Sink</Item9>
- <Item10>4;Cupboard7Door</Item10>
- <Item11>TableWithRolls;SinkTable</Item11>
- </landmarkEdges>
- <positionalAccuracy>10</positionalAccuracy> <!--mm-->
- <orientationalAccuracy>0.1</orientationalAccuracy> <!--rad-->
- <timeoutMoveTo>30000</timeoutMoveTo>
- <waitAfterLast>3000</waitAfterLast>
- </StateParameters>
-</MovePlatformToLandmarkStateChart>
diff --git a/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkTest.cfg b/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkTest.cfg
deleted file mode 100644
index 972396a37efb0d9b6ea4823dc6c269f9876b21bf..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkTest.cfg
+++ /dev/null
@@ -1,2 +0,0 @@
-ArmarX.MovePlatformToLandmarkStateChartStateOfferer.KinematicUnitObserverName=PlatformUnitObserver
-ArmarX.MovePlatformToLandmarkStateChartStateOfferer.KinematicUnitName=PlatformUnitDynamicSimulation
diff --git a/scenarios/MovePlatformToLandmarkTest/configs/PlatformUnitObserver.cfg b/scenarios/MovePlatformToLandmarkTest/configs/PlatformUnitObserver.cfg
deleted file mode 100644
index 5fafd2950db0ef2b16a91dcb0c7996564af6e4c8..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkTest/configs/PlatformUnitObserver.cfg
+++ /dev/null
@@ -1,62 +0,0 @@
-# ==================================================================
-# ArmarX properties
-# ==================================================================
-
-# ArmarX.CachePath: Path for cache files
-# Attributes:
-# - Default: .cache
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.CachePath = .cache
-
-
-# ArmarX.DataPath: Semicolon-separated search list for data files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.DataPath = ""
-
-
-# ArmarX.Verbosity: Global logging level for whole application
-# Attributes:
-# - Default: Verbose
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Verbose
-
-
-# ArmarX.DisableLogging: Turn logging off in whole application
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.DisableLogging = 0
-
-
-# ArmarX.ApplicationName: Application name
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.ApplicationName = ""
-
-
-# ArmarX.Config: Comma-separated list of configuration files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.Config = ""
-
-
-# ==================================================================
-# ArmarX.PlatformUnitObserver properties
-# ==================================================================
-
-ArmarX.PlatformUnitObserver.PlatformName=Platform
-
-
-
diff --git a/scenarios/MovePlatformToLandmarkTest/configs/RobotControl.cfg b/scenarios/MovePlatformToLandmarkTest/configs/RobotControl.cfg
deleted file mode 100644
index a5a0610eddf235a4011b5fdb0eb4370ed621ae0a..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkTest/configs/RobotControl.cfg
+++ /dev/null
@@ -1,76 +0,0 @@
-# ==================================================================
-# ArmarX properties
-# ==================================================================
-
-# ArmarX.CachePath: Path for cache files
-# Attributes:
-# - Default: .cache
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.CachePath = .cache
-
-
-# ArmarX.DataPath: Semicolon-separated search list for data files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.DataPath = ""
-
-
-# ArmarX.Verbosity: Global logging level for whole application
-# Attributes:
-# - Default: Verbose
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Verbose
-
-
-# ArmarX.DisableLogging: Turn logging off in whole application
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.DisableLogging = 0
-
-
-# ArmarX.ApplicationName: Application name
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.ApplicationName = ""
-
-
-# ArmarX.Config: Comma-separated list of configuration files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.Config = ""
-
-
-# ==================================================================
-# ArmarX.RobotControlStateOfferer properties
-# ==================================================================
-
-# ArmarX.RobotControlStateOfferer.MinimumLoggingLevel: Local logging level only for this component
-# Attributes:
-# - Default: Undefined
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
-# ArmarX.RobotControlStateOfferer.MinimumLoggingLevel = Undefined
-
-
-# ArmarX.RobotControlStateOfferer.ObjectName: Name of IceGrid well-known object
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.RobotControlStateOfferer.ObjectName = ""
-
-
-
diff --git a/scenarios/MovePlatformToLandmarkTest/configs/SystemObserver.cfg b/scenarios/MovePlatformToLandmarkTest/configs/SystemObserver.cfg
deleted file mode 100644
index 1347203c6bbb6d49bef0b13e1031aee2ca1e0155..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkTest/configs/SystemObserver.cfg
+++ /dev/null
@@ -1,76 +0,0 @@
-# ==================================================================
-# ArmarX properties
-# ==================================================================
-
-# ArmarX.CachePath: Path for cache files
-# Attributes:
-# - Default: .cache
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.CachePath = .cache
-
-
-# ArmarX.DataPath: Semicolon-separated search list for data files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.DataPath = ""
-
-
-# ArmarX.Verbosity: Global logging level for whole application
-# Attributes:
-# - Default: Verbose
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Verbose
-
-
-# ArmarX.DisableLogging: Turn logging off in whole application
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.DisableLogging = 0
-
-
-# ArmarX.ApplicationName: Application name
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.ApplicationName = ""
-
-
-# ArmarX.Config: Comma-separated list of configuration files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.Config = ""
-
-
-# ==================================================================
-# ArmarX.SystemObserver properties
-# ==================================================================
-
-# ArmarX.SystemObserver.MinimumLoggingLevel: Local logging level only for this component
-# Attributes:
-# - Default: Undefined
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
-# ArmarX.SystemObserver.MinimumLoggingLevel = Undefined
-
-
-# ArmarX.SystemObserver.ObjectName: Name of IceGrid well-known object
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.SystemObserver.ObjectName = ""
-
-
-
diff --git a/scenarios/MovePlatformToLandmarkTest/startScenario.sh b/scenarios/MovePlatformToLandmarkTest/startScenario.sh
deleted file mode 100755
index bb413a3847d8af8a9208f915a6be0012eefeeb6a..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkTest/startScenario.sh
+++ /dev/null
@@ -1,24 +0,0 @@
-
-export CORE_PATH=../../../Core
-export GUI_PATH=../../../Gui
-export VISIONX_PATH=../..././VisionX
-export ARMAR4_PATH=../../../Armar4
-export HUMANOIDROBOTAPI_PATH=../../../RobotAPI
-export SCRIPT_PATH=$CORE_PATH/build/bin
-export SIMULATION_PATH=../../../SimulationX
-
-export CORE_BIN_PATH=$CORE_PATH/build/bin
-export GUI_BIN_PATH=$GUI_PATH/build/bin
-export VISIONX_BIN_PATH=$VISIONX_PATH/build/bin
-export ARMAR4_BIN_PATH=$ARMAR4_PATH/build/bin
-export HUMANOIDROBOTAPI_BIN_PATH=$HUMANOIDROBOTAPI_PATH/build/bin
-
-export GLOBAL_CONFIG=./configs/Global.cfg
-
-# armarx components
-$SCRIPT_PATH/startApplication.sh $HUMANOIDROBOTAPI_BIN_PATH/PlatformUnitObserverRun --Ice.Config=$GLOBAL_CONFIG,./configs/PlatformUnitObserver.cfg &
-$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/SystemObserverRun --Ice.Config=$GLOBAL_CONFIG &
-$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/RobotControlRun --Ice.Config=$GLOBAL_CONFIG &
-$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/ConditionHandlerRun --Ice.Config=$GLOBAL_CONFIG &
-$SCRIPT_PATH/startApplication.sh $HUMANOIDROBOTAPI_BIN_PATH/MovePlatformAppRun --Ice.Config=$GLOBAL_CONFIG &
-$SCRIPT_PATH/startApplication.sh $HUMANOIDROBOTAPI_BIN_PATH/MovePlatformToLandmarkAppRun --Ice.Config=$GLOBAL_CONFIG,./configs/MovePlatformToLandmarkTest.cfg &
diff --git a/scenarios/MovePlatformToLandmarkTest/start_the_scenario_in_SimulatorGui_first b/scenarios/MovePlatformToLandmarkTest/start_the_scenario_in_SimulatorGui_first
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/scenarios/MovePlatformToLandmarkTest/stopScenario.sh b/scenarios/MovePlatformToLandmarkTest/stopScenario.sh
deleted file mode 100755
index dfe89bbb34cdbb8bce7fda179e3ac7bf66723cd9..0000000000000000000000000000000000000000
--- a/scenarios/MovePlatformToLandmarkTest/stopScenario.sh
+++ /dev/null
@@ -1,32 +0,0 @@
-
-skill ()
-{
- STR=`ps aux | grep -re "$1 --Ice.Default" | grep -v grep | awk '{print $2}'`
- if [ ${#STR} == 0 ]
- then
- echo skipping $1
- else
- echo killing $1
- kill -s $2 `ps aux | grep -re "$1 --Ice.Default" | grep -v grep | awk '{print $2}'`
- fi
-}
-
-echo SENDING SIGINT TO ALL PROCESSES
-skill PlatformUnitObserverRun 2
-skill SystemObserverRun 2
-skill ConditionHandlerRun 2
-skill RobotControlRun 2
-
-skill MovePlatformAppRun 2
-skill MovePlatformToLandmarkAppRun 2
-
-sleep 1
-
-echo SENDING SIGKILL TO ALL PROCESSES
-skill PlatformUnitObserverRun 9
-skill SystemObserverRun 9
-skill ConditionHandlerRun 9
-skill RobotControlRun 9
-
-skill MovePlatformAppRun 9
-skill MovePlatformToLandmarkAppRun 9
diff --git a/source/RobotAPI/applications/CMakeLists.txt b/source/RobotAPI/applications/CMakeLists.txt
index ec585fcb60c53548a2988bbe7c138e56280f7e24..0abaf667b7855a98168feb4eb9bfe76020608a4c 100644
--- a/source/RobotAPI/applications/CMakeLists.txt
+++ b/source/RobotAPI/applications/CMakeLists.txt
@@ -4,10 +4,6 @@ add_subdirectory(HeadIKUnit)
add_subdirectory(MotionControlTest)
add_subdirectory(TCPControlUnit)
-#obsolete
-#add_subdirectory(MovePlatform)
-#add_subdirectory(MovePlatformToLandmark)
-
add_subdirectory(WeissHapticSensorsUnit)
add_subdirectory(WeissHapticSensor)
add_subdirectory(HapticObserver)
diff --git a/source/RobotAPI/applications/MovePlatform/CMakeLists.txt b/source/RobotAPI/applications/MovePlatform/CMakeLists.txt
deleted file mode 100644
index 9c9c63e79a123fd552bb605490765134342762b3..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/MovePlatform/CMakeLists.txt
+++ /dev/null
@@ -1,22 +0,0 @@
-#test case to move platform to prespecified positions
-
-armarx_component_set_name(MovePlatformApp)
-
-find_package(Eigen3 QUIET)
-
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-
-include_directories(${Eigen3_INCLUDE_DIR})
-
-if (NOT Simox_FOUND)
- find_package(Simox 2.3.0 QUIET)
-endif()
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-include_directories(${Simox_INCLUDE_DIRS})
-
-set(COMPONENT_LIBS MovePlatform)
-
-set(SOURCES main.cpp
- MovePlatformApp.h)
-
-armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/MovePlatform/MovePlatformApp.h b/source/RobotAPI/applications/MovePlatform/MovePlatformApp.h
deleted file mode 100644
index ac02948a56f3242ee93e338753a47ee852b2eaea..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/MovePlatform/MovePlatformApp.h
+++ /dev/null
@@ -1,48 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::applications::MovePlatformApp
- * @author Valerij Wittenbeck
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_APPLICATION_MovePlatform_H
-#define _ARMARX_APPLICATION_MovePlatform_H
-
-
-#include <RobotAPI/statecharts/MovePlatform/MovePlatform.h>
-
-#include <Core/core/application/Application.h>
-
-namespace armarx
-{
- class MovePlatformApp :
- virtual public armarx::Application
- {
- /**
- * @see armarx::Application::setup()
- */
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
- Ice::PropertiesPtr properties)
- {
- registry->addObject( Component::create<MovePlatformStateChart>(properties) );
- }
- };
-}
-
-#endif
diff --git a/source/RobotAPI/applications/MovePlatform/main.cpp b/source/RobotAPI/applications/MovePlatform/main.cpp
deleted file mode 100644
index cb829dda7f8d3c05931738959dc5c6c4f960db13..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/MovePlatform/main.cpp
+++ /dev/null
@@ -1,33 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::application::MovePlatform
- * @author Valerij Wittenbeck
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "MovePlatformApp.h"
-#include <Core/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
- armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::MovePlatformApp>();
- app->setName("MovePlatformApp");
-
- return app->main(argc, argv);
-}
diff --git a/source/RobotAPI/applications/MovePlatformToLandmark/CMakeLists.txt b/source/RobotAPI/applications/MovePlatformToLandmark/CMakeLists.txt
deleted file mode 100644
index a368cd102df640f1cd2584e3943bcd7100dfb15f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/MovePlatformToLandmark/CMakeLists.txt
+++ /dev/null
@@ -1,22 +0,0 @@
-#test case to move platform to prespecified positions
-
-armarx_component_set_name(MovePlatformToLandmarkApp)
-
-find_package(Eigen3 QUIET)
-
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-
-include_directories(${Eigen3_INCLUDE_DIR})
-
-if (NOT Simox_FOUND)
- find_package(Simox 2.3.0 QUIET)
-endif()
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-include_directories(${Simox_INCLUDE_DIRS})
-
-set(COMPONENT_LIBS MovePlatformToLandmark)
-
-set(SOURCES main.cpp
- MovePlatformToLandmarkApp.h)
-
-armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/MovePlatformToLandmark/MovePlatformToLandmarkApp.h b/source/RobotAPI/applications/MovePlatformToLandmark/MovePlatformToLandmarkApp.h
deleted file mode 100644
index 67a3bbaf475768b7a14d6d67b030f2cd28c0e6f8..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/MovePlatformToLandmark/MovePlatformToLandmarkApp.h
+++ /dev/null
@@ -1,48 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::applications::MovePlatformToLandmarkApp
- * @author Valerij Wittenbeck
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_APPLICATION_MovePlatformToLandmark_H
-#define _ARMARX_APPLICATION_MovePlatformToLandmark_H
-
-
-#include <RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.h>
-
-#include <Core/core/application/Application.h>
-
-namespace armarx
-{
- class MovePlatformToLandmarkApp :
- virtual public armarx::Application
- {
- /**
- * @see armarx::Application::setup()
- */
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
- Ice::PropertiesPtr properties)
- {
- registry->addObject( Component::create<MovePlatformToLandmarkStateChart>(properties) );
- }
- };
-}
-
-#endif
diff --git a/source/RobotAPI/applications/MovePlatformToLandmark/main.cpp b/source/RobotAPI/applications/MovePlatformToLandmark/main.cpp
deleted file mode 100644
index bdab85115fa1faf64133542a921b418bb938fcf5..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/MovePlatformToLandmark/main.cpp
+++ /dev/null
@@ -1,33 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::application::MovePlatformToLandmark
- * @author Valerij Wittenbeck
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "MovePlatformToLandmarkApp.h"
-#include <Core/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
- armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::MovePlatformToLandmarkApp>();
- app->setName("MovePlatformToLandmarkApp");
-
- return app->main(argc, argv);
-}
diff --git a/source/RobotAPI/statecharts/CMakeLists.txt b/source/RobotAPI/statecharts/CMakeLists.txt
index 001b89747d5593f7b79106a238f03134d0fd14b1..d55cae78ff093408d1c1b17fbe92486b326404dc 100644
--- a/source/RobotAPI/statecharts/CMakeLists.txt
+++ b/source/RobotAPI/statecharts/CMakeLists.txt
@@ -6,12 +6,3 @@ add_subdirectory(MotionControlGroup)
add_subdirectory(operations)
add_subdirectory(motioncontrol)
-
-#legacy, delete asap (MovePlatformToLandmarkGroup has all relevant code)
-#add_subdirectory(moveplatform)
-#add_subdirectory(moveplatformtolandmark)
-
-add_subdirectory(MovePlatformToLandmarkGroup)
-
-add_subdirectory(FindAndGraspObjectGroup)
-#add_subdirectory(LocalizeObjectGroup)
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/CMakeLists.txt b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/CMakeLists.txt
deleted file mode 100644
index ea1ea32d17dbafcded4f928e3d344be2ebef5825..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/CMakeLists.txt
+++ /dev/null
@@ -1,66 +0,0 @@
-armarx_component_set_name("FindAndGraspObjectGroup")
-
-#find_package(MyLib QUIET)
-#armarx_build_if(MyLib_FOUND "MyLib not available")
-#
-# all include_directories must be guarded by if(Xyz_FOUND)
-# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
-#if(MyLib_FOUND)
-# include_directories(${MyLib_INCLUDE_DIRS})
-#endif()
-
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreStatechart ArmarXCoreObservers)
-
-# Sources
-
-set(SOURCES
-FindAndGraspObjectGroupRemoteStateOfferer.cpp
-./FindAndGraspObject.cpp
-VisualServoSubGroup/VisualServo.cpp
-VisualServoSubGroup/VisualServo.cpp
-VisualServoSubGroup/LocalizeObject.cpp
-VisualServoSubGroup/SelectObject.cpp
-VisualServoSubGroup/VisualServoObjectSubGroup/VisualServoObject.cpp
-VisualServoSubGroup/VisualServoObjectSubGroup/WaitForUpdates.cpp
-VisualServoSubGroup/VisualServoObjectSubGroup/CalcVelocities.cpp
-VisualServoSubGroup/VisualServoWrapper.cpp
-GraspingWithTorquesSubGroup/GraspingWithTorques.cpp
-GraspingWithTorquesSubGroup/Preshape.cpp
-GraspingWithTorquesSubGroup/CloseHandWithTorques.cpp
-GraspingWithTorquesSubGroup/CloseHandWithJointAngles.cpp
-GraspingWithTorquesSubGroup/InstallTerminateConditions.cpp
-LiftObjectSubGroup/LiftObject.cpp
-LiftObjectSubGroup/ControlModeChooser.cpp
-LiftObjectSubGroup/MoveJointsVelControl.cpp
-LiftObjectSubGroup/MoveJointsPosControl.cpp
-LiftObjectSubGroup/MoveJointsPosVelControl.cpp
-LiftObjectSubGroup/ValidateTcpPose.cpp
-#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.cpp
-)
-
-set(HEADERS
-FindAndGraspObjectGroupRemoteStateOfferer.h
-./FindAndGraspObject.h
-VisualServoSubGroup/VisualServo.h
-VisualServoSubGroup/VisualServo.h
-VisualServoSubGroup/LocalizeObject.h
-VisualServoSubGroup/SelectObject.h
-VisualServoSubGroup/VisualServoObjectSubGroup/VisualServoObject.h
-VisualServoSubGroup/VisualServoObjectSubGroup/WaitForUpdates.h
-VisualServoSubGroup/VisualServoObjectSubGroup/CalcVelocities.h
-VisualServoSubGroup/VisualServoWrapper.h
-GraspingWithTorquesSubGroup/GraspingWithTorques.h
-GraspingWithTorquesSubGroup/Preshape.h
-GraspingWithTorquesSubGroup/CloseHandWithTorques.h
-GraspingWithTorquesSubGroup/CloseHandWithJointAngles.h
-GraspingWithTorquesSubGroup/InstallTerminateConditions.h
-LiftObjectSubGroup/LiftObject.h
-LiftObjectSubGroup/ControlModeChooser.h
-LiftObjectSubGroup/MoveJointsVelControl.h
-LiftObjectSubGroup/MoveJointsPosControl.h
-LiftObjectSubGroup/MoveJointsPosVelControl.h
-LiftObjectSubGroup/ValidateTcpPose.h
-#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.h
-)
-
-armarx_add_component("${SOURCES}" "${HEADERS}")
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObject.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObject.cpp
deleted file mode 100644
index 0e71fc272e380012b50ee4519a61ba93ecc68bff..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObject.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "FindAndGraspObject.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-FindAndGraspObject::SubClassRegistry FindAndGraspObject::Registry(FindAndGraspObject::GetName(), &FindAndGraspObject::CreateInstance);
-
-
-
-FindAndGraspObject::FindAndGraspObject(XMLStateConstructorParams stateData) :
- XMLStateTemplate < FindAndGraspObject > (stateData)
-{
-}
-
-void FindAndGraspObject::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void FindAndGraspObject::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void FindAndGraspObject::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void FindAndGraspObject::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string FindAndGraspObject::GetName()
-{
- return "FindAndGraspObject";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr FindAndGraspObject::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new FindAndGraspObject(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObject.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObject.h
deleted file mode 100644
index e6b0bfe9fd8f000307b831aecab5bd96931eddbf..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObject.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_FindAndGraspObject_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_FindAndGraspObject_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class FindAndGraspObject :
- virtual public XMLStateTemplate < FindAndGraspObject > ,
- public XMLStateFactoryBase
- {
- public:
- FindAndGraspObject(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObject.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObject.xml
deleted file mode 100644
index 05a05900642caf1bdbc2f76845ecdadc0c811980..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObject.xml
+++ /dev/null
@@ -1,116 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="FindAndGraspObject" uuid="E32161DE-ABE3-484F-94B2-DCC3BE5B42C5" width="800" height="600">
- <Description>This statechart is responsible for localizing an object as well as the tcp's marker and with the help of visual servoing, grasp and lift that object.</Description>
- <InputParameters>
- <Parameter name="IKCutCartErrorMM" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="graspName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="graspRobotNodeSetName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="graspSetName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="handUnitName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="jointAnglesGrasp" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="no"/>
- <Parameter name="jointAnglesPreshape" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="no"/>
- <Parameter name="jointMaxSpeed" type="::armarx::FloatVariantData" optional="yes"/>
- <Parameter name="jointMaxSpeedLift" type="::armarx::FloatVariantData" optional="yes"/>
- <Parameter name="jointMaxSpeeds" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="yes"/>
- <Parameter name="jointNames" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" optional="no"/>
- <Parameter name="jointTargetTolerance" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="jointTorquesGrasp" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="no"/>
- <Parameter name="kinematicChain" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="markerName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="minMarkerCertainty" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="minObjectCertainty" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="objectName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="referenceFrame" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="stepSize" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="targetJointValues" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="no"/>
- <Parameter name="tcpName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="thresholdVelocity" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="timeoutGrasp" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="timeoutInMs" type="::armarx::IntVariantData" optional="no"/>
- <Parameter name="timeoutLiftObject" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="timeoutMinExecutionTime" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="timeoutPreshape" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="timeoutTotalMsec" type="::armarx::FloatVariantData" optional="yes"/>
- <Parameter name="trajectoryOrientation" type="::armarx::QuaternionBase" optional="no"/>
- <Parameter name="trajectoryPosition" type="::armarx::Vector3Base" optional="no"/>
- <Parameter name="useOrientation" type="::armarx::BoolVariantData" optional="no"/>
- <Parameter name="useTorquesForGrasping" type="::armarx::BoolVariantData" optional="no"/>
- </InputParameters>
- <OutputParameters/>
- <LocalParameters/>
- <Substates>
- <EndState name="EvFailure" event="EvFailure" left="24.06" top="521.399" boundingSquareSize="83.1115"/>
- <EndState name="EvSuccess" event="EvSuccess" left="694.035" top="520.959" boundingSquareSize="83.6954"/>
- <LocalState name="GraspingWithTorques" refuuid="EA81BB5E-7691-4EC7-94E6-8D49A65167EC" left="340.228" top="121.154" boundingSquareSize="207.202"/>
- <LocalState name="LiftObject" refuuid="1AB13665-FBF3-4677-A662-348E7D5C67EC" left="340.228" top="365.877" boundingSquareSize="200"/>
- <LocalState name="VisualServo" refuuid="1CFCACD5-CF25-45C3-A3BC-C5A193C6E7EC" left="79.2105" top="120.4" boundingSquareSize="200"/>
- </Substates>
- <Events/>
- <StartState substateName="VisualServo">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="IKCutCartErrorMM" to="IKCutCartErrorMM"/>
- <ParameterMapping sourceType="Parent" from="graspName" to="graspName"/>
- <ParameterMapping sourceType="Parent" from="graspSetName" to="graspSetName"/>
- <ParameterMapping sourceType="Parent" from="kinematicChain" to="kinematicChain"/>
- <ParameterMapping sourceType="Parent" from="markerName" to="markerName"/>
- <ParameterMapping sourceType="Parent" from="minMarkerCertainty" to="minMarkerCertainty"/>
- <ParameterMapping sourceType="Parent" from="minObjectCertainty" to="minObjectCertainty"/>
- <ParameterMapping sourceType="Parent" from="objectName" to="objectName"/>
- <ParameterMapping sourceType="Parent" from="referenceFrame" to="referenceFrame"/>
- <ParameterMapping sourceType="Parent" from="stepSize" to="stepSize"/>
- <ParameterMapping sourceType="Parent" from="tcpName" to="tcpName"/>
- <ParameterMapping sourceType="Parent" from="timeoutTotalMsec" to="timeoutTotalMsec"/>
- <ParameterMapping sourceType="Parent" from="useOrientation" to="useOrientation"/>
- </ParameterMappings>
- </StartState>
- <Transitions>
- <Transition from="VisualServo" to="EvFailure" eventName="EvFailure">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="65.6316" posY="534.105"/>
- </SupportPoints>
- </Transition>
- <Transition from="VisualServo" to="GraspingWithTorques" eventName="EvSuccess">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="handUnitName" to="handUnitName"/>
- <ParameterMapping sourceType="Parent" from="jointAnglesGrasp" to="jointAnglesGrasp"/>
- <ParameterMapping sourceType="Parent" from="jointAnglesPreshape" to="jointAnglesPreshape"/>
- <ParameterMapping sourceType="Parent" from="jointTorquesGrasp" to="jointTorquesGrasp"/>
- <ParameterMapping sourceType="Parent" from="graspRobotNodeSetName" to="robotNodeSetName"/>
- <ParameterMapping sourceType="Parent" from="thresholdVelocity" to="thresholdVelocity"/>
- <ParameterMapping sourceType="Parent" from="timeoutGrasp" to="timeoutGrasp"/>
- <ParameterMapping sourceType="Parent" from="timeoutMinExecutionTime" to="timeoutMinExecutionTime"/>
- <ParameterMapping sourceType="Parent" from="timeoutPreshape" to="timeoutPreshape"/>
- <ParameterMapping sourceType="Parent" from="useTorquesForGrasping" to="useTorquesForGrasping"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="353.053" posY="193.123"/>
- </SupportPoints>
- </Transition>
- <Transition from="GraspingWithTorques" to="EvFailure" eventName="EvFailure">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="93.5439" posY="535.614"/>
- </SupportPoints>
- </Transition>
- <Transition from="GraspingWithTorques" to="LiftObject" eventName="EvSuccess">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="438.298" posY="368.895"/>
- </SupportPoints>
- </Transition>
- <Transition from="LiftObject" to="EvFailure" eventName="EvFailure">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="96.6255" posY="552.662"/>
- </SupportPoints>
- </Transition>
- <Transition from="LiftObject" to="EvSuccess" eventName="EvSuccess">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="710.632" posY="537.123"/>
- </SupportPoints>
- </Transition>
- </Transitions>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObjectGroup.scgxml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObjectGroup.scgxml
deleted file mode 100644
index fd5531cace121fd39a5c744a42e9d83ff398f7ab..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObjectGroup.scgxml
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<StatechartGroup name="FindAndGraspObjectGroup" package="RobotAPI">
- <Folder basename="GraspingWithTorquesSubGroup">
- <State filename="CloseHandWithJointAngles.xml"/>
- <State filename="CloseHandWithTorques.xml"/>
- <State filename="GraspingWithTorques.xml" visibility="public"/>
- <State filename="InstallTerminateConditions.xml"/>
- <State filename="Preshape.xml"/>
- </Folder>
- <Folder basename="LiftObjectSubGroup">
- <State filename="ControlModeChooser.xml"/>
- <State filename="LiftObject.xml" visibility="public"/>
- <State filename="MoveJointsPosControl.xml"/>
- <State filename="MoveJointsPosVelControl.xml"/>
- <State filename="MoveJointsVelControl.xml"/>
- <State filename="ValidateTcpPose.xml"/>
- </Folder>
- <Folder basename="VisualServoSubGroup">
- <Folder basename="VisualServoObjectSubGroup">
- <State filename="CalcVelocities.xml"/>
- <State filename="VisualServoObject.xml" visibility="public"/>
- <State filename="WaitForUpdates.xml"/>
- </Folder>
- <State filename="LocalizeObject.xml"/>
- <State filename="SelectObject.xml"/>
- <State filename="VisualServo.xml" visibility="public"/>
- <State filename="VisualServoWrapper.xml"/>
- </Folder>
- <State filename="FindAndGraspObject.xml" visibility="public"/>
-</StatechartGroup>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObjectGroupRemoteStateOfferer.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObjectGroupRemoteStateOfferer.cpp
deleted file mode 100644
index 83447852290eb9be102a8d2847aac036cf2cc329..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObjectGroupRemoteStateOfferer.cpp
+++ /dev/null
@@ -1,67 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup::FindAndGraspObjectGroupRemoteStateOfferer
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "FindAndGraspObjectGroupRemoteStateOfferer.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-FindAndGraspObjectGroupRemoteStateOfferer::SubClassRegistry FindAndGraspObjectGroupRemoteStateOfferer::Registry(FindAndGraspObjectGroupRemoteStateOfferer::GetName(), &FindAndGraspObjectGroupRemoteStateOfferer::CreateInstance);
-
-
-
-FindAndGraspObjectGroupRemoteStateOfferer::FindAndGraspObjectGroupRemoteStateOfferer(StatechartGroupXmlReaderPtr reader) :
- XMLRemoteStateOfferer < StatechartContext > (reader)
-{
-}
-
-void FindAndGraspObjectGroupRemoteStateOfferer::onInitXMLRemoteStateOfferer()
-{
-
-}
-
-void FindAndGraspObjectGroupRemoteStateOfferer::onConnectXMLRemoteStateOfferer()
-{
-
-}
-
-void FindAndGraspObjectGroupRemoteStateOfferer::onExitXMLRemoteStateOfferer()
-{
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string FindAndGraspObjectGroupRemoteStateOfferer::GetName()
-{
- return "FindAndGraspObjectGroupRemoteStateOfferer";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateOffererFactoryBasePtr FindAndGraspObjectGroupRemoteStateOfferer::CreateInstance(StatechartGroupXmlReaderPtr reader)
-{
- return XMLStateOffererFactoryBasePtr(new FindAndGraspObjectGroupRemoteStateOfferer(reader));
-}
-
-
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObjectGroupRemoteStateOfferer.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObjectGroupRemoteStateOfferer.h
deleted file mode 100644
index f4a7e357ad3cfab6537592e3a91e80e8f0b3764c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/FindAndGraspObjectGroupRemoteStateOfferer.h
+++ /dev/null
@@ -1,54 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_REMOTESTATEOFFERER_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_REMOTESTATEOFFERER_H
-
-#include <Core/statechart/xmlstates/XMLRemoteStateOfferer.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class FindAndGraspObjectGroupRemoteStateOfferer :
- virtual public XMLRemoteStateOfferer < StatechartContext > // Change this statechart context if you need another context (dont forget to change in the constructor as well)
- {
- public:
- FindAndGraspObjectGroupRemoteStateOfferer(StatechartGroupXmlReaderPtr reader);
-
- // inherited from RemoteStateOfferer
- void onInitXMLRemoteStateOfferer();
- void onConnectXMLRemoteStateOfferer();
- void onExitXMLRemoteStateOfferer();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateOffererFactoryBasePtr CreateInstance(StatechartGroupXmlReaderPtr reader);
- static SubClassRegistry Registry;
-
-
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithJointAngles.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithJointAngles.cpp
deleted file mode 100644
index a0093942d46762628aa1da4164bbf848b358043c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithJointAngles.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "CloseHandWithJointAngles.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-CloseHandWithJointAngles::SubClassRegistry CloseHandWithJointAngles::Registry(CloseHandWithJointAngles::GetName(), &CloseHandWithJointAngles::CreateInstance);
-
-
-
-CloseHandWithJointAngles::CloseHandWithJointAngles(XMLStateConstructorParams stateData) :
- XMLStateTemplate < CloseHandWithJointAngles > (stateData)
-{
-}
-
-void CloseHandWithJointAngles::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void CloseHandWithJointAngles::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void CloseHandWithJointAngles::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void CloseHandWithJointAngles::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string CloseHandWithJointAngles::GetName()
-{
- return "CloseHandWithJointAngles";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr CloseHandWithJointAngles::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new CloseHandWithJointAngles(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithJointAngles.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithJointAngles.h
deleted file mode 100644
index 5148aefc35ce76a5a07885a91d6607475ee84927..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithJointAngles.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_CloseHandWithJointAngles_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_CloseHandWithJointAngles_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class CloseHandWithJointAngles :
- virtual public XMLStateTemplate < CloseHandWithJointAngles > ,
- public XMLStateFactoryBase
- {
- public:
- CloseHandWithJointAngles(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithJointAngles.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithJointAngles.xml
deleted file mode 100644
index e0c01e5f40c072f50f8bdc0f31a6fc6ed4eb1895..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithJointAngles.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="CloseHandWithJointAngles" uuid="1A2EC83D-18A0-40F3-AF4F-B7FDFFCE67EC" width="800" height="138.996">
- <Description>This state is responsible for initiating the closing of the hand via joint angle velocities.</Description>
- <InputParameters>
- <Parameter name="jointAnglesGrasp" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="no"/>
- <Parameter name="jointNames" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" optional="no"/>
- <Parameter name="timeoutGrasp" type="::armarx::FloatVariantData" optional="no"/>
- </InputParameters>
- <OutputParameters/>
- <LocalParameters/>
- <Substates/>
- <Events>
- <Event name="EvGraspWithJointAnglesTimeout"/>
- </Events>
- <Transitions/>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithTorques.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithTorques.cpp
deleted file mode 100644
index 9cd93607c634547738b71da1372a7d1c82bcf2c4..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithTorques.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "CloseHandWithTorques.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-CloseHandWithTorques::SubClassRegistry CloseHandWithTorques::Registry(CloseHandWithTorques::GetName(), &CloseHandWithTorques::CreateInstance);
-
-
-
-CloseHandWithTorques::CloseHandWithTorques(XMLStateConstructorParams stateData) :
- XMLStateTemplate < CloseHandWithTorques > (stateData)
-{
-}
-
-void CloseHandWithTorques::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void CloseHandWithTorques::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void CloseHandWithTorques::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void CloseHandWithTorques::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string CloseHandWithTorques::GetName()
-{
- return "CloseHandWithTorques";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr CloseHandWithTorques::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new CloseHandWithTorques(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithTorques.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithTorques.h
deleted file mode 100644
index 8d2ca8f79fa68ccdfdd79a6799d4f8e527dc205e..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithTorques.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_CloseHandWithTorques_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_CloseHandWithTorques_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class CloseHandWithTorques :
- virtual public XMLStateTemplate < CloseHandWithTorques > ,
- public XMLStateFactoryBase
- {
- public:
- CloseHandWithTorques(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithTorques.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithTorques.xml
deleted file mode 100644
index c5acc3c4015af756241a28da39ab566c4c99197f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/CloseHandWithTorques.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="CloseHandWithTorques" uuid="EC55F9F2-1CFA-41D9-A6A7-2E69639DE7EC" width="800" height="134.739">
- <Description>This state is responsible for initiating the closing of the hand via torques.</Description>
- <InputParameters>
- <Parameter name="jointNames" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" optional="no"/>
- <Parameter name="jointTorquesGrasp" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="no"/>
- <Parameter name="timeoutMinExecutionTime" type="::armarx::FloatVariantData" optional="no"/>
- </InputParameters>
- <OutputParameters/>
- <LocalParameters/>
- <Substates/>
- <Events>
- <Event name="EvMinExecutionTimeout"/>
- </Events>
- <Transitions/>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/GraspingWithTorques.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/GraspingWithTorques.cpp
deleted file mode 100644
index 287dc1dfdf08e712beb9f39c4700f9e5d1b4e22a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/GraspingWithTorques.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "GraspingWithTorques.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-GraspingWithTorques::SubClassRegistry GraspingWithTorques::Registry(GraspingWithTorques::GetName(), &GraspingWithTorques::CreateInstance);
-
-
-
-GraspingWithTorques::GraspingWithTorques(XMLStateConstructorParams stateData) :
- XMLStateTemplate < GraspingWithTorques > (stateData)
-{
-}
-
-void GraspingWithTorques::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void GraspingWithTorques::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void GraspingWithTorques::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void GraspingWithTorques::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string GraspingWithTorques::GetName()
-{
- return "GraspingWithTorques";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr GraspingWithTorques::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new GraspingWithTorques(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/GraspingWithTorques.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/GraspingWithTorques.h
deleted file mode 100644
index 9b1f75886de6dd62fded621402376797ff40246b..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/GraspingWithTorques.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_GraspingWithTorques_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_GraspingWithTorques_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class GraspingWithTorques :
- virtual public XMLStateTemplate < GraspingWithTorques > ,
- public XMLStateFactoryBase
- {
- public:
- GraspingWithTorques(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/GraspingWithTorques.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/GraspingWithTorques.xml
deleted file mode 100644
index 257759ef89f7f2a35085b66418d0fe2fbf07b7a1..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/GraspingWithTorques.xml
+++ /dev/null
@@ -1,91 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="GraspingWithTorques" uuid="EA81BB5E-7691-4EC7-94E6-8D49A65167EC" width="828.807" height="600">
- <Description>This statechart is responsible for closing a hand, thus grasping an object enclosed by the hand, via torque control.</Description>
- <InputParameters>
- <Parameter name="handUnitName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="jointAnglesGrasp" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="no"/>
- <Parameter name="jointAnglesPreshape" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="no"/>
- <Parameter name="jointTorquesGrasp" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="no"/>
- <Parameter name="robotNodeSetName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="thresholdVelocity" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="timeoutGrasp" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="timeoutMinExecutionTime" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="timeoutPreshape" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="useTorquesForGrasping" type="::armarx::BoolVariantData" optional="no"/>
- </InputParameters>
- <OutputParameters/>
- <LocalParameters>
- <Parameter name="jointNames" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" optional="yes"/>
- <Parameter name="jointVelocitiesDatafields" type="::armarx::SingleTypeVariantListBase(::armarx::DatafieldRefBase)" optional="yes"/>
- </LocalParameters>
- <Substates>
- <LocalState name="CloseHandWithJointAngles" refuuid="1A2EC83D-18A0-40F3-AF4F-B7FDFFCE67EC" left="392.85" top="252.868" boundingSquareSize="200"/>
- <LocalState name="CloseHandWithTorques" refuuid="EC55F9F2-1CFA-41D9-A6A7-2E69639DE7EC" left="396.594" top="120.4" boundingSquareSize="197.321"/>
- <EndState name="EvFailure" event="EvFailure" left="63.8699" top="439.042" boundingSquareSize="188.546"/>
- <EndState name="EvSuccess" event="EvSuccess" left="347.686" top="433.44" boundingSquareSize="200"/>
- <LocalState name="InstallTerminateConditions" refuuid="519A546A-872E-4085-917E-5E8D674EE7EC" left="465.314" top="184.04" boundingSquareSize="312.126"/>
- <LocalState name="Preshape" refuuid="A7C2ABC7-DB4F-4D8F-B821-116F69A567EC" left="27.0775" top="148.312" boundingSquareSize="134.359"/>
- </Substates>
- <Events/>
- <StartState substateName="Preshape">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="jointAnglesPreshape" to="jointAnglesPreshape"/>
- <ParameterMapping sourceType="Parent" from="jointNames" to="jointNames"/>
- <ParameterMapping sourceType="Parent" from="timeoutPreshape" to="timeoutPreshape"/>
- <ParameterMapping sourceType="Parent" from="useTorquesForGrasping" to="useTorquesForGrasping"/>
- </ParameterMappings>
- </StartState>
- <Transitions>
- <Transition from="Preshape" to="CloseHandWithTorques" eventName="EvPreshapeTimeout_ToCloseWithTorques">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="jointNames" to="jointNames"/>
- <ParameterMapping sourceType="Parent" from="jointTorquesGrasp" to="jointTorquesGrasp"/>
- <ParameterMapping sourceType="Parent" from="timeoutMinExecutionTime" to="timeoutMinExecutionTime"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="222.889" posY="127.123"/>
- </SupportPoints>
- </Transition>
- <Transition from="Preshape" to="CloseHandWithJointAngles" eventName="EvPreshapeTimeout_ToCloseWithJointAngles">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="jointAnglesGrasp" to="jointAnglesGrasp"/>
- <ParameterMapping sourceType="Parent" from="jointNames" to="jointNames"/>
- <ParameterMapping sourceType="Parent" from="timeoutGrasp" to="timeoutGrasp"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="228.821" posY="282.213"/>
- </SupportPoints>
- </Transition>
- <Transition from="CloseHandWithTorques" to="InstallTerminateConditions" eventName="EvMinExecutionTimeout">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="handUnitName" to="handUnitName"/>
- <ParameterMapping sourceType="Parent" from="jointNames" to="jointNames"/>
- <ParameterMapping sourceType="Parent" from="jointVelocitiesDatafields" to="jointVelocitiesDatafields"/>
- <ParameterMapping sourceType="Parent" from="thresholdVelocity" to="thresholdVelocity"/>
- <ParameterMapping sourceType="Parent" from="timeoutGrasp" to="timeoutGrasp"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="488.152" posY="191.532"/>
- </SupportPoints>
- </Transition>
- <Transition from="CloseHandWithJointAngles" to="EvSuccess" eventName="EvGraspWithJointAnglesTimeout">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="455.947" posY="437.303"/>
- </SupportPoints>
- </Transition>
- <Transition from="InstallTerminateConditions" to="EvSuccess" eventName="EvMinExecutionTimeout">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="539.001" posY="449.168"/>
- </SupportPoints>
- </Transition>
- <Transition from="InstallTerminateConditions" to="EvSuccess" eventName="EvAllJointVelocitiesLow">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="541.544" posY="511.882"/>
- </SupportPoints>
- </Transition>
- </Transitions>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/InstallTerminateConditions.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/InstallTerminateConditions.cpp
deleted file mode 100644
index def44556fcff680e9493ad7215610cc5ebced5b7..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/InstallTerminateConditions.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "InstallTerminateConditions.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-InstallTerminateConditions::SubClassRegistry InstallTerminateConditions::Registry(InstallTerminateConditions::GetName(), &InstallTerminateConditions::CreateInstance);
-
-
-
-InstallTerminateConditions::InstallTerminateConditions(XMLStateConstructorParams stateData) :
- XMLStateTemplate < InstallTerminateConditions > (stateData)
-{
-}
-
-void InstallTerminateConditions::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void InstallTerminateConditions::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void InstallTerminateConditions::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void InstallTerminateConditions::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string InstallTerminateConditions::GetName()
-{
- return "InstallTerminateConditions";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr InstallTerminateConditions::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new InstallTerminateConditions(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/InstallTerminateConditions.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/InstallTerminateConditions.h
deleted file mode 100644
index b2b5a8e1f19a8a65ca091d30dbfed4384e9a3fb4..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/InstallTerminateConditions.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_InstallTerminateConditions_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_InstallTerminateConditions_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class InstallTerminateConditions :
- virtual public XMLStateTemplate < InstallTerminateConditions > ,
- public XMLStateFactoryBase
- {
- public:
- InstallTerminateConditions(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/InstallTerminateConditions.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/InstallTerminateConditions.xml
deleted file mode 100644
index 6af584006c92959a3b66aa60218eb5ffd663cf80..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/InstallTerminateConditions.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="InstallTerminateConditions" uuid="519A546A-872E-4085-917E-5E8D674EE7EC" width="1248.5" height="211.635">
- <Description>This state is responsible for installing conditions which guarantee that the hand was closed, ideally grasping an object.</Description>
- <InputParameters>
- <Parameter name="handUnitName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="jointNames" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" optional="no"/>
- <Parameter name="jointVelocitiesDatafields" type="::armarx::SingleTypeVariantListBase(::armarx::DatafieldRefBase)" optional="no"/>
- <Parameter name="thresholdVelocity" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="timeoutGrasp" type="::armarx::FloatVariantData" optional="no"/>
- </InputParameters>
- <OutputParameters/>
- <LocalParameters/>
- <Substates/>
- <Events>
- <Event name="EvMinExecutionTimeout"/>
- <Event name="EvAllJointVelocitiesLow">
- <Description>Denotes that the hand is closed and is ideally grasping an object.</Description>
- </Event>
- </Events>
- <Transitions/>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/Preshape.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/Preshape.cpp
deleted file mode 100644
index bff31dd78dcec59e637308a969c50fec2c66b57f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/Preshape.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "Preshape.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-Preshape::SubClassRegistry Preshape::Registry(Preshape::GetName(), &Preshape::CreateInstance);
-
-
-
-Preshape::Preshape(XMLStateConstructorParams stateData) :
- XMLStateTemplate < Preshape > (stateData)
-{
-}
-
-void Preshape::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void Preshape::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void Preshape::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void Preshape::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string Preshape::GetName()
-{
- return "Preshape";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr Preshape::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new Preshape(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/Preshape.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/Preshape.h
deleted file mode 100644
index 6c50feb6e34768e910eda45bf55b5523224883c5..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/Preshape.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_Preshape_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_Preshape_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class Preshape :
- virtual public XMLStateTemplate < Preshape > ,
- public XMLStateFactoryBase
- {
- public:
- Preshape(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/Preshape.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/Preshape.xml
deleted file mode 100644
index e94fbc377c13886c2b3c68899ef1c4e6ceb1787f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/GraspingWithTorquesSubGroup/Preshape.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="Preshape" uuid="A7C2ABC7-DB4F-4D8F-B821-116F69A567EC" width="800" height="600">
- <Description>This state applies the joint preshape angles to the hand as a grasping preparation.</Description>
- <InputParameters>
- <Parameter name="jointAnglesPreshape" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="no"/>
- <Parameter name="jointNames" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" optional="no"/>
- <Parameter name="timeoutPreshape" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="useTorquesForGrasping" type="::armarx::BoolVariantData" optional="no"/>
- </InputParameters>
- <OutputParameters/>
- <LocalParameters/>
- <Substates/>
- <Events>
- <Event name="EvPreshapeTimeout_ToCloseWithTorques">
- <Description>Denotes that the hand should be closed with torques.</Description>
- </Event>
- <Event name="EvPreshapeTimeout_ToCloseWithJointAngles">
- <Description>Denotes that the hand should be closed with joint angle velocities.</Description>
- </Event>
- </Events>
- <Transitions/>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ControlModeChooser.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ControlModeChooser.cpp
deleted file mode 100644
index 4c2d29aaf0696e596be6732ee012dbe6871f0e7f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ControlModeChooser.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "ControlModeChooser.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-ControlModeChooser::SubClassRegistry ControlModeChooser::Registry(ControlModeChooser::GetName(), &ControlModeChooser::CreateInstance);
-
-
-
-ControlModeChooser::ControlModeChooser(XMLStateConstructorParams stateData) :
- XMLStateTemplate < ControlModeChooser > (stateData)
-{
-}
-
-void ControlModeChooser::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void ControlModeChooser::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void ControlModeChooser::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void ControlModeChooser::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string ControlModeChooser::GetName()
-{
- return "ControlModeChooser";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr ControlModeChooser::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new ControlModeChooser(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ControlModeChooser.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ControlModeChooser.h
deleted file mode 100644
index 3f9377ee927516116ecb99a4dc4b093ae0151c89..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ControlModeChooser.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_ControlModeChooser_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_ControlModeChooser_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class ControlModeChooser :
- virtual public XMLStateTemplate < ControlModeChooser > ,
- public XMLStateFactoryBase
- {
- public:
- ControlModeChooser(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ControlModeChooser.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ControlModeChooser.xml
deleted file mode 100644
index ab499aa57e1395bd3b5a17280bea0b3700275668..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ControlModeChooser.xml
+++ /dev/null
@@ -1,21 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="ControlModeChooser" uuid="C460D44A-02F8-448B-977A-12FE332E67EC" width="800" height="186.618">
- <Description>This method activates the desired joint control mode.</Description>
- <InputParameters>
- <Parameter name="jointNames" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" optional="no"/>
- <Parameter name="targetJointValues" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="no"/>
- </InputParameters>
- <OutputParameters>
- <Parameter name="jointNames" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" optional="no"/>
- <Parameter name="targetJointValues" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="no"/>
- </OutputParameters>
- <LocalParameters/>
- <Substates/>
- <Events>
- <Event name="EvPosControl"/>
- <Event name="EvVelControl"/>
- <Event name="EvPosVelControl"/>
- </Events>
- <Transitions/>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/LiftObject.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/LiftObject.cpp
deleted file mode 100644
index 4a01c87c018bfaf539b4df7f51e644fcabf87a89..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/LiftObject.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "LiftObject.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-LiftObject::SubClassRegistry LiftObject::Registry(LiftObject::GetName(), &LiftObject::CreateInstance);
-
-
-
-LiftObject::LiftObject(XMLStateConstructorParams stateData) :
- XMLStateTemplate < LiftObject > (stateData)
-{
-}
-
-void LiftObject::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void LiftObject::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void LiftObject::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void LiftObject::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string LiftObject::GetName()
-{
- return "LiftObject";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr LiftObject::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new LiftObject(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/LiftObject.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/LiftObject.h
deleted file mode 100644
index 6987510d40df5e94a4507b03129628ef6ae94b74..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/LiftObject.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_LiftObject_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_LiftObject_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class LiftObject :
- virtual public XMLStateTemplate < LiftObject > ,
- public XMLStateFactoryBase
- {
- public:
- LiftObject(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/LiftObject.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/LiftObject.xml
deleted file mode 100644
index d91eec4a8f410d3007665a735dee118be83779bd..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/LiftObject.xml
+++ /dev/null
@@ -1,142 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="LiftObject" uuid="1AB13665-FBF3-4677-A662-348E7D5C67EC" width="800" height="600">
- <Description>This statechart is responsible for lifting a grasped object so that it may travel with the robot safely.</Description>
- <InputParameters>
- <Parameter name="jointControlMode" type="::armarx::StringVariantData" optional="yes"/>
- <Parameter name="jointMaxSpeed" type="::armarx::FloatVariantData" optional="yes"/>
- <Parameter name="kinematicChain" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="tcpName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="timeoutLiftObject" type="::armarx::FloatVariantData" optional="no"/>
- </InputParameters>
- <OutputParameters/>
- <LocalParameters>
- <Parameter name="ikWithOrientation" type="::armarx::BoolVariantData" optional="yes"/>
- <Parameter name="jointTargetTolerance" type="::armarx::FloatVariantData" optional="yes"/>
- <Parameter name="kinematicChainName" type="::armarx::StringVariantData" optional="yes"/>
- <Parameter name="targetOrientationDistanceTolerance" type="::armarx::FloatVariantData" optional="yes"/>
- <Parameter name="targetPositionDistanceTolerance" type="::armarx::FloatVariantData" optional="yes"/>
- <Parameter name="targetTCPOrientation" type="::armarx::FramedOrientationBase" optional="yes"/>
- <Parameter name="targetTCPPosition" type="::armarx::FramedPositionBase" optional="yes"/>
- <Parameter name="timeoutInMs" type="::armarx::IntVariantData" optional="yes"/>
- </LocalParameters>
- <Substates>
- <RemoteState name="CalculateJointAngleConfiguration" refuuid="4A604EC0-8108-465C-9196-FFA35E12E7EC" proxyName="MotionControlGroupRemoteStateOfferer" left="24.06" top="120.4" boundingSquareSize="200"/>
- <LocalState name="ControlModeChooser" refuuid="C460D44A-02F8-448B-977A-12FE332E67EC" left="52.0526" top="205.193" boundingSquareSize="156.91"/>
- <EndState name="EvFailure" event="EvFailure" left="24.06" top="433.44" boundingSquareSize="200"/>
- <EndState name="EvSuccess" event="EvSuccess" left="577.44" top="433.44" boundingSquareSize="200"/>
- <LocalState name="MoveJointsPosControl" refuuid="B026AC8C-1E74-4DC4-AB2E-64F3132067EC" left="302.509" top="234.614" boundingSquareSize="200"/>
- <LocalState name="MoveJointsPosVelControl" refuuid="CCFF18C7-FF4B-4503-8BF6-1D549997E7EC" left="528.07" top="198.856" boundingSquareSize="200"/>
- <LocalState name="MoveJointsVelControl" refuuid="3B890A9E-53E2-49E2-AAB8-B8D37ED867EC" left="118.438" top="288.93" boundingSquareSize="200"/>
- <LocalState name="ValidateTcpPose" refuuid="EA799BAC-0800-4214-B998-AB27CEE7E7EC" left="294.965" top="411.895" boundingSquareSize="222.091"/>
- </Substates>
- <Events/>
- <StartState substateName="CalculateJointAngleConfiguration">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="ikWithOrientation" to="ikWithOrientation"/>
- <ParameterMapping sourceType="Parent" from="kinematicChainName" to="kinematicChainName"/>
- <ParameterMapping sourceType="Parent" from="targetOrientationDistanceTolerance" to="targetOrientationDistanceTolerance"/>
- <ParameterMapping sourceType="Parent" from="targetPositionDistanceTolerance" to="targetPositionDistanceTolerance"/>
- <ParameterMapping sourceType="Parent" from="targetTCPOrientation" to="targetTCPOrientation"/>
- <ParameterMapping sourceType="Parent" from="targetTCPPosition" to="targetTCPPosition"/>
- </ParameterMappings>
- </StartState>
- <Transitions>
- <Transition from="CalculateJointAngleConfiguration" to="ControlModeChooser" eventName="EvCalculationDone">
- <ParameterMappings>
- <ParameterMapping sourceType="Output" from="jointNames" to="jointNames"/>
- <ParameterMapping sourceType="Output" from="targetJointValues" to="targetJointValues"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="128.246" posY="220.281"/>
- </SupportPoints>
- </Transition>
- <Transition from="ControlModeChooser" to="MoveJointsPosControl" eventName="EvPosControl">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="jointMaxSpeed" to="jointMaxSpeed"/>
- <ParameterMapping sourceType="Output" from="jointNames" to="jointNames"/>
- <ParameterMapping sourceType="Parent" from="jointTargetTolerance" to="jointTargetTolerance"/>
- <ParameterMapping sourceType="Output" from="targetJointValues" to="targetJointValues"/>
- <ParameterMapping sourceType="Parent" from="timeoutInMs" to="timeoutInMs"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="308.544" posY="248.947"/>
- </SupportPoints>
- </Transition>
- <Transition from="ControlModeChooser" to="MoveJointsVelControl" eventName="EvVelControl">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="jointMaxSpeed" to="jointMaxSpeed"/>
- <ParameterMapping sourceType="Output" from="jointNames" to="jointNames"/>
- <ParameterMapping sourceType="Parent" from="jointTargetTolerance" to="jointTargetTolerance"/>
- <ParameterMapping sourceType="Output" from="targetJointValues" to="targetJointValues"/>
- <ParameterMapping sourceType="Parent" from="timeoutInMs" to="timeoutInMs"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="212.737" posY="291.947"/>
- </SupportPoints>
- </Transition>
- <Transition from="ControlModeChooser" to="MoveJointsPosVelControl" eventName="EvPosVelControl">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="jointMaxSpeed" to="jointMaxSpeed"/>
- <ParameterMapping sourceType="Output" from="jointNames" to="jointNames"/>
- <ParameterMapping sourceType="Parent" from="jointTargetTolerance" to="jointTargetTolerance"/>
- <ParameterMapping sourceType="Output" from="targetJointValues" to="targetJointValues"/>
- <ParameterMapping sourceType="Parent" from="timeoutInMs" to="timeoutInMs"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="536.368" posY="207.456"/>
- </SupportPoints>
- </Transition>
- <Transition from="MoveJointsVelControl" to="ValidateTcpPose" eventName="EvJointsActuated">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="ikWithOrientation" to="ikWithOrientation"/>
- <ParameterMapping sourceType="Parent" from="kinematicChainName" to="kinematicChainName"/>
- <ParameterMapping sourceType="Parent" from="targetOrientationDistanceTolerance" to="targetOrientationDistanceTolerance"/>
- <ParameterMapping sourceType="Parent" from="targetPositionDistanceTolerance" to="targetPositionDistanceTolerance"/>
- <ParameterMapping sourceType="Parent" from="targetTCPOrientation" to="targetTCPOrientation"/>
- <ParameterMapping sourceType="Parent" from="targetTCPPosition" to="targetTCPPosition"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="299.491" posY="418.684"/>
- </SupportPoints>
- </Transition>
- <Transition from="MoveJointsPosControl" to="ValidateTcpPose" eventName="EvJointsActuated">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="ikWithOrientation" to="ikWithOrientation"/>
- <ParameterMapping sourceType="Parent" from="kinematicChainName" to="kinematicChainName"/>
- <ParameterMapping sourceType="Parent" from="targetOrientationDistanceTolerance" to="targetOrientationDistanceTolerance"/>
- <ParameterMapping sourceType="Parent" from="targetPositionDistanceTolerance" to="targetPositionDistanceTolerance"/>
- <ParameterMapping sourceType="Parent" from="targetTCPOrientation" to="targetTCPOrientation"/>
- <ParameterMapping sourceType="Parent" from="targetTCPPosition" to="targetTCPPosition"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="404.351" posY="421.702"/>
- </SupportPoints>
- </Transition>
- <Transition from="MoveJointsPosVelControl" to="ValidateTcpPose" eventName="EvJointsActuated">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="ikWithOrientation" to="ikWithOrientation"/>
- <ParameterMapping sourceType="Parent" from="kinematicChainName" to="kinematicChainName"/>
- <ParameterMapping sourceType="Parent" from="targetOrientationDistanceTolerance" to="targetOrientationDistanceTolerance"/>
- <ParameterMapping sourceType="Parent" from="targetPositionDistanceTolerance" to="targetPositionDistanceTolerance"/>
- <ParameterMapping sourceType="Parent" from="targetTCPOrientation" to="targetTCPOrientation"/>
- <ParameterMapping sourceType="Parent" from="targetTCPPosition" to="targetTCPPosition"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="510.719" posY="416.421"/>
- </SupportPoints>
- </Transition>
- <Transition from="ValidateTcpPose" to="EvSuccess" eventName="EvSuccess">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="588.421" posY="506.947"/>
- </SupportPoints>
- </Transition>
- <Transition from="ValidateTcpPose" to="EvFailure" eventName="EvFailure">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="218.018" posY="513.737"/>
- </SupportPoints>
- </Transition>
- </Transitions>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosControl.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosControl.cpp
deleted file mode 100644
index 87891b9ea0cc104add39b262e62e1970608b76d7..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosControl.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "MoveJointsPosControl.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-MoveJointsPosControl::SubClassRegistry MoveJointsPosControl::Registry(MoveJointsPosControl::GetName(), &MoveJointsPosControl::CreateInstance);
-
-
-
-MoveJointsPosControl::MoveJointsPosControl(XMLStateConstructorParams stateData) :
- XMLStateTemplate < MoveJointsPosControl > (stateData)
-{
-}
-
-void MoveJointsPosControl::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void MoveJointsPosControl::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void MoveJointsPosControl::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void MoveJointsPosControl::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string MoveJointsPosControl::GetName()
-{
- return "MoveJointsPosControl";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr MoveJointsPosControl::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new MoveJointsPosControl(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosControl.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosControl.h
deleted file mode 100644
index 90bf115b496fd1b7244eb954bae829d70b1e32aa..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosControl.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_MoveJointsPosControl_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_MoveJointsPosControl_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class MoveJointsPosControl :
- virtual public XMLStateTemplate < MoveJointsPosControl > ,
- public XMLStateFactoryBase
- {
- public:
- MoveJointsPosControl(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosControl.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosControl.xml
deleted file mode 100644
index f87f29c78f9df284f5e536bba8ec743d4719b37d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosControl.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="MoveJointsPosControl" uuid="B026AC8C-1E74-4DC4-AB2E-64F3132067EC" width="800" height="122.702">
- <Description>stub</Description>
- <InputParameters>
- <Parameter name="jointMaxSpeed" type="::armarx::FloatVariantData" optional="yes"/>
- <Parameter name="jointMaxSpeeds" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="yes"/>
- <Parameter name="jointNames" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" optional="no"/>
- <Parameter name="jointTargetTolerance" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="targetJointValues" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="no"/>
- <Parameter name="timeoutInMs" type="::armarx::IntVariantData" optional="no"/>
- </InputParameters>
- <OutputParameters>
- <Parameter name="jointDistancesToTargets" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="yes"/>
- </OutputParameters>
- <LocalParameters/>
- <Substates/>
- <Events>
- <Event name="EvJointsActuated"/>
- </Events>
- <Transitions/>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosVelControl.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosVelControl.cpp
deleted file mode 100644
index 23f768dfcf6b1127a6633627d70bb3d130f35922..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosVelControl.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "MoveJointsPosVelControl.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-MoveJointsPosVelControl::SubClassRegistry MoveJointsPosVelControl::Registry(MoveJointsPosVelControl::GetName(), &MoveJointsPosVelControl::CreateInstance);
-
-
-
-MoveJointsPosVelControl::MoveJointsPosVelControl(XMLStateConstructorParams stateData) :
- XMLStateTemplate < MoveJointsPosVelControl > (stateData)
-{
-}
-
-void MoveJointsPosVelControl::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void MoveJointsPosVelControl::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void MoveJointsPosVelControl::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void MoveJointsPosVelControl::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string MoveJointsPosVelControl::GetName()
-{
- return "MoveJointsPosVelControl";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr MoveJointsPosVelControl::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new MoveJointsPosVelControl(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosVelControl.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosVelControl.h
deleted file mode 100644
index 14951ac8fc507a8ea99c3e9227dd343186af993c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosVelControl.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_MoveJointsPosVelControl_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_MoveJointsPosVelControl_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class MoveJointsPosVelControl :
- virtual public XMLStateTemplate < MoveJointsPosVelControl > ,
- public XMLStateFactoryBase
- {
- public:
- MoveJointsPosVelControl(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosVelControl.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosVelControl.xml
deleted file mode 100644
index 062d8ef0942299249120444322d8249f35e7455a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsPosVelControl.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="MoveJointsPosVelControl" uuid="CCFF18C7-FF4B-4503-8BF6-1D549997E7EC" width="800" height="113.649">
- <Description>stub</Description>
- <InputParameters>
- <Parameter name="jointMaxSpeed" type="::armarx::FloatVariantData" optional="yes"/>
- <Parameter name="jointMaxSpeeds" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="yes"/>
- <Parameter name="jointNames" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" optional="no"/>
- <Parameter name="jointTargetTolerance" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="targetJointValues" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="no"/>
- <Parameter name="timeoutInMs" type="::armarx::IntVariantData" optional="no"/>
- </InputParameters>
- <OutputParameters>
- <Parameter name="jointDistancesToTargets" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="yes"/>
- </OutputParameters>
- <LocalParameters/>
- <Substates/>
- <Events>
- <Event name="EvJointsActuated"/>
- </Events>
- <Transitions/>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsVelControl.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsVelControl.cpp
deleted file mode 100644
index dc717a5fe8923a68bfb34e481f8ffe9f3636249c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsVelControl.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "MoveJointsVelControl.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-MoveJointsVelControl::SubClassRegistry MoveJointsVelControl::Registry(MoveJointsVelControl::GetName(), &MoveJointsVelControl::CreateInstance);
-
-
-
-MoveJointsVelControl::MoveJointsVelControl(XMLStateConstructorParams stateData) :
- XMLStateTemplate < MoveJointsVelControl > (stateData)
-{
-}
-
-void MoveJointsVelControl::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void MoveJointsVelControl::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void MoveJointsVelControl::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void MoveJointsVelControl::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string MoveJointsVelControl::GetName()
-{
- return "MoveJointsVelControl";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr MoveJointsVelControl::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new MoveJointsVelControl(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsVelControl.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsVelControl.h
deleted file mode 100644
index 429fdebc45fa7a83ef512ecfa0ed3b9f02f798ba..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsVelControl.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_MoveJointsVelControl_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_MoveJointsVelControl_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class MoveJointsVelControl :
- virtual public XMLStateTemplate < MoveJointsVelControl > ,
- public XMLStateFactoryBase
- {
- public:
- MoveJointsVelControl(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsVelControl.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsVelControl.xml
deleted file mode 100644
index d2b00c6478a17d49d1b582e3d4794064e2ed5fb4..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/MoveJointsVelControl.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="MoveJointsVelControl" uuid="3B890A9E-53E2-49E2-AAB8-B8D37ED867EC" width="800" height="113.649">
- <Description>This state moves the robot's hand to the target joint positions via velocity control.</Description>
- <InputParameters>
- <Parameter name="jointMaxSpeed" type="::armarx::FloatVariantData" optional="yes"/>
- <Parameter name="jointMaxSpeeds" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="yes"/>
- <Parameter name="jointNames" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" optional="no"/>
- <Parameter name="jointTargetTolerance" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="targetJointValues" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="no"/>
- <Parameter name="timeoutInMs" type="::armarx::IntVariantData" optional="no"/>
- </InputParameters>
- <OutputParameters>
- <Parameter name="jointDistancesToTargets" type="::armarx::SingleTypeVariantListBase(::armarx::FloatVariantData)" optional="yes"/>
- </OutputParameters>
- <LocalParameters/>
- <Substates/>
- <Events>
- <Event name="EvJointsActuated"/>
- </Events>
- <Transitions/>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ValidateTcpPose.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ValidateTcpPose.cpp
deleted file mode 100644
index 68a5c1b5b7e7295cd302291d21df337c2a92caba..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ValidateTcpPose.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "ValidateTcpPose.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-ValidateTcpPose::SubClassRegistry ValidateTcpPose::Registry(ValidateTcpPose::GetName(), &ValidateTcpPose::CreateInstance);
-
-
-
-ValidateTcpPose::ValidateTcpPose(XMLStateConstructorParams stateData) :
- XMLStateTemplate < ValidateTcpPose > (stateData)
-{
-}
-
-void ValidateTcpPose::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void ValidateTcpPose::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void ValidateTcpPose::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void ValidateTcpPose::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string ValidateTcpPose::GetName()
-{
- return "ValidateTcpPose";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr ValidateTcpPose::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new ValidateTcpPose(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ValidateTcpPose.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ValidateTcpPose.h
deleted file mode 100644
index 8f3bd1bc5eef0c721054dc80bfa84c72230cac34..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ValidateTcpPose.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_ValidateTcpPose_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_ValidateTcpPose_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class ValidateTcpPose :
- virtual public XMLStateTemplate < ValidateTcpPose > ,
- public XMLStateFactoryBase
- {
- public:
- ValidateTcpPose(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ValidateTcpPose.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ValidateTcpPose.xml
deleted file mode 100644
index 62514efc91f587724be2a3c45447b534840c5e5a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/LiftObjectSubGroup/ValidateTcpPose.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="ValidateTcpPose" uuid="EA799BAC-0800-4214-B998-AB27CEE7E7EC" width="1472.02" height="277.004">
- <Description>This state makes sure that the desired joint position was reached.</Description>
- <InputParameters>
- <Parameter name="ikWithOrientation" type="::armarx::BoolVariantData" optional="no"/>
- <Parameter name="kinematicChainName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="targetOrientationDistanceTolerance" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="targetPositionDistanceTolerance" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="targetTCPOrientation" type="::armarx::FramedOrientationBase" optional="no"/>
- <Parameter name="targetTCPPosition" type="::armarx::FramedPositionBase" optional="no"/>
- </InputParameters>
- <OutputParameters>
- <Parameter name="TCPDistanceToTarget" type="::armarx::FloatVariantData" optional="yes"/>
- <Parameter name="TCPOrientationDistanceToTarget" type="::armarx::FloatVariantData" optional="yes"/>
- </OutputParameters>
- <LocalParameters/>
- <Substates/>
- <Events>
- <Event name="EvSuccess">
- <Description>Denotes that the target pose has been reached.</Description>
- </Event>
- <Event name="EvFailure">
- <Description>Denotes that the target pose has not been reached with the desired accuracy.</Description>
- </Event>
- </Events>
- <Transitions/>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/LocalizeObject.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/LocalizeObject.cpp
deleted file mode 100644
index 57b8716b5b2580aa8beeb3abc8d26e8883e7b5a9..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/LocalizeObject.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "LocalizeObject.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-LocalizeObject::SubClassRegistry LocalizeObject::Registry(LocalizeObject::GetName(), &LocalizeObject::CreateInstance);
-
-
-
-LocalizeObject::LocalizeObject(XMLStateConstructorParams stateData) :
- XMLStateTemplate < LocalizeObject > (stateData)
-{
-}
-
-void LocalizeObject::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void LocalizeObject::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void LocalizeObject::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void LocalizeObject::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string LocalizeObject::GetName()
-{
- return "LocalizeObject";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr LocalizeObject::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new LocalizeObject(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/LocalizeObject.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/LocalizeObject.h
deleted file mode 100644
index 34b6822754608ef39641db5f2a3ff2d78bb2b454..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/LocalizeObject.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_LocalizeObject_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_LocalizeObject_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class LocalizeObject :
- virtual public XMLStateTemplate < LocalizeObject > ,
- public XMLStateFactoryBase
- {
- public:
- LocalizeObject(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/LocalizeObject.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/LocalizeObject.xml
deleted file mode 100644
index 4c2ab9bf4779278defe92efccfa6d031a4f8c0c6..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/LocalizeObject.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="LocalizeObject" uuid="65B8AC75-3373-4A1D-A80C-50E9385F67EC" width="800" height="600">
- <Description>This state waits until both the object and the marker have been localized.</Description>
- <InputParameters>
- <Parameter name="markerChannel" type="::armarx::ChannelRefBase" optional="no"/>
- <Parameter name="objectChannel" type="::armarx::ChannelRefBase" optional="no"/>
- </InputParameters>
- <OutputParameters/>
- <LocalParameters/>
- <Substates/>
- <Events>
- <Event name="EvObjectsLocalized">
- <Description>Denotes that both the object and the marker have been localized.</Description>
- </Event>
- </Events>
- <Transitions/>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/SelectObject.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/SelectObject.cpp
deleted file mode 100644
index bd8b7368d30fcf73456aed589af59091529e6532..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/SelectObject.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "SelectObject.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-SelectObject::SubClassRegistry SelectObject::Registry(SelectObject::GetName(), &SelectObject::CreateInstance);
-
-
-
-SelectObject::SelectObject(XMLStateConstructorParams stateData) :
- XMLStateTemplate < SelectObject > (stateData)
-{
-}
-
-void SelectObject::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void SelectObject::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void SelectObject::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void SelectObject::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string SelectObject::GetName()
-{
- return "SelectObject";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr SelectObject::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new SelectObject(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/SelectObject.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/SelectObject.h
deleted file mode 100644
index 57e2cd26f900f4c2bbc7edce0942ff077368fe96..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/SelectObject.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_SelectObject_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_SelectObject_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class SelectObject :
- virtual public XMLStateTemplate < SelectObject > ,
- public XMLStateFactoryBase
- {
- public:
- SelectObject(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/SelectObject.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/SelectObject.xml
deleted file mode 100644
index 0bed6a11e828b0985021a37a60a0d31c7f22eb73..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/SelectObject.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="SelectObject" uuid="B021151C-D3E6-4260-81B4-24D3C3A967EC" width="800" height="600">
- <Description>This state waits for the channel references of both object and marker to become available in the working memory as well as selecting specific channels if multiple are available.</Description>
- <InputParameters>
- <Parameter name="markerChannel" type="::armarx::ChannelRefBase" optional="no"/>
- <Parameter name="objectChannel" type="::armarx::ChannelRefBase" optional="no"/>
- </InputParameters>
- <OutputParameters>
- <Parameter name="markerInstanceChannel" type="::armarx::ChannelRefBase" optional="no"/>
- <Parameter name="objectInstanceChannel" type="::armarx::ChannelRefBase" optional="no"/>
- </OutputParameters>
- <LocalParameters/>
- <Substates/>
- <Events>
- <Event name="EvObjectInstanceNotAvailableYet">
- <Description>Either the marker or the object channel is not available yet.</Description>
- </Event>
- <Event name="EvObjectsSelected">
- <Description>Denotes that all channels are available.</Description>
- </Event>
- </Events>
- <Transitions/>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServo.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServo.cpp
deleted file mode 100644
index 2ca334ba5eeb3902f1dbc115e4dc98822d686d8d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServo.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "VisualServo.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-VisualServo::SubClassRegistry VisualServo::Registry(VisualServo::GetName(), &VisualServo::CreateInstance);
-
-
-
-VisualServo::VisualServo(XMLStateConstructorParams stateData) :
- XMLStateTemplate < VisualServo > (stateData)
-{
-}
-
-void VisualServo::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void VisualServo::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void VisualServo::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void VisualServo::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string VisualServo::GetName()
-{
- return "VisualServo";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr VisualServo::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new VisualServo(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServo.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServo.h
deleted file mode 100644
index f7460571e0bb87b79852d50aac1a011d96521bf0..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServo.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_VisualServo_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_VisualServo_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class VisualServo :
- virtual public XMLStateTemplate < VisualServo > ,
- public XMLStateFactoryBase
- {
- public:
- VisualServo(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServo.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServo.xml
deleted file mode 100644
index cd94f235bfe47bfe45111a5d299503e1006a0401..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServo.xml
+++ /dev/null
@@ -1,119 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="VisualServo" uuid="1CFCACD5-CF25-45C3-A3BC-C5A193C6E7EC" width="800" height="600">
- <Description>This state is responsible for localizing an object and a marker attached to a tcp in order to perform visual servoing and minimize the distance between the two.</Description>
- <InputParameters>
- <Parameter name="IKCutCartErrorMM" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="graspName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="graspSetName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="kinematicChain" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="markerName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="minMarkerCertainty" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="minObjectCertainty" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="objectName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="referenceFrame" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="stepSize" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="tcpName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="timeoutTotalMsec" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="useOrientation" type="::armarx::BoolVariantData" optional="no"/>
- </InputParameters>
- <OutputParameters/>
- <LocalParameters>
- <Parameter name="markerChannel" type="::armarx::ChannelRefBase" optional="yes"/>
- <Parameter name="objectChannel" type="::armarx::ChannelRefBase" optional="yes"/>
- </LocalParameters>
- <Substates>
- <EndState name="EvFailure" event="EvFailure" left="78.5567" top="430.231" boundingSquareSize="200"/>
- <EndState name="EvSuccess" event="EvSuccess" left="558.545" top="432.426" boundingSquareSize="200"/>
- <LocalState name="LocalizeObject" refuuid="65B8AC75-3373-4A1D-A80C-50E9385F67EC" left="71.6667" top="120.4" boundingSquareSize="200"/>
- <LocalState name="SelectObject" refuuid="B021151C-D3E6-4260-81B4-24D3C3A967EC" left="303.263" top="120.4" boundingSquareSize="200"/>
- <LocalState name="VisualServoWrapper" refuuid="47FB89AF-2B7E-44DC-B72C-5B73D148E7EC" left="540.351" top="120.4" boundingSquareSize="200"/>
- </Substates>
- <Events/>
- <StartState substateName="LocalizeObject">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="markerChannel" to="markerChannel"/>
- <ParameterMapping sourceType="Parent" from="objectChannel" to="objectChannel"/>
- </ParameterMappings>
- </StartState>
- <Transitions>
- <Transition from="LocalizeObject" to="SelectObject" eventName="EvObjectsLocalized">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="markerChannel" to="markerChannel"/>
- <ParameterMapping sourceType="Parent" from="objectChannel" to="objectChannel"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="315.506" posY="224.202"/>
- </SupportPoints>
- </Transition>
- <Transition from="SelectObject" to="SelectObject" eventName="EvObjectInstanceNotAvailableYet">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="markerChannel" to="markerChannel"/>
- <ParameterMapping sourceType="Parent" from="objectChannel" to="objectChannel"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="409.853" posY="262.752"/>
- <SupportPoint posX="283.792" posY="32.754"/>
- <SupportPoint posX="313.792" posY="62.754"/>
- <SupportPoint posX="343.792" posY="92.754"/>
- </SupportPoints>
- </Transition>
- <Transition from="SelectObject" to="VisualServoWrapper" eventName="EvObjectsSelected">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="IKCutCartErrorMM" to="IKCutCartErrorMM"/>
- <ParameterMapping sourceType="Parent" from="kinematicChain" to="kinematicChain"/>
- <ParameterMapping sourceType="Parent" from="markerChannel" to="markerChannel"/>
- <ParameterMapping sourceType="Output" from="markerInstanceChannel" to="markerInstanceChannel"/>
- <ParameterMapping sourceType="Parent" from="markerName" to="markerName"/>
- <ParameterMapping sourceType="Parent" from="minObjectCertainty" to="minObjectCertainty"/>
- <ParameterMapping sourceType="Parent" from="objectChannel" to="objectChannel"/>
- <ParameterMapping sourceType="Output" from="objectInstanceChannel" to="objectInstanceChannel"/>
- <ParameterMapping sourceType="Parent" from="objectName" to="objectName"/>
- <ParameterMapping sourceType="Parent" from="referenceFrame" to="referenceFrame"/>
- <ParameterMapping sourceType="Parent" from="stepSize" to="stepSize"/>
- <ParameterMapping sourceType="Parent" from="tcpName" to="tcpName"/>
- <ParameterMapping sourceType="Parent" from="timeoutTotalMsec" to="timeoutTotalMsec"/>
- <ParameterMapping sourceType="Parent" from="useOrientation" to="useOrientation"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="562.026" posY="184.637"/>
- </SupportPoints>
- </Transition>
- <Transition from="VisualServoWrapper" to="EvFailure" eventName="EvFailure">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="271.883" posY="461.592"/>
- </SupportPoints>
- </Transition>
- <Transition from="VisualServoWrapper" to="EvSuccess" eventName="EvSuccess">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="661.446" posY="454.491"/>
- </SupportPoints>
- </Transition>
- <Transition from="VisualServoWrapper" to="VisualServoWrapper" eventName="EvObjectPoseUpdate">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="IKCutCartErrorMM" to="IKCutCartErrorMM"/>
- <ParameterMapping sourceType="Parent" from="kinematicChain" to="kinematicChain"/>
- <ParameterMapping sourceType="Parent" from="markerChannel" to="markerChannel"/>
- <ParameterMapping sourceType="Output" from="markerInstanceChannel" to="markerInstanceChannel"/>
- <ParameterMapping sourceType="Parent" from="markerName" to="markerName"/>
- <ParameterMapping sourceType="Parent" from="minObjectCertainty" to="minObjectCertainty"/>
- <ParameterMapping sourceType="Parent" from="objectChannel" to="objectChannel"/>
- <ParameterMapping sourceType="Output" from="objectInstanceChannel" to="objectInstanceChannel"/>
- <ParameterMapping sourceType="Parent" from="objectName" to="objectName"/>
- <ParameterMapping sourceType="Parent" from="referenceFrame" to="referenceFrame"/>
- <ParameterMapping sourceType="Parent" from="stepSize" to="stepSize"/>
- <ParameterMapping sourceType="Parent" from="tcpName" to="tcpName"/>
- <ParameterMapping sourceType="Parent" from="timeoutTotalMsec" to="timeoutTotalMsec"/>
- <ParameterMapping sourceType="Parent" from="useOrientation" to="useOrientation"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="677.678" posY="129.854"/>
- <SupportPoint posX="469.079" posY="90.2845"/>
- <SupportPoint posX="499.079" posY="120.285"/>
- <SupportPoint posX="529.079" posY="150.285"/>
- </SupportPoints>
- </Transition>
- </Transitions>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/CalcVelocities.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/CalcVelocities.cpp
deleted file mode 100644
index f0f448cb9f1f7fc2fdf431878e2b19b5474150e1..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/CalcVelocities.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "CalcVelocities.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-CalcVelocities::SubClassRegistry CalcVelocities::Registry(CalcVelocities::GetName(), &CalcVelocities::CreateInstance);
-
-
-
-CalcVelocities::CalcVelocities(XMLStateConstructorParams stateData) :
- XMLStateTemplate < CalcVelocities > (stateData)
-{
-}
-
-void CalcVelocities::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void CalcVelocities::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void CalcVelocities::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void CalcVelocities::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string CalcVelocities::GetName()
-{
- return "CalcVelocities";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr CalcVelocities::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new CalcVelocities(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/CalcVelocities.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/CalcVelocities.h
deleted file mode 100644
index 36c0204f09e6061f61cd76d6cc5a35397a6b6404..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/CalcVelocities.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_CalcVelocities_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_CalcVelocities_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class CalcVelocities :
- virtual public XMLStateTemplate < CalcVelocities > ,
- public XMLStateFactoryBase
- {
- public:
- CalcVelocities(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/CalcVelocities.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/CalcVelocities.xml
deleted file mode 100644
index 3014d78889a97a090e783be5ae301c76fa0022f8..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/CalcVelocities.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="CalcVelocities" uuid="E7F4512D-8F5D-4F4F-AFC5-CD23CB7BE7EC" width="800" height="600">
- <Description>This state calculates the joint velocities based on where the marker and target position are so that the given tcp may approach the target.</Description>
- <InputParameters>
- <Parameter name="IKCutCartErrorMM" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="kinematicChain" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="markerChannel" type="::armarx::ChannelRefBase" optional="no"/>
- <Parameter name="stepSize" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="targetPose" type="::armarx::FramedPoseBase" optional="no"/>
- <Parameter name="tcpName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="useOrientation" type="::armarx::BoolVariantData" optional="no"/>
- </InputParameters>
- <OutputParameters/>
- <LocalParameters/>
- <Substates/>
- <Events>
- <Event name="EvCalcVelocitiesDone">
- <Description>Joint velocities have been calculated and the statechart can now wait for marker updates.</Description>
- </Event>
- <Event name="EvTargetReached">
- <Description>Denotes that the target was reached and no updates are necessary.</Description>
- </Event>
- </Events>
- <Transitions/>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/VisualServoObject.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/VisualServoObject.cpp
deleted file mode 100644
index 4f78d416da41fda6ee7b222c912e8096d0e0c17f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/VisualServoObject.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "VisualServoObject.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-VisualServoObject::SubClassRegistry VisualServoObject::Registry(VisualServoObject::GetName(), &VisualServoObject::CreateInstance);
-
-
-
-VisualServoObject::VisualServoObject(XMLStateConstructorParams stateData) :
- XMLStateTemplate < VisualServoObject > (stateData)
-{
-}
-
-void VisualServoObject::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void VisualServoObject::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void VisualServoObject::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void VisualServoObject::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string VisualServoObject::GetName()
-{
- return "VisualServoObject";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr VisualServoObject::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new VisualServoObject(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/VisualServoObject.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/VisualServoObject.h
deleted file mode 100644
index 014c68e0994d5d5778c761870b40c6ac425702d8..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/VisualServoObject.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_VisualServoObject_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_VisualServoObject_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class VisualServoObject :
- virtual public XMLStateTemplate < VisualServoObject > ,
- public XMLStateFactoryBase
- {
- public:
- VisualServoObject(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/VisualServoObject.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/VisualServoObject.xml
deleted file mode 100644
index 038fb47a533365c460a1bad2461307f965ec48bd..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/VisualServoObject.xml
+++ /dev/null
@@ -1,68 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="VisualServoObject" uuid="657172A7-E6D1-4193-9F23-0DC64D1B67EC" width="800" height="600">
- <Description>This state is responsible for visual servoing a tcp based on an attached marker and the target object's last known pose.
-The goal is to minimize the distance between the marker and object.</Description>
- <InputParameters>
- <Parameter name="IKCutCartErrorMM" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="kinematicChain" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="markerChannel" type="::armarx::ChannelRefBase" optional="no"/>
- <Parameter name="minRecognitionLikelihood" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="stepSize" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="targetPose" type="::armarx::FramedPoseBase" optional="no"/>
- <Parameter name="tcpName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="timeoutTotalMsec" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="useOrientation" type="::armarx::BoolVariantData" optional="no"/>
- </InputParameters>
- <OutputParameters/>
- <LocalParameters/>
- <Substates>
- <LocalState name="CalcVelocities" refuuid="E7F4512D-8F5D-4F4F-AFC5-CD23CB7BE7EC" left="475.263" top="152.713" boundingSquareSize="200"/>
- <EndState name="EvSuccess" event="EvSuccess" left="492.36" top="416.844" boundingSquareSize="200"/>
- <LocalState name="WaitForUpdates" refuuid="255B1ABB-40C2-4B37-9426-DE9F267F67EC" left="154.649" top="149.368" boundingSquareSize="200"/>
- </Substates>
- <Events>
- <Event name="EvFailure">
- <Description>Denotes that either the marker was lost or that a timeout occured.</Description>
- </Event>
- </Events>
- <StartState substateName="WaitForUpdates">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="markerChannel" to="markerChannel"/>
- <ParameterMapping sourceType="Parent" from="minRecognitionLikelihood" to="minRecognitionLikelihood"/>
- <ParameterMapping sourceType="Parent" from="targetPose" to="targetPose"/>
- </ParameterMappings>
- </StartState>
- <Transitions>
- <Transition from="WaitForUpdates" to="CalcVelocities" eventName="EvMarkerPoseUpdate">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="IKCutCartErrorMM" to="IKCutCartErrorMM"/>
- <ParameterMapping sourceType="Parent" from="kinematicChain" to="kinematicChain"/>
- <ParameterMapping sourceType="Parent" from="markerChannel" to="markerChannel"/>
- <ParameterMapping sourceType="Parent" from="stepSize" to="stepSize"/>
- <ParameterMapping sourceType="Parent" from="targetPose" to="targetPose"/>
- <ParameterMapping sourceType="Parent" from="tcpName" to="tcpName"/>
- <ParameterMapping sourceType="Parent" from="useOrientation" to="useOrientation"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="495.632" posY="215.754"/>
- </SupportPoints>
- </Transition>
- <Transition from="CalcVelocities" to="WaitForUpdates" eventName="EvCalcVelocitiesDone">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="markerChannel" to="markerChannel"/>
- <ParameterMapping sourceType="Parent" from="minRecognitionLikelihood" to="minRecognitionLikelihood"/>
- <ParameterMapping sourceType="Parent" from="targetPose" to="targetPose"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="321.368" posY="182.561"/>
- </SupportPoints>
- </Transition>
- <Transition from="CalcVelocities" to="EvSuccess" eventName="EvTargetReached">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="555.228" posY="449.614"/>
- </SupportPoints>
- </Transition>
- </Transitions>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/WaitForUpdates.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/WaitForUpdates.cpp
deleted file mode 100644
index da68663db0a7cb3f2bd802b90776e2264f20a02c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/WaitForUpdates.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "WaitForUpdates.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-WaitForUpdates::SubClassRegistry WaitForUpdates::Registry(WaitForUpdates::GetName(), &WaitForUpdates::CreateInstance);
-
-
-
-WaitForUpdates::WaitForUpdates(XMLStateConstructorParams stateData) :
- XMLStateTemplate < WaitForUpdates > (stateData)
-{
-}
-
-void WaitForUpdates::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void WaitForUpdates::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void WaitForUpdates::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void WaitForUpdates::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string WaitForUpdates::GetName()
-{
- return "WaitForUpdates";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr WaitForUpdates::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new WaitForUpdates(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/WaitForUpdates.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/WaitForUpdates.h
deleted file mode 100644
index cb9eedf5d0b4fac43b0cd2ba08f3bbcd70534792..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/WaitForUpdates.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_WaitForUpdates_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_WaitForUpdates_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class WaitForUpdates :
- virtual public XMLStateTemplate < WaitForUpdates > ,
- public XMLStateFactoryBase
- {
- public:
- WaitForUpdates(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/WaitForUpdates.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/WaitForUpdates.xml
deleted file mode 100644
index 34e4370d8a4aaa71260dc4bbaed1df3d6aac6170..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoObjectSubGroup/WaitForUpdates.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="WaitForUpdates" uuid="255B1ABB-40C2-4B37-9426-DE9F267F67EC" width="800" height="600">
- <Description>This state waits for updates on the marker to initiate the (re)calculation of joint velocities for visual servoing.</Description>
- <InputParameters>
- <Parameter name="markerChannel" type="::armarx::ChannelRefBase" optional="no"/>
- <Parameter name="minRecognitionLikelihood" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="targetPose" type="::armarx::FramedPoseBase" optional="no"/>
- </InputParameters>
- <OutputParameters/>
- <LocalParameters/>
- <Substates/>
- <Events>
- <Event name="EvMarkerPoseUpdate">
- <Description>Denotes that the marker pose was updated and that joint velocities for grasping should be recalculated.</Description>
- </Event>
- </Events>
- <Transitions/>
-</State>
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoWrapper.cpp b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoWrapper.cpp
deleted file mode 100644
index f7e227e89e4cf6a1cb5c4cda941528a0764889ea..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoWrapper.cpp
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "VisualServoWrapper.h"
-
-using namespace armarx;
-using namespace FindAndGraspObjectGroup;
-
-// DO NOT EDIT NEXT LINE
-VisualServoWrapper::SubClassRegistry VisualServoWrapper::Registry(VisualServoWrapper::GetName(), &VisualServoWrapper::CreateInstance);
-
-
-
-VisualServoWrapper::VisualServoWrapper(XMLStateConstructorParams stateData) :
- XMLStateTemplate < VisualServoWrapper > (stateData)
-{
-}
-
-void VisualServoWrapper::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
-void VisualServoWrapper::run()
-{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
- {
- // do your calculations
- }
-
-}
-
-void VisualServoWrapper::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
-
-void VisualServoWrapper::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string VisualServoWrapper::GetName()
-{
- return "VisualServoWrapper";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr VisualServoWrapper::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new VisualServoWrapper(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoWrapper.h b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoWrapper.h
deleted file mode 100644
index 0758efcb4248388d5b6955b15acb1b23ae469f5b..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoWrapper.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::FindAndGraspObjectGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_VisualServoWrapper_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_FindAndGraspObjectGroup_VisualServoWrapper_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace FindAndGraspObjectGroup
- {
- class VisualServoWrapper :
- virtual public XMLStateTemplate < VisualServoWrapper > ,
- public XMLStateFactoryBase
- {
- public:
- VisualServoWrapper(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoWrapper.xml b/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoWrapper.xml
deleted file mode 100644
index 3cce09e41347e61100c10345166de0f820de26ff..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/FindAndGraspObjectGroup/VisualServoSubGroup/VisualServoWrapper.xml
+++ /dev/null
@@ -1,64 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="VisualServoWrapper" uuid="47FB89AF-2B7E-44DC-B72C-5B73D148E7EC" width="800" height="600">
- <InputParameters>
- <Parameter name="IKCutCartErrorMM" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="kinematicChain" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="markerChannel" type="::armarx::ChannelRefBase" optional="no"/>
- <Parameter name="markerInstanceChannel" type="::armarx::ChannelRefBase" optional="no"/>
- <Parameter name="markerName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="minObjectCertainty" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="objectChannel" type="::armarx::ChannelRefBase" optional="no"/>
- <Parameter name="objectInstanceChannel" type="::armarx::ChannelRefBase" optional="no"/>
- <Parameter name="objectName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="referenceFrame" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="stepSize" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="tcpName" type="::armarx::StringVariantData" optional="no"/>
- <Parameter name="timeoutTotalMsec" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="useOrientation" type="::armarx::BoolVariantData" optional="no"/>
- </InputParameters>
- <OutputParameters>
- <Parameter name="markerInstanceChannel" type="::armarx::ChannelRefBase" optional="no"/>
- <Parameter name="objectInstanceChannel" type="::armarx::ChannelRefBase" optional="no"/>
- </OutputParameters>
- <LocalParameters>
- <Parameter name="targetPose" type="::armarx::FramedPoseBase" optional="yes"/>
- </LocalParameters>
- <Substates>
- <EndState name="EvFailure" event="EvFailure" left="43.2356" top="431.375" boundingSquareSize="200"/>
- <EndState name="EvSuccess" event="EvSuccess" left="577.44" top="433.44" boundingSquareSize="200"/>
- <LocalState name="VisualServoObject" refuuid="657172A7-E6D1-4193-9F23-0DC64D1B67EC" left="292.702" top="120.4" boundingSquareSize="200"/>
- </Substates>
- <Events>
- <Event name="EvObjectPoseUpdate">
- <Description>Denotes that the object's pose was updated.</Description>
- </Event>
- </Events>
- <StartState substateName="VisualServoObject">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="IKCutCartErrorMM" to="IKCutCartErrorMM"/>
- <ParameterMapping sourceType="Parent" from="kinematicChain" to="kinematicChain"/>
- <ParameterMapping sourceType="Parent" from="markerInstanceChannel" to="markerChannel"/>
- <ParameterMapping sourceType="Parent" from="minObjectCertainty" to="minRecognitionLikelihood"/>
- <ParameterMapping sourceType="Parent" from="stepSize" to="stepSize"/>
- <ParameterMapping sourceType="Parent" from="targetPose" to="targetPose"/>
- <ParameterMapping sourceType="Parent" from="tcpName" to="tcpName"/>
- <ParameterMapping sourceType="Parent" from="timeoutTotalMsec" to="timeoutTotalMsec"/>
- <ParameterMapping sourceType="Parent" from="useOrientation" to="useOrientation"/>
- </ParameterMappings>
- </StartState>
- <Transitions>
- <Transition from="VisualServoObject" to="EvFailure" eventName="EvFailure">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="162.947" posY="454.14"/>
- </SupportPoints>
- </Transition>
- <Transition from="VisualServoObject" to="EvSuccess" eventName="EvSuccess">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="584.649" posY="445.842"/>
- </SupportPoints>
- </Transition>
- </Transitions>
-</State>
-
diff --git a/source/RobotAPI/statecharts/MotionControlGroup/CalculateJointAngleConfiguration.cpp b/source/RobotAPI/statecharts/MotionControlGroup/CalculateJointAngleConfiguration.cpp
index fca3557b4699304b8039455a4655ef7776a80122..ad1b68ce0fa20b02fe582c2a5f9aa1cd3e2b7b83 100644
--- a/source/RobotAPI/statecharts/MotionControlGroup/CalculateJointAngleConfiguration.cpp
+++ b/source/RobotAPI/statecharts/MotionControlGroup/CalculateJointAngleConfiguration.cpp
@@ -23,6 +23,13 @@
#include "CalculateJointAngleConfiguration.h"
+// Core
+#include <RobotAPI/libraries/robotstate/remote/RemoteRobot.h>
+
+// Virtual Robot
+#include <VirtualRobot/IK/GenericIKSolver.h>
+#include <VirtualRobot/LinkedCoordinate.h>
+
using namespace armarx;
using namespace MotionControlGroup;
@@ -36,37 +43,95 @@ CalculateJointAngleConfiguration::CalculateJointAngleConfiguration(XMLStateConst
{
}
-void CalculateJointAngleConfiguration::onEnter()
-{
- // put your user code for the enter-point here
- // execution time should be short (<100ms)
-}
-
void CalculateJointAngleConfiguration::run()
{
- // put your user code for the execution-phase here
- // runs in seperate thread, thus can do complex operations
- // should check constantly whether isRunningTaskStopped() returns true
-
-
- while (!isRunningTaskStopped()) // stop run function if returning true
+ //RobotStatechartContext* context = getContext<RobotStatechartContext>();
+ //VirtualRobot::RobotPtr robot(new RemoteRobot(context->robotStateComponent->getRobotSnapshot("CalculateTCPPoseTime")));
+
+ // TODO: with the following line, the IK doesn't find a solution, so this terrible hack must be used. Fix it!!!
+ //VirtualRobot::RobotPtr robot = robotPtr->clone("CalculateTCPPoseClone");
+ //std::string robotModelFile;
+ //ArmarXDataPath::getAbsolutePath("Armar4/data/Armar4/ArmarIV.xml", robotModelFile);
+ //ArmarXDataPath::getAbsolutePath("Armar3/data/robotmodel/ArmarIII.xml", robotModelFile);
+ //VirtualRobot::RobotPtr robot = VirtualRobot::RobotIO::loadRobot(robotModelFile.c_str());
+
+ std::string kinChainName = getInput<std::string>("kinematicChainName");
+ float maxError = getInput<float>("targetPositionDistanceTolerance");
+ float maxErrorRot = getInput<float>("targetOrientationDistanceTolerance");
+ bool withOrientation = getInput<bool>("ikWithOrientation");
+ VirtualRobot::IKSolver::CartesianSelection ikType = VirtualRobot::IKSolver::All;
+ if (!withOrientation)
+ ikType = VirtualRobot::IKSolver::Position;
+
+
+ RobotStatechartContext* context = getContext<RobotStatechartContext>();
+ if (!context)
{
- // do your calculations
+ ARMARX_WARNING << "Need a RobotStatechartContext" << flush;
+ sendEvent<EvFailure>();
}
-}
-
-void CalculateJointAngleConfiguration::onBreak()
-{
- // put your user code for the breaking point here
- // execution time should be short (<100ms)
-}
+ if (!context->robotStateComponent)
+ {
+ ARMARX_WARNING << "No RobotStatechartContext->robotStateComponent" << flush;
+ sendEvent<EvFailure>();
+ }
-void CalculateJointAngleConfiguration::onExit()
-{
- // put your user code for the exit point here
- // execution time should be short (<100ms)
+ VirtualRobot::RobotPtr robot = RemoteRobot::createLocalClone(context->robotStateComponent);
+ if (!robot)
+ {
+ ARMARX_WARNING << "Could not create a local clone of RemoteRobot" << flush;
+ sendEvent<EvFailure>();
+ }
+ if (!robot->hasRobotNodeSet(kinChainName))
+ {
+ ARMARX_WARNING << "Robot does not know kinematic chain with name " << kinChainName << flush;
+ sendEvent<EvFailure>();
+ }
+ ARMARX_INFO << "Setting up ik solver for kin chain: " << kinChainName << ", max position error:" << maxError << ", max orientation erorr " << maxErrorRot << ", useOrientation:" << withOrientation << armarx::flush;
+ VirtualRobot::GenericIKSolverPtr ikSolver(new VirtualRobot::GenericIKSolver(robot->getRobotNodeSet(kinChainName), VirtualRobot::JacobiProvider::eSVDDamped));
+ ikSolver->setVerbose(true);
+ ikSolver->setMaximumError(maxError,maxErrorRot);
+ ikSolver->setupJacobian(0.6f, 10);
+
+ VirtualRobot::LinkedCoordinate target = ArmarPose::createLinkedCoordinate(robot, getInput<FramedPosition>("targetTCPPosition"), getInput<FramedOrientation>("targetTCPOrientation"));
+ ARMARX_INFO << "IK target: " << target.getPose() << armarx::flush;
+ Eigen::Matrix4f goalInRoot = target.getInFrame(robot->getRootNode());
+
+// // test
+// VirtualRobot::RobotNodePtr rn = robot->getRobotNode("LeftTCP");
+// Eigen::Matrix4f goalTmpTCP = rn->getGlobalPose();
+ Eigen::Matrix4f goalGlobal = robot->getRootNode()->toGlobalCoordinateSystem(goalInRoot);
+ ARMARX_INFO << "GOAL in root: " << goalInRoot << armarx::flush;
+ ARMARX_INFO << "GOAL global: " << goalGlobal << armarx::flush;
+// ARMARX_INFO << "GOAL TCP:" << goalTmpTCP << endl;
+
+ ARMARX_INFO << "Calculating IK" << flush;
+ //if (!ikSolver->solve(goalGlobal, VirtualRobot::IKSolver::Position, 50))
+ if (!ikSolver->solve(goalGlobal, ikType, 5))
+ {
+ ARMARX_WARNING << "IKSolver found no solution! " << flush;
+ sendEvent<EvFailure>();
+ }
+ else
+ {
+ SingleTypeVariantList jointNames = SingleTypeVariantList(VariantType::String);
+ SingleTypeVariantList targetJointValues = SingleTypeVariantList(VariantType::Float);
+ VirtualRobot::RobotNodeSetPtr kinematicChain = robot->getRobotNodeSet(kinChainName);
+ for (int i = 0; i < (signed int)kinematicChain->getSize(); i++)
+ {
+ jointNames.addVariant(Variant(kinematicChain->getNode(i)->getName()));
+ targetJointValues.addVariant(Variant(kinematicChain->getNode(i)->getJointValue()));
+ ARMARX_LOG << " joint: " << kinematicChain->getNode(i)->getName() << " value: " << kinematicChain->getNode(i)->getJointValue() << flush;
+ }
+ ARMARX_LOG << "number of joints to be set: " << jointNames.getSize() << flush;
+ ARMARX_LOG << "setting output: jointNames" << flush;
+ setOutput("jointNames", jointNames);
+ ARMARX_LOG << "setting output: targetJointValues" << flush;
+ setOutput("targetJointValues", targetJointValues);
+ sendEvent<EvCalculationDone>();
+ }
}
// DO NOT EDIT NEXT FUNCTION
diff --git a/source/RobotAPI/statecharts/MotionControlGroup/CalculateJointAngleConfiguration.h b/source/RobotAPI/statecharts/MotionControlGroup/CalculateJointAngleConfiguration.h
index 253e3682c0882c4eb505234fb835ad42c60adc77..e1ee57d4411f89dc2e3eed8e6affab7c9598dbf3 100644
--- a/source/RobotAPI/statecharts/MotionControlGroup/CalculateJointAngleConfiguration.h
+++ b/source/RobotAPI/statecharts/MotionControlGroup/CalculateJointAngleConfiguration.h
@@ -25,11 +25,13 @@
#define _ARMARX_XMLUSERCODE_RobotAPI_MotionControlGroup_CalculateJointAngleConfiguration_H
#include <Core/statechart/xmlstates/XMLState.h>
+#include <RobotAPI/libraries/core/RobotStatechartContext.h>
namespace armarx
{
namespace MotionControlGroup
{
+ DEFINEEVENT(EvCalculationDone)
class CalculateJointAngleConfiguration :
virtual public XMLStateTemplate < CalculateJointAngleConfiguration > ,
public XMLStateFactoryBase
@@ -38,10 +40,7 @@ namespace armarx
CalculateJointAngleConfiguration(XMLStateConstructorParams stateData);
// inherited from StateBase
- void onEnter();
void run();
- void onBreak();
- void onExit();
// static functions for AbstractFactory Method
static std::string GetName();
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/CMakeLists.txt b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/CMakeLists.txt
deleted file mode 100644
index ec48625617a86703f28383c77380993b1c347243..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/CMakeLists.txt
+++ /dev/null
@@ -1,47 +0,0 @@
-armarx_component_set_name("MovePlatformToLandmarkGroup")
-
-#find_package(MyLib QUIET)
-#armarx_build_if(MyLib_FOUND "MyLib not available")
-#
-# all include_directories must be guarded by if(Xyz_FOUND)
-# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
-#if(MyLib_FOUND)
-# include_directories(${MyLib_INCLUDE_DIRS})
-#endif()
-
-find_package(Eigen3 QUIET)
-find_package(Simox QUIET)
-
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-if (Eigen3_FOUND AND Simox_FOUND)
- include_directories(
- ${Eigen3_INCLUDE_DIR}
- ${Simox_INCLUDE_DIRS})
-endif()
-
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreStatechart ArmarXCoreObservers RobotAPIRemoteRobot)
-
-# Sources
-
-set(SOURCES
-MovePlatformToLandmarkGroupRemoteStateOfferer.cpp
-./MovePlatformToLandmark.cpp
-./CalcPath.cpp
-MovePlatformSubGroup/MovePlatform.cpp
-MovePlatformSubGroup/MoveToNext.cpp
-#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.cpp
-)
-
-set(HEADERS
-PlatformContext.h
-MovePlatformToLandmarkGroupRemoteStateOfferer.h
-./MovePlatformToLandmark.h
-./CalcPath.h
-MovePlatformSubGroup/MovePlatform.h
-MovePlatformSubGroup/MoveToNext.h
-#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.h
-)
-
-armarx_add_component("${SOURCES}" "${HEADERS}")
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/CalcPath.cpp b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/CalcPath.cpp
deleted file mode 100644
index d1367e017a9c3e035b751418a3046c2c81750dba..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/CalcPath.cpp
+++ /dev/null
@@ -1,204 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::MovePlatformToLandmarkGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "CalcPath.h"
-
-using namespace armarx;
-using namespace MovePlatformToLandmarkGroup;
-
-// DO NOT EDIT NEXT LINE
-CalcPath::SubClassRegistry CalcPath::Registry(CalcPath::GetName(), &CalcPath::CreateInstance);
-
-
-
-CalcPath::CalcPath(XMLStateConstructorParams stateData) :
- XMLStateTemplate < CalcPath > (stateData)
-{
-}
-
-void CalcPath::onEnter()
-{
- ARMARX_LOG << eVERBOSE << "CalcPath::onEnter()" << flush;
-
- //read the nodes into a tag to node map
- SingleTypeVariantListPtr landmarkNodes = getInput<SingleTypeVariantList>("landmarkNodes");
- std::map<std::string, NodePtr> nameToNodeMap;
- for (int i = 0; i < landmarkNodes->getSize(); i++) {
- ARMARX_LOG << landmarkNodes->getVariant(i)->getTypeName() << flush;
- FramedVector3Ptr fv = landmarkNodes->getVariant(i)->get<FramedVector3>();
- NodePtr n = NodePtr(new Node());
- n->name = fv->frame;
- n->framedPos = fv;
- nameToNodeMap[fv->frame] = n;
- }
-
- ARMARX_LOG << eVERBOSE << "StateCalculatePath:onEnter(): Retrieving edges" << flush;
- //process the edges by adding the nodes to each other's successors
- SingleTypeVariantListPtr landmarkEdges = getInput<SingleTypeVariantList>("landmarkEdges");
- for (int i = 0; i < landmarkEdges->getSize(); i++) {
- std::string edge = landmarkEdges->getVariant(i)->getString();
- std::vector<std::string> edgeNodes;
- boost::split(edgeNodes, edge, boost::is_any_of(";"), boost::token_compress_on);
- NodePtr left = nameToNodeMap[edgeNodes[0]];
- NodePtr right = nameToNodeMap[edgeNodes[1]];
- left->successors.push_back(right);
- right->successors.push_back(left);
- }
-
- ARMARX_LOG << eVERBOSE << "CalcPath:onEnter(): Getting current pose from PlatformContext" << flush;
- PlatformContext* context = getContext<PlatformContext>();
- ChannelRefPtr poseRef = context->getChannelRef(context->getPlatformUnitObserverName(), "platformPose");
- const float platformPositionX = context->getDatafieldRef(poseRef, "positionX")->getDataField()->getFloat();
- const float platformPositionY = context->getDatafieldRef(poseRef, "positionY")->getDataField()->getFloat();
-
- //has trouble resolving the observer?
-// const float platformPositionX = context->getDataFromObserver(DataFieldIdentifierPtr(new DataFieldIdentifier("platformPose.positionX")))->getFloat();
-// const float platformPositionY = context->getDataFromObserver(DataFieldIdentifierPtr(new DataFieldIdentifier("platformPose.positionY")))->getFloat();
-
- std::map<std::string, NodePtr>::iterator it = nameToNodeMap.begin();
- if (it == nameToNodeMap.end()) {
- ARMARX_LOG << eWARN << "No nodes provided" << flush;
- sendEvent<EvNoPathFound>();
- return;
- }
- ARMARX_LOG << eVERBOSE << "StateCalculatePath:onEnter(): Finding closest point in graph" << flush;
- NodePtr closest = it->second;
- float minDist = closest->dist(platformPositionX, platformPositionY);
- it++;
- for (; it != nameToNodeMap.end(); it++) {
- const float dist = it->second->dist(platformPositionX, platformPositionY);
- if (dist < minDist) {
- closest = it->second;
- minDist = dist;
- }
- }
-
- ARMARX_DEBUG << "CalcPath:onEnter(): Starting point: " << closest->name << flush;
-
- std::string landmark = getInput<std::string>("targetLandmark");
- NodePtr goal = nameToNodeMap[landmark];
- if (!goal) {
- ARMARX_LOG << eWARN << "Target landmark doesn't exist in graph" << flush;
- sendEvent<EvNoPathFound>();
- return;
- }
- ARMARX_DEBUG << "CalcPath::onEnter(): Looking for path" << flush;
- std::list<NodePtr> path = aStar(closest, goal);
- if (path.empty()) {
- ARMARX_LOG << eWARN << "No path found" << flush;
- sendEvent<EvNoPathFound>();
- return;
- }
- SingleTypeVariantList targetPositions(VariantType::Vector3);
- const float goalAlpha = path.back()->framedPos->z;
- for (std::list<NodePtr>::iterator it = path.begin(); it != path.end(); it++) {
- Vector3 v;
- v.x = (*it)->framedPos->x;
- v.y = (*it)->framedPos->y;
- v.z = goalAlpha;
- targetPositions.addVariant(v);
- }
- setOutput("targetPositions", targetPositions);
- sendEvent<EvPathFound>();
- ARMARX_LOG << eVERBOSE << "Done CalcPath::onEnter()" << flush;
-}
-
-//http://en.wikipedia.org/wiki/A*_search_algorithm
-std::list<CalcPath::NodePtr> CalcPath::aStar(CalcPath::NodePtr start, CalcPath::NodePtr goal) {
- std::list<NodePtr> path;
-
- std::vector<NodePtr> closedSet;
- std::vector<NodePtr> openSet;
- openSet.push_back(start);
- std::map<NodePtr, float> gScore;
- gScore[start] = 0.f;
- std::map<NodePtr, float> fScore;
- fScore[start] = gScore[start] + heuristic(start, goal);
- std::map<NodePtr, NodePtr> cameFrom;
- cameFrom[goal] = start; //in case start==goal
-
- while (!openSet.empty()) {
- float lowestScore = fScore[openSet[0]];
- std::vector<NodePtr>::iterator currentIT = openSet.begin();
- for (std::vector<NodePtr>::iterator it = openSet.begin() + 1; it != openSet.end(); it++) {
- if (fScore[*it] < lowestScore) {
- lowestScore = fScore[*it];
- currentIT = it;
- }
- }
- NodePtr current = *currentIT;
- if (current == goal) {
- NodePtr cameFromNode = goal;
- while (cameFromNode != start) {
- path.push_front(cameFromNode);
- cameFromNode = cameFrom[cameFromNode];
- }
- path.push_front(start);
- break;
- }
- openSet.erase(currentIT);
- closedSet.push_back(current);
-
- for (size_t i = 0; i < current->successors.size(); i++) {
- NodePtr neighbor = current->successors[i];
- if (std::find(closedSet.begin(), closedSet.end(), neighbor) != closedSet.end()) continue;
-
- float tentativeGScore = gScore[current] + current->dist(neighbor);
- bool notInOS = std::find(openSet.begin(), openSet.end(), neighbor) == openSet.end();
- if (notInOS || tentativeGScore < gScore[neighbor]) {
- cameFrom[neighbor] = current;
- gScore[neighbor] = tentativeGScore;
- fScore[neighbor] = tentativeGScore + heuristic(neighbor, goal);
- if (notInOS) {
- openSet.push_back(neighbor);
- }
- }
- }
- }
- return path;
-}
-
-void CalcPath::run()
-{
-}
-
-void CalcPath::onBreak()
-{
-}
-
-void CalcPath::onExit()
-{
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string CalcPath::GetName()
-{
- return "CalcPath";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr CalcPath::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new CalcPath(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/CalcPath.h b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/CalcPath.h
deleted file mode 100644
index 47ea4ea52b880001e6b1cd70907ab927c7d1c8f9..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/CalcPath.h
+++ /dev/null
@@ -1,84 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::MovePlatformToLandmarkGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_MovePlatformToLandmarkGroup_CalcPath_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_MovePlatformToLandmarkGroup_CalcPath_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-#include <RobotAPI/statecharts/MovePlatformToLandmarkGroup/PlatformContext.h>
-
-namespace armarx
-{
- namespace MovePlatformToLandmarkGroup
- {
- DEFINEEVENT(EvPathFound)
- DEFINEEVENT(EvNoPathFound)
-
- class CalcPath :
- virtual public XMLStateTemplate < CalcPath > ,
- public XMLStateFactoryBase
- {
- public:
- CalcPath(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
-
- private:
- struct Node {
- std::string name;
- std::vector<boost::shared_ptr<Node>> successors;
- FramedVector3Ptr framedPos;
- inline float dist(boost::shared_ptr<Node> o) {
- return dist(o->framedPos->x, o->framedPos->y);
- }
- inline float dist(float x, float y) {
- const float dX = framedPos->x - x;
- const float dY = framedPos->y - y;
- return std::sqrt(dX * dX + dY * dY);
- }
- };
- typedef boost::shared_ptr<Node> NodePtr;
-
- inline float heuristic(NodePtr n1, NodePtr n2) {
- return n1->dist(n2);
- }
-
- std::list<NodePtr> aStar(NodePtr start, NodePtr goal);
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/CalcPath.xml b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/CalcPath.xml
deleted file mode 100644
index 828fcb3a6f1c2e81fc42c66c828f3b33a5362805..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/CalcPath.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="CalcPath" uuid="36719C67-762C-45FC-A703-0784C7A34F8B" width="800" height="336.376">
- <Description>This state is responsible for calculating a path via the A* algorithm. Given a list of nodes and a list of edges, a shortest path (if one exists) is calculated between the node closest to the current position and the target landmark and returned as a list of points belonging to the nodes traversed.</Description>
- <InputParameters>
- <Parameter name="landmarkEdges" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" optional="no"/>
- <Parameter name="landmarkNodes" type="::armarx::SingleTypeVariantListBase(::armarx::FramedVector3Base)" optional="no"/>
- <Parameter name="targetLandmark" type="::armarx::StringVariantData" optional="no"/>
- </InputParameters>
- <OutputParameters>
- <Parameter name="targetPositions" type="::armarx::SingleTypeVariantListBase(::armarx::Vector3Base)" optional="no"/>
- </OutputParameters>
- <LocalParameters/>
- <Substates/>
- <Events>
- <Event name="EvPathFound">
- <Description>Denotes that a path was found from the current position to the target landmark</Description>
- </Event>
- <Event name="EvNoPathFound">
- <Description>Denotes that no path was found between the node closest to the current position and the target landmark based on the provided graph.</Description>
- </Event>
- </Events>
- <Transitions/>
-</State>
-
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MovePlatform.cpp b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MovePlatform.cpp
deleted file mode 100644
index 428e090ad657ae5c8085768934d5f45b7ce8a38d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MovePlatform.cpp
+++ /dev/null
@@ -1,64 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::MovePlatformToLandmarkGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "MovePlatform.h"
-
-using namespace armarx;
-using namespace MovePlatformToLandmarkGroup;
-
-// DO NOT EDIT NEXT LINE
-MovePlatform::SubClassRegistry MovePlatform::Registry(MovePlatform::GetName(), &MovePlatform::CreateInstance);
-
-
-
-MovePlatform::MovePlatform(XMLStateConstructorParams stateData) :
- XMLStateTemplate < MovePlatform > (stateData)
-{
-}
-
-void MovePlatform::onEnter()
-{
- ARMARX_LOG << eVERBOSE << "Entering StatechartMovePlatform";
- ChannelRefPtr counter = ChannelRefPtr::dynamicCast(getContext()->systemObserverPrx->startCounter(0, "positionCounter"));
- setLocal("positionCounter", counter);
-}
-
-void MovePlatform::onExit()
-{
- ChannelRefPtr r = getLocal<ChannelRef>("positionCounter");
- getContext()->systemObserverPrx->removeCounter(r);
- ARMARX_LOG << eVERBOSE << "Exiting StatechartMovePlatform...";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string MovePlatform::GetName()
-{
- return "MovePlatform";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr MovePlatform::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new MovePlatform(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MovePlatform.h b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MovePlatform.h
deleted file mode 100644
index 38d4389d79fe97e4a2f8a030be96251de576ddc8..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MovePlatform.h
+++ /dev/null
@@ -1,56 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::MovePlatformToLandmarkGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_MovePlatformToLandmarkGroup_MovePlatform_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_MovePlatformToLandmarkGroup_MovePlatform_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace MovePlatformToLandmarkGroup
- {
- class MovePlatform :
- virtual public XMLStateTemplate < MovePlatform > ,
- public XMLStateFactoryBase
- {
- public:
- MovePlatform(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MovePlatform.xml b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MovePlatform.xml
deleted file mode 100644
index ac9396e612a256bba6d6b23c37f26b100b5afd80..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MovePlatform.xml
+++ /dev/null
@@ -1,62 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="MovePlatform" uuid="DB4A1244-3587-4F87-909F-B7274E4842C5" width="800" height="611.495">
- <Description>This state moves the platform through a series of points.</Description>
- <InputParameters>
- <Parameter name="orientationalAccuracy" type="::armarx::FloatVariantData" optional="no" default='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.0}}'/>
- <Parameter name="positionalAccuracy" type="::armarx::FloatVariantData" optional="no" default='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":10.0}}'/>
- <Parameter name="targetPositions" type="::armarx::SingleTypeVariantListBase(::armarx::Vector3Base)" optional="no" default='{"array":[{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::Vector3Base","value":{"x":0.0,"y":5000.0,"z":0.0}}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::Vector3Base","value":{"x":0.0,"y":5000.0,"z":3.0}}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::Vector3Base","value":{"x":-2500.0,"y":2500.0,"z":0.0}}}],"type":"::armarx::SingleTypeVariantListBase"}'/>
- <Parameter name="timeoutMoveTo" type="::armarx::IntVariantData" optional="no" default='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::IntVariantData","value":30000}}'/>
- <Parameter name="waitAfterLast" type="::armarx::IntVariantData" optional="no" default='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::IntVariantData","value":0}}'/>
- </InputParameters>
- <OutputParameters/>
- <LocalParameters>
- <Parameter name="positionCounter" type="::armarx::ChannelRefBase" optional="yes"/>
- </LocalParameters>
- <Substates>
- <EndState name="EvFailure" event="EvFailure" left="51.7664" top="277.061" boundingSquareSize="200"/>
- <EndState name="EvSuccess" event="EvSuccess" left="284.051" top="277.061" boundingSquareSize="200"/>
- <LocalState name="MoveToNext" refuuid="E3A2DA64-4967-4F8E-AA8B-7CBF7BED42C5" left="164.749" top="124.007" boundingSquareSize="200"/>
- </Substates>
- <Events/>
- <StartState substateName="MoveToNext">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="orientationalAccuracy" to="orientationalAccuracy"/>
- <ParameterMapping sourceType="Parent" from="positionCounter" to="positionCounter"/>
- <ParameterMapping sourceType="Parent" from="positionalAccuracy" to="positionalAccuracy"/>
- <ParameterMapping sourceType="Parent" from="targetPositions" to="targetPositions"/>
- <ParameterMapping sourceType="Parent" from="timeoutMoveTo" to="timeoutMoveTo"/>
- <ParameterMapping sourceType="Parent" from="waitAfterLast" to="waitAfterLast"/>
- </ParameterMappings>
- </StartState>
- <Transitions>
- <Transition from="MoveToNext" to="MoveToNext" eventName="EvWaypointReached">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="orientationalAccuracy" to="orientationalAccuracy"/>
- <ParameterMapping sourceType="Parent" from="positionCounter" to="positionCounter"/>
- <ParameterMapping sourceType="Parent" from="positionalAccuracy" to="positionalAccuracy"/>
- <ParameterMapping sourceType="Parent" from="targetPositions" to="targetPositions"/>
- <ParameterMapping sourceType="Parent" from="timeoutMoveTo" to="timeoutMoveTo"/>
- <ParameterMapping sourceType="Parent" from="waitAfterLast" to="waitAfterLast"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="223.718" posY="127.619"/>
- <SupportPoint posX="83.4658" posY="65.1142"/>
- <SupportPoint posX="113.466" posY="95.1142"/>
- <SupportPoint posX="143.466" posY="125.114"/>
- </SupportPoints>
- </Transition>
- <Transition from="MoveToNext" to="EvSuccess" eventName="EvEndpointReached">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="370.557" posY="270.614"/>
- </SupportPoints>
- </Transition>
- <Transition from="MoveToNext" to="EvFailure" eventName="EvTimeoutWaypointUnreachable">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="130.694" posY="267.539"/>
- </SupportPoints>
- </Transition>
- </Transitions>
-</State>
-
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MoveToNext.cpp b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MoveToNext.cpp
deleted file mode 100644
index 8a1f7b9a7bf3364821ba891a2b3a16ee330633de..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MoveToNext.cpp
+++ /dev/null
@@ -1,87 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::MovePlatformToLandmarkGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "MoveToNext.h"
-
-using namespace armarx;
-using namespace MovePlatformToLandmarkGroup;
-
-// DO NOT EDIT NEXT LINE
-MoveToNext::SubClassRegistry MoveToNext::Registry(MoveToNext::GetName(), &MoveToNext::CreateInstance);
-
-
-
-MoveToNext::MoveToNext(XMLStateConstructorParams stateData) :
- XMLStateTemplate < MoveToNext > (stateData)
-{
-}
-
-void MoveToNext::onEnter()
-{
- ARMARX_LOG << eVERBOSE << "Entering MoveToNext::onEnter" << flush;
- PlatformContext* context = getContext<PlatformContext>();
- ChannelRefPtr counter = getInput<ChannelRef>("positionCounter");
- int positionIndex = counter->getDataField("value")->getInt();
- ARMARX_DEBUG << "Entering positionIndex:" << positionIndex << flush;
- SingleTypeVariantListPtr points = getInput<SingleTypeVariantList>("targetPositions");
- ARMARX_DEBUG << "points->getSize:" << points->getSize() << flush;
- if (positionIndex < points->getSize()) {
- Vector3Ptr currentTarget = points->getVariant(positionIndex)->get<Vector3>();
- ARMARX_DEBUG << "currentTarget:" << currentTarget->toEigen().transpose() << flush;
- float positionalAccuracy = getInput<float>("positionalAccuracy");
- float orientationalAccuracy = getInput<float>("orientationalAccuracy");
- context->platformUnitPrx->moveTo(currentTarget->x, currentTarget->y, currentTarget->z, positionalAccuracy, orientationalAccuracy);
- Literal checkX(context->platformUnitObserverName + ".platformPose.positionX", "inrange", Literal::createParameterList(currentTarget->x-positionalAccuracy,currentTarget->x+positionalAccuracy));
- Literal checkY(context->platformUnitObserverName + ".platformPose.positionY", "inrange", Literal::createParameterList(currentTarget->y-positionalAccuracy,currentTarget->y+positionalAccuracy));
- Literal checkAngle(context->platformUnitObserverName + ".platformPose.rotation", "inrange", Literal::createParameterList(currentTarget->z-orientationalAccuracy,currentTarget->z+orientationalAccuracy));
-
- condTargetReached = installCondition<EvWaypointReached>(checkX && checkY && checkAngle);
- timeoutMoveToNext = setTimeoutEvent(getInput<int>("timeoutMoveTo"), createEvent<EvTimeoutWaypointUnreachable>());
- } else {
- timeoutWaitAfterLast = setTimeoutEvent(getInput<int>("waitAfterLast"), createEvent<EvEndpointReached>());
- }
-
- context->systemObserverPrx->incrementCounter(counter);
- ARMARX_LOG << eVERBOSE << "Done MoveToNext::onEnter()";
-}
-
-void MoveToNext::onExit()
-{
- removeCondition(condTargetReached);
- removeTimeoutEvent(timeoutMoveToNext);
- removeTimeoutEvent(timeoutWaitAfterLast);
- ARMARX_LOG << eVERBOSE << "MoveToNext: Done onExit()";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string MoveToNext::GetName()
-{
- return "MoveToNext";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr MoveToNext::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new MoveToNext(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MoveToNext.h b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MoveToNext.h
deleted file mode 100644
index 63df7450c85e7868b3ffec5eef89bb6ab67355cd..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MoveToNext.h
+++ /dev/null
@@ -1,65 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::MovePlatformToLandmarkGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_MovePlatformToLandmarkGroup_MoveToNext_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_MovePlatformToLandmarkGroup_MoveToNext_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-#include <RobotAPI/statecharts/MovePlatformToLandmarkGroup/PlatformContext.h>
-
-namespace armarx
-{
- namespace MovePlatformToLandmarkGroup
- {
- DEFINEEVENT(EvTimeoutWaypointUnreachable)
- DEFINEEVENT(EvWaypointReached)
- DEFINEEVENT(EvEndpointReached)
-
- class MoveToNext :
- virtual public XMLStateTemplate < MoveToNext > ,
- public XMLStateFactoryBase
- {
- public:
- MoveToNext(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- ConditionIdentifier condTargetReached;
- ActionEventIdentifier timeoutMoveToNext;
- ActionEventIdentifier timeoutWaitAfterLast;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MoveToNext.xml b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MoveToNext.xml
deleted file mode 100644
index 7cbb13178e690177facbd3b6892c682a43af14db..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformSubGroup/MoveToNext.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="MoveToNext" uuid="E3A2DA64-4967-4F8E-AA8B-7CBF7BED42C5" width="800" height="185.582">
- <Description>This state is responsible for moving the platform to a given point.</Description>
- <InputParameters>
- <Parameter name="orientationalAccuracy" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="positionCounter" type="::armarx::ChannelRefBase" optional="no"/>
- <Parameter name="positionalAccuracy" type="::armarx::FloatVariantData" optional="no"/>
- <Parameter name="targetPositions" type="::armarx::SingleTypeVariantListBase(::armarx::Vector3Base)" optional="no"/>
- <Parameter name="timeoutMoveTo" type="::armarx::IntVariantData" optional="no"/>
- <Parameter name="waitAfterLast" type="::armarx::IntVariantData" optional="no"/>
- </InputParameters>
- <OutputParameters/>
- <LocalParameters/>
- <Substates/>
- <Events>
- <Event name="EvTimeoutWaypointUnreachable">
- <Description>Denotes that the platform could not move to a waypoint within the set time limit.</Description>
- </Event>
- <Event name="EvWaypointReached">
- <Description>Denotes that a waypoint (that is not an endpoint) was reached.</Description>
- </Event>
- <Event name="EvEndpointReached">
- <Description>Denotes that the endpoint was reached successfully and that there are no more target waypoints.</Description>
- </Event>
- </Events>
- <Transitions/>
-</State>
-
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmark.cpp b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmark.cpp
deleted file mode 100644
index c974e75511e02088b6e8455af4178029aa4eb361..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmark.cpp
+++ /dev/null
@@ -1,66 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::MovePlatformToLandmarkGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "MovePlatformToLandmark.h"
-
-using namespace armarx;
-using namespace MovePlatformToLandmarkGroup;
-
-// DO NOT EDIT NEXT LINE
-MovePlatformToLandmark::SubClassRegistry MovePlatformToLandmark::Registry(MovePlatformToLandmark::GetName(), &MovePlatformToLandmark::CreateInstance);
-
-
-
-MovePlatformToLandmark::MovePlatformToLandmark(XMLStateConstructorParams stateData) :
- XMLStateTemplate < MovePlatformToLandmark > (stateData)
-{
-}
-
-void MovePlatformToLandmark::onEnter()
-{
-}
-
-void MovePlatformToLandmark::run()
-{
-}
-
-void MovePlatformToLandmark::onBreak()
-{
-}
-
-void MovePlatformToLandmark::onExit()
-{
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string MovePlatformToLandmark::GetName()
-{
- return "MovePlatformToLandmark";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateFactoryBasePtr MovePlatformToLandmark::CreateInstance(XMLStateConstructorParams stateData)
-{
- return XMLStateFactoryBasePtr(new MovePlatformToLandmark(stateData));
-}
-
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmark.h b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmark.h
deleted file mode 100644
index 8910434dde858c3171def0520a9f1b7bf42b043b..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmark.h
+++ /dev/null
@@ -1,58 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::MovePlatformToLandmarkGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_MovePlatformToLandmarkGroup_MovePlatformToLandmark_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_MovePlatformToLandmarkGroup_MovePlatformToLandmark_H
-
-#include <Core/statechart/xmlstates/XMLState.h>
-
-namespace armarx
-{
- namespace MovePlatformToLandmarkGroup
- {
- class MovePlatformToLandmark :
- virtual public XMLStateTemplate < MovePlatformToLandmark > ,
- public XMLStateFactoryBase
- {
- public:
- MovePlatformToLandmark(XMLStateConstructorParams stateData);
-
- // inherited from StateBase
- void onEnter();
- void run();
- void onBreak();
- void onExit();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
- static SubClassRegistry Registry;
-
- // DO NOT INSERT ANY CLASS MEMBERS,
- // use stateparameters instead,
- // if classmember are neccessary nonetheless, reset them in onEnter
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmark.xml b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmark.xml
deleted file mode 100644
index 63705efef7f4dc65cbe15acb35b1e098fdd346c9..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmark.xml
+++ /dev/null
@@ -1,65 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<State version="1.0" name="MovePlatformToLandmark" uuid="9AE3BE73-6695-4BEF-B91F-D6B072B04F8B" width="800" height="683.424">
- <Description>State responsible for planning a path on a provided graph of nodes, edges and an end point.
-
-Each node encodes a (x,y) position, orientation around the z axis as well as a "frame" which serves as a name/id.
-Each edge is a string in the format "<name1>;<name2>" where the names or those of existing nodes which are to be connected bidirectionally (no unidirectional connections).</Description>
- <InputParameters>
- <Parameter name="landmarkEdges" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" optional="no" default='{"array":[{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":""}}],"type":"::armarx::SingleTypeVariantListBase"}'/>
- <Parameter name="landmarkNodes" type="::armarx::SingleTypeVariantListBase(::armarx::FramedVector3Base)" optional="no" default='{"array":[{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FramedVector3Base","value":{"frame":"Start","x":0.0,"y":0.0,"z":0.0}}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FramedVector3Base","value":{"frame":"1","x":4200.0,"y":0.0,"z":0.0}}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FramedVector3Base","value":{"frame":"2","x":4200.0,"y":4000.0,"z":0.0}}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FramedVector3Base","value":{"frame":"Handover","x":4200.0,"y":4000.0,"z":3.0}}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FramedVector3Base","value":{"frame":"3","x":3100.0,"y":6000.0,"z":0.0}}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FramedVector3Base","value":{"frame":"4","x":3300.0,"y":8300.0,"z":0.0}}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FramedVector3Base","value":{"frame":"Oven","x":2600.0,"y":7600.0,"z":0.0}}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FramedVector3Base","value":{"frame":"TableWithRolls","x":3300.0,"y":7150.0,"z":-1.0}}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FramedVector3Base","value":{"frame":"Sink","x":2600.0,"y":9600.0,"z":0.0}}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FramedVector3Base","value":{"frame":"Cupboard7Door","x":4500.0,"y":9400.0,"z":0.0}}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FramedVector3Base","value":{"frame":"SinkTable","x":3200.0,"y":9700.0,"z":0.0}}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FramedVector3Base","value":{"frame":"CloseToTableWithRolls","x":3500.0,"y":7150.0,"z":-1.0}}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FramedVector3Base","value":{"frame":"HandoverTable","x":3000.0,"y":5500.0,"z":2.0}}}],"type":"::armarx::SingleTypeVariantListBase"}'/>
- <Parameter name="orientationalAccuracy" type="::armarx::FloatVariantData" optional="no" default='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":0.0}}'/>
- <Parameter name="positionalAccuracy" type="::armarx::FloatVariantData" optional="no" default='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::FloatVariantData","value":10.0}}'/>
- <Parameter name="targetLandmark" type="::armarx::StringVariantData" optional="no" default='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"HandoverTable"}}'/>
- <Parameter name="timeoutMoveTo" type="::armarx::IntVariantData" optional="no" default='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::IntVariantData","value":30000}}'/>
- <Parameter name="waitAfterLast" type="::armarx::IntVariantData" optional="no" default='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::IntVariantData","value":0}}'/>
- </InputParameters>
- <OutputParameters/>
- <LocalParameters/>
- <Substates>
- <LocalState name="CalcPath" refuuid="36719C67-762C-45FC-A703-0784C7A34F8B" left="122.965" top="138.053" boundingSquareSize="169.071"/>
- <EndState name="EvFailure" event="EvFailure" left="118.685" top="431.075" boundingSquareSize="200"/>
- <EndState name="EvSuccess" event="EvSuccess" left="505.166" top="433.44" boundingSquareSize="200"/>
- <LocalState name="MovePlatform" refuuid="DB4A1244-3587-4F87-909F-B7274E4842C5" left="460.577" top="137.085" boundingSquareSize="200"/>
- </Substates>
- <Events/>
- <StartState substateName="CalcPath">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="landmarkEdges" to="landmarkEdges"/>
- <ParameterMapping sourceType="Parent" from="landmarkNodes" to="landmarkNodes"/>
- <ParameterMapping sourceType="Parent" from="targetLandmark" to="targetLandmark"/>
- </ParameterMappings>
- </StartState>
- <Transitions>
- <Transition from="CalcPath" to="MovePlatform" eventName="EvPathFound">
- <ParameterMappings>
- <ParameterMapping sourceType="Parent" from="orientationalAccuracy" to="orientationalAccuracy"/>
- <ParameterMapping sourceType="Parent" from="positionalAccuracy" to="positionalAccuracy"/>
- <ParameterMapping sourceType="Output" from="targetPositions" to="targetPositions"/>
- <ParameterMapping sourceType="Parent" from="timeoutMoveTo" to="timeoutMoveTo"/>
- <ParameterMapping sourceType="Parent" from="waitAfterLast" to="waitAfterLast"/>
- </ParameterMappings>
- <SupportPoints>
- <SupportPoint posX="463.658" posY="213.196"/>
- </SupportPoints>
- </Transition>
- <Transition from="CalcPath" to="EvFailure" eventName="EvNoPathFound">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="212.888" posY="452.978"/>
- </SupportPoints>
- </Transition>
- <Transition from="MovePlatform" to="EvFailure" eventName="EvFailure">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="263.745" posY="465.988"/>
- </SupportPoints>
- </Transition>
- <Transition from="MovePlatform" to="EvSuccess" eventName="EvSuccess">
- <ParameterMappings/>
- <SupportPoints>
- <SupportPoint posX="577.163" posY="438.786"/>
- </SupportPoints>
- </Transition>
- </Transitions>
-</State>
-
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmarkGroup.scgxml b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmarkGroup.scgxml
deleted file mode 100644
index 029261a578383ec35f7c234107f824902d6dc6df..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmarkGroup.scgxml
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<StatechartGroup name="MovePlatformToLandmarkGroup" package="RobotAPI">
- <Description>A Statechart responsible for planning a path on a provided graph of nodes(2D position + orientation + name), edges and an end point</Description>
- <Folder basename="MovePlatformSubGroup">
- <State filename="MovePlatform.xml" visibility="public"/>
- <State filename="MoveToNext.xml"/>
- </Folder>
- <State filename="MovePlatformToLandmark.xml" visibility="public"/>
- <State filename="CalcPath.xml"/>
-</StatechartGroup>
-
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmarkGroupRemoteStateOfferer.cpp b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmarkGroupRemoteStateOfferer.cpp
deleted file mode 100644
index 51e94da0e8a36d0b6ce262d211c2ff4fa6e121ea..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmarkGroupRemoteStateOfferer.cpp
+++ /dev/null
@@ -1,67 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::MovePlatformToLandmarkGroup::MovePlatformToLandmarkGroupRemoteStateOfferer
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "MovePlatformToLandmarkGroupRemoteStateOfferer.h"
-
-using namespace armarx;
-using namespace MovePlatformToLandmarkGroup;
-
-// DO NOT EDIT NEXT LINE
-MovePlatformToLandmarkGroupRemoteStateOfferer::SubClassRegistry MovePlatformToLandmarkGroupRemoteStateOfferer::Registry(MovePlatformToLandmarkGroupRemoteStateOfferer::GetName(), &MovePlatformToLandmarkGroupRemoteStateOfferer::CreateInstance);
-
-
-
-MovePlatformToLandmarkGroupRemoteStateOfferer::MovePlatformToLandmarkGroupRemoteStateOfferer(StatechartGroupXmlReaderPtr reader) :
- XMLRemoteStateOfferer < PlatformContext > (reader)
-{
-}
-
-void MovePlatformToLandmarkGroupRemoteStateOfferer::onInitXMLRemoteStateOfferer()
-{
-
-}
-
-void MovePlatformToLandmarkGroupRemoteStateOfferer::onConnectXMLRemoteStateOfferer()
-{
-
-}
-
-void MovePlatformToLandmarkGroupRemoteStateOfferer::onExitXMLRemoteStateOfferer()
-{
-
-}
-
-// DO NOT EDIT NEXT FUNCTION
-std::string MovePlatformToLandmarkGroupRemoteStateOfferer::GetName()
-{
- return "MovePlatformToLandmarkGroupRemoteStateOfferer";
-}
-
-// DO NOT EDIT NEXT FUNCTION
-XMLStateOffererFactoryBasePtr MovePlatformToLandmarkGroupRemoteStateOfferer::CreateInstance(StatechartGroupXmlReaderPtr reader)
-{
- return XMLStateOffererFactoryBasePtr(new MovePlatformToLandmarkGroupRemoteStateOfferer(reader));
-}
-
-
-
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmarkGroupRemoteStateOfferer.h b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmarkGroupRemoteStateOfferer.h
deleted file mode 100644
index 016ea299ed760e82b200f0d2a14197c475f4cb1c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/MovePlatformToLandmarkGroupRemoteStateOfferer.h
+++ /dev/null
@@ -1,55 +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 Lesser General Public License as
- * published by the Free Software Foundation; either version 2 of
- * the License, or (at your option) any later version.
- *
- * 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 Lesser 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 RobotAPI::MovePlatformToLandmarkGroup
- * @author Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_MovePlatformToLandmarkGroup_REMOTESTATEOFFERER_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_MovePlatformToLandmarkGroup_REMOTESTATEOFFERER_H
-
-#include <Core/statechart/xmlstates/XMLRemoteStateOfferer.h>
-#include <RobotAPI/statecharts/MovePlatformToLandmarkGroup/PlatformContext.h>
-
-namespace armarx
-{
- namespace MovePlatformToLandmarkGroup
- {
- class MovePlatformToLandmarkGroupRemoteStateOfferer :
- virtual public XMLRemoteStateOfferer < PlatformContext > // Change this statechart context if you need another context (dont forget to change in the constructor as well)
- {
- public:
- MovePlatformToLandmarkGroupRemoteStateOfferer(StatechartGroupXmlReaderPtr reader);
-
- // inherited from RemoteStateOfferer
- void onInitXMLRemoteStateOfferer();
- void onConnectXMLRemoteStateOfferer();
- void onExitXMLRemoteStateOfferer();
-
- // static functions for AbstractFactory Method
- static std::string GetName();
- static XMLStateOffererFactoryBasePtr CreateInstance(StatechartGroupXmlReaderPtr reader);
- static SubClassRegistry Registry;
-
-
- };
- }
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/PlatformContext.h b/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/PlatformContext.h
deleted file mode 100644
index d71d9710519c881a0adbeca3aaac62e54881cc51..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/MovePlatformToLandmarkGroup/PlatformContext.h
+++ /dev/null
@@ -1,114 +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 Lesser General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
-*
-* 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 Lesser 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 RobotAPI::MovePlatform
-* @author Valerij Wittenbeck
-* @date 2014
-* @copyright http://www.gnu.org/licenses/gpl.txt
-* GNU General Public License
-*/
-
-
-#ifndef ARMARX_COMPONENT_PlatformContext_H
-#define ARMARX_COMPONENT_PlatformContext_H
-
-#include <Core/core/Component.h>
-#include <Core/core/system/ImportExportComponent.h>
-#include <Core/statechart/StatechartContext.h>
-#include <RobotAPI/libraries/robotstate/remote/RemoteRobot.h>
-#include <RobotAPI/interface/units/PlatformUnitInterface.h>
-#include <RobotAPI/interface/observers/PlatformUnitObserverInterface.h>
-#include <RobotAPI/libraries/robotstate/remote/RobotStateObjectFactories.h>
-
-#include <RobotAPI/libraries/units/PlatformUnitObserver.h>
-//#include <VirtualRobot/VirtualRobot.h>
-#include <IceUtil/Time.h>
-
-namespace armarx
-{
-
- // ****************************************************************
- // Component and context
- // ****************************************************************
-
- struct PlatformContextProperties : StatechartContextPropertyDefinitions
- {
- PlatformContextProperties(std::string prefix):
- StatechartContextPropertyDefinitions(prefix)
- {
- defineOptionalProperty<std::string>("PlatformUnitName", "PlatformUnitDynamicSimulation", "Name of the PlatformUnit to use");
- defineOptionalProperty<std::string>("PlatformUnitObserverName", "PlatformUnitObserver", "Name of the PlatformUnitObserver to use");
- }
- };
- class ARMARXCOMPONENT_IMPORT_EXPORT PlatformContext :
- virtual public StatechartContext
- {
- public:
- // inherited from Component
- virtual std::string getDefaultName() { return "PlatformContext"; }
- virtual void onInitStatechartContext()
- {
- ARMARX_LOG << eINFO << "Init PlatformContext" << flush;
-
- platformUnitObserverName = getProperty<std::string>("PlatformUnitObserverName").getValue();
- platformUnitDynamicSimulationName = getProperty<std::string>("PlatformUnitName").getValue();
-
- // usingProxy(getProperty<std::string>("PlatformUnitName").getValue());
- usingProxy(platformUnitDynamicSimulationName);
- usingProxy("RobotStateComponent");
- usingProxy(platformUnitObserverName);
- }
-
- virtual void onConnectStatechartContext()
- {
- ARMARX_LOG << eINFO << "Starting PlatformContext" << flush;
-
- // retrieve proxies
- robotStateComponent = getProxy<RobotStateComponentInterfacePrx>("RobotStateComponent");
- platformUnitPrx = getProxy<PlatformUnitInterfacePrx>(platformUnitDynamicSimulationName);
- platformUnitObserverPrx = getProxy<PlatformUnitObserverInterfacePrx>(platformUnitObserverName);
- ARMARX_LOG << eINFO << "Fetched proxies" << platformUnitPrx << " " << platformUnitObserverPrx << " " << robotStateComponent << flush;
-
- // initialize remote robot
- remoteRobot.reset(new RemoteRobot(robotStateComponent->getSynchronizedRobot()));
- ARMARX_LOG << eINFO << "Created remote robot" << flush;
- }
-
-
- /**
- * @see PropertyUser::createPropertyDefinitions()
- */
- virtual PropertyDefinitionsPtr createPropertyDefinitions()
- {
- return PropertyDefinitionsPtr(new PlatformContextProperties(
- getConfigIdentifier()));
- }
- std::string getPlatformUnitObserverName() { return platformUnitObserverName; }
-
- //! Prx for the RobotState
- RobotStateComponentInterfacePrx robotStateComponent;
- PlatformUnitInterfacePrx platformUnitPrx;
- PlatformUnitObserverInterfacePrx platformUnitObserverPrx;
- //SystemObserverInterfacePrx systemObserver; // already defined in StatechartContext
- VirtualRobot::RobotPtr remoteRobot;
- std::string platformUnitObserverName;
- std::string platformUnitDynamicSimulationName;
- private:
-
- };
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/moveplatform/CMakeLists.txt b/source/RobotAPI/statecharts/moveplatform/CMakeLists.txt
deleted file mode 100644
index f74bc9ecc73f1afc85f8cc9c43f6971bb1bd4eac..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/moveplatform/CMakeLists.txt
+++ /dev/null
@@ -1,29 +0,0 @@
-armarx_set_target("RobotAPI Library: MovePlatform")
-
-
-find_package(Eigen3 QUIET)
-find_package(Simox QUIET)
-
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-if (Eigen3_FOUND AND Simox_FOUND)
- include_directories(
- ${Eigen3_INCLUDE_DIR}
- ${Simox_INCLUDE_DIRS})
-endif()
-
-set(LIB_NAME MovePlatform)
-set(LIB_VERSION 0.1.0)
-set(LIB_SOVERSION 0)
-
-set(LIBS RobotAPICore ArmarXCoreObservers)
-
-set(LIB_FILES MovePlatform.cpp
- )
-set(LIB_HEADERS
- MovePlatform.h
- PlatformContext.h
-)
-
-armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/statecharts/moveplatform/MovePlatform.cpp b/source/RobotAPI/statecharts/moveplatform/MovePlatform.cpp
deleted file mode 100644
index ad970c607e6cc256a6600f8ca28f091c8f68d1f4..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/moveplatform/MovePlatform.cpp
+++ /dev/null
@@ -1,157 +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 Lesser General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
-*
-* 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 Lesser 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 RobotAPI::MovePlatform
-* @author Valerij Wittenbeck
-* @date 2014
-
-* @copyright http://www.gnu.org/licenses/gpl.txt
-* GNU General Public License
-*/
-
-#include "MovePlatform.h"
-//#include "../core/RobotStatechartContext.h"
-
-#include <Core/observers/variant/ChannelRef.h>
-#include <Core/observers/variant/SingleTypeVariantList.h>
-#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
-#include <VirtualRobot/IK/DifferentialIK.h>
-
-#include <RobotAPI/interface/units/PlatformUnitInterface.h>
-
-namespace armarx
-{
-
-
- void MovePlatformStateChart::onInitRemoteStateOfferer()
- {
- addState<StatechartMovePlatform>("MovePlatformStateChart");
- }
-
- void MovePlatformStateChart::onConnectRemoteStateOfferer()
- {
-
- }
-
- // ****************************************************************
- // Implementation of StatechartMovePlatform
- // ****************************************************************
- void StatechartMovePlatform::defineParameters()
- {
-// setConfigFile("RobotAPI/scenarios/MovePlatformTest/configs/MovePlatformExample.xml");
- setConfigFile("RobotAPI/scenarios/MovePlatformTest/configs/MovePlatformExampleCloseToTable.xml");
- addToInput("targetPositions", VariantType::List(VariantType::Vector3), false);
- addToInput("positionalAccuracy", VariantType::Float, false);
- addToInput("orientationalAccuracy", VariantType::Float, false);
- addToInput("timeoutMoveTo", VariantType::Int, false);
- addToInput("waitAfterLast", VariantType::Int, false);
- addToLocal("positionCounter", VariantType::ChannelRef);
- }
-
- void StatechartMovePlatform::defineSubstates()
- {
- ARMARX_LOG << eVERBOSE << "Entering StatechartMovePlatform";
- StatePtr stateMoveToNext = addState<StateMoveToNext>("stateMoveToNext");
- StatePtr stateSuccess = addState<SuccessState>("stateSuccess");
- StatePtr stateFailure = addState<FailureState>("stateFailure");
-
- ParameterMappingPtr mapMoveToNextInfo = ParameterMapping::createMapping()
- ->mapFromParent("*", "*");
- setInitState(stateMoveToNext, mapMoveToNextInfo);
-
- //transitions
- addTransition<EvTargetReached>(stateMoveToNext, stateMoveToNext, mapMoveToNextInfo);
- addTransition<EvNoTargets>(stateMoveToNext, stateSuccess);
- addTransition<EvTimeoutTargetUnreachable>(stateMoveToNext, stateFailure);
- }
-
- void StatechartMovePlatform::onEnter()
- {
- ARMARX_LOG << eVERBOSE << "Entering StatechartMovePlatform";
-
- PlatformContext* context = getContext<PlatformContext>();
- ChannelRefPtr counter = ChannelRefPtr::dynamicCast(context->systemObserverPrx->startCounter(0, "positionCounter"));
-
- setLocal("positionCounter", counter);
- }
-
- void StatechartMovePlatform::onExit()
- {
- ChannelRefPtr r = getLocal<ChannelRef>("positionCounter");
- getContext()->systemObserverPrx->removeCounter(r);
- ARMARX_LOG << eVERBOSE << "Exiting StatechartMovePlatform...";
- }
-
- // ****************************************************************
- // Implementation of StateMoveToNext
- // ****************************************************************
-
- void StateMoveToNext::defineParameters()
- {
- addToInput("targetPositions", VariantType::List(VariantType::Vector3), false);
- addToInput("positionalAccuracy", VariantType::Float, false);
- addToInput("orientationalAccuracy", VariantType::Float, false);
- addToInput("timeoutMoveTo", VariantType::Int, false);
- addToInput("waitAfterLast", VariantType::Int, false);
- addToInput("positionCounter", VariantType::ChannelRef, false);
- }
-
- void StateMoveToNext::onEnter()
- {
- ARMARX_LOG << eVERBOSE << "Entering StateMoveToNext::onEnter" << flush;
- PlatformContext* context = getContext<PlatformContext>();
- ChannelRefPtr counter = getInput<ChannelRef>("positionCounter");
- int positionIndex = counter->getDataField("value")->getInt();
- ARMARX_DEBUG << "Entering positionIndex:" << positionIndex << flush;
- SingleTypeVariantListPtr points = getInput<SingleTypeVariantList>("targetPositions");
- ARMARX_DEBUG << "points->getSize:" << points->getSize() << flush;
- if (positionIndex < points->getSize()) {
- SingleTypeVariantListPtr list = getInput<SingleTypeVariantList>("targetPositions");
-
- ARMARX_DEBUG << "list->getSize:" << list->getSize() << flush;
- VariantPtr v = list->getVariant(positionIndex);
- ARMARX_DEBUG << "v->getTypeName():" << v->getTypeName() << flush;
-
- Vector3Ptr currentTarget = v->get<Vector3>();
- ARMARX_DEBUG << "currentTarget:" << currentTarget->toEigen().transpose() << flush;
- float positionalAccuracy = getInput<float>("positionalAccuracy");
- float orientationalAccuracy = getInput<float>("orientationalAccuracy");
- context->platformUnitPrx->moveTo(currentTarget->x, currentTarget->y, currentTarget->z, positionalAccuracy, orientationalAccuracy);
-
- Literal checkX("PlatformUnitObserver.platformPose.positionX", "inrange", Literal::createParameterList(currentTarget->x-positionalAccuracy,currentTarget->x+positionalAccuracy));
- Literal checkY("PlatformUnitObserver.platformPose.positionY", "inrange", Literal::createParameterList(currentTarget->y-positionalAccuracy,currentTarget->y+positionalAccuracy));
- Literal checkAngle("PlatformUnitObserver.platformPose.rotation", "inrange", Literal::createParameterList(currentTarget->z-orientationalAccuracy,currentTarget->z+orientationalAccuracy));
-
- condTargetReached = installCondition<EvTargetReached>(checkX && checkY && checkAngle);
- timeoutMoveToNext = setTimeoutEvent(getInput<int>("timeoutMoveTo"), createEvent<EvTimeoutTargetUnreachable>());
- } else {
-// sendEvent<EvNoTargets>();
- timeoutWaitAfterLast = setTimeoutEvent(getInput<int>("waitAfterLast"), createEvent<EvNoTargets>());
- }
-
- context->systemObserverPrx->incrementCounter(counter);
- ARMARX_LOG << eVERBOSE << "Done MoveToNext::onEnter()";
- }
-
- void StateMoveToNext::onExit()
- {
- removeCondition(condTargetReached);
- removeTimeoutEvent(timeoutMoveToNext);
- removeTimeoutEvent(timeoutWaitAfterLast);
- ARMARX_LOG << eVERBOSE << "StateMoveToNext: Done onExit()";
- }
-}
-
diff --git a/source/RobotAPI/statecharts/moveplatform/MovePlatform.h b/source/RobotAPI/statecharts/moveplatform/MovePlatform.h
deleted file mode 100644
index a8b104ece29790dead7da3c8b943175c3df456d1..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/moveplatform/MovePlatform.h
+++ /dev/null
@@ -1,83 +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 Lesser General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
-*
-* 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 Lesser 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 RobotAPI::MovePlatform
-* @author Valerij Wittenbeck
-* @date 2014 Valerij Wittenbeck
-* @copyright http://www.gnu.org/licenses/gpl.txt
-* GNU General Public License
-*/
-
-#ifndef ARMARX_COMPONENT_MOVE_PLATFORM_H
-#define ARMARX_COMPONENT_MOVE_PLATFORM_H
-
-#include <Core/statechart/Statechart.h>
-#include <RobotAPI/statecharts/MovePlatform/PlatformContext.h>
-
-namespace armarx
-{
- class MovePlatformStateChart : public RemoteStateOfferer<PlatformContext>
- {
- public:
- void onInitRemoteStateOfferer();
- void onConnectRemoteStateOfferer();
- std::string getStateOffererName() const { return "MovePlatformStateChart"; }
- };
-
- // ****************************************************************
- // Events
- // ****************************************************************
-
-// DEFINEEVENT(EvSuccess)
- DEFINEEVENT(EvTimeoutTargetUnreachable)
- DEFINEEVENT(EvNoTargets)
- DEFINEEVENT(EvTargetReached)
-
- // ****************************************************************
- // Definition of StatechartMovePlatform
- // ****************************************************************
- struct StatechartMovePlatform :
- StateTemplate<StatechartMovePlatform>
- {
- void defineParameters();
- void defineSubstates();
- void onEnter();
- void onExit();
-
- };
-
- // ****************************************************************
- // Definition of StateMoveToNext
- // ****************************************************************
- /**
- * StateMoveToNext: Move to next target in list
- */
-
- struct StateMoveToNext :
- StateTemplate<StateMoveToNext>
- {
- void defineParameters();
- void onEnter();
- void onExit();
-
- ConditionIdentifier condTargetReached;
- StateUtility::ActionEventIdentifier timeoutMoveToNext;
- StateUtility::ActionEventIdentifier timeoutWaitAfterLast;
- };
-
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/moveplatform/PlatformContext.h b/source/RobotAPI/statecharts/moveplatform/PlatformContext.h
deleted file mode 100644
index d71d9710519c881a0adbeca3aaac62e54881cc51..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/moveplatform/PlatformContext.h
+++ /dev/null
@@ -1,114 +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 Lesser General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
-*
-* 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 Lesser 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 RobotAPI::MovePlatform
-* @author Valerij Wittenbeck
-* @date 2014
-* @copyright http://www.gnu.org/licenses/gpl.txt
-* GNU General Public License
-*/
-
-
-#ifndef ARMARX_COMPONENT_PlatformContext_H
-#define ARMARX_COMPONENT_PlatformContext_H
-
-#include <Core/core/Component.h>
-#include <Core/core/system/ImportExportComponent.h>
-#include <Core/statechart/StatechartContext.h>
-#include <RobotAPI/libraries/robotstate/remote/RemoteRobot.h>
-#include <RobotAPI/interface/units/PlatformUnitInterface.h>
-#include <RobotAPI/interface/observers/PlatformUnitObserverInterface.h>
-#include <RobotAPI/libraries/robotstate/remote/RobotStateObjectFactories.h>
-
-#include <RobotAPI/libraries/units/PlatformUnitObserver.h>
-//#include <VirtualRobot/VirtualRobot.h>
-#include <IceUtil/Time.h>
-
-namespace armarx
-{
-
- // ****************************************************************
- // Component and context
- // ****************************************************************
-
- struct PlatformContextProperties : StatechartContextPropertyDefinitions
- {
- PlatformContextProperties(std::string prefix):
- StatechartContextPropertyDefinitions(prefix)
- {
- defineOptionalProperty<std::string>("PlatformUnitName", "PlatformUnitDynamicSimulation", "Name of the PlatformUnit to use");
- defineOptionalProperty<std::string>("PlatformUnitObserverName", "PlatformUnitObserver", "Name of the PlatformUnitObserver to use");
- }
- };
- class ARMARXCOMPONENT_IMPORT_EXPORT PlatformContext :
- virtual public StatechartContext
- {
- public:
- // inherited from Component
- virtual std::string getDefaultName() { return "PlatformContext"; }
- virtual void onInitStatechartContext()
- {
- ARMARX_LOG << eINFO << "Init PlatformContext" << flush;
-
- platformUnitObserverName = getProperty<std::string>("PlatformUnitObserverName").getValue();
- platformUnitDynamicSimulationName = getProperty<std::string>("PlatformUnitName").getValue();
-
- // usingProxy(getProperty<std::string>("PlatformUnitName").getValue());
- usingProxy(platformUnitDynamicSimulationName);
- usingProxy("RobotStateComponent");
- usingProxy(platformUnitObserverName);
- }
-
- virtual void onConnectStatechartContext()
- {
- ARMARX_LOG << eINFO << "Starting PlatformContext" << flush;
-
- // retrieve proxies
- robotStateComponent = getProxy<RobotStateComponentInterfacePrx>("RobotStateComponent");
- platformUnitPrx = getProxy<PlatformUnitInterfacePrx>(platformUnitDynamicSimulationName);
- platformUnitObserverPrx = getProxy<PlatformUnitObserverInterfacePrx>(platformUnitObserverName);
- ARMARX_LOG << eINFO << "Fetched proxies" << platformUnitPrx << " " << platformUnitObserverPrx << " " << robotStateComponent << flush;
-
- // initialize remote robot
- remoteRobot.reset(new RemoteRobot(robotStateComponent->getSynchronizedRobot()));
- ARMARX_LOG << eINFO << "Created remote robot" << flush;
- }
-
-
- /**
- * @see PropertyUser::createPropertyDefinitions()
- */
- virtual PropertyDefinitionsPtr createPropertyDefinitions()
- {
- return PropertyDefinitionsPtr(new PlatformContextProperties(
- getConfigIdentifier()));
- }
- std::string getPlatformUnitObserverName() { return platformUnitObserverName; }
-
- //! Prx for the RobotState
- RobotStateComponentInterfacePrx robotStateComponent;
- PlatformUnitInterfacePrx platformUnitPrx;
- PlatformUnitObserverInterfacePrx platformUnitObserverPrx;
- //SystemObserverInterfacePrx systemObserver; // already defined in StatechartContext
- VirtualRobot::RobotPtr remoteRobot;
- std::string platformUnitObserverName;
- std::string platformUnitDynamicSimulationName;
- private:
-
- };
-}
-
-#endif
diff --git a/source/RobotAPI/statecharts/moveplatformtolandmark/CMakeLists.txt b/source/RobotAPI/statecharts/moveplatformtolandmark/CMakeLists.txt
deleted file mode 100644
index d90432f954c7c76dbbb81b534b3ad7aed8f328d8..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/moveplatformtolandmark/CMakeLists.txt
+++ /dev/null
@@ -1,28 +0,0 @@
-armarx_set_target("RobotAPI Library: MovePlatformToLandmark")
-
-
-find_package(Eigen3 QUIET)
-find_package(Simox QUIET)
-
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-if (Eigen3_FOUND AND Simox_FOUND)
- include_directories(
- ${Eigen3_INCLUDE_DIR}
- ${Simox_INCLUDE_DIRS})
-endif()
-
-set(LIB_NAME MovePlatformToLandmark)
-set(LIB_VERSION 0.1.0)
-set(LIB_SOVERSION 0)
-
-set(LIBS RobotAPIRobotStateComponent RobotAPICore ArmarXCoreObservers)
-
-set(LIB_FILES MovePlatformToLandmark.cpp
- )
-set(LIB_HEADERS
- MovePlatformToLandmark.h
-)
-
-armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/statecharts/moveplatformtolandmark/MovePlatformToLandmark.cpp b/source/RobotAPI/statecharts/moveplatformtolandmark/MovePlatformToLandmark.cpp
deleted file mode 100644
index ff5d3f10143c96e8b04026460b477c94b1231822..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/moveplatformtolandmark/MovePlatformToLandmark.cpp
+++ /dev/null
@@ -1,259 +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 Lesser General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
-*
-* 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 Lesser 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 RobotAPI::MovePlatformToLandmark
-* @author Valerij Wittenbeck
-* @date 2014
-
-* @copyright http://www.gnu.org/licenses/gpl.txt
-* GNU General Public License
-*/
-
-#include "MovePlatformToLandmark.h"
-
-#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
-#include <RobotAPI/libraries/robotstate/remote/RobotStateObjectFactories.h>
-#include <RobotAPI/interface/units/PlatformUnitInterface.h>
-
-#include <Core/core/ManagedIceObject.h>
-#include <Core/core/CoreObjectFactories.h>
-#include <Core/observers/variant/ChannelRef.h>
-#include <Core/observers/variant/SingleTypeVariantList.h>
-#include <Core/observers/ObserverObjectFactories.h>
-
-#include <boost/algorithm/string.hpp>
-
-namespace armarx
-{
-
-
- void MovePlatformToLandmarkStateChart::onInitRemoteStateOfferer()
- {
- addState<StatechartMovePlatformToLandmark>("MovePlatformToLandmarkStateChart");
- }
-
- void MovePlatformToLandmarkStateChart::onConnectRemoteStateOfferer()
- {
- if(!getArmarXManager()->getIceManager()->getCommunicator()->findObjectFactory(armarx::FramedVector3Base::ice_staticId()))
- {
- ARMARX_INFO << "could not find factory";
- }
- }
-
- // ****************************************************************
- // Implementation of StatechartMovePlatformToLandmark
- // ****************************************************************
- void StatechartMovePlatformToLandmark::defineParameters()
- {
- //setConfigFile("RobotAPI/scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml");
-
- addToInput("targetLandmark", VariantType::String, false);
- addToInput("landmarkNodes", VariantType::List(VariantType::FramedVector3), false);
- addToInput("landmarkEdges", VariantType::List(VariantType::String), false);
- addToInput("positionalAccuracy", VariantType::Float, true);
- addToInput("orientationalAccuracy", VariantType::Float, true);
- addToInput("timeoutMoveTo", VariantType::Int, false);
- addToInput("waitAfterLast", VariantType::Int, false);
- }
-
- void StatechartMovePlatformToLandmark::defineSubstates()
- {
- RemoteStatePtr stateMoveToLocation = addRemoteState("MovePlatformStateChart","MovePlatformStateChartStateOfferer");
- StatePtr stateCalcPath = addState<StateCalculatePath>("stateCalculatePath");
- StatePtr stateSuccess = addState<SuccessState>("stateSuccess");
- StatePtr stateFailure = addState<FailureState>("stateFailure");
-
- setInitState(stateCalcPath, ParameterMapping::createMapping()->mapFromParent("*","*"));
- //transitions
- addTransition<EvPathFound>(stateCalcPath, stateMoveToLocation, ParameterMapping::createMapping()
- ->mapFromParent("*","*")
- ->mapFromOutput("targetPositions")
- );
- addTransition<EvNoPathFound>(stateCalcPath, stateFailure);
- addTransition<EvSuccess>(stateMoveToLocation, stateSuccess);
- addTransition<EvFailure>(stateMoveToLocation, stateFailure);
- }
-
- void StatechartMovePlatformToLandmark::onEnter()
- {
- ARMARX_LOG << eVERBOSE << "Entering StatechartMovePlatformToLandmark";
- }
-
- void StatechartMovePlatformToLandmark::onExit()
- {
- ARMARX_LOG << eVERBOSE << "Exiting StatechartMovePlatformToLandmark...";
- }
-
- // ****************************************************************
- // Implementation of StateCalculatePath
- // ****************************************************************
-
- void StateCalculatePath::defineParameters()
- {
- addToInput("targetLandmark", VariantType::String, false);
- addToInput("landmarkNodes", VariantType::List(VariantType::FramedVector3), false);
- addToInput("landmarkEdges", VariantType::List(VariantType::String), false);
- addToOutput("targetPositions", VariantType::List(VariantType::Vector3), false);
- }
-
- void StateCalculatePath::onEnter()
- {
- ARMARX_LOG << eVERBOSE << "Entering StateCalculatePath" << flush;
-
- //read the nodes into a tag to node map
- SingleTypeVariantListPtr landmarkNodes = getInput<SingleTypeVariantList>("landmarkNodes");
- std::map<std::string, NodePtr> nameToNodeMap;
- for (int i = 0; i < landmarkNodes->getSize(); i++) {
- ARMARX_LOG << landmarkNodes->getVariant(i)->getTypeName() << std::endl;
- FramedVector3Ptr fv = landmarkNodes->getVariant(i)->get<FramedVector3>();
- NodePtr n = NodePtr(new Node());
- n->name = fv->frame;
- n->framedPos = fv;
- nameToNodeMap[fv->frame] = n;
- }
-
- ARMARX_LOG << eVERBOSE << "StateCalculatePath:onEnter(): Retrieving edges" << flush;
- //process the edges by adding the nodes to each other's successors
- SingleTypeVariantListPtr landmarkEdges = getInput<SingleTypeVariantList>("landmarkEdges");
- for (int i = 0; i < landmarkEdges->getSize(); i++) {
- std::string edge = landmarkEdges->getVariant(i)->getString();
- std::vector<std::string> edgeNodes;
- boost::split(edgeNodes, edge, boost::is_any_of(";"), boost::token_compress_on);
- NodePtr left = nameToNodeMap[edgeNodes[0]];
- NodePtr right = nameToNodeMap[edgeNodes[1]];
- left->successors.push_back(right);
- right->successors.push_back(left);
- }
-
- ARMARX_LOG << eVERBOSE << "StateCalculatePath:onEnter(): Getting current pose from PlatformContext" << flush;
- PlatformContext* context = getContext<PlatformContext>();
- ChannelRefPtr poseRef = context->getChannelRef(context->getPlatformUnitObserverName(), "platformPose");
- const float platformPositionX = context->getDatafieldRef(poseRef, "positionX")->getDataField()->getFloat();
- const float platformPositionY = context->getDatafieldRef(poseRef, "positionY")->getDataField()->getFloat();
-
- //has trouble resolving the observer?
-// const float platformPositionX = context->getDataFromObserver(DataFieldIdentifierPtr(new DataFieldIdentifier("platformPose.positionX")))->getFloat();
-// const float platformPositionY = context->getDataFromObserver(DataFieldIdentifierPtr(new DataFieldIdentifier("platformPose.positionY")))->getFloat();
-
- std::map<std::string, NodePtr>::iterator it = nameToNodeMap.begin();
- if (it == nameToNodeMap.end()) {
- ARMARX_LOG << eWARN << "No nodes provided";
- sendEvent<EvNoPathFound>();
- return;
- }
- ARMARX_LOG << eVERBOSE << "StateCalculatePath:onEnter(): Finding closest point in graph" << flush;
- NodePtr closest = it->second;
- float minDist = getDist(platformPositionX, platformPositionY, closest->framedPos->x, closest->framedPos->y);
- it++;
- for (; it != nameToNodeMap.end(); it++) {
- const float dist = getDist(platformPositionX, platformPositionY, it->second->framedPos->x, it->second->framedPos->y);
- if (dist < minDist) {
- closest = it->second;
- minDist = dist;
- }
- }
-
- ARMARX_LOG << eVERBOSE << "StateCalculatePath:onEnter(): Starting point: " << closest->name << flush;
-
- std::string landmark = getInput<std::string>("targetLandmark");
- NodePtr goal = nameToNodeMap[landmark];
- if (!goal) {
- ARMARX_LOG << eWARN << "Target landmark doesn't exist in graph" << flush;
- sendEvent<EvNoPathFound>();
- return;
- }
- ARMARX_LOG << eVERBOSE << "StateCalculatePath:onEnter(): Looking for path" << flush;
- std::list<NodePtr> path = aStar(closest, goal);
- if (path.empty()) {
- ARMARX_LOG << eWARN << "No path found" << flush;
- sendEvent<EvNoPathFound>();
- return;
- }
- SingleTypeVariantList targetPositions(VariantType::Vector3);
- const float goalAlpha = path.back()->framedPos->z;
- for (std::list<NodePtr>::iterator it = path.begin(); it != path.end(); it++) {
- Vector3 v;
- v.x = (*it)->framedPos->x;
- v.y = (*it)->framedPos->y;
- v.z = goalAlpha;
- targetPositions.addVariant(v);
- }
- setOutput("targetPositions", targetPositions);
- sendEvent<EvPathFound>();
- ARMARX_LOG << eVERBOSE << "StateCalculatePath: Done onEnter()" << flush;
- }
-
- void StateCalculatePath::onExit()
- {
- ARMARX_LOG << eVERBOSE << "StateCalculatePath: Done onExit()";
- }
-
- //http://en.wikipedia.org/wiki/A*_search_algorithm
- std::list<StateCalculatePath::NodePtr> StateCalculatePath::aStar(StateCalculatePath::NodePtr start, StateCalculatePath::NodePtr goal) {
- std::list<NodePtr> path;
-
- std::vector<NodePtr> closedSet;
- std::vector<NodePtr> openSet;
- openSet.push_back(start);
- std::map<NodePtr, float> gScore;
- gScore[start] = 0;
- std::map<NodePtr, float> fScore;
- fScore[start] = gScore[start] + heuristic(start, goal);
- std::map<NodePtr, NodePtr> cameFrom;
- cameFrom[goal] = start; //in case start==goal
-
- while (!openSet.empty()) {
- float lowestScore = fScore[openSet[0]];
- std::vector<NodePtr>::iterator currentIT = openSet.begin();
- for (std::vector<NodePtr>::iterator it = openSet.begin() + 1; it != openSet.end(); it++) {
- if (fScore[*it] < lowestScore) {
- lowestScore = fScore[*it];
- currentIT = it;
- }
- }
- NodePtr current = *currentIT;
- if (current == goal) {
- NodePtr cameFromNode = goal;
- while (cameFromNode != start) {
- path.push_front(cameFromNode);
- cameFromNode = cameFrom[cameFromNode];
- }
- path.push_front(start);
- break;
- }
- openSet.erase(currentIT);
- closedSet.push_back(current);
-
- for (size_t i = 0; i < current->successors.size(); i++) {
- NodePtr neighbor = current->successors[i];
- if (std::find(closedSet.begin(), closedSet.end(), neighbor) != closedSet.end()) continue;
-
- float tentativeGScore = gScore[current] + heuristic(current, neighbor);
- bool notInOS = std::find(openSet.begin(), openSet.end(), neighbor) == openSet.end();
- if (notInOS || tentativeGScore < gScore[neighbor]) {
- cameFrom[neighbor] = current;
- gScore[neighbor] = tentativeGScore;
- fScore[neighbor] = tentativeGScore + heuristic(neighbor, goal);
- if (notInOS) {
- openSet.push_back(neighbor);
- }
- }
- }
- }
- return path;
- }
-}
-
diff --git a/source/RobotAPI/statecharts/moveplatformtolandmark/MovePlatformToLandmark.h b/source/RobotAPI/statecharts/moveplatformtolandmark/MovePlatformToLandmark.h
deleted file mode 100644
index b5bd933c4bf5dd4ffdb34b720eddba86675aacb0..0000000000000000000000000000000000000000
--- a/source/RobotAPI/statecharts/moveplatformtolandmark/MovePlatformToLandmark.h
+++ /dev/null
@@ -1,102 +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 Lesser General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
-*
-* 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 Lesser 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 RobotAPI::MovePlatformToLandmark
-* @author Valerij Wittenbeck
-* @date 2014 Valerij Wittenbeck
-* @copyright http://www.gnu.org/licenses/gpl.txt
-* GNU General Public License
-*/
-
-#ifndef ARMARX_COMPONENT_MOVE_PLATFORM_TO_LANDMARK_H
-#define ARMARX_COMPONENT_MOVE_PLATFORM_TO_LANDMARK_H
-
-#include <RobotAPI/statecharts/MovePlatform/PlatformContext.h>
-#include <Core/statechart/Statechart.h>
-
-/*
-* This statechart is meant to bridge the gap between a user verbally specifying a target location (i.e. fridge, table, ...)
-* and the robot knowing which points it needs to go to in order to reach that landmark.
-*
-* Ideally, there is some planning involved (graph retrieving/generating, path searching, etc), but this basic form only associates
-* a landmark tag with a series of points that need to be traversed through without respect to the robot's current position.
-*/
-
-namespace armarx
-{
- class MovePlatformToLandmarkStateChart : public RemoteStateOfferer<PlatformContext>
- {
- public:
- void onInitRemoteStateOfferer();
- void onConnectRemoteStateOfferer();
- std::string getStateOffererName() const { return "MovePlatformToLandmarkStateChart"; }
- };
-
- // ****************************************************************
- // Events
- // ****************************************************************
-
- DEFINEEVENT(EvPathFound)
- DEFINEEVENT(EvNoPathFound)
-
- // ****************************************************************
- // Definition of StatechartMovePlatformToLandmark
- // ****************************************************************
- struct StatechartMovePlatformToLandmark :
- StateTemplate<StatechartMovePlatformToLandmark>
- {
- void defineParameters();
- void defineSubstates();
- void onEnter();
- void onExit();
- };
-
- // ****************************************************************
- // Definition of StateCalculatePath
- // ****************************************************************
- /**
- * StateCalculatePath: Calculate set of points for the robot to drive through
- */
-
- struct StateCalculatePath :
- StateTemplate<StateCalculatePath>
- {
- struct Node {
- std::string name;
- std::vector<boost::shared_ptr<Node> > successors;
- FramedVector3Ptr framedPos;
- };
- typedef boost::shared_ptr<Node> NodePtr;
-
- void defineParameters();
- void onEnter();
- void onExit();
-
- inline float getDist(float x1, float y1, float x2, float y2) {
- const float dX = x1 - x2;
- const float dY = y1 - y2;
- return std::sqrt(dX * dX + dY * dY);
- }
-
- std::list<NodePtr> aStar(NodePtr start, NodePtr goal);
- inline float heuristic(NodePtr n1, NodePtr n2) {
- return getDist(n1->framedPos->x, n1->framedPos->y, n2->framedPos->x, n2->framedPos->y);
- }
- };
-
-}
-
-#endif