diff --git a/source/RobotAPI/libraries/core/test/DebugDrawerTopicTest.cpp b/source/RobotAPI/libraries/core/test/DebugDrawerTopicTest.cpp
index b6a2310df6ec38de4a5bb4f413636765212b5c0e..a18af95c22d8b53f97a5ab87121e5e815213a9d4 100644
--- a/source/RobotAPI/libraries/core/test/DebugDrawerTopicTest.cpp
+++ b/source/RobotAPI/libraries/core/test/DebugDrawerTopicTest.cpp
@@ -59,31 +59,31 @@ struct PointCloud
private:
/// The point container type.
using VectorT = std::vector<PointT>;
-
+
public:
-
+
PointCloud() {}
PointCloud(const VectorT& points) : points(points) {}
-
+
// Container methods.
std::size_t size() const { return points.size(); }
-
+
PointT& operator[](std::size_t i) { return points[i]; }
const PointT& operator[](std::size_t i) const { return points[i]; }
-
+
// Iterators.
typename VectorT::iterator begin() { return points.begin(); }
typename VectorT::const_iterator begin() const { return points.begin(); }
typename VectorT::iterator end() { return points.end(); }
typename VectorT::const_iterator end() const { return points.end(); }
-
-
+
+
/// The points.
VectorT points;
};
-/* These test do not actually check any behaviour,
+/* These test do not actually check any behaviour,
* but check whether this code compiles.
*/
@@ -93,12 +93,12 @@ struct Fixture
Fixture()
{
}
-
- const DebugDrawerTopic::VisuID id {"name", "layer"};
+
+ const DebugDrawerTopic::VisuID id {"layer", "name"};
const int pointSize = 10;
-
+
DebugDrawerTopic drawer;
-
+
PointCloud<PointT> pointCloudMutable;
const PointCloud<PointT>& pointCloud = pointCloudMutable;
};
@@ -107,11 +107,11 @@ struct Fixture
BOOST_FIXTURE_TEST_CASE(test_drawPointCloud_PointXYZ, Fixture<PointXYZ>)
{
pointCloudMutable.points = { {1, 2, 3}, {2, 3, 4}, {3, 4, 5} };
-
+
drawer.drawPointCloud(id, pointCloud);
drawer.drawPointCloud(id, pointCloud.points, DrawColor {0, 0.5, 1, 1});
-
- drawer.drawPointCloud(id, pointCloud,
+
+ drawer.drawPointCloud(id, pointCloud,
[](const PointXYZ&) { return DrawColor{0, 0.5, 1, 1}; }, pointSize);
}
@@ -120,10 +120,10 @@ BOOST_FIXTURE_TEST_CASE(test_drawPointCloud_PointXYZRGBA, Fixture<PointXYZRGBA>)
{
drawer.drawPointCloud(id, pointCloud);
drawer.drawPointCloud(id, pointCloud.points, DrawColor {0, 0.5, 1, 1});
-
- drawer.drawPointCloud(id, pointCloud,
+
+ drawer.drawPointCloud(id, pointCloud,
[](const PointXYZRGBA&) { return DrawColor{0, 0.5, 1, 1}; }, pointSize);
-
+
drawer.drawPointCloudRGBA(id, pointCloud, pointSize);
}
@@ -132,10 +132,10 @@ BOOST_FIXTURE_TEST_CASE(test_drawPointCloud_PointXYZRGBL, Fixture<PointXYZRGBL>)
{
drawer.drawPointCloud(id, pointCloud);
drawer.drawPointCloud(id, pointCloud.points, DrawColor {0, 0.5, 1, 1});
-
+
drawer.drawPointCloud(id, pointCloud,
[](const PointXYZRGBL&) { return DrawColor{0, 0.5, 1, 1}; }, pointSize);
-
+
drawer.drawPointCloudRGBA(id, pointCloud, pointSize);
}
diff --git a/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.cpp b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.cpp
index 1a75392e053c3b162321270d2e07f1a13f5434fd..4859e7c33b5eaa88753b773b66e539172ba70879 100644
--- a/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.cpp
+++ b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.cpp
@@ -16,13 +16,16 @@ namespace armarx
DebugDrawerTopic::VisuID::VisuID() : VisuID("", "")
{}
- DebugDrawerTopic::VisuID::VisuID(const std::string& name, const std::string& layer) :
- name(name), layer(layer)
+ DebugDrawerTopic::VisuID::VisuID(const std::string& name) : VisuID("", name)
+ {}
+
+ DebugDrawerTopic::VisuID::VisuID(const std::string& layer, const std::string& name) :
+ layer(layer), name(name)
{}
std::ostream& operator<<(std::ostream& os, const DebugDrawerTopic::VisuID& rhs)
{
- os << "Visu '" << rhs.name << "' at layer '" << rhs.layer << "'";
+ os << "Visu '" << rhs.name << "' on layer '" << rhs.layer << "'";
return os;
}
diff --git a/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h
index d77b4908094e30e3ebe1a5efba89aad6e2d9638c..4b68eaa8940cf13c2922e49c6259405542474c12 100644
--- a/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h
+++ b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h
@@ -122,7 +122,7 @@ namespace armarx
* Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();
* std::string layer = "layer";
* std::string name = "pose";
- * debugDrawer.drawPose({name, layer}, pose);
+ * debugDrawer.drawPose({layer, name}, pose);
* @endcode
*
*
@@ -141,45 +141,49 @@ namespace armarx
{
public:
+
+ /**
+ * @brief A visualisation ID.
+ *
+ * This constructor can be called in the following ways
+ * (with `draw(const VisuID& id, ...)` being any drawing method):
+ *
+ * @code
+ * std::string name = "pose";
+ * std::string layer = "layer";
+ * draw(name, ...); // just the name, implicit call
+ * draw({name}, ...); // just the name, call with initializer list
+ * draw({layer, name}, ...); // layer and name, with initializer list
+ * @endcode
+ *
+ * (And of course by an explicit call if you want to be really verbose.)
+ * Not passing a layer will cause DebugDrawerTopic to use the
+ * preset layer.
+ */
struct VisuID
{
/// Empty constructor.
VisuID();
- /**
- * @brief Construct a VisuID.
- *
- * This constructor can be called in the following ways
- * (with `draw(const VisuID& id, ...)` being any drawing method):
- *
- * @code
- * std::string name = "pose";
- * std::string layer = "layer";
- * draw(name, ...); // just the name, implicit call
- * draw({name}, ...); // just the name, call with initializer list
- * draw({name, layer}, ...); // name and layer, with initializer list
- * @endcode
- *
- * (And of course by an explicit call if you want to be really verbose.)
- * Not passing a layer will cause DebugDrawerTopic to use the
- * preset layer.
- *
- * @param name the name
- * @param layer the layer name
- */
- VisuID(const std::string& name, const std::string& layer = "");
+ /// Construct a VisuID with given name (for drawing to the preset layer).
+ VisuID(const std::string& name);
+ /// Construct a VisuID with given name and layer.
+ VisuID(const std::string& layer, const std::string& name);
/// Construct a VisuID from a non-std::string source (e.g. char[]).
template <typename Source>
VisuID(const Source& name) : VisuID(std::string(name))
{}
- std::string name = ""; ///< The visu name (empty by default).
std::string layer = ""; ///< The layer name (empty by default).
+ std::string name = ""; ///< The visu name (empty by default).
+ /// Streams a short human-readable description of `rhs` to `os`.
friend std::ostream& operator<<(std::ostream& os, const VisuID& rhs);
};
+
+ /// Default values for drawing functions.
struct Defaults
{
DrawColor colorText { 0, 0, 0, 1 };