From b7407d85dedb57acc7653a7bc6f9eb072c5e807c Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 11 Jun 2021 07:23:34 +0200
Subject: [PATCH] Arviz Path element: simplified implementation; removed
lineColor
---
.../components/ArViz/Client/elements/Path.cpp | 30 +++++++++----------
.../components/ArViz/Client/elements/Path.h | 12 +-------
source/RobotAPI/interface/ArViz/Elements.ice | 1 -
3 files changed, 15 insertions(+), 28 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/Client/elements/Path.cpp b/source/RobotAPI/components/ArViz/Client/elements/Path.cpp
index 0a88d0893..cf5e9899e 100644
--- a/source/RobotAPI/components/ArViz/Client/elements/Path.cpp
+++ b/source/RobotAPI/components/ArViz/Client/elements/Path.cpp
@@ -1,27 +1,21 @@
#include "Path.h"
+#include <iterator>
+
+#include <ArmarXCore/interface/core/BasicVectorTypes.h>
+#include <ArmarXCore/interface/core/BasicVectorTypesHelpers.h>
+
namespace armarx::viz
{
Path& Path::clear()
{
data_->points.clear();
- return *this;
- }
-
- Path& Path::lineColor(Color color)
- {
- data_->lineColor = color;
return *this;
}
- Path& Path::lineColorGlasbeyLUT(std::size_t id, int alpha)
- {
- return lineColor(Color::fromRGBA(simox::color::GlasbeyLUT::at(id, alpha)));
- }
-
- Path& Path::lineWidth(float w)
+ Path& Path::width(float w)
{
data_->lineWidth = w;
@@ -33,17 +27,21 @@ namespace armarx::viz
auto& points = data_->points;
points.clear();
points.reserve(ps.size());
- for (auto& p : ps)
+
+ std::transform(ps.begin(),
+ ps.end(),
+ std::back_inserter(points),
+ [](const auto & e)
{
- points.push_back(armarx::Vector3f{p.x(), p.y(), p.z()});
- }
+ return ToBasicVectorType(e);
+ });
return *this;
}
Path& Path::addPoint(Eigen::Vector3f p)
{
- data_->points.push_back(armarx::Vector3f{p.x(), p.y(), p.z()});
+ data_->points.emplace_back(ToBasicVectorType(p));
return *this;
}
diff --git a/source/RobotAPI/components/ArViz/Client/elements/Path.h b/source/RobotAPI/components/ArViz/Client/elements/Path.h
index 50eec6abe..7cfbecbd9 100644
--- a/source/RobotAPI/components/ArViz/Client/elements/Path.h
+++ b/source/RobotAPI/components/ArViz/Client/elements/Path.h
@@ -35,17 +35,7 @@ namespace armarx::viz
Path& clear();
- Path& lineColor(Color color);
-
- template<class...Ts>
- Path& lineColor(Ts&& ...ts)
- {
- return lineColor({std::forward<Ts>(ts)...});
- }
-
- Path& lineColorGlasbeyLUT(std::size_t id, int alpha = 255);
-
- Path& lineWidth(float w);
+ Path& width(float w);
Path& points(std::vector<Eigen::Vector3f> const& ps);
diff --git a/source/RobotAPI/interface/ArViz/Elements.ice b/source/RobotAPI/interface/ArViz/Elements.ice
index 1c00dd4e6..bebbb3f41 100644
--- a/source/RobotAPI/interface/ArViz/Elements.ice
+++ b/source/RobotAPI/interface/ArViz/Elements.ice
@@ -104,7 +104,6 @@ module data
{
Vector3fSeq points;
- Color lineColor;
float lineWidth = 10.0f;
};
--
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