diff --git a/CMakeLists.txt b/CMakeLists.txt
index e708fcd03f4c8fc2492377e7e4d6500242246955..29c32bcf05f4494faa337e8239280d350dca9102 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,14 +8,18 @@ find_package("ArmarXCore" REQUIRED
include(${ArmarXCore_USE_FILE})
+set(ARMARX_ENABLE_DEPENDENCY_VERSION_CHECK_DEFAULT TRUE)
+set(ARMARX_ENABLE_AUTO_CODE_FORMATTING TRUE)
+
armarx_project("RobotAPI")
-set(ARMARX_ENABLE_DEPENDENCY_VERSION_CHECK_DEFAULT True)
depends_on_armarx_package(ArmarXGui "OPTIONAL")
-set(ArmarX_Simox_VERSION 2.3.7)
+set(ArmarX_Simox_VERSION 2.3.9)
add_subdirectory(source)
+list(APPEND CPACK_DEBIAN_PACKAGE_DEPENDS "simox")
+
install_project()
add_subdirectory(scenarios)
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
new file mode 100644
index 0000000000000000000000000000000000000000..489ef1beed9fd60f746ff16b21be25ad783d20f5
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
@@ -0,0 +1,473 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII Head" RootNode="Head Base">
+
+ <RobotNode name="Head Base">
+ <Transform>
+ <DH theta="90" d="0" a="0" alpha="0" unitsangle="degree" unitslength="mm"/>
+ </Transform>
+
+ <Visualization>
+ <File type="Inventor">fullmodel/head_base.iv</File>
+ </Visualization>
+
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="4" units="kg" />
+ </Physics>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/head_base.iv</File>
+ </CollisionModel>
+
+ <Child name="Neck_1_Pitch"/>
+ </RobotNode>
+
+ <RobotNode name="Neck_1_Pitch">
+ <Transform>
+ <DH theta="0" d="0" a="0" alpha="90" unitsangle="degree" unitslength="mm"/>
+ <DH theta="90" d="0" a="0" alpha="0" unitsangle="degree" unitslength="mm"/>
+ </Transform>
+
+
+ <Joint type="revolute">
+ <!--DH theta="90" d="0" a="0" alpha="90" unitsangle="degree" unitslength="mm"/-->
+ <axis x="0" y="0" z="-1"/>
+ <Limits unit="degree" lo="-45" hi="42"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+
+ <Visualization>
+ <File type="Inventor">fullmodel/neck_pitch_link.iv</File>
+ </Visualization>
+
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="4" units="kg" />
+ <IgnoreCollision name="Hip Yaw"/>
+ </Physics>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/neck_pitch_link.iv</File>
+ </CollisionModel>
+
+ <Child name="Neck_2_Roll"/>
+ </RobotNode>
+
+ <RobotNode name="Neck_2_Roll">
+ <Transform>
+ <DH a="0" d="0" theta="0" alpha="90" unitsangle="degree" unitslength="mm"/>
+ <DH a="0" d="0" theta="90" alpha="0" unitsangle="degree" unitslength="mm"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH theta="90" d="0" a="0" alpha="90" unitsangle="degree" unitslength="mm"/-->
+ <axis x="0" y="0" z="1"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+
+ <Visualization>
+ <File type="Inventor">fullmodel/neck_roll_link.iv</File>
+ </Visualization>
+
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="2" units="kg" />
+ <IgnoreCollision name="Hip Yaw"/>
+ <IgnoreCollision name="Head Base"/>
+ </Physics>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/neck_roll_link.iv</File>
+ </CollisionModel>
+
+ <Child name="Neck_3_Yaw"/>
+ </RobotNode>
+
+ <RobotNode name="Neck_3_Yaw">
+ <Transform>
+ <DH a="0" d="0" theta="0" alpha="90" unitsangle="degree" unitslength="mm"/>
+ <DH a="0" d="0" theta="90" alpha="0" unitsangle="degree" unitslength="mm"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH theta="90" d="120" a="0" alpha="90" unitsangle="degree" unitslength="mm"/-->
+ <axis x="0" y="0" z="-1"/>
+ <Limits unit="degree" lo="-120" hi="120"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+
+ <Visualization>
+ <File type="Inventor">fullmodel/neck_yaw_link.iv</File>
+ </Visualization>
+
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="2" units="kg" />
+ </Physics>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/neck_yaw_link.iv</File>
+ </CollisionModel>
+
+ <Child name="Head_Tilt"/>
+ </RobotNode>
+
+ <RobotNode name="Head_Tilt">
+ <Transform>
+ <DH theta="0" d="120" a="0" alpha="90" unitsangle="degree" unitslength="mm"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH theta="0" d="0" a="0" alpha="-90" unitsangle="degree" unitslength="mm"/-->
+ <axis x="0" y="0" z="1"/>
+ <!--<Limits unit="degree" lo="-45" hi="45"/>/-->
+ <Limits unit="degree" lo="0" hi="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="6.79877000" units="kg" />
+ <IgnoreCollision name="Neck_2_Roll"/>
+ <IgnoreCollision name="Hip Yaw"/>
+ </Physics>
+
+ <Visualization>
+ <File type="Inventor">fullmodel/head.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/head.iv</File>
+ </CollisionModel>
+
+ <Child name="Head Center1"/>
+ </RobotNode>
+
+ <RobotNode name="Head Center1">
+ <Transform>
+ <DH theta="0" d="0" a="0" alpha="-90" unitsangle="degree" unitslength="mm"/>
+ </Transform>
+ <Child name="Head Center"/>
+ </RobotNode>
+
+
+ <RobotNode name="Head Center">
+ <Transform>
+ <DH theta="0" d="54.5" a="0" alpha="-90" unitsangle="degree" unitslength="mm"/>
+ </Transform>
+ <Child name="Cameras"/>
+ <Child name="Jaw"/>
+ <Child name="Kinect"/>
+ <Child name="DepthCamera"/>
+ </RobotNode>
+
+ <RobotNode name="Jaw">
+ <Joint type="revolute">
+ <axis x="0" y="0" z="1"/>
+ <Limits unit="degree" lo="-30" hi="30"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">fullmodel/jaw.iv</File>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="Cameras">
+ <Transform>
+ <Translation x="100" y="0" z="0" units='mm'/>
+ </Transform>
+ <Joint type="revolute">
+ <Axis x="0" y="0" z="-1"/>
+ <Limits unit="degree" lo="-28" hi="5"/> <!-- Real high limit is 27. Deactivated to avoid unnatural poses-->
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+
+ <CollisionModel>
+ <File type="Inventor">iv_primitives/cyl2.wrl</File>
+ </CollisionModel>
+
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="0.2" units="kg" />
+ <IgnoreCollision name="Neck_2_Roll"/>
+ <IgnoreCollision name="Hip Yaw"/>
+ <IgnoreCollision name="Head_Tilt"/>
+ </Physics>
+
+ <Child name="Eye_Left_Dummy"/>
+ <Child name="Eye_Right_Dummy"/>
+ <Child name="VirtualCentralGaze"/>
+ </RobotNode>
+
+ <RobotNode name="VirtualCentralGaze">
+ <Joint type="prismatic">
+ <TranslationDirection x="1" y="0" z="0"/>
+ <Limits unit="mm" lo="0" hi="10000"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="3"/>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="Kinect">
+ <Transform>
+ <Translation x="140" y="-100" z="0" units='mm'/>
+ </Transform>
+ <Joint type="prismatic">
+ <TranslationDirection x="1" y="0" z="0"/>
+ <Limits unit="mm" lo="0" hi="10000"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="3"/>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="DepthCamera">
+ <Transform>
+ <Translation x="105" y="70" z="0" units='mm'/>
+ <rollpitchyaw roll="0" pitch="90" yaw="0" unitsAngle="degree"/>
+ <rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
+ <rollpitchyaw roll="20.7" pitch="0" yaw="0" unitsAngle="degree"/>
+ <rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
+ </Transform>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="3"/>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="Eye_Left_Dummy">
+ <Transform>
+ <DH a="0" d="46.5" theta="0" alpha="-90" unitsangle="degree" unitslength="mm"/>
+ </Transform>
+ <Child name="Eye_Left"/>
+ </RobotNode>
+
+ <RobotNode name="Eye_Right_Dummy">
+ <Transform>
+ <DH a="0" d="-46.5" theta="0" alpha="-90" unitsangle="degree" unitslength="mm"/>
+ </Transform>
+ <Child name="Eye_Right"/>
+ </RobotNode>
+
+ <RobotNode name="Eye_Left">
+ <Joint type="revolute">
+ <Axis x="0" y="0" z="1"/>
+ <Limits unit="degree" lo="-30" hi="30"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">fullmodel/eye_l.iv</File>
+ </Visualization>
+
+
+ <CollisionModel>
+ <File type="Inventor">iv_primitives/cyl1.wrl</File>
+ </CollisionModel>
+
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="0.1" units="kg" />
+ <IgnoreCollision name="Cameras"/>
+ <IgnoreCollision name="Head_Tilt"/>
+ </Physics>
+
+ <Child name="Lid Left Bottom"/>
+ <Child name="Lid Left Top"/>
+ <Child name="EyeLeftCameraPreTransformation"/>
+ </RobotNode>
+
+ <RobotNode name="Eye_Right">
+ <Joint type="revolute">
+ <Axis x="0" y="0" z="1"/>
+ <Limits unit="degree" lo="-30" hi="30"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">fullmodel/eye_r.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">iv_primitives/cyl1.wrl</File>
+ </CollisionModel>
+
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="0.1" units="kg" />
+ <IgnoreCollision name="Cameras"/>
+ <IgnoreCollision name="Head_Tilt"/>
+ </Physics>
+
+ <Child name="Lid Right Bottom"/>
+ <Child name="Lid Right Top"/>
+ <Child name="EyeRightCameraPreTransformation"/>
+ </RobotNode>
+
+ <RobotNode name="EyeLeftCameraPreTransformation">
+ <Transform>
+ <translation x="20" y="0" z="0"/>
+ <RollPitchYaw roll="0" pitch="90" yaw ="0" units="degree"/>
+ </Transform>
+ <Child name="EyeLeftCamera"/>
+ <Child name="EyeLeftCameraSim"/>
+ </RobotNode>
+
+ <RobotNode name="EyeLeftCamera">
+ <Transform>
+ <RollPitchYaw roll="0" pitch="0" yaw ="90" units="degree"/>
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="5"/>
+ </Visualization>
+ <Child name="HeadMotionMeasurementTCP"/>
+ <!--Sensor type="Camera" name="LeftEyeCam">
+ </Sensor-->
+ </RobotNode>
+
+ <RobotNode name="EyeLeftCameraSim">
+ <Transform>
+ <RollPitchYaw roll="0" pitch="0" yaw ="180" units="degree"/>
+ </Transform>
+ </RobotNode>
+
+ <RobotNode name="HeadMotionMeasurementTCP">
+ <Transform>
+ <translation x="0" y="0" z="1000"/>
+ </Transform>
+ </RobotNode>
+
+ <RobotNode name="Lid Left Bottom">
+ <Joint type="revolute">
+ <Axis x="0" y="1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">fullmodel/lid_l_bottom.iv</File>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="Lid Left Top">
+ <Joint type="revolute">
+ <Axis x="0" y="1" z="0"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">fullmodel/lid_l_top.iv</File>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="EyeRightCameraPreTransformation">
+ <Transform>
+ <translation x="20" y="0" z="0"/>
+ <RollPitchYaw roll="0" pitch="90" yaw ="0" units="degree"/>
+ </Transform>
+ <Child name="EyeRightCamera"/>
+ <Child name="EyeRightCameraSim"/>
+ </RobotNode>
+
+ <RobotNode name="EyeRightCamera">
+ <Transform>
+ <RollPitchYaw roll="0" pitch="0" yaw ="90" units="degree"/>
+ </Transform>
+ <!--Sensor type="Camera" name="RightEyeCam">
+ </Sensor-->
+ </RobotNode>
+
+ <RobotNode name="EyeRightCameraSim">
+ <Transform>
+ <RollPitchYaw roll="0" pitch="0" yaw ="180" units="degree"/>
+ </Transform>
+ </RobotNode>
+
+ <RobotNode name="Lid Right Bottom">
+ <Joint type="revolute">
+ <Axis x="0" y="1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">fullmodel/lid_r_bottom.iv</File>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="Lid Right Top">
+ <Joint type="revolute">
+ <Axis x="0" y="1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">fullmodel/lid_r_top.iv</File>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNodeSet name="Head" kinematicRoot="Neck_1_Pitch">
+ <Node name="Neck_1_Pitch"/>
+ <Node name="Neck_2_Roll"/>
+ <Node name="Neck_3_Yaw"/>
+ <Node name="Head_Tilt"/>
+ <Node name="Cameras"/>
+ <Node name="Eye_Left"/>
+ <Node name="Eye_Right"/>
+ </RobotNodeSet>
+
+
+ <RobotNodeSet name="Neck" kinematicRoot="Neck_1_Pitch">
+ <Node name="Neck_1_Pitch"/>
+ <Node name="Neck_2_Roll"/>
+ <Node name="Neck_3_Yaw"/>
+ <Node name="Head_Tilt"/>
+ </RobotNodeSet>
+
+
+ <RobotNodeSet name="IKVirtualGaze" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
+ <Node name="Neck_1_Pitch"/>
+ <Node name="Neck_2_Roll"/>
+ <Node name="Neck_3_Yaw"/>
+ <Node name="Cameras"/>
+ <Node name="VirtualCentralGaze"/>
+ </RobotNodeSet>
+
+
+ <RobotNodeSet name="IKVirtualGazeKinect" kinematicRoot="Neck_1_Pitch" tcp="Kinect">
+ <Node name="Neck_1_Pitch"/>
+ <Node name="Neck_2_Roll"/>
+ <Node name="Neck_3_Yaw"/>
+ <Node name="Kinect"/>
+ </RobotNodeSet>
+
+
+ <RobotNodeSet name="IKVirtualGaze_WithHeadTilt" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
+ <Node name="Neck_1_Pitch"/>
+ <Node name="Neck_2_Roll"/>
+ <Node name="Neck_3_Yaw"/>
+ <Node name="Head_Tilt"/>
+ <Node name="Cameras"/>
+ <Node name="VirtualCentralGaze"/>
+ </RobotNodeSet>
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Head_minColModel.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head_minColModel.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bf9e3e887b9503dc97ea4768158d2cc2a1f3c45e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Head_minColModel.xml
@@ -0,0 +1,221 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII Head" RootNode="Head Base">
+
+ <RobotNode name="Head Base">
+ <Joint type="fixed">
+ <DH theta="90" d="0" a="0" alpha="90" units="degree"/>
+ </Joint>
+ <Child name="Neck_1_Pitch"/>
+ <Visualization>
+ <File type="Inventor">fullmodel/head_base.iv</File>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="Neck_1_Pitch">
+ <Joint type="revolute">
+ <DH theta="90" d="0" a="0" alpha="90" units="degree"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ </Joint>
+
+ <Visualization>
+ <File type="Inventor">fullmodel/neck_pitch_link.iv</File>
+ </Visualization>
+ <Child name="Neck_2_Roll"/>
+ </RobotNode>
+
+ <RobotNode name="Neck_2_Roll">
+ <Joint type="revolute">
+ <DH theta="90" d="0" a="0" alpha="90" units="degree"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">fullmodel/neck_roll_link.iv</File>
+ </Visualization>
+ <Child name="Neck_3_Yaw"/>
+ </RobotNode>
+
+ <RobotNode name="Neck_3_Yaw">
+ <Joint type="revolute">
+ <DH theta="90" d="120" a="0" alpha="90" units="degree"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">fullmodel/neck_yaw_link.iv</File>
+ </Visualization>
+ <Child name="Head_Tilt"/>
+ </RobotNode>
+
+ <RobotNode name="Head_Tilt">
+ <Joint type="revolute">
+ <DH theta="0" d="0" a="0" alpha="-90" units="degree"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="6.79877000" units="kg" />
+ </Physics>
+ <Visualization>
+ <File type="Inventor">fullmodel/head.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">collisionModel/head.iv</File>
+ </CollisionModel>
+ <Child name="Head Center"/>
+ </RobotNode>
+
+ <RobotNode name="Head Center">
+ <Joint type="fixed">
+ <DH theta="0" d="54.5" a="0" alpha="-90" units="degree"/>
+ </Joint>
+ <Child name="Cameras"/>
+ <Child name="Jaw"/>
+ </RobotNode>
+
+ <RobotNode name="Jaw">
+ <Joint type="revolute">
+ <DH theta="0" d="0" a="0" alpha="0" units="degree"/>
+ <Limits unit="degree" lo="-30" hi="30"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">fullmodel/jaw.iv</File>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="Cameras">
+ <!-- TODO: this was an AlphaJoint: but rotations around alpha axis are not supported by DH!! -->
+ <Joint type="revolute">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="100" y="0" z="0"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="0" z="1"/>
+ <PostJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="0"/>
+ </Transform>
+ </PostJointTransform>
+ <Limits unit="degree" lo="-30" hi="45"/>
+ </Joint>
+ <Child name="Eye_Left_Dummy"/>
+ <Child name="Eye_Right_Dummy"/>
+ </RobotNode>
+
+ <RobotNode name="Eye_Left_Dummy">
+ <Joint type="fixed">
+ <DH a="0" d="46.5" theta="0" alpha="-90" units="degree"/>
+ </Joint>
+ <Child name="Eye_Left"/>
+ </RobotNode>
+
+ <RobotNode name="Eye_Right_Dummy">
+ <Joint type="fixed">
+ <DH a="0" d="-46.5" theta="0" alpha="-90" units="degree"/>
+ </Joint>
+ <Child name="Eye_Right"/>
+ </RobotNode>
+
+ <RobotNode name="Eye_Left">
+ <Joint type="revolute">
+ <DH theta="0" d="0" a="0" alpha="0" units="degree"/>
+ <Limits unit="degree" lo="-30" hi="30"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">fullmodel/eye_l.iv</File>
+ </Visualization>
+ <Child name="Lid Left Bottom"/>
+ <Child name="Lid Left Top"/>
+ <Child name="EyeLeftCamera"/>
+ </RobotNode>
+
+ <RobotNode name="Eye_Right">
+ <Joint type="revolute">
+ <DH theta="0" d="0" a="0" alpha="0" units="degree"/>
+ <Limits unit="degree" lo="-30" hi="30"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">fullmodel/eye_r.iv</File>
+ </Visualization>
+ <Child name="Lid Right Bottom"/>
+ <Child name="Lid Right Top"/>
+ <Child name="EyeRightCamera"/>
+ </RobotNode>
+
+ <RobotNode name="EyeLeftCamera">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <translation x="20" y="0" z="0"/>
+ <RollPitchYaw roll="0" pitch="90" yaw ="0" units="degree"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+ </RobotNode>
+
+ <RobotNode name="Lid Left Bottom">
+ <Joint type="revolute">
+ <Axis x="0" y="1" z="0"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">fullmodel/lid_l_bottom.iv</File>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="Lid Left Top">
+ <Joint type="revolute">
+ <Axis x="0" y="1" z="0"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">fullmodel/lid_l_top.iv</File>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="EyeRightCamera">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <translation x="20" y="0" z="0"/>
+ <RollPitchYaw roll="0" pitch="90" yaw ="0" units="degree"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+ </RobotNode>
+
+ <RobotNode name="Lid Right Bottom">
+ <Joint type="revolute">
+ <Axis x="0" y="1" z="0"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">fullmodel/lid_r_bottom.iv</File>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="Lid Right Top">
+ <Joint type="revolute">
+ <Axis x="0" y="1" z="0"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">fullmodel/lid_r_top.iv</File>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNodeSet name="Head" kinematicRoot="Neck_1_Pitch">
+ <Node name="Neck_1_Pitch"/>
+ <Node name="Neck_2_Roll"/>
+ <Node name="Neck_3_Yaw"/>
+ <Node name="Head_Tilt"/>
+ <Node name="Cameras"/>
+ <Node name="Eye_Left"/>
+ <Node name="Eye_Right"/>
+ </RobotNodeSet>
+
+
+ <RobotNodeSet name="Neck" kinematicRoot="Neck_1_Pitch">
+ <Node name="Neck_1_Pitch"/>
+ <Node name="Neck_2_Roll"/>
+ <Node name="Neck_3_Yaw"/>
+ <Node name="Head_Tilt"/>
+ </RobotNodeSet>
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4e462ca1eb3ed06f68f9828e9272de46950e7baf
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
@@ -0,0 +1,274 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII LeftArm" RootNode="Left Arm Base">
+
+ <RobotNode name="Left Arm Base">
+ <!-- Trafo BTo0; COS 0; DOF q1 -->
+ <Transform>
+ <DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
+ </Transform>
+ <Child name="Shoulder 1 L"/>
+ </RobotNode>
+
+ <RobotNode name="Shoulder 1 L">
+ <!-- Trafo BTo0; COS 0; DOF q1 -->
+ <Transform>
+ <DH a="0" d="0" theta="90" alpha="0" units="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH a="0" d="0" theta="90" alpha="90" units="degree"/-->
+ <axis x="0" y="0" z="1"/>
+ <Limits unit="degree" lo="-107" hi="42"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="3.65" units="kg" />
+ </Physics>
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/shoulder_l.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">convexModel/shoulder_l.iv</File>
+ </CollisionModel>
+ <Child name="Shoulder 2 L"/>
+ </RobotNode>
+
+ <RobotNode name="Shoulder 2 L">
+ <!-- Trafo 0To1; COS 1; DOF q2 -->
+ <Transform>
+ <DH a="0" d="0" theta="0" alpha="90" units="degree"/>
+ <DH a="0" d="0" theta="75" alpha="0" units="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH a="0" d="0" theta="75" alpha="90" units="degree"/-->
+ <axis x="0" y="0" z="-1"/>
+ <Limits unit="degree" lo="-14" hi="95"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="2.5" units="kg" />
+ </Physics>
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/shoulder2_l_rot.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">convexModel/shoulder2_l_rot.iv</File>
+ </CollisionModel>
+ <Child name="Upperarm L"/>
+ </RobotNode>
+
+ <RobotNode name="Upperarm L">
+ <!-- Trafo 1To2; COS 2; DOF q3 -->
+ <Transform>
+ <DH a="0" d="0" theta="0" alpha="90" units="degree"/>
+ <DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH a="20" d="-310" theta="-90" alpha="90" units="degree"/-->
+ <axis x="0" y="0" z="-1"/>
+ <Limits unit="degree" lo="-70" hi="109"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="1.55685000" units="kg" />
+ <IgnoreCollision name="Shoulder 1 L"/>
+ </Physics>
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/upperarm_l.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">convexModel/upperarm_l.iv</File>
+ </CollisionModel>
+ <Child name="Elbow L"/>
+ </RobotNode>
+
+ <RobotNode name="Elbow L">
+ <Transform>
+ <DH a="20" d="-310" theta="0" alpha="90" units="degree"/>
+ <DH a="0" d="0" theta="90" alpha="0" units="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH a="0" d="-7.5" theta="90" alpha="-90" units="degree"/-->
+ <axis x="0" y="0" z="1"/>
+ <Limits unit="degree" lo="-120" hi="40"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/elbow_l.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">convexModel/elbow_l.iv</File>
+ </CollisionModel>
+ <Physics>
+ <CoM location="Joint"/>
+ <Mass value="1.15744000" units="kg" />
+ </Physics>
+ <Child name="Underarm L"/>
+ </RobotNode>
+
+ <RobotNode name="Underarm L">
+ <Transform>
+ <DH a="0" d="-7.5" theta="0" alpha="-90" units="degree"/>
+ <DH a="0" d="0" theta="90" alpha="0" units="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH a="0" d="-240" theta="90" alpha="-90" units="degree"/-->
+ <axis x="0" y="0" z="-1"/>
+ <!--Limits unit="degree" lo="-57.29" hi="174.48"/-->
+ <Limits unit="degree" lo="-90" hi="200"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/underarm_l.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">convexModel/underarm_l.iv</File>
+ </CollisionModel>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="2.26566087" units="kg" />
+ </Physics>
+ <Child name="Wrist 1 L"/>
+ </RobotNode>
+
+ <RobotNode name="Wrist 1 L">
+ <Transform>
+ <DH a="0" d="-240" theta="0" alpha="-90" units="degree"/>
+ <DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH a="0" d="0" theta="-90" alpha="-90" units="degree"/-->
+ <axis x="0" y="0" z="-1"/>
+ <Limits unit="degree" lo="-30" hi="30"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="1.29945309" units="kg" />
+ </Physics>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/wrist1_l.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">convexModel/wrist1_l.iv</File>
+ </CollisionModel>
+ <Child name="Wrist 2 L"/>
+ </RobotNode>
+
+ <RobotNode name="Wrist 2 L">
+ <Transform>
+ <DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+ <DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH a="0" d="0" theta="-90" alpha="90" units="degree"/-->
+ <axis x="0" y="0" z="1"/>
+ <Limits unit="degree" lo="-38" hi="44"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/wrist2_l.iv</File>
+ </Visualization>
+ <!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model-->
+ <!--CollisionModel>
+ <File type="Inventor">convexModel/wrist2_l.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="2.59945309" units="kg" />
+ <IgnoreCollision name="Underarm L"/>
+ </Physics-->
+ <Sensor type="forcetorque" name="FT L">
+ <!--Transform>
+ <Translation x="0" y="-40" z="0"/>
+ </Transform-->
+ </Sensor>
+ <Child name="EndArmL"/>
+ </RobotNode>
+
+ <!--RobotNode name="FTSensorL">
+ <Transform>
+ <Translation x="0" y="-40" z="0"/>
+ </Transform>
+ <Sensor type="forcetorque"/>
+ <Child name="EndArmL"/>
+ </RobotNode-->
+
+ <RobotNode name="EndArmL">
+ <Transform>
+ <Translation x="0" y="-40" z="0"/>
+ <DH a="0" d="0" theta="0" alpha="90" units="degree"/>
+ </Transform>
+ <Visualization enable="false">
+ <CoordinateAxis type="Inventor" enable="true" scaling="2"/>
+ </Visualization>
+ <ChildFromRobot>
+ <File importEEF="true">ArmarIII-LeftHand.xml</File>
+ </ChildFromRobot>
+ </RobotNode>
+
+
+ <RobotNodeSet name="LeftArm" kinematicRoot="Left Arm Base" tcp="TCP L">
+ <Node name="Shoulder 1 L"/>
+ <Node name="Shoulder 2 L"/>
+ <Node name="Upperarm L"/>
+ <Node name="Elbow L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 1 L"/>
+ <Node name="Wrist 2 L"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="LeftArmElbow" kinematicRoot="Left Arm Base" tcp="Upperarm L">
+ <Node name="Shoulder 1 L"/>
+ <Node name="Shoulder 2 L"/>
+ <Node name="Upperarm L"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="LeftArmColModel" kinematicRoot="Left Arm Base" tcp="TCP L">
+ <Node name="Upperarm L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 2 L"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="LeftArmHandColModel" kinematicRoot="Left Arm Base" tcp="TCP L">
+ <Node name="Upperarm L"/>
+ <Node name="Underarm L"/>
+ <Node name="Hand Palm 1 L"/>
+ <Node name="Hand Palm 2 L"/>
+ <Node name="Thumb L J0"/>
+ <Node name="Thumb L J1"/>
+ <Node name="Index L J0"/>
+ <Node name="Index L J1"/>
+ <Node name="Middle L J0"/>
+ <Node name="Middle L J1"/>
+ <Node name="Ring L J0"/>
+ <Node name="Ring L J1"/>
+ <Node name="Pinky L J0"/>
+ <Node name="Pinky L J1"/>
+ </RobotNodeSet>
+
+
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm_minColModel.xml b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm_minColModel.xml
new file mode 100644
index 0000000000000000000000000000000000000000..586d73babaaccdbeb8dea53c7bdb26a5ffeca629
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm_minColModel.xml
@@ -0,0 +1,186 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII LeftArm" RootNode="Left Arm Base">
+
+ <RobotNode name="Left Arm Base"> <!-- Trafo BTo0; COS 0; DOF q1 -->
+ <Joint type="fixed">
+ <DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+ <Child name="Shoulder 1 L"/>
+ </RobotNode>
+
+ <RobotNode name="Shoulder 1 L"> <!-- Trafo BTo0; COS 0; DOF q1 -->
+ <Joint type="revolute">
+ <DH a="0" d="0" theta="90" alpha="90" units="degree"/>
+ <Limits unit="degree" lo="-106.91" hi="42.8"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="3.65" units="kg" />
+ </Physics>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/shoulder_l.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">collisionModel/shoulder_l.iv</File>
+ </CollisionModel>
+ <Child name="Shoulder 2 L"/>
+ </RobotNode>
+
+ <RobotNode name="Shoulder 2 L"> <!-- Trafo 0To1; COS 1; DOF q2 -->
+ <Joint type="revolute">
+ <DH a="0" d="0" theta="75" alpha="90" units="degree"/>
+ <Limits unit="degree" lo="-94.62" hi="13.85"/> <!-- ?! -->
+ </Joint>
+ <!--Physics>
+ <CoM location="Joint"/>
+ <Mass value="2.54491000" units="kg" />
+ </Physics-->
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/shoulder2_l_rot.iv</File>
+ </Visualization>
+ <Child name="Upperarm L"/>
+ </RobotNode>
+
+ <RobotNode name="Upperarm L"> <!-- Trafo 1To2; COS 2; DOF q3 -->
+ <Joint type="revolute">
+ <DH a="20" d="-310" theta="-90" alpha="90" units="degree"/>
+ <Limits unit="degree" lo="-69.65" hi="108.25"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="1.55685000" units="kg" />
+ </Physics>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/upperarm_l.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">collisionModel/upperarm_l.iv</File>
+ </CollisionModel>
+ <Child name="Elbow L"/>
+ </RobotNode>
+
+ <RobotNode name="Elbow L">
+ <Joint type="revolute">
+ <DH a="0" d="-7.5" theta="90" alpha="-90" units="degree"/>
+ <Limits unit="degree" lo="-122.96" hi="19.14"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/elbow_l.iv</File>
+ </Visualization>
+ <!--Physics>
+ <CoM location="Joint"/>
+ <Mass value="1.15744000" units="kg" />
+ </Physics-->
+ <!-- TODO elbow_l.iv does not exist (currently not needed)-->
+ <!--<CollisionModel>-->
+ <!--<File type="Inventor">collisionModel/elbow_l.iv</File>-->
+ <!--</CollisionModel>-->
+ <Child name="Underarm L"/>
+ </RobotNode>
+
+ <RobotNode name="Underarm L">
+ <Joint type="revolute">
+ <DH a="0" d="-240" theta="90" alpha="-90" units="degree"/>
+ <!--Limits unit="degree" lo="-57.29" hi="174.48"/-->
+ <Limits unit="degree" lo="-108.25" hi="69.65"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="2.26566087" units="kg" />
+ </Physics>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/underarm_l.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">collisionModel/underarm_l.iv</File>
+ </CollisionModel>
+ <Child name="Wrist 1 L"/>
+ </RobotNode>
+
+ <RobotNode name="Wrist 1 L">
+ <Joint type="revolute">
+ <DH a="0" d="0" theta="-90" alpha="-90" units="degree"/>
+ <Limits unit="degree" lo="-29.36" hi="24.11"/>
+ </Joint>
+ <!--Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="1.29945309" units="kg" />
+ </Physics-->
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/wrist1_l.iv</File>
+ </Visualization>
+ <!--CollisionModel>
+ <File type="Inventor">collisionModel/wrist1_l.iv</File>
+ </CollisionModel-->
+ <Child name="Wrist 2 L"/>
+ </RobotNode>
+
+ <RobotNode name="Wrist 2 L">
+ <Joint type="revolute">
+ <DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
+ <Limits unit="degree" lo="-38.4" hi="44.32"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="2.59945309" units="kg" />
+ </Physics>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/wrist2_l.iv</File>
+ </Visualization>
+ <!--CollisionModel>
+ <File type="Inventor">collisionModel/wrist2_l.iv</File>
+ </CollisionModel-->
+
+ <ChildFromRobot>
+ <File importEEF="true">ArmarIII-LeftHand_minColModel.xml</File>
+ </ChildFromRobot>
+
+ </RobotNode>
+
+ <RobotNodeSet name="LeftArm" kinematicRoot="Left Arm Base" tcp="TCP L">
+ <Node name="Shoulder 1 L"/>
+ <Node name="Shoulder 2 L"/>
+ <Node name="Upperarm L"/>
+ <Node name="Elbow L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 1 L"/>
+ <Node name="Wrist 2 L"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="LeftArmColModel" kinematicRoot="Left Arm Base" tcp="TCP L">
+ <Node name="Upperarm L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 2 L"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="LeftArmHandColModel" kinematicRoot="Left Arm Base" tcp="TCP L">
+ <Node name="Upperarm L"/>
+ <Node name="Underarm L"/>
+ <Node name="Hand Palm 1 L"/>
+ <Node name="Hand Palm 2 L"/>
+ <Node name="Thumb L J0"/>
+ <Node name="Thumb L J1"/>
+ <Node name="Index L J0"/>
+ <Node name="Index L J1"/>
+ <Node name="Middle L J0"/>
+ <Node name="Middle L J1"/>
+ <Node name="Ring L J0"/>
+ <Node name="Ring L J1"/>
+ <Node name="Pinky L J0"/>
+ <Node name="Pinky L J1"/>
+ </RobotNodeSet>
+
+
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-LeftHand.xml b/data/RobotAPI/robots/Armar3/ArmarIII-LeftHand.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2135b1b4d3e78eccb8d09b28e90327bfea051462
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-LeftHand.xml
@@ -0,0 +1,469 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII LeftHand" RootNode="Hand L Base">
+
+ <RobotNode name="Hand L Base">
+ <Child name="TCP L"/>
+ <Child name="GCP L"/>
+ <Child name="Marker L"/>
+ <Child name="left_hand_configuration_actual_float"/>
+ <Child name="Hand Palm 1 L"/>
+ </RobotNode>
+
+ <RobotNode name="TCP L">
+ <Transform>
+ <Translation x="0" y="0" z="130"/>
+ </Transform>
+ </RobotNode>
+
+ <RobotNode name="GCP L">
+ <Transform>
+ <Translation X="-40" Y="-20" Z="90"/>
+ <rollpitchyaw roll="0" pitch="-45" yaw="0" units="degree"/>
+ </Transform>
+ </RobotNode>
+
+ <RobotNode name="Marker L">
+ <Transform>
+ <Translation x="-35" y="45" z="65"/>
+ </Transform>
+ <Visualization enable="false">
+ <CoordinateAxis type="Inventor" enable="true" scaling="1"/>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="left_hand_configuration_actual_float">
+ <!--Joint type="revolute">
+ <Axis x="0" y="0" z="1"/>
+ <Limits unit="degree" lo="-20" hi="20"/>
+ </Joint-->
+ </RobotNode>
+
+ <RobotNode name="Hand Palm 1 L">
+ <Transform>
+ <Translation x="0" y="0" z="36"/>
+ </Transform>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/palm1_l.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/palm1_l.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="800" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Hand Palm 2 L"/>
+ <Child name="Thumb L"/>
+ </RobotNode>
+
+ <RobotNode name="Hand Palm 2 L">
+ <Transform>
+ <Translation x="-8.7" y="13.5" z="29.25"/>
+ </Transform>
+ <Joint type="revolute">
+ <Axis x="0" y="-1" z="0"/>
+ <Limits unit="degree" lo="-90" hi="90"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/palm2_l.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/palm2_l.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="800" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Pinky L"/>
+ <Child name="Ring L"/>
+ <Child name="Middle L"/>
+ <Child name="Index L"/>
+ </RobotNode>
+
+ <RobotNode name="Thumb L">
+ <Transform>
+ <Translation x="-48.9" y="0" z="29.25"/>
+ </Transform>
+ <Child name="Thumb L J0"/>
+ </RobotNode>
+
+ <RobotNode name="Thumb L J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <Axis x="0" y="1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/thumb_l1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/thumb_l1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Thumb L J1"/>
+ </RobotNode>
+
+ <RobotNode name="Thumb L J1">
+ <Transform>
+ <Translation x="-40.2" y="0" z="0"/>
+ </Transform>
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <Axis x="0" y="1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/thumb_l2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/thumb_l2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNode name="Pinky L">
+ <Transform>
+ <Translation x="0" y="-73" z="40.4"/>
+ </Transform>
+
+ <Child name="Pinky L J0"/>
+ </RobotNode>
+
+ <RobotNode name="Pinky L J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <Axis x="0" y="-1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/pinky_l1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/pinky_l1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Pinky L J1"/>
+ </RobotNode>
+
+ <RobotNode name="Pinky L J1">
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <Axis x="0" y="-1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/pinky_l2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/pinky_l2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNode name="Ring L">
+ <Transform>
+ <Translation x="0" y="-51" z="40.4"/>
+ </Transform>
+
+ <Child name="Ring L J0"/>
+ </RobotNode>
+
+ <RobotNode name="Ring L J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <Axis x="0" y="-1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/ring_l1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/ring_l1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Ring L J1"/>
+ </RobotNode>
+
+ <RobotNode name="Ring L J1">
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <Axis x="0" y="-1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/ring_l2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/ring_l2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNode name="Middle L">
+ <Transform>
+ <Translation x="0" y="-27" z="40.4"/>
+ </Transform>
+
+ <Child name="Middle L J0"/>
+ </RobotNode>
+
+ <RobotNode name="Middle L J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <Axis x="0" y="-1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/middle_l1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/middle_l1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Middle L J1"/>
+ </RobotNode>
+
+ <RobotNode name="Middle L J1">
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <Axis x="0" y="-1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/middle_l2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/middle_l2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNode name="Index L">
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+
+ <Child name="Index L J0"/>
+ </RobotNode>
+
+ <RobotNode name="Index L J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <Axis x="0" y="-1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/index_l1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/index_l1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Index L J1"/>
+ </RobotNode>
+
+ <RobotNode name="Index L J1">
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <Axis x="0" y="-1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/index_l2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/index_l2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNodeSet name="LeftHandColModel" kinematicRoot="Hand L Base" tcp="TCP L">
+ <Node name="Hand Palm 1 L"/>
+ <Node name="Hand Palm 2 L"/>
+ <Node name="Thumb L J0"/>
+ <Node name="Thumb L J1"/>
+ <Node name="Index L J0"/>
+ <Node name="Index L J1"/>
+ <Node name="Middle L J0"/>
+ <Node name="Middle L J1"/>
+ <Node name="Ring L J0"/>
+ <Node name="Ring L J1"/>
+ <Node name="Pinky L J0"/>
+ <Node name="Pinky L J1"/>
+ </RobotNodeSet>
+
+
+ <RobotNodeSet name="LeftHandJoints" kinematicRoot="Hand L Base" tcp="TCP L">
+ <Node name="Thumb L J0"/>
+ <Node name="Thumb L J1"/>
+ <Node name="Index L J0"/>
+ <Node name="Index L J1"/>
+ <Node name="Middle L J0"/>
+ <Node name="Middle L J1"/>
+ <Node name="Ring L J0"/>
+ <Node name="Ring L J1"/>
+ <Node name="Pinky L J0"/>
+ <Node name="Pinky L J1"/>
+ </RobotNodeSet>
+
+ <Endeffector name="TCP L" base="Hand L Base" tcp="TCP L" gcp="GCP L">
+ <Preshape name="Open Preshape">
+ <Node name="Thumb L J0" unit="radian" value="0"/>
+ <Node name="Thumb L J1" unit="radian" value="0"/>
+ <Node name="Index L J0" unit="radian" value="0"/>
+ <Node name="Index L J1" unit="radian" value="0"/>
+ <Node name="Middle L J0" unit="radian" value="0"/>
+ <Node name="Middle L J1" unit="radian" value="0"/>
+ <Node name="Ring L J0" unit="radian" value="0"/>
+ <Node name="Ring L J1" unit="radian" value="0"/>
+ <Node name="Pinky L J0" unit="radian" value="0"/>
+ <Node name="Pinky L J1" unit="radian" value="0"/>
+ </Preshape>
+ <Preshape name="Close Preshape">
+ <Node name="Thumb L J0" unit="radian" value="1"/>
+ <Node name="Thumb L J1" unit="radian" value="1"/>
+ <Node name="Index L J0" unit="radian" value="1"/>
+ <Node name="Index L J1" unit="radian" value="1"/>
+ <Node name="Middle L J0" unit="radian" value="1"/>
+ <Node name="Middle L J1" unit="radian" value="1"/>
+ <Node name="Ring L J0" unit="radian" value="1"/>
+ <Node name="Ring L J1" unit="radian" value="1"/>
+ <Node name="Pinky L J0" unit="radian" value="1"/>
+ <Node name="Pinky L J1" unit="radian" value="1"/>
+ </Preshape>
+ <Static>
+ <Node name="Hand Palm 1 L"/>
+ <Node name="Hand Palm 2 L"/>
+ </Static>
+ <Actor name="Thumb Left">
+ <Node name="Thumb L J0" considerCollisions="Actors"/>
+ <Node name="Thumb L J1" considerCollisions="All"/>
+ </Actor>
+ <Actor name="Index Left">
+ <Node name="Index L J0" considerCollisions="Actors"/>
+ <Node name="Index L J1" considerCollisions="All"/>
+ </Actor>
+ <Actor name="Middle Left">
+ <Node name="Middle L J0" considerCollisions="Actors"/>
+ <Node name="Middle L J1" considerCollisions="All"/>
+ </Actor>
+ <Actor name="Ring Left">
+ <Node name="Ring L J0" considerCollisions="Actors"/>
+ <Node name="Ring L J1" considerCollisions="All"/>
+ </Actor>
+ <Actor name="Pinky Left">
+ <Node name="Pinky L J0" considerCollisions="Actors"/>
+ <Node name="Pinky L J1" considerCollisions="All"/>
+ </Actor>
+ </Endeffector>
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-LeftHand_minColModel.xml b/data/RobotAPI/robots/Armar3/ArmarIII-LeftHand_minColModel.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e946ba874996ed9b27c03bb53fb66336302f754e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-LeftHand_minColModel.xml
@@ -0,0 +1,463 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII LeftHand" RootNode="Hand L Base">
+
+ <RobotNode name="Hand L Base">
+ <Child name="TCP L"/>
+ <Child name="GCP L"/>
+ <Child name="Hand Palm 1 L"/>
+ </RobotNode>
+
+ <RobotNode name="TCP L">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="130"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+ </RobotNode>
+
+ <RobotNode name="GCP L">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation X="-40" Y="-20" Z="90"/>
+ <rollpitchyaw roll="0" pitch="-45" yaw="0" units="degree"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+ </RobotNode>
+
+ <RobotNode name="Hand Palm 1 L">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="36"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/palm1_l.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/palm1_l.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="800" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Hand Palm 2 L"/>
+ <Child name="Thumb L"/>
+ </RobotNode>
+
+ <RobotNode name="Hand Palm 2 L">
+ <Joint type="revolute">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="-8.7" y="13.5" z="29.25"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="-1" z="0"/>
+ <Limits unit="degree" lo="-90" hi="90"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/palm2_l.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/palm2_l.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="800" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Pinky L"/>
+ <Child name="Ring L"/>
+ <Child name="Middle L"/>
+ <Child name="Index L"/>
+ </RobotNode>
+
+ <RobotNode name="Thumb L">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="-48.9" y="0" z="29.25"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+
+ <Child name="Thumb L J0"/>
+ </RobotNode>
+
+ <RobotNode name="Thumb L J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="0"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/thumb_l1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/thumb_l1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Thumb L J1"/>
+ </RobotNode>
+
+ <RobotNode name="Thumb L J1">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="-40.2" y="0" z="0"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/thumb_l2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/thumb_l2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNode name="Pinky L">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="-73" z="40.4"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+
+ <Child name="Pinky L J0"/>
+ </RobotNode>
+
+ <RobotNode name="Pinky L J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="0"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="-1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/pinky_l1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/pinky_l1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Pinky L J1"/>
+ </RobotNode>
+
+ <RobotNode name="Pinky L J1">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="-1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/pinky_l2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/pinky_l2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNode name="Ring L">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="-51" z="40.4"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+
+ <Child name="Ring L J0"/>
+ </RobotNode>
+
+ <RobotNode name="Ring L J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="0"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="-1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/ring_l1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/ring_l1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Ring L J1"/>
+ </RobotNode>
+
+ <RobotNode name="Ring L J1">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="-1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/ring_l2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/ring_l2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNode name="Middle L">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="-27" z="40.4"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+
+ <Child name="Middle L J0"/>
+ </RobotNode>
+
+ <RobotNode name="Middle L J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="0"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="-1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/middle_l1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/middle_l1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Middle L J1"/>
+ </RobotNode>
+
+ <RobotNode name="Middle L J1">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="-1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/middle_l2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/middle_l2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNode name="Index L">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+
+ <Child name="Index L J0"/>
+ </RobotNode>
+
+ <RobotNode name="Index L J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="0"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="-1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/index_l1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/index_l1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Index L J1"/>
+ </RobotNode>
+
+ <RobotNode name="Index L J1">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="-1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/index_l2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/index_l2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNodeSet name="LeftHandColModel" kinematicRoot="Hand L Base" tcp="TCP L">
+ <Node name="Hand Palm 1 L"/>
+ <Node name="Hand Palm 2 L"/>
+ <Node name="Thumb L J0"/>
+ <Node name="Thumb L J1"/>
+ <Node name="Index L J0"/>
+ <Node name="Index L J1"/>
+ <Node name="Middle L J0"/>
+ <Node name="Middle L J1"/>
+ <Node name="Ring L J0"/>
+ <Node name="Ring L J1"/>
+ <Node name="Pinky L J0"/>
+ <Node name="Pinky L J1"/>
+ </RobotNodeSet>
+
+ <Endeffector name="TCP L" base="Hand L Base" tcp="TCP L" gcp="GCP L">
+ <Preshape name="Grasp Preshape">
+ <Node name="Thumb L J0" unit="radian" value="0"/>
+ <Node name="Thumb L J1" unit="radian" value="0"/>
+ <Node name="Index L J0" unit="radian" value="0"/>
+ <Node name="Index L J1" unit="radian" value="0"/>
+ <Node name="Middle L J0" unit="radian" value="0"/>
+ <Node name="Middle L J1" unit="radian" value="0"/>
+ <Node name="Ring L J0" unit="radian" value="0"/>
+ <Node name="Ring L J1" unit="radian" value="0"/>
+ <Node name="Pinky L J0" unit="radian" value="0"/>
+ <Node name="Pinky L J1" unit="radian" value="0"/>
+ </Preshape>
+ <Static>
+ <Node name="Hand Palm 1 L"/>
+ <Node name="Hand Palm 2 L"/>
+ </Static>
+ <Actor name="Thumb Left">
+ <Node name="Thumb L J0" considerCollisions="Actors"/>
+ <Node name="Thumb L J1" considerCollisions="All"/>
+ </Actor>
+ <Actor name="Index Left">
+ <Node name="Index L J0" considerCollisions="Actors"/>
+ <Node name="Index L J1" considerCollisions="All"/>
+ </Actor>
+ <Actor name="Middle Left">
+ <Node name="Middle L J0" considerCollisions="Actors"/>
+ <Node name="Middle L J1" considerCollisions="All"/>
+ </Actor>
+ <Actor name="Ring Left">
+ <Node name="Ring L J0" considerCollisions="Actors"/>
+ <Node name="Ring L J1" considerCollisions="All"/>
+ </Actor>
+ <Actor name="Pinky Left">
+ <Node name="Pinky L J0" considerCollisions="Actors"/>
+ <Node name="Pinky L J1" considerCollisions="All"/>
+ </Actor>
+ </Endeffector>
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Platform.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Platform.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a41d1fc7e21321b3aa9ba9be339307d687061521
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Platform.xml
@@ -0,0 +1,230 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="Armar3" StandardName="Armar3" RootNode="Armar3_Base">
+
+ <RobotNode name="Armar3_Base">
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="20"/>
+ </Visualization>
+ <Child name="Dummy_Platform"/>
+ </RobotNode>
+
+ <RobotNode name="Dummy_Platform">
+ <Transform>
+ <DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+ </Transform>
+ <!--Joint type="fixed">
+ <DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+ </Joint-->
+ <Child name="X_Platform"/>
+ </RobotNode>
+
+ <RobotNode name="X_Platform">
+ <Transform>
+ <DH a="0" d="0" theta="90" alpha="0" units="degree"/>
+ </Transform>
+ <Joint type="prismatic">
+ <!--DH a="0" d="0" theta="90" alpha="-90" units="degree"/-->
+ <TranslationDirection x="0" y="0" z="1"/>
+ <Limits unit="mm" lo="-10000" hi="10000"/>
+ <!--
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="100"/>
+ </Transform>
+ </PreJointTransform>
+ -->
+ <!--
+ <Axis x="1" y="0" z="0"/>--> <!-- definition of movement axis if DH not defined ?-->
+ <!--
+ <PostJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="0"/>
+ </Transform>
+ </PostJointTransform>
+ -->
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+ <Child name="Y_Platform"/>
+ </RobotNode>
+
+ <RobotNode name="Y_Platform">
+ <Transform>
+ <DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+ <DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+ </Transform>
+ <Joint type="prismatic">
+ <!--DH a="0" d="0" theta="-90" alpha="90" units="degree"/-->
+ <TranslationDirection x="0" y="0" z="1"/>
+ <Limits unit="mm" lo="-10000" hi="10000"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+ <Child name="Yaw_Platform"/>
+ </RobotNode>
+
+ <RobotNode name="Yaw_Platform">
+ <Transform>
+ <DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+ <DH a="0" d="0" theta="0" alpha="90" units="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <axis x="0" y="0" z="1"/>
+ <!--DH a="0" d="0" theta="-90" alpha="0" units="degree"/-->
+ <Limits unit="degree" lo="-360" hi="360"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/platform.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">collisionModel/platform.iv</File>
+ </CollisionModel>
+
+ <Child name="Hip Pitch"/>
+ </RobotNode>
+
+
+ <RobotNode name="Hip Pitch">
+ <Transform>
+ <Translation x="0" y="158" z="890"/> <!-- x,y,z of THIS COS, NOT any other COS-->
+ </Transform>
+ <Joint type="revolute">
+ <Axis x="1" y="0" z="0"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/platform_pitch_link.iv</File>
+ </Visualization>
+ <Child name="Hip Roll"/>
+ </RobotNode>
+
+ <RobotNode name="Hip Roll">
+ <Joint type="revolute">
+ <Axis x="0" y="1" z="0"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/platform_roll_link.iv</File>
+ </Visualization>
+ <Child name="Hip Yaw"/>
+ </RobotNode>
+
+ <RobotNode name="Hip Yaw">
+ <Joint type="revolute">
+ <Axis x="0" y="0" z="1"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/torso.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">collisionModel/torso.iv</File>
+ </CollisionModel>
+ <Child name="Center of Arms"/>
+ </RobotNode>
+
+ <RobotNode name="Center of Arms">
+ <Transform>
+ <Translation x="0" y="-35" z="485"/>
+ </Transform>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+
+ <Child name="TrafoToHead"/>
+ <Child name="TrafoToLeftArm"/>
+ <Child name="TrafoToRightArm"/>
+ </RobotNode>
+
+ <RobotNode name="TrafoToHead">
+ <Transform>
+ <Translation x="0" y="0" z="118"/>
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+
+ <ChildFromRobot>
+ <File importEEF="true">ArmarIII-Head.xml</File>
+ </ChildFromRobot>
+ </RobotNode>
+
+ <RobotNode name="TrafoToLeftArm">
+ <Transform>
+ <Translation x="-232" y="0" z="0"/>
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+
+ <ChildFromRobot>
+ <File importEEF="true">ArmarIII-LeftArm.xml</File>
+ </ChildFromRobot>
+ </RobotNode>
+
+ <RobotNode name="TrafoToRightArm">
+ <Transform>
+ <Translation x="232" y="0" z="0"/>
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+
+ <ChildFromRobot>
+ <File importEEF="true">ArmarIII-RightArm.xml</File>
+ </ChildFromRobot>
+ </RobotNode>
+
+ <RobotNodeSet name="Platform">
+ <Node name="X_Platform"/>
+ <Node name="Y_Platform"/>
+ <Node name="Yaw_Platform"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="PlatformColModel">
+ <Node name="Yaw_Platform"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="TorsoColModel">
+ <Node name="Hip Yaw"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="Hip">
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="PlatformTorsoColModel">
+ <Node name="Yaw_Platform"/>
+ <Node name="Hip Yaw"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="PlatformTorsoHeadColModel">
+ <Node name="Yaw_Platform"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Head_Tilt"/>
+ </RobotNodeSet>
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3f4b75084f79e4c0567a0dd2ad4d711910cb3898
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
@@ -0,0 +1,257 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII RightArm" RootNode="Right Arm Base">
+
+ <RobotNode name="Right Arm Base">
+ <Transform>
+ <DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+ <Child name="Shoulder 1 R"/>
+ </RobotNode>
+
+ <RobotNode name="Shoulder 1 R">
+ <Transform>
+ <DH a="0" d="0" theta="90" alpha="0" units="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH a="0" d="0" theta="90" alpha="90" units="degree"/-->
+ <Limits unit="degree" lo="-107" hi="42"/>
+ <MaxVelocity unit="radian" value="0.5"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="3.65" units="kg" />
+ </Physics>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="4"/>
+ <File type="Inventor">fullmodel/shoulder_r.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">convexModel/shoulder_r.iv</File>
+ </CollisionModel>
+ <Child name="Shoulder 2 R"/>
+ </RobotNode>
+
+ <RobotNode name="Shoulder 2 R">
+ <Transform>
+ <DH a="0" d="0" theta="0" alpha="90" units="degree"/>
+ <DH a="0" d="0" theta="105" alpha="0" units="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH a="0" d="0" theta="105" alpha="90" units="degree"/-->
+ <Limits unit="degree" lo="-14" hi="95"/>
+ <MaxVelocity unit="radian" value="0.5"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="2.5" units="kg" />
+ </Physics>
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/shoulder2_r_rot.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">convexModel/shoulder2_r_rot.iv</File>
+ </CollisionModel>
+ <Child name="Upperarm R"/>
+ </RobotNode>
+
+ <RobotNode name="Upperarm R">
+ <Transform>
+ <DH a="0" d="0" theta="0" alpha="90" units="degree"/>
+ <DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH a="20" d="-310" theta="-90" alpha="90" units="degree"/-->
+ <Limits unit="degree" lo="-109" hi="70"/>
+ <MaxVelocity unit="radian" value="0.5"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="1.55685000" units="kg" />
+ <IgnoreCollision name="Shoulder 1 R"/>
+ </Physics>
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/upperarm_r.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">convexModel/upperarm_r.iv</File>
+ </CollisionModel>
+ <Child name="Elbow R"/>
+ </RobotNode>
+
+ <RobotNode name="Elbow R">
+ <Transform>
+ <DH a="20" d="-310" theta="0" alpha="90" units="degree"/>
+ <DH a="0" d="0" theta="90" alpha="0" units="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH a="0" d="7.5" theta="90" alpha="-90" units="degree"/-->
+ <Limits unit="degree" lo="-120" hi="40"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="4"/>
+ <File type="Inventor">fullmodel/elbow_r.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">convexModel/elbow_r.iv</File>
+ </CollisionModel>
+ <Physics>
+ <CoM location="Joint"/>
+ <Mass value="1.15744000" units="kg" />
+ </Physics>
+ <Child name="Underarm R"/>
+ </RobotNode>
+
+ <RobotNode name="Underarm R">
+ <Transform>
+ <DH a="0" d="7.5" theta="0" alpha="-90" units="degree"/>
+ <DH a="0" d="0" theta="90" alpha="0" units="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH a="0" d="-240" theta="90" alpha="-90" units="degree"/-->
+
+ <Limits unit="degree" lo="-90" hi="200"/>
+ <MaxVelocity unit="radian" value="0.5"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/underarm_r.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">convexModel/underarm_r.iv</File>
+ </CollisionModel>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="2.26566087" units="kg" />
+ </Physics>
+ <Child name="Wrist 1 R"/>
+ </RobotNode>
+
+ <RobotNode name="Wrist 1 R">
+ <Transform>
+ <DH a="0" d="-240" theta="0" alpha="-90" units="degree"/>
+ <DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH a="0" d="0" theta="-90" alpha="-90" units="degree"/-->
+ <Limits unit="degree" lo="-22.3" hi="22.8"/>
+ <MaxVelocity unit="radian" value="0.5"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="1.29945309" units="kg" /><!--1.13047000-->
+ </Physics>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="2"/>
+ <File type="Inventor">fullmodel/wrist1_r.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">convexModel/wrist1_r.iv</File>
+ </CollisionModel>
+ <Child name="Wrist 2 R"/>
+ </RobotNode>
+
+ <RobotNode name="Wrist 2 R">
+ <Transform>
+ <DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+ <DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <!--DH a="0" d="0" theta="-90" alpha="90" units="degree"/-->
+ <Limits unit="degree" lo="-31" hi="38"/>
+ <MaxVelocity unit="radian" value="0.5"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="2"/>
+ <File type="Inventor">fullmodel/wrist2_r.iv</File>
+ </Visualization>
+ <!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model-->
+ <!--CollisionModel>
+ <File type="Inventor">convexModel/wrist2_r.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="2.59945309" units="kg" />
+ <IgnoreCollision name="Underarm R"/>
+ </Physics-->
+ <Sensor type="forcetorque" name="FT R">
+ <!--Transform>
+ <Translation x="0" y="-40" z="0"/>
+ </Transform-->
+ </Sensor>
+ <Child name="EndArmR"/>
+ </RobotNode>
+
+ <!--RobotNode name="FTSensorR">
+ <Transform>
+ <Translation x="0" y="-40" z="0"/>
+ </Transform>
+ <Sensor type="forcetorque"/>
+ <Child name="EndArmR"/>
+ </RobotNode-->
+
+ <RobotNode name="EndArmR">
+ <Transform>
+ <Translation x="0" y="-40" z="0"/>
+ <DH a="0" d="0" theta="0" alpha="90" units="degree"/>
+ </Transform>
+ <ChildFromRobot>
+ <File importEEF="true">ArmarIII-RightHand.xml</File>
+ </ChildFromRobot>
+ </RobotNode>
+
+ <RobotNodeSet name="RightArm" kinematicRoot="Right Arm Base" tcp="TCP R">
+ <Node name="Shoulder 1 R"/>
+ <Node name="Shoulder 2 R"/>
+ <Node name="Upperarm R"/>
+ <Node name="Elbow R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 1 R"/>
+ <Node name="Wrist 2 R"/>
+ </RobotNodeSet>
+
+
+
+ <RobotNodeSet name="RightArmColModel" kinematicRoot="Right Arm Base" tcp="TCP R">
+ <Node name="Upperarm R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 2 R"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="RightArmHandColModel" kinematicRoot="Right Arm Base" tcp="TCP R">
+ <Node name="Upperarm R"/>
+ <Node name="Underarm R"/>
+ <Node name="Hand Palm 1 R"/>
+ <Node name="Hand Palm 2 R"/>
+ <Node name="Thumb R J0"/>
+ <Node name="Thumb R J1"/>
+ <Node name="Index R J0"/>
+ <Node name="Index R J1"/>
+ <Node name="Middle R J0"/>
+ <Node name="Middle R J1"/>
+ <Node name="Ring R J0"/>
+ <Node name="Ring R J1"/>
+ <Node name="Pinky R J0"/>
+ <Node name="Pinky R J1"/>
+ </RobotNodeSet>
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm_minColModel.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm_minColModel.xml
new file mode 100644
index 0000000000000000000000000000000000000000..15f1001797cef37d3a5ded1ccebfb166e1741ed1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm_minColModel.xml
@@ -0,0 +1,174 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII RightArm" RootNode="Right Arm Base">
+
+<RobotNode name="Right Arm Base">
+ <Joint type="fixed">
+ <DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+ <Child name="Shoulder 1 R"/>
+ </RobotNode>
+
+ <RobotNode name="Shoulder 1 R">
+ <Joint type="revolute">
+ <DH a="0" d="0" theta="90" alpha="90" units="degree"/>
+ <Limits unit="degree" lo="-106.94" hi="41.67"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="3.65" units="kg" />
+ </Physics>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/shoulder_r.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">collisionModel/shoulder_r.iv</File>
+ </CollisionModel>
+ <Child name="Shoulder 2 R"/>
+ </RobotNode>
+
+ <RobotNode name="Shoulder 2 R">
+ <Joint type="revolute">
+ <DH a="0" d="0" theta="105" alpha="90" units="degree"/>
+ <Limits unit="degree" lo="-13.85" hi="94.62"/> <!-- ?! -->
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/shoulder2_r_rot.iv</File>
+ </Visualization>
+ <Child name="Upperarm R"/>
+ </RobotNode>
+
+ <RobotNode name="Upperarm R">
+ <Joint type="revolute">
+ <DH a="20" d="-310" theta="-90" alpha="90" units="degree"/>
+ <Limits unit="degree" lo="-108.11" hi="73.94"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="1.55685000" units="kg" />
+ </Physics>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/upperarm_r.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">collisionModel/upperarm_r.iv</File>
+ </CollisionModel>
+ <Child name="Elbow R"/>
+ </RobotNode>
+
+ <RobotNode name="Elbow R">
+ <Joint type="revolute">
+ <DH a="0" d="7.5" theta="90" alpha="-90" units="degree"/>
+ <Limits unit="degree" lo="-114.58" hi="39.7"/> <!-- ?! -->
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/elbow_r.iv</File>
+ </Visualization>
+ <!--Physics>
+ <CoM location="Joint"/>
+ <Mass value="1.15744000" units="kg" />
+ </Physics-->
+ <Child name="Underarm R"/>
+ </RobotNode>
+
+ <RobotNode name="Underarm R">
+ <Joint type="revolute">
+ <DH a="0" d="-240" theta="90" alpha="-90" units="degree"/>
+ <Limits unit="degree" lo="-69.65" hi="108.25"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/underarm_r.iv</File>
+ </Visualization>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="2.26566087" units="kg" />
+ </Physics>
+ <CollisionModel>
+ <File type="Inventor">collisionModel/underarm_r.iv</File>
+ </CollisionModel>
+ <Child name="Wrist 1 R"/>
+ </RobotNode>
+
+ <RobotNode name="Wrist 1 R">
+ <Joint type="revolute">
+ <DH a="0" d="0" theta="-90" alpha="-90" units="degree"/>
+ <Limits unit="degree" lo="-29.18" hi="29.88"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/wrist1_r.iv</File>
+ </Visualization>
+ <!--CollisionModel>
+ <File type="Inventor">collisionModel/wrist1_l.iv</File>
+ </CollisionModel-->
+ <Child name="Wrist 2 R"/>
+ </RobotNode>
+
+ <RobotNode name="Wrist 2 R">
+ <Joint type="revolute">
+ <DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
+ <Limits unit="degree" lo="-30.9" hi="50.87"/>
+ </Joint>
+ <!--Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="1.13047000" units="kg" />
+ </Physics-->
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/wrist2_r.iv</File>
+ </Visualization>
+ <!--CollisionModel>
+ <File type="Inventor">collisionModel/wrist2_l.iv</File>
+ </CollisionModel-->
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="2.59945309" units="kg" />
+ </Physics>
+ <ChildFromRobot>
+ <File importEEF="true">ArmarIII-RightHand_minColModel.xml</File>
+ </ChildFromRobot>
+ </RobotNode>
+
+ <RobotNodeSet name="RightArm" kinematicRoot="Right Arm Base" tcp="TCP R">
+ <Node name="Shoulder 1 R"/>
+ <Node name="Shoulder 2 R"/>
+ <Node name="Upperarm R"/>
+ <Node name="Elbow R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 1 R"/>
+ <Node name="Wrist 2 R"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="RightArmColModel" kinematicRoot="Right Arm Base" tcp="TCP R">
+ <Node name="Upperarm R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 2 R"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="RightArmHandColModel" kinematicRoot="Right Arm Base" tcp="TCP R">
+ <Node name="Upperarm R"/>
+ <Node name="Underarm R"/>
+ <Node name="Hand Palm 1 R"/>
+ <Node name="Hand Palm 2 R"/>
+ <Node name="Thumb R J0"/>
+ <Node name="Thumb R J1"/>
+ <Node name="Index R J0"/>
+ <Node name="Index R J1"/>
+ <Node name="Middle R J0"/>
+ <Node name="Middle R J1"/>
+ <Node name="Ring R J0"/>
+ <Node name="Ring R J1"/>
+ <Node name="Pinky R J0"/>
+ <Node name="Pinky R J1"/>
+ </RobotNodeSet>
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml
new file mode 100644
index 0000000000000000000000000000000000000000..204c042374f46747c34f293f50edef8b8512d618
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml
@@ -0,0 +1,519 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII RightHand" RootNode="Hand R Base">
+
+ <RobotNode name="Hand R Base">
+ <Child name="TCP R"/>
+ <Child name="GCP R"/>
+ <Child name="Marker R"/>
+ <Child name="right_hand_configuration_actual_float"/>
+ <Child name="Hand Palm 1 R"/>
+ </RobotNode>
+
+ <RobotNode name="TCP R">
+ <Transform>
+ <Translation x="0" y="0" z="130"/>
+ </Transform>
+ <Visualization enable="false">
+ <CoordinateAxis type="Inventor" enable="true" scaling="1"/>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="GCP R">
+ <Transform>
+ <Translation X="-40" Y="20" Z="90"/>
+ <rollpitchyaw roll="0" pitch="-45" yaw="0" units="degree"/>
+ </Transform>
+ </RobotNode>
+
+ <RobotNode name="Marker R">
+ <Transform>
+ <Translation x="-35" y="-45" z="65"/>
+ </Transform>
+ <Visualization enable="false">
+ <CoordinateAxis type="Inventor" enable="true" scaling="1"/>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="right_hand_configuration_actual_float">
+ <!--Joint type="revolute">
+ <Axis x="0" y="0" z="1"/>
+ <Limits unit="degree" lo="-20" hi="20"/>
+ </Joint-->
+ </RobotNode>
+
+ <RobotNode name="Hand Palm 1 R">
+
+ <Transform>
+ <Translation x="0" y="0" z="36"/>
+ </Transform>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/palm1_r.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/palm1_r.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="800" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Hand Palm 2 R"/>
+ <Child name="Thumb R"/>
+ </RobotNode>
+
+ <RobotNode name="Hand Palm 2 R">
+ <Transform>
+ <Translation x="-8.7" y="-13.5" z="29.25"/>
+ </Transform>
+ <Joint type="revolute">
+ <Axis x="0" y="-1" z="0"/>
+ <Limits unit="degree" lo="-90" hi="90"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/palm2_r.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/palm2_r.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="800" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Pinky R"/>
+ <Child name="Ring R"/>
+ <Child name="Middle R"/>
+ <Child name="Index R"/>
+ </RobotNode>
+
+ <RobotNode name="Thumb R">
+ <Transform>
+ <Translation x="-48.9" y="0" z="29.25"/>
+ </Transform>
+ <Child name="Thumb R J0"/>
+ </RobotNode>
+
+ <RobotNode name="Thumb R J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="90"/>
+ <Axis x="0" y="1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/thumb_r1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/thumb_r1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Thumb R J1"/>
+ </RobotNode>
+
+ <RobotNode name="Thumb R J1">
+ <Transform>
+ <Translation x="-40.2" y="0" z="0"/>
+ </Transform>
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="90"/>
+ <Axis x="0" y="1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/thumb_r2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/thumb_r2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ <Child name="Thumb R Fingertip"/>
+ </RobotNode>
+
+ <RobotNode name="Thumb R Fingertip">
+ <Transform>
+ <Translation x="-50" y="0" z="0"/>
+ </Transform>
+ <Visualization enable="false">
+ <CoordinateAxis type="Inventor" enable="true" scaling="1"/>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="Pinky R">
+ <Transform>
+ <Translation x="0" y="73" z="40.4"/>
+ </Transform>
+
+ <Child name="Pinky R J0"/>
+ </RobotNode>
+
+ <RobotNode name="Pinky R J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="90"/>
+ <Axis x="0" y="-1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/pinky_r1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/pinky_r1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Pinky R J1"/>
+ </RobotNode>
+
+ <RobotNode name="Pinky R J1">
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="90"/>
+ <Axis x="0" y="-1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/pinky_r2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/pinky_r2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNode name="Ring R">
+
+ <Transform>
+ <Translation x="0" y="51" z="40.4"/>
+ </Transform>
+
+ <Child name="Ring R J0"/>
+ </RobotNode>
+
+ <RobotNode name="Ring R J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="90"/>
+ <Axis x="0" y="-1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/ring_r1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/ring_r1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Ring R J1"/>
+ </RobotNode>
+
+ <RobotNode name="Ring R J1">
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="90"/>
+ <Axis x="0" y="-1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/ring_r2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/ring_r2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNode name="Middle R">
+ <Transform>
+ <Translation x="0" y="27" z="40.4"/>
+ </Transform>
+
+ <Child name="Middle R J0"/>
+ </RobotNode>
+
+ <RobotNode name="Middle R J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="90"/>
+ <Axis x="0" y="-1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/middle_r1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/middle_r1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Middle R J1"/>
+ </RobotNode>
+
+ <RobotNode name="Middle R J1">
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="90"/>
+ <Axis x="0" y="-1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/middle_r2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/middle_r2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ <Child name="Middle R Fingertip"/>
+ </RobotNode>
+
+ <RobotNode name="Middle R Fingertip">
+ <Transform>
+ <Translation x="-5" y="0" z="40.2"/>
+ </Transform>
+ <Visualization enable="false">
+ <CoordinateAxis type="Inventor" enable="true" scaling="1"/>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="Index R">
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+
+ <Child name="Index R J0"/>
+ </RobotNode>
+
+ <RobotNode name="Index R J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="90"/>
+ <Axis x="0" y="-1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/index_r1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/index_r1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Index R J1"/>
+ </RobotNode>
+
+ <RobotNode name="Index R J1">
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="90"/>
+ <Axis x="0" y="-1" z="0"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="10"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/index_r2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">convexModel/index_r2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Index R Fingertip"/>
+ </RobotNode>
+
+ <RobotNode name="Index R Fingertip">
+ <Transform>
+ <Translation x="-5" y="0" z="40.2"/>
+ </Transform>
+ <Visualization enable="false">
+ <CoordinateAxis type="Inventor" enable="true" scaling="1"/>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNodeSet name="RightHandColModel" kinematicRoot="Hand R Base" tcp="TCP R">
+ <Node name="Hand Palm 1 R"/>
+ <Node name="Hand Palm 2 R"/>
+ <Node name="Thumb R J0"/>
+ <Node name="Thumb R J1"/>
+ <Node name="Index R J0"/>
+ <Node name="Index R J1"/>
+ <Node name="Middle R J0"/>
+ <Node name="Middle R J1"/>
+ <Node name="Ring R J0"/>
+ <Node name="Ring R J1"/>
+ <Node name="Pinky R J0"/>
+ <Node name="Pinky R J1"/>
+ </RobotNodeSet>
+
+
+ <RobotNodeSet name="RightHandJoints" kinematicRoot="Hand R Base" tcp="TCP R">
+ <Node name="Thumb R J0"/>
+ <Node name="Thumb R J1"/>
+ <Node name="Index R J0"/>
+ <Node name="Index R J1"/>
+ <Node name="Middle R J0"/>
+ <Node name="Middle R J1"/>
+ <Node name="Ring R J0"/>
+ <Node name="Ring R J1"/>
+ <Node name="Pinky R J0"/>
+ <Node name="Pinky R J1"/>
+ </RobotNodeSet>
+
+ <Endeffector name="TCP R" base="Hand R Base" tcp="TCP R" gcp="GCP R">
+ <Preshape name="Open Preshape">
+ <Node name="Thumb R J0" unit="radian" value="0"/>
+ <Node name="Thumb R J1" unit="radian" value="0"/>
+ <Node name="Index R J0" unit="radian" value="0"/>
+ <Node name="Index R J1" unit="radian" value="0"/>
+ <Node name="Middle R J0" unit="radian" value="0"/>
+ <Node name="Middle R J1" unit="radian" value="0"/>
+ <Node name="Ring R J0" unit="radian" value="0"/>
+ <Node name="Ring R J1" unit="radian" value="0"/>
+ <Node name="Pinky R J0" unit="radian" value="0"/>
+ <Node name="Pinky R J1" unit="radian" value="0"/>
+ </Preshape>
+ <Preshape name="Close Preshape">
+ <Node name="Thumb R J0" unit="radian" value="1"/>
+ <Node name="Thumb R J1" unit="radian" value="1"/>
+ <Node name="Index R J0" unit="radian" value="1"/>
+ <Node name="Index R J1" unit="radian" value="1"/>
+ <Node name="Middle R J0" unit="radian" value="1"/>
+ <Node name="Middle R J1" unit="radian" value="1"/>
+ <Node name="Ring R J0" unit="radian" value="1"/>
+ <Node name="Ring R J1" unit="radian" value="1"/>
+ <Node name="Pinky R J0" unit="radian" value="1"/>
+ <Node name="Pinky R J1" unit="radian" value="1"/>
+ </Preshape>
+ <Preshape name="Julia Preshape">
+ <Node name="Thumb R J0" unit="radian" value="0"/>
+ <Node name="Thumb R J1" unit="radian" value="0"/>
+ <Node name="Index R J0" unit="radian" value="0"/>
+ <Node name="Index R J1" unit="radian" value="0"/>
+ <Node name="Middle R J0" unit="radian" value="1.5"/>
+ <Node name="Middle R J1" unit="radian" value="1.5"/>
+ <Node name="Ring R J0" unit="radian" value="1.5"/>
+ <Node name="Ring R J1" unit="radian" value="1.5"/>
+ <Node name="Pinky R J0" unit="radian" value="0"/>
+ <Node name="Pinky R J1" unit="radian" value="0"/>
+ </Preshape>
+
+
+ <Static>
+ <Node name="Hand Palm 1 R"/>
+ <Node name="Hand Palm 2 R"/>
+ </Static>
+ <Actor name="Thumb Right">
+ <Node name="Thumb R J0" considerCollisions="Actors"/>
+ <Node name="Thumb R J1" considerCollisions="All"/>
+ </Actor>
+ <Actor name="Index Right">
+ <Node name="Index R J0" considerCollisions="Actors"/>
+ <Node name="Index R J1" considerCollisions="All"/>
+ </Actor>
+ <Actor name="Middle Right">
+ <Node name="Middle R J0" considerCollisions="Actors"/>
+ <Node name="Middle R J1" considerCollisions="All"/>
+ </Actor>
+ <Actor name="Ring Right">
+ <Node name="Ring R J0" considerCollisions="Actors"/>
+ <Node name="Ring R J1" considerCollisions="All"/>
+ </Actor>
+ <Actor name="Pinky Right">
+ <Node name="Pinky R J0" considerCollisions="Actors"/>
+ <Node name="Pinky R J1" considerCollisions="All"/>
+ </Actor>
+ </Endeffector>
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightHand_minColModel.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightHand_minColModel.xml
new file mode 100644
index 0000000000000000000000000000000000000000..06a8d148da39a248a55ff7e2e547ec783021cd30
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightHand_minColModel.xml
@@ -0,0 +1,437 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="ArmarIII RightHand" RootNode="Hand R Base">
+
+
+ <RobotNode name="Hand R Base">
+ <Child name="TCP R"/>
+ <Child name="GCP R"/>
+ <Child name="Hand Palm 1 R"/>
+ </RobotNode>
+
+ <RobotNode name="TCP R">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="130"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+ </RobotNode>
+
+ <RobotNode name="GCP R">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation X="-40" Y="20" Z="90"/>
+ <rollpitchyaw roll="0" pitch="-45" yaw="0" units="degree"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+ </RobotNode>
+
+ <RobotNode name="Hand Palm 1 R">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="36"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/palm1_r.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/palm1_r.iv</File>
+ </CollisionModel>
+ <Physics>
+ <Mass value="800" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ <Child name="Hand Palm 2 R"/>
+ <Child name="Thumb R"/>
+ </RobotNode>
+
+ <RobotNode name="Hand Palm 2 R">
+ <Joint type="revolute">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="-8.7" y="-13.5" z="29.25"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="-1" z="0"/>
+ <Limits unit="degree" lo="-90" hi="90"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/palm2_r.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/palm2_r.iv</File>
+ </CollisionModel>
+ <Physics>
+ <Mass value="800" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ <Child name="Pinky R"/>
+ <Child name="Ring R"/>
+ <Child name="Middle R"/>
+ <Child name="Index R"/>
+ </RobotNode>
+
+ <RobotNode name="Thumb R">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="-48.9" y="0" z="29.25"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+ <Child name="Thumb R J0"/>
+ </RobotNode>
+
+ <RobotNode name="Thumb R J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <Axis x="0" y="1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/thumb_r1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/thumb_r1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Thumb R J1"/>
+ </RobotNode>
+
+ <RobotNode name="Thumb R J1">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="-40.2" y="0" z="0"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/thumb_r2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/thumb_r2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNode name="Pinky R">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="73" z="40.4"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+
+ <Child name="Pinky R J0"/>
+ </RobotNode>
+
+ <RobotNode name="Pinky R J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <Axis x="0" y="-1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/pinky_r1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/pinky_r1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Pinky R J1"/>
+ </RobotNode>
+
+ <RobotNode name="Pinky R J1">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="-1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/pinky_r2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/pinky_r2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNode name="Ring R">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="51" z="40.4"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+
+ <Child name="Ring R J0"/>
+ </RobotNode>
+
+ <RobotNode name="Ring R J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <Axis x="0" y="-1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/ring_r1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/ring_r1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Ring R J1"/>
+ </RobotNode>
+
+ <RobotNode name="Ring R J1">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="-1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/ring_r2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/ring_r2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNode name="Middle R">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="27" z="40.4"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+
+ <Child name="Middle R J0"/>
+ </RobotNode>
+
+ <RobotNode name="Middle R J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <Axis x="0" y="-1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/middle_r1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/middle_r1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Middle R J1"/>
+ </RobotNode>
+
+ <RobotNode name="Middle R J1">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="-1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/middle_r2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/middle_r2.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNode name="Index R">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+
+ <Child name="Index R J0"/>
+ </RobotNode>
+
+ <RobotNode name="Index R J0">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <Axis x="0" y="-1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <File type="Inventor">fullmodel/index_r1.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/index_r1.iv</File>
+ </CollisionModel>
+
+ <Physics>
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+
+ <Child name="Index R J1"/>
+ </RobotNode>
+
+ <RobotNode name="Index R J1">
+ <Joint type="revolute">
+ <Limits unit="degree" lo="0" hi="180"/>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="40.2"/>
+ </Transform>
+ </PreJointTransform>
+ <Axis x="0" y="-1" z="0"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/index_r2.iv</File>
+ </Visualization>
+
+ <CollisionModel>
+ <File type="Inventor">collisionModel/index_r2.iv</File>
+ </CollisionModel>
+ <Physics>
+
+ <Mass value="500" unit="g"/>
+ <CoM location="VisualizationBBoxCenter"/>
+ </Physics>
+ </RobotNode>
+
+ <RobotNodeSet name="RightHandColModel" kinematicRoot="Hand R Base" tcp="TCP R">
+ <Node name="Hand Palm 1 R"/>
+ <Node name="Hand Palm 2 R"/>
+ <Node name="Thumb R J0"/>
+ <Node name="Thumb R J1"/>
+ <Node name="Index R J0"/>
+ <Node name="Index R J1"/>
+ <Node name="Middle R J0"/>
+ <Node name="Middle R J1"/>
+ <Node name="Ring R J0"/>
+ <Node name="Ring R J1"/>
+ <Node name="Pinky R J0"/>
+ <Node name="Pinky R J1"/>
+ </RobotNodeSet>
+
+ <Endeffector name="TCP R" base="Hand R Base" tcp="TCP R" gcp="GCP R">
+ <Preshape name="Grasp Preshape">
+ <Node name="Thumb R J0" unit="radian" value="0"/>
+ <Node name="Thumb R J1" unit="radian" value="0"/>
+ <Node name="Index R J0" unit="radian" value="0"/>
+ <Node name="Index R J1" unit="radian" value="0"/>
+ <Node name="Middle R J0" unit="radian" value="0"/>
+ <Node name="Middle R J1" unit="radian" value="0"/>
+ <Node name="Ring R J0" unit="radian" value="0"/>
+ <Node name="Ring R J1" unit="radian" value="0"/>
+ <Node name="Pinky R J0" unit="radian" value="0"/>
+ <Node name="Pinky R J1" unit="radian" value="0"/>
+ </Preshape>
+
+
+ <Static>
+ <Node name="Hand Palm 1 R"/>
+ <Node name="Hand Palm 2 R"/>
+ </Static>
+ <Actor name="Thumb Right">
+ <Node name="Thumb R J0" considerCollisions="Actors"/>
+ <Node name="Thumb R J1" considerCollisions="All"/>
+ </Actor>
+ <Actor name="Index Right">
+ <Node name="Index R J0" considerCollisions="Actors"/>
+ <Node name="Index R J1" considerCollisions="All"/>
+ </Actor>
+ <Actor name="Middle Right">
+ <Node name="Middle R J0" considerCollisions="Actors"/>
+ <Node name="Middle R J1" considerCollisions="All"/>
+ </Actor>
+ <Actor name="Ring Right">
+ <Node name="Ring R J0" considerCollisions="Actors"/>
+ <Node name="Ring R J1" considerCollisions="All"/>
+ </Actor>
+ <Actor name="Pinky Right">
+ <Node name="Pinky R J0" considerCollisions="Actors"/>
+ <Node name="Pinky R J1" considerCollisions="All"/>
+ </Actor>
+ </Endeffector>
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-WithPlatform.xml b/data/RobotAPI/robots/Armar3/ArmarIII-WithPlatform.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b8575f65b58bcfb7b56db0b7e42e0f383062b953
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-WithPlatform.xml
@@ -0,0 +1,353 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="Armar3" RootNode="Armar3_Base">
+
+ <RobotNode name="Armar3_Base">
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="20"/>
+ </Visualization>
+ <Child name="Dummy_Platform"/>
+ <!--Child name="Platform"/-->
+ </RobotNode>
+
+ <RobotNode name="Dummy_Platform">
+ <Transform>
+ <DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+ </Transform>
+ <!--<Joint type="fixed">
+ <DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+ </Joint>-->
+ <Child name="X_Platform"/>
+ </RobotNode>
+
+ <RobotNode name="X_Platform">
+ <Transform>
+ <DH a="0" d="0" theta="90" alpha="0" units="degree"/>
+ </Transform>
+ <Joint type="prismatic">
+ <TranslationDirection x="0" y="0" z="1"/>
+ <Limits unit="mm" lo="-10000" hi="10000"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+ <Child name="Y_Platform"/>
+ </RobotNode>
+
+ <RobotNode name="Y_Platform">
+ <Transform>
+ <DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+ <DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+ </Transform>
+ <Joint type="prismatic">
+ <TranslationDirection x="0" y="0" z="1"/>
+ <Limits unit="mm" lo="-10000" hi="10000"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+ <Child name="Yaw_Platform"/>
+ </RobotNode>
+
+ <RobotNode name="Yaw_Platform">
+ <Transform>
+ <DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+ <DH a="0" d="0" theta="0" alpha="90" units="degree"/>
+ </Transform>
+ <Joint type="revolute">
+ <axis x="0" y="0" z="1"/>
+ <Limits unit="degree" lo="-360" hi="360"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+ <Child name="Platform"/>
+ </RobotNode>
+
+ <RobotNode name="Platform"> <!-- visualization via 3D-model at the very end of the kinematic chain-->
+ <Joint type="fixed"/>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/platform.iv</File>
+ </Visualization>
+ <Physics>
+ <CoM location="Joint" x="0" y="0" z="200"/>
+ <Mass value="100" units="kg" />
+ </Physics>
+ <CollisionModel>
+ <File type="Inventor">convexModel/platform.iv</File>
+ </CollisionModel>
+ <Child name="Hip Pitch"/>
+ </RobotNode>
+
+ <RobotNode name="Hip Pitch">
+ <Transform>
+ <Translation x="0" y="158" z="890"/>
+ </Transform>
+ <Joint type="revolute">
+ <Axis x="1" y="0" z="0"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/platform_pitch_link.iv</File>
+ </Visualization>
+ <Physics>
+ <Mass value="10" units="kg" />
+ </Physics>
+ <CollisionModel>
+ <File type="Inventor">convexModel/platform_pitch_link.iv</File>
+ </CollisionModel>
+ <Child name="Hip Roll"/>
+ </RobotNode>
+
+ <RobotNode name="Hip Roll">
+ <Joint type="revolute">
+ <Axis x="0" y="1" z="0"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/platform_roll_link.iv</File>
+ </Visualization>
+ <Physics>
+ <Mass value="10" units="kg" />
+ <IgnoreCollision name="Platform"/>
+ </Physics>
+ <CollisionModel>
+ <File type="Inventor">convexModel/platform_roll_link.iv</File>
+ </CollisionModel>
+ <Child name="Hip Yaw"/>
+ </RobotNode>
+
+ <RobotNode name="Hip Yaw">
+ <Joint type="revolute">
+ <Axis x="0" y="0" z="1"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="15.415" units="kg" />
+ <IgnoreCollision name="Hip Pitch"/>
+ <IgnoreCollision name="Platform"/>
+ </Physics>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/torso.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">convexModel/torso.iv</File>
+ </CollisionModel>
+ <Child name="Center of Arms"/>
+ </RobotNode>
+
+ <RobotNode name="Center of Arms">
+ <Transform>
+ <Translation x="0" y="-35" z="485"/>
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+
+ <Child name="TrafoToHead"/>
+ <Child name="TrafoToLeftArm"/>
+ <Child name="TrafoToRightArm"/>
+ </RobotNode>
+
+ <RobotNode name="TrafoToHead">
+ <Transform>
+ <Translation x="0" y="0" z="118"/>
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+
+ <ChildFromRobot>
+ <File importEEF="true">ArmarIII-Head.xml</File>
+ </ChildFromRobot>
+ </RobotNode>
+
+ <RobotNode name="TrafoToLeftArm">
+ <Transform>
+ <Translation x="-232" y="0" z="0"/>
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+
+ <ChildFromRobot>
+ <File importEEF="true">ArmarIII-LeftArm.xml</File>
+ </ChildFromRobot>
+ </RobotNode>
+
+ <RobotNode name="TrafoToRightArm">
+ <Transform>
+ <Translation x="232" y="0" z="0"/>
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+
+ <ChildFromRobot>
+ <File importEEF="true">ArmarIII-RightArm.xml</File>
+ </ChildFromRobot>
+ </RobotNode>
+
+ <RobotNodeSet name="Torso" kinematicRoot="Platform">
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="TorsoHeadColModel">
+ <Node name="Hip Yaw"/>
+ <Node name="Head_Tilt"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="PlatformTorsoColModel">
+ <Node name="Platform"/>
+ <Node name="Hip Yaw"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="PlatformTorsoHeadColModel">
+ <Node name="Platform"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Head_Tilt"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="TorsoLeftArm" kinematicRoot="Platform" tcp="TCP L">
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 L"/>
+ <Node name="Shoulder 2 L"/>
+ <Node name="Upperarm L"/>
+ <Node name="Elbow L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 1 L"/>
+ <Node name="Wrist 2 L"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="TorsoRightArm" kinematicRoot="Platform" tcp="TCP R">
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 R"/>
+ <Node name="Shoulder 2 R"/>
+ <Node name="Upperarm R"/>
+ <Node name="Elbow R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 1 R"/>
+ <Node name="Wrist 2 R"/>
+ </RobotNodeSet>
+
+
+ <RobotNodeSet name="TorsoBothArms" kinematicRoot="Platform">
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 L"/>
+ <Node name="Shoulder 2 L"/>
+ <Node name="Upperarm L"/>
+ <Node name="Elbow L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 1 L"/>
+ <Node name="Wrist 2 L"/>
+ <Node name="Shoulder 1 R"/>
+ <Node name="Shoulder 2 R"/>
+ <Node name="Upperarm R"/>
+ <Node name="Elbow R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 1 R"/>
+ <Node name="Wrist 2 R"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="Robot" kinematicRoot="Platform">
+ <Node name="Neck_1_Pitch"/>
+ <Node name="Neck_2_Roll"/>
+ <Node name="Neck_3_Yaw"/>
+ <Node name="Head_Tilt"/>
+ <Node name="Cameras"/>
+ <Node name="Eye_Left"/>
+ <Node name="Eye_Right"/>
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 L"/>
+ <Node name="Shoulder 2 L"/>
+ <Node name="Upperarm L"/>
+ <Node name="Elbow L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 1 L"/>
+ <Node name="Wrist 2 L"/>
+ <Node name="Shoulder 1 R"/>
+ <Node name="Shoulder 2 R"/>
+ <Node name="Upperarm R"/>
+ <Node name="Elbow R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 1 R"/>
+ <Node name="Wrist 2 R"/>
+ <Node name="Hand Palm 1 L"/>
+ <Node name="Hand Palm 2 L"/>
+ <Node name="Thumb L J0"/>
+ <Node name="Thumb L J1"/>
+ <Node name="Index L J0"/>
+ <Node name="Index L J1"/>
+ <Node name="Middle L J0"/>
+ <Node name="Middle L J1"/>
+ <Node name="Ring L J0"/>
+ <Node name="Ring L J1"/>
+ <Node name="Pinky L J0"/>
+ <Node name="Pinky L J1"/>
+ <Node name="Hand Palm 1 R"/>
+ <Node name="Hand Palm 2 R"/>
+ <Node name="Thumb R J0"/>
+ <Node name="Thumb R J1"/>
+ <Node name="Index R J0"/>
+ <Node name="Index R J1"/>
+ <Node name="Middle R J0"/>
+ <Node name="Middle R J1"/>
+ <Node name="Ring R J0"/>
+ <Node name="Ring R J1"/>
+ <Node name="Pinky R J0"/>
+ <Node name="Pinky R J1"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="PlatformYawTorsoLeftArm" kinematicRoot="Armar3_Base" tcp="TCP L">
+ <Node name="Yaw_Platform"/>
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 L"/>
+ <Node name="Shoulder 2 L"/>
+ <Node name="Upperarm L"/>
+ <Node name="Elbow L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 1 L"/>
+ <Node name="Wrist 2 L"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="PlatformYawTorsoRightArm" kinematicRoot="Armar3_Base" tcp="TCP R">
+ <Node name="Yaw_Platform"/>
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 R"/>
+ <Node name="Shoulder 2 R"/>
+ <Node name="Upperarm R"/>
+ <Node name="Elbow R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 1 R"/>
+ <Node name="Wrist 2 R"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="Platform">
+ <Node name="X_Platform"/>
+ <Node name="Y_Platform"/>
+ <Node name="Yaw_Platform"/>
+ </RobotNodeSet>
+
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII.xml b/data/RobotAPI/robots/Armar3/ArmarIII.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ecec3bf1dc53cea37588230ecf0b3ae1b5b1946c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/ArmarIII.xml
@@ -0,0 +1,395 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="Armar3" RootNode="Armar3_Base">
+
+ <RobotNode name="Armar3_Base">
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="20"/>
+ </Visualization>
+ <Child name="Dummy_Platform"/>
+ <!--Child name="Platform"/-->
+ </RobotNode>
+
+ <RobotNode name="Dummy_Platform">
+ <Transform>
+ <DH a="0" d="0" theta="0" alpha="-90" unitsangle="degree" unitslength="mm"/>
+ </Transform>
+ <Child name="X_Platform"/>
+ </RobotNode>
+
+ <RobotNode name="X_Platform">
+ <Transform>
+ <DH a="0" d="0" theta="90" alpha="-90" unitsangle="degree" unitslength="mm"/>
+ <!--Limits unit="mm" lo="-10000" hi="10000"/-->
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+ <Child name="Y_Platform"/>
+ </RobotNode>
+
+ <RobotNode name="Y_Platform">
+ <Transform>
+ <DH a="0" d="0" theta="-90" alpha="90" unitsangle="degree" unitslength="mm"/>
+ <!--Limits unit="mm" lo="-10000" hi="10000"/-->
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+ <Child name="Yaw_Platform"/>
+ </RobotNode>
+
+ <RobotNode name="Yaw_Platform">
+ <Transform>
+ <DH a="0" d="0" theta="-90" alpha="0" unitsangle="degree" unitslength="mm"/>
+ <!--Limits unit="mm" lo="-10000" hi="10000"/-->
+ </Transform>
+ <Joint type="revolute">
+ <axis x="0" y="0" z="1"/>
+ <Limits unit="degree" lo="-360" hi="360"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+ <Child name="Platform"/>
+ </RobotNode>
+
+ <RobotNode name="Platform"> <!-- visualization via 3D-model at the very end of the kinematic chain-->
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/platform.iv</File>
+ </Visualization>
+ <Physics>
+ <CoM location="Joint" x="0" y="0" z="200"/>
+ <Mass value="100" units="kg" />
+ </Physics>
+ <CollisionModel>
+ <File type="Inventor">convexModel/platform.iv</File>
+ </CollisionModel>
+ <Child name="Hip Pitch"/>
+ </RobotNode>
+
+ <RobotNode name="Hip Pitch">
+ <Transform>
+ <Translation x="0" y="158" z="890" units='mm'/>
+ </Transform>
+ <Joint type="revolute">
+ <Axis x="1" y="0" z="0"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/platform_pitch_link.iv</File>
+ </Visualization>
+ <Physics>
+ <Mass value="10" units="kg" />
+ </Physics>
+ <CollisionModel>
+ <File type="Inventor">convexModel/platform_pitch_link.iv</File>
+ </CollisionModel>
+ <Child name="Hip Roll"/>
+ </RobotNode>
+
+ <RobotNode name="Hip Roll">
+ <Joint type="revolute">
+ <Axis x="0" y="1" z="0"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/platform_roll_link.iv</File>
+ </Visualization>
+ <Physics>
+ <Mass value="10" units="kg" />
+ <IgnoreCollision name="Platform"/>
+ </Physics>
+ <CollisionModel>
+ <File type="Inventor">convexModel/platform_roll_link.iv</File>
+ </CollisionModel>
+ <Child name="Hip Yaw"/>
+ </RobotNode>
+
+ <RobotNode name="Hip Yaw">
+ <Joint type="revolute">
+ <Axis x="0" y="0" z="1"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ <MaxVelocity unit="radian" value="1"/>
+ <MaxAcceleration value="10"/>
+ <MaxTorque value="3000"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="15.415" units="kg" />
+ <IgnoreCollision name="Hip Pitch"/>
+ <IgnoreCollision name="Platform"/>
+ </Physics>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/torso.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">convexModel/torso.iv</File>
+ </CollisionModel>
+ <Child name="Center of Arms"/>
+ </RobotNode>
+
+ <RobotNode name="Center of Arms">
+ <Transform>
+ <Translation x="0" y="-35" z="485" units='mm'/>
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+
+ <Child name="TrafoToHead"/>
+ <Child name="TrafoToLeftArm"/>
+ <Child name="TrafoToRightArm"/>
+ </RobotNode>
+
+ <RobotNode name="TrafoToHead">
+ <Transform>
+ <Translation x="0" y="0" z="118" units='mm'/>
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+
+ <ChildFromRobot>
+ <File importEEF="true">ArmarIII-Head.xml</File>
+ </ChildFromRobot>
+ </RobotNode>
+
+ <RobotNode name="TrafoToLeftArm">
+ <Transform>
+ <Translation x="-232" y="0" z="0" units='mm'/>
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+
+ <ChildFromRobot>
+ <File importEEF="true">ArmarIII-LeftArm.xml</File>
+ </ChildFromRobot>
+ </RobotNode>
+
+ <RobotNode name="TrafoToRightArm">
+ <Transform>
+ <Translation x="232" y="0" z="0" units='mm'/>
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+
+ <ChildFromRobot>
+ <File importEEF="true">ArmarIII-RightArm.xml</File>
+ </ChildFromRobot>
+ </RobotNode>
+
+ <RobotNodeSet name="Torso" kinematicRoot="Platform">
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="TorsoHeadColModel">
+ <Node name="Hip Yaw"/>
+ <Node name="Head_Tilt"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="PlatformTorsoColModel">
+ <Node name="Platform"/>
+ <Node name="Hip Yaw"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="PlatformTorsoHeadColModel">
+ <Node name="Platform"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Head_Tilt"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="TorsoLeftArm" kinematicRoot="Platform" tcp="TCP L">
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 L"/>
+ <Node name="Shoulder 2 L"/>
+ <Node name="Upperarm L"/>
+ <Node name="Elbow L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 1 L"/>
+ <Node name="Wrist 2 L"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="HipYawLeftArm" kinematicRoot="Platform" tcp="TCP L">
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 L"/>
+ <Node name="Shoulder 2 L"/>
+ <Node name="Upperarm L"/>
+ <Node name="Elbow L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 1 L"/>
+ <Node name="Wrist 2 L"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="TorsoRightArm" kinematicRoot="Platform" tcp="TCP R">
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 R"/>
+ <Node name="Shoulder 2 R"/>
+ <Node name="Upperarm R"/>
+ <Node name="Elbow R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 1 R"/>
+ <Node name="Wrist 2 R"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="TorsoRightArmIndexFingertip" kinematicRoot="Platform" tcp="Index R Fingertip">
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 R"/>
+ <Node name="Shoulder 2 R"/>
+ <Node name="Upperarm R"/>
+ <Node name="Elbow R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 1 R"/>
+ <Node name="Wrist 2 R"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="HipYawRightArm" kinematicRoot="Platform" tcp="TCP R">
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 R"/>
+ <Node name="Shoulder 2 R"/>
+ <Node name="Upperarm R"/>
+ <Node name="Elbow R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 1 R"/>
+ <Node name="Wrist 2 R"/>
+ </RobotNodeSet>
+
+
+ <RobotNodeSet name="TorsoBothArms" kinematicRoot="Platform">
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 L"/>
+ <Node name="Shoulder 2 L"/>
+ <Node name="Upperarm L"/>
+ <Node name="Elbow L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 1 L"/>
+ <Node name="Wrist 2 L"/>
+ <Node name="Shoulder 1 R"/>
+ <Node name="Shoulder 2 R"/>
+ <Node name="Upperarm R"/>
+ <Node name="Elbow R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 1 R"/>
+ <Node name="Wrist 2 R"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="Robot" kinematicRoot="Platform">
+ <Node name="Neck_1_Pitch"/>
+ <Node name="Neck_2_Roll"/>
+ <Node name="Neck_3_Yaw"/>
+ <Node name="Head_Tilt"/>
+ <Node name="Cameras"/>
+ <Node name="Eye_Left"/>
+ <Node name="Eye_Right"/>
+ <Node name="VirtualCentralGaze"/>
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 L"/>
+ <Node name="Shoulder 2 L"/>
+ <Node name="Upperarm L"/>
+ <Node name="Elbow L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 1 L"/>
+ <Node name="Wrist 2 L"/>
+ <Node name="Shoulder 1 R"/>
+ <Node name="Shoulder 2 R"/>
+ <Node name="Upperarm R"/>
+ <Node name="Elbow R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 1 R"/>
+ <Node name="Wrist 2 R"/>
+ <Node name="Hand Palm 1 L"/>
+ <Node name="Hand Palm 2 L"/>
+ <Node name="Thumb L J0"/>
+ <Node name="Thumb L J1"/>
+ <Node name="Index L J0"/>
+ <Node name="Index L J1"/>
+ <Node name="Middle L J0"/>
+ <Node name="Middle L J1"/>
+ <Node name="Ring L J0"/>
+ <Node name="Ring L J1"/>
+ <Node name="Pinky L J0"/>
+ <Node name="Pinky L J1"/>
+ <Node name="Hand Palm 1 R"/>
+ <Node name="Hand Palm 2 R"/>
+ <Node name="Thumb R J0"/>
+ <Node name="Thumb R J1"/>
+ <Node name="Index R J0"/>
+ <Node name="Index R J1"/>
+ <Node name="Middle R J0"/>
+ <Node name="Middle R J1"/>
+ <Node name="Ring R J0"/>
+ <Node name="Ring R J1"/>
+ <Node name="Pinky R J0"/>
+ <Node name="Pinky R J1"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="PlatformYawTorsoLeftArm" kinematicRoot="Armar3_Base" tcp="TCP L">
+ <Node name="Yaw_Platform"/>
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 L"/>
+ <Node name="Shoulder 2 L"/>
+ <Node name="Upperarm L"/>
+ <Node name="Elbow L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 1 L"/>
+ <Node name="Wrist 2 L"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="PlatformYawTorsoRightArm" kinematicRoot="Armar3_Base" tcp="TCP R">
+ <Node name="Yaw_Platform"/>
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 R"/>
+ <Node name="Shoulder 2 R"/>
+ <Node name="Upperarm R"/>
+ <Node name="Elbow R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 1 R"/>
+ <Node name="Wrist 2 R"/>
+ </RobotNodeSet>
+
+
+ <RobotNodeSet name="HeadMotionMeasurementChain" kinematicRoot="Neck_1_Pitch" tcp="HeadMotionMeasurementTCP">
+ <Node name="Neck_1_Pitch"/>
+ <Node name="Neck_2_Roll"/>
+ <Node name="Neck_3_Yaw"/>
+ <Node name="Head_Tilt"/>
+ <Node name="Cameras"/>
+ <Node name="Eye_Left"/>
+ <Node name="HeadMotionMeasurementTCP"/>
+ </RobotNodeSet>
+
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII_minColModel.xml b/data/RobotAPI/robots/Armar3/ArmarIII_minColModel.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e93b374607794e20319c31da9e0c9a33e66ca114
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/ArmarIII_minColModel.xml
@@ -0,0 +1,336 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<Robot Type="Armar3" RootNode="Armar3_Base">
+
+ <RobotNode name="Armar3_Base">
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="20"/>
+ </Visualization>
+ <Child name="Dummy_Platform"/>
+ </RobotNode>
+
+ <RobotNode name="Dummy_Platform">
+ <Joint type="fixed">
+ <DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
+ </Joint>
+ <Child name="X_Platform"/>
+ </RobotNode>
+
+ <RobotNode name="X_Platform">
+ <Joint type="prismatic">
+ <DH a="0" d="0" theta="90" alpha="-90" units="degree"/>
+ <Limits unit="mm" lo="-10000" hi="10000"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+ <Child name="Y_Platform"/>
+ </RobotNode>
+
+ <RobotNode name="Y_Platform">
+ <Joint type="prismatic">
+ <DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
+ <Limits unit="mm" lo="-10000" hi="10000"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+ <Child name="Yaw_Platform"/>
+ </RobotNode>
+
+ <RobotNode name="Yaw_Platform">
+ <Joint type="revolute">
+ <DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
+ <Limits unit="degree" lo="-360" hi="360"/>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+ <Child name="Platform"/>
+ </RobotNode>
+
+ <RobotNode name="Platform"> <!-- visualization via 3D-model at the very end of the kinematic chain-->
+ <Joint type="fixed"/>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/platform.iv</File>
+ </Visualization>
+ <Physics>
+ <CoM location="Joint" x="0" y="0" z="200"/>
+ <Mass value="200" units="kg" />
+ </Physics>
+ <CollisionModel>
+ <File type="Inventor">collisionModel/platform.iv</File>
+ </CollisionModel>
+ <Child name="Hip Pitch"/>
+ </RobotNode>
+
+ <RobotNode name="Hip Pitch">
+ <Joint type="revolute">
+ <Axis x="1" y="0" z="0"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="158" z="890"/> <!-- x,y,z of THIS COS, NOT any other COS-->
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/platform_pitch_link.iv</File>
+ </Visualization>
+ <Child name="Hip Roll"/>
+ </RobotNode>
+
+ <RobotNode name="Hip Roll">
+ <Joint type="revolute">
+ <Axis x="0" y="1" z="0"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ </Joint>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/platform_roll_link.iv</File>
+ </Visualization>
+ <Child name="Hip Yaw"/>
+ </RobotNode>
+
+ <RobotNode name="Hip Yaw">
+ <Joint type="revolute">
+ <Axis x="0" y="0" z="1"/>
+ <Limits unit="degree" lo="-45" hi="45"/>
+ </Joint>
+ <Physics>
+ <CoM location="VisualizationBBoxCenter"/>
+ <Mass value="15.415" units="kg" />
+ </Physics>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ <File type="Inventor">fullmodel/torso.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">collisionModel/torso.iv</File>
+ </CollisionModel>
+ <Child name="Center of Arms"/>
+ </RobotNode>
+
+ <RobotNode name="Center of Arms">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="-35" z="485"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+
+ <Child name="TrafoToHead"/>
+ <Child name="TrafoToLeftArm"/>
+ <Child name="TrafoToRightArm"/>
+ </RobotNode>
+
+ <RobotNode name="TrafoToHead">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="0" y="0" z="118"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+
+ <ChildFromRobot>
+ <File importEEF="true">ArmarIII-Head_minColModel.xml</File>
+ </ChildFromRobot>
+ </RobotNode>
+
+ <RobotNode name="TrafoToLeftArm">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="-232" y="0" z="0"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+
+ <ChildFromRobot>
+ <File importEEF="true">ArmarIII-LeftArm_minColModel.xml</File>
+ </ChildFromRobot>
+ </RobotNode>
+
+ <RobotNode name="TrafoToRightArm">
+ <Joint type="fixed">
+ <PreJointTransform>
+ <Transform>
+ <Translation x="232" y="0" z="0"/>
+ </Transform>
+ </PreJointTransform>
+ </Joint>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
+ </Visualization>
+
+ <ChildFromRobot>
+ <File importEEF="true">ArmarIII-RightArm_minColModel.xml</File>
+ </ChildFromRobot>
+ </RobotNode>
+
+ <RobotNodeSet name="Torso" kinematicRoot="Platform">
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="TorsoHeadColModel">
+ <Node name="Hip Yaw"/>
+ <Node name="Head_Tilt"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="PlatformTorsoColModel">
+ <Node name="Platform"/>
+ <Node name="Hip Yaw"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="PlatformTorsoHeadColModel">
+ <Node name="Platform"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Head_Tilt"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="TorsoLeftArm" kinematicRoot="Platform" tcp="TCP L">
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 L"/>
+ <Node name="Shoulder 2 L"/>
+ <Node name="Upperarm L"/>
+ <Node name="Elbow L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 1 L"/>
+ <Node name="Wrist 2 L"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="TorsoRightArm" kinematicRoot="Platform" tcp="TCP R">
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 R"/>
+ <Node name="Shoulder 2 R"/>
+ <Node name="Upperarm R"/>
+ <Node name="Elbow R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 1 R"/>
+ <Node name="Wrist 2 R"/>
+ </RobotNodeSet>
+
+
+ <RobotNodeSet name="TorsoBothArms" kinematicRoot="Platform">
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 L"/>
+ <Node name="Shoulder 2 L"/>
+ <Node name="Upperarm L"/>
+ <Node name="Elbow L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 1 L"/>
+ <Node name="Wrist 2 L"/>
+ <Node name="Shoulder 1 R"/>
+ <Node name="Shoulder 2 R"/>
+ <Node name="Upperarm R"/>
+ <Node name="Elbow R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 1 R"/>
+ <Node name="Wrist 2 R"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="Robot" kinematicRoot="Platform">
+ <Node name="Neck_1_Pitch"/>
+ <Node name="Neck_2_Roll"/>
+ <Node name="Neck_3_Yaw"/>
+ <Node name="Head_Tilt"/>
+ <Node name="Cameras"/>
+ <Node name="Eye_Left"/>
+ <Node name="Eye_Right"/>
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 L"/>
+ <Node name="Shoulder 2 L"/>
+ <Node name="Upperarm L"/>
+ <Node name="Elbow L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 1 L"/>
+ <Node name="Wrist 2 L"/>
+ <Node name="Shoulder 1 R"/>
+ <Node name="Shoulder 2 R"/>
+ <Node name="Upperarm R"/>
+ <Node name="Elbow R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 1 R"/>
+ <Node name="Wrist 2 R"/>
+ <Node name="Hand Palm 1 L"/>
+ <Node name="Hand Palm 2 L"/>
+ <Node name="Thumb L J0"/>
+ <Node name="Thumb L J1"/>
+ <Node name="Index L J0"/>
+ <Node name="Index L J1"/>
+ <Node name="Middle L J0"/>
+ <Node name="Middle L J1"/>
+ <Node name="Ring L J0"/>
+ <Node name="Ring L J1"/>
+ <Node name="Pinky L J0"/>
+ <Node name="Pinky L J1"/>
+ <Node name="Hand Palm 1 R"/>
+ <Node name="Hand Palm 2 R"/>
+ <Node name="Thumb R J0"/>
+ <Node name="Thumb R J1"/>
+ <Node name="Index R J0"/>
+ <Node name="Index R J1"/>
+ <Node name="Middle R J0"/>
+ <Node name="Middle R J1"/>
+ <Node name="Ring R J0"/>
+ <Node name="Ring R J1"/>
+ <Node name="Pinky R J0"/>
+ <Node name="Pinky R J1"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="PlatformYawTorsoLeftArm" kinematicRoot="Armar3_Base" tcp="TCP L">
+ <Node name="Yaw_Platform"/>
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 L"/>
+ <Node name="Shoulder 2 L"/>
+ <Node name="Upperarm L"/>
+ <Node name="Elbow L"/>
+ <Node name="Underarm L"/>
+ <Node name="Wrist 1 L"/>
+ <Node name="Wrist 2 L"/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name="PlatformYawTorsoRightArm" kinematicRoot="Armar3_Base" tcp="TCP R">
+ <Node name="Yaw_Platform"/>
+ <Node name="Hip Pitch"/>
+ <Node name="Hip Roll"/>
+ <Node name="Hip Yaw"/>
+ <Node name="Shoulder 1 R"/>
+ <Node name="Shoulder 2 R"/>
+ <Node name="Upperarm R"/>
+ <Node name="Elbow R"/>
+ <Node name="Underarm R"/>
+ <Node name="Wrist 1 R"/>
+ <Node name="Wrist 2 R"/>
+ </RobotNodeSet>
+
+
+</Robot>
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/head.iv b/data/RobotAPI/robots/Armar3/collisionModel/head.iv
new file mode 100644
index 0000000000000000000000000000000000000000..509324db37893a45c08d2eb791ea056bc4d19460
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/head.iv
@@ -0,0 +1,429 @@
+#Inventor V1.0 ascii
+
+Separator {
+ ShapeHints {
+ hints (SOLID | ORDERED | CONVEX)
+ }
+ Units {
+ units MILLIMETERS
+ }
+
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/index_l2.iv b/data/RobotAPI/robots/Armar3/collisionModel/index_l2.iv
new file mode 100644
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/index_r1.iv b/data/RobotAPI/robots/Armar3/collisionModel/index_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ea65ade440bca4da11e054f2f321b52dba485128
--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/index_r2.iv b/data/RobotAPI/robots/Armar3/collisionModel/index_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..d3a66db5413ae43fdebcee249c0d122f65444961
--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/middle_l1.iv b/data/RobotAPI/robots/Armar3/collisionModel/middle_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5afda54b141a25ca9d66e31c2fd044bb974b901a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/middle_l1.iv
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/middle_l2.iv b/data/RobotAPI/robots/Armar3/collisionModel/middle_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..40ccb7b24f987b0e7ba4a33eb5986affba684b9c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/middle_l2.iv
@@ -0,0 +1,130 @@
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/middle_r1.iv b/data/RobotAPI/robots/Armar3/collisionModel/middle_r1.iv
new file mode 100644
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--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/middle_r2.iv b/data/RobotAPI/robots/Armar3/collisionModel/middle_r2.iv
new file mode 100644
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--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/palm1_l.iv b/data/RobotAPI/robots/Armar3/collisionModel/palm1_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..f36a9e89ff6fc53e4048bde9d0900e39b980ae49
--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/palm1_r.iv b/data/RobotAPI/robots/Armar3/collisionModel/palm1_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..c8c655c1d7897236e7f18b412c2941865fb05dba
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/palm1_r.iv
@@ -0,0 +1,191 @@
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/palm2_l.iv b/data/RobotAPI/robots/Armar3/collisionModel/palm2_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5d0fff8ef82c43e332a9bb2c58495d6a73c38a3e
--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/palm2_r.iv b/data/RobotAPI/robots/Armar3/collisionModel/palm2_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ab71de90870e50ac867a08f8d417b67483e91f75
--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/pinky_l1.iv b/data/RobotAPI/robots/Armar3/collisionModel/pinky_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5afda54b141a25ca9d66e31c2fd044bb974b901a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/pinky_l1.iv
@@ -0,0 +1,110 @@
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/pinky_l2.iv b/data/RobotAPI/robots/Armar3/collisionModel/pinky_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..805e4803cf962385d44429d52de832d9878e47c7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/pinky_l2.iv
@@ -0,0 +1,130 @@
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/pinky_r1.iv b/data/RobotAPI/robots/Armar3/collisionModel/pinky_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ea65ade440bca4da11e054f2f321b52dba485128
--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/pinky_r2.iv b/data/RobotAPI/robots/Armar3/collisionModel/pinky_r2.iv
new file mode 100644
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--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/platform.iv b/data/RobotAPI/robots/Armar3/collisionModel/platform.iv
new file mode 100644
index 0000000000000000000000000000000000000000..59e60c34a8151285be4dbb03269c376432a5827c
--- /dev/null
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@@ -0,0 +1,263 @@
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/ring_l1.iv b/data/RobotAPI/robots/Armar3/collisionModel/ring_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5afda54b141a25ca9d66e31c2fd044bb974b901a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/ring_l1.iv
@@ -0,0 +1,110 @@
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/ring_l2.iv b/data/RobotAPI/robots/Armar3/collisionModel/ring_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8b1d59dcbd8d10bf880a4963af848e76c7611041
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/ring_l2.iv
@@ -0,0 +1,130 @@
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/ring_r1.iv b/data/RobotAPI/robots/Armar3/collisionModel/ring_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..1c0c9c155d2f97e953764670127009e425ac246c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/ring_r1.iv
@@ -0,0 +1,106 @@
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/ring_r2.iv b/data/RobotAPI/robots/Armar3/collisionModel/ring_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8b1d59dcbd8d10bf880a4963af848e76c7611041
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/ring_r2.iv
@@ -0,0 +1,130 @@
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/shoulder_l.iv b/data/RobotAPI/robots/Armar3/collisionModel/shoulder_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..e4f6d8edbe5361ac48c2fb5bcd5d73a458b16320
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/shoulder_l.iv
@@ -0,0 +1,161 @@
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/thumb_l1.iv b/data/RobotAPI/robots/Armar3/collisionModel/thumb_l1.iv
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/thumb_l2.iv b/data/RobotAPI/robots/Armar3/collisionModel/thumb_l2.iv
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/thumb_r1.iv b/data/RobotAPI/robots/Armar3/collisionModel/thumb_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..f1e1766094378140e23a36fc8cddcf7e537663af
--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/thumb_r2.iv b/data/RobotAPI/robots/Armar3/collisionModel/thumb_r2.iv
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/torso.iv b/data/RobotAPI/robots/Armar3/collisionModel/torso.iv
new file mode 100644
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--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/underarm_r.iv b/data/RobotAPI/robots/Armar3/collisionModel/underarm_r.iv
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/upperarm_l.iv b/data/RobotAPI/robots/Armar3/collisionModel/upperarm_l.iv
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/upperarm_r.iv b/data/RobotAPI/robots/Armar3/collisionModel/upperarm_r.iv
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--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/wrist1_l.iv b/data/RobotAPI/robots/Armar3/collisionModel/wrist1_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..7ce1897c7faf757ae43c75e03fea8f8c7f598de3
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/wrist1_l.iv
@@ -0,0 +1,37 @@
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diff --git a/data/RobotAPI/robots/Armar3/collisionModel/wrist2_l.iv b/data/RobotAPI/robots/Armar3/collisionModel/wrist2_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..7ce1897c7faf757ae43c75e03fea8f8c7f598de3
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/wrist2_l.iv
@@ -0,0 +1,37 @@
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/handlink_green_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/handlink_green_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4806a69592564869414f23d70f40d7b6323eac1d
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/handlink_green_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/handlink_red_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/handlink_red_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c0c85117ede25234946fdff69d69fe62cbf117f9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/handlink_red_conv.wrl
@@ -0,0 +1,50 @@
+#VRML V2.0 utf8
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/metacarpals_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/metacarpals_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..ec199da48eed5c4ed17be33d88c548a65a4cecbc
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/metacarpals_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm1_l_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm1_l_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5c73d61fa4caf185c722abc3cea6c85e031733fa
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm1_l_conv.wrl
@@ -0,0 +1,48 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
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+NavigationInfo {
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm1_r_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm1_r_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4b648662c8f55fed339aa14a202c990203f0101f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm1_r_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
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+}
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm2_l_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm2_l_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a757f837de2a5f9e06295bf0f057d9a4adf1d5f1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm2_l_conv.wrl
@@ -0,0 +1,48 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
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+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm2_r_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm2_r_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5b7259bef6d34a5c6e4c36f503229d28c2308a49
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm2_r_conv.wrl
@@ -0,0 +1,48 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
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+}
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_index_middle_thumb_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_index_middle_thumb_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a88c46fec92e35e34e237df3cf77cb453e1a50a6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_index_middle_thumb_conv.wrl
@@ -0,0 +1,57 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+ type [ "EXAMINE", "ANY" ]
+}
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_pinky_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_pinky_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..3cee1a4c0c5884957d688ce3c9a715f5b0993acf
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_pinky_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+ type [ "EXAMINE", "ANY" ]
+}
+Transform {
+ scale 1 1 1
+ translation 0 0 0
+ children
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_ring_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_ring_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..434f866a0c59dba56d43854f464aa526a20b1cfb
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_ring_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+ type [ "EXAMINE", "ANY" ]
+}
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/head/head_base_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/head/head_base_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..de0417fe3173194e2fdb36a93994970f69c8e9a6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/head/head_base_conv.wrl
@@ -0,0 +1,49 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
+ type [ "EXAMINE", "ANY" ]
+}
+Transform {
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/head/head_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/head/head_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6c4ca129132d0b2748bf174d41d49cc0c66fa924
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/head/head_conv.wrl
@@ -0,0 +1,59 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
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+}
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/elbow_link_l_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/elbow_link_l_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6752ae63930cb5c32d64e8a88beb61bcb503601e
--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/shoulder_l_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/shoulder_l_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..eb86bfe2a25f0e3a3777f4ae0fa8311b73071d16
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/shoulder_l_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/shoulder_link_l_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/shoulder_link_l_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..b4b2c29a8b7f43694435c7232ad9145124bdf880
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/shoulder_link_l_conv.wrl
@@ -0,0 +1,50 @@
+#VRML V2.0 utf8
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/underarm_l_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/underarm_l_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..3762b7a593c7400ba121f42e5347963201ef1377
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/underarm_l_conv.wrl
@@ -0,0 +1,55 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
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+}
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/upperarm_l_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/upperarm_l_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e0e4d1f17a634f77b93d8848a0821625c92fd8f9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/upperarm_l_conv.wrl
@@ -0,0 +1,54 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
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+}
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_pitch_link_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_pitch_link_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..ee5ce751f04d92035d2b1e24ffe64e424fd1cbd8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_pitch_link_conv.wrl
@@ -0,0 +1,51 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
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+}
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_roll_link_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_roll_link_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f3b439d1f89b9145ecbbca72c52fa2c8d86bf99b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_roll_link_conv.wrl
@@ -0,0 +1,49 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
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+}
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_yaw_link_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_yaw_link_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..1d93305883a3ddae10139dc0f4837393f4eee390
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_yaw_link_conv.wrl
@@ -0,0 +1,51 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
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+}
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/platform/hd_platform_pitch_link_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/platform/hd_platform_pitch_link_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..2038431b08211625dd0546110644fc49fd9a6df6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/platform/hd_platform_pitch_link_conv.wrl
@@ -0,0 +1,54 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
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+}
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/platform/hd_platform_roll_link_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/platform/hd_platform_roll_link_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6b06bfe24dcaf758b854f5beb94a02e85eed981b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/platform/hd_platform_roll_link_conv.wrl
@@ -0,0 +1,52 @@
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/platform/platform_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/platform/platform_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a7e2c8277a38044170cc35272d89312e703ca8d6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/platform/platform_conv.wrl
@@ -0,0 +1,54 @@
+#VRML V2.0 utf8
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/elbow_link_r_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/elbow_link_r_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6752ae63930cb5c32d64e8a88beb61bcb503601e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/elbow_link_r_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/shoulder_link_r_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/shoulder_link_r_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..b3c250cccfbb7b4cf2d58a512204e51c62f95c4b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/shoulder_link_r_conv.wrl
@@ -0,0 +1,50 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
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+}
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/shoulder_r_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/shoulder_r_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e32da6746e1d394f3b37e9cadc7fc755eb4db090
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/shoulder_r_conv.wrl
@@ -0,0 +1,51 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
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+}
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/underarm_r_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/underarm_r_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..378274e4e1699c914cf7b2d2faf93ff5d71c6a9e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/underarm_r_conv.wrl
@@ -0,0 +1,55 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
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+}
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/upperarm_r_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/upperarm_r_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f6d6a045574ddf7de0657324ea494d2fda0c9bc0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/upperarm_r_conv.wrl
@@ -0,0 +1,52 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
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+}
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/torso/torso_conv.wrl b/data/RobotAPI/robots/Armar3/convexModel/armar/torso/torso_conv.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..96e14bf231fa6d1d67205105a661f07abdc42b43
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/torso/torso_conv.wrl
@@ -0,0 +1,54 @@
+#VRML V2.0 utf8
+
+# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
+
+NavigationInfo {
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+}
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diff --git a/data/RobotAPI/robots/Armar3/convexModel/elbow_l.iv b/data/RobotAPI/robots/Armar3/convexModel/elbow_l.iv
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index 0000000000000000000000000000000000000000..2d68b771fbd78a6bec6c984494feb0314cba5676
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/elbow_l.iv
@@ -0,0 +1,29 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+ Transform {
+ rotation 1 0 0 -1.57
+ }
+ Transform {
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ rotation 0 1 0 3.14
+ }
+ ## Kinematics 5.0 <-> armar model: 7.5
+ ## Model of elbow is fixed to upperarm -> use offset, so transformations of kinematics have no effect
+# Transform {
+# translation 7.5 0 0
+# rotation 1 0 0 -0.07616814813524509
+# }
+ Transform {
+ translation 7.5 0 0
+ rotation 0 0 0 0
+ }
+ File {
+ name "armar/left_arm/elbow_link_l_conv.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/elbow_r.iv b/data/RobotAPI/robots/Armar3/convexModel/elbow_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..2e6b0049e1e6ad3aab94517d30e24ba6e66011f6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/elbow_r.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+
+ Transform {
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ rotation 0 0 1 1.57
+ }
+ Transform {
+ translation 7.5 0 0
+ }
+ File {
+ name "armar/right_arm/elbow_link_r_conv.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/eye_l.iv b/data/RobotAPI/robots/Armar3/convexModel/eye_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5df57b2eae4774b2ab640eae55cd307d579aabc0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/eye_l.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ rotation 0 1 0 1.57
+ }
+
+ Transform {
+ rotation 0 0 1 1.57
+ }
+
+ File {
+ name "armar/eyes/eye.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/eye_link_l.iv b/data/RobotAPI/robots/Armar3/convexModel/eye_link_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8ec3c25ef28e6090eac76046700d629af1dce75e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/eye_link_l.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ rotation 0 1 0 1.57
+ }
+
+ Transform {
+ rotation 1 0 0 1.57
+ }
+
+ File {
+ name "armar/eyes/eyes_pitch_link_left.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/eye_link_r.iv b/data/RobotAPI/robots/Armar3/convexModel/eye_link_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5aef77b4bd7fc28d302e638b4fa0d368fc2d805f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/eye_link_r.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ rotation 0 1 0 1.57
+ }
+
+ Transform {
+ rotation 1 0 0 1.57
+ }
+
+ File {
+ name "armar/eyes/eyes_pitch_link_right.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/eye_r.iv b/data/RobotAPI/robots/Armar3/convexModel/eye_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5df57b2eae4774b2ab640eae55cd307d579aabc0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/eye_r.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ rotation 0 1 0 1.57
+ }
+
+ Transform {
+ rotation 0 0 1 1.57
+ }
+
+ File {
+ name "armar/eyes/eye.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/head.iv b/data/RobotAPI/robots/Armar3/convexModel/head.iv
new file mode 100644
index 0000000000000000000000000000000000000000..07390197af06a995310ba09d8937ad798f0248d9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/head.iv
@@ -0,0 +1,15 @@
+#Inventor V2.1 ascii
+
+Separator {
+ SoUnits
+ {
+ units MILLIMETERS
+ }
+ Transform {
+ rotation 0 1 0 1.57
+ }
+
+ File {
+ name "armar/head/head_conv.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/head_base.iv b/data/RobotAPI/robots/Armar3/convexModel/head_base.iv
new file mode 100644
index 0000000000000000000000000000000000000000..1ede136dbed2cb493f0849fb8a79e7276985c438
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/head_base.iv
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+
+Separator {
+ SoUnits
+ {
+ units MILLIMETERS
+ }
+ Transform {
+ translation -35 0 -605
+ }
+ RotationXYZ{
+ axis Z
+ angle 3.14
+ }
+
+ File {
+ name "armar/head/head_base_conv.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/index_l1.iv b/data/RobotAPI/robots/Armar3/convexModel/index_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..352ffff1a31f3e4bd693c2c37e3cc5ed35a0ac8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/index_l1.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/metacarpals_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/index_l2.iv b/data/RobotAPI/robots/Armar3/convexModel/index_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..96e986f4e213d85877a7e39d9ed936e1f5e06baa
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/index_l2.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Separator
+ {
+ File {name armar/hands/proximal_index_middle_thumb_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/index_r1.iv b/data/RobotAPI/robots/Armar3/convexModel/index_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..352ffff1a31f3e4bd693c2c37e3cc5ed35a0ac8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/index_r1.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/metacarpals_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/index_r2.iv b/data/RobotAPI/robots/Armar3/convexModel/index_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..f995cb3671a86b478c209081870c6c44e3098868
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/index_r2.iv
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/proximal_index_middle_thumb_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/jaw.iv b/data/RobotAPI/robots/Armar3/convexModel/jaw.iv
new file mode 100644
index 0000000000000000000000000000000000000000..a6cd0a5319271bf01eb7f327b1ac5ab7ff3751e0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/jaw.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 10 0
+ rotation 0 0 1 1.57
+ }
+
+ Transform {
+ rotation 0 1 0 -1.57
+ }
+
+ File {
+ name "armar/head/jaw.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/lid_l_bottom.iv b/data/RobotAPI/robots/Armar3/convexModel/lid_l_bottom.iv
new file mode 100644
index 0000000000000000000000000000000000000000..fee6dbbbc050aba14dccd2977e038c56c95f1e6a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/lid_l_bottom.iv
@@ -0,0 +1,11 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 -0.87
+ }
+ File {
+ name "armar/eyes/lid.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/lid_l_top.iv b/data/RobotAPI/robots/Armar3/convexModel/lid_l_top.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b3cbbaed2c7dfbb0e4787964dd903c830fed993a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/lid_l_top.iv
@@ -0,0 +1,11 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 -2.44
+ }
+ File {
+ name "armar/eyes/lid.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/lid_r_bottom.iv b/data/RobotAPI/robots/Armar3/convexModel/lid_r_bottom.iv
new file mode 100644
index 0000000000000000000000000000000000000000..fee6dbbbc050aba14dccd2977e038c56c95f1e6a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/lid_r_bottom.iv
@@ -0,0 +1,11 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 -0.87
+ }
+ File {
+ name "armar/eyes/lid.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/lid_r_top.iv b/data/RobotAPI/robots/Armar3/convexModel/lid_r_top.iv
new file mode 100644
index 0000000000000000000000000000000000000000..9e55171a4ab2695f4a37127c60f9b6f5f80769e1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/lid_r_top.iv
@@ -0,0 +1,12 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 -2.44
+ }
+
+ File {
+ name "armar/eyes/lid.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/middle_l1.iv b/data/RobotAPI/robots/Armar3/convexModel/middle_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..352ffff1a31f3e4bd693c2c37e3cc5ed35a0ac8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/middle_l1.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/metacarpals_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/middle_l2.iv b/data/RobotAPI/robots/Armar3/convexModel/middle_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..f995cb3671a86b478c209081870c6c44e3098868
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/middle_l2.iv
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/proximal_index_middle_thumb_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/middle_r1.iv b/data/RobotAPI/robots/Armar3/convexModel/middle_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..352ffff1a31f3e4bd693c2c37e3cc5ed35a0ac8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/middle_r1.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/metacarpals_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/middle_r2.iv b/data/RobotAPI/robots/Armar3/convexModel/middle_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..96e986f4e213d85877a7e39d9ed936e1f5e06baa
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/middle_r2.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Separator
+ {
+ File {name armar/hands/proximal_index_middle_thumb_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/neck_pitch_link.iv b/data/RobotAPI/robots/Armar3/convexModel/neck_pitch_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..33f287d365f57dac603b1d8a21f46e7283fb95d1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/neck_pitch_link.iv
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+Separator {
+ SoUnits
+ {
+ units MILLIMETERS
+ }
+ Transform {
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ rotation 1 0 0 -1.57
+ }
+
+ File {
+ name "armar/neck/neck_pitch_link_conv.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/neck_roll_link.iv b/data/RobotAPI/robots/Armar3/convexModel/neck_roll_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..70273a63fd70fdb3eaff16128c06c4ce5175e819
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/neck_roll_link.iv
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+Separator {
+ SoUnits
+ {
+ units MILLIMETERS
+ }
+ Transform {
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ rotation 0 1 0 -1.57
+ }
+
+ File {
+ name "armar/neck/neck_yaw_link_conv.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/neck_yaw_link.iv b/data/RobotAPI/robots/Armar3/convexModel/neck_yaw_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..14a17799444a4ef176896ba7a59c521ef4d03761
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/neck_yaw_link.iv
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+Separator {
+ SoUnits
+ {
+ units MILLIMETERS
+ }
+ Transform {
+ rotation 0 1 0 3.14
+ }
+ Transform {
+ rotation 0 0 1 1.57
+ }
+
+ File {
+ name "armar/neck/neck_roll_link_conv.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/palm1_l.iv b/data/RobotAPI/robots/Armar3/convexModel/palm1_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..36e9492f7f31734fe16317267fc4022e3f840bca
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/palm1_l.iv
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 0 0 -1 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/palm1_l_conv.wrl }
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/palm1_r.iv b/data/RobotAPI/robots/Armar3/convexModel/palm1_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..20031ad9809be180a9a484f56718f808a7311d17
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/palm1_r.iv
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 0 0 -1 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 3.1415
+ }
+
+ Separator
+ {
+ File {name armar/hands/palm1_r_conv.wrl }
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/palm2_l.iv b/data/RobotAPI/robots/Armar3/convexModel/palm2_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..31551d6dbf0bc4f11030f848fa67b062547cdd88
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/palm2_l.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 0 0 -1 1.57
+ }
+ Transform {
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/palm2_l_conv.wrl }
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/palm2_r.iv b/data/RobotAPI/robots/Armar3/convexModel/palm2_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b4a79254881565bf7e0858881e45fb241997ce48
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/palm2_r.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 0 0 -1 1.57
+ }
+ Transform {
+ rotation 0 1 0 -1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/palm2_r_conv.wrl }
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/pinky_l1.iv b/data/RobotAPI/robots/Armar3/convexModel/pinky_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..352ffff1a31f3e4bd693c2c37e3cc5ed35a0ac8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/pinky_l1.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/metacarpals_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/pinky_l2.iv b/data/RobotAPI/robots/Armar3/convexModel/pinky_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..3a674b7a167508772926fbd34da99d4083c6b500
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/pinky_l2.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Separator
+ {
+ File {name armar/hands/proximal_pinky_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/pinky_r1.iv b/data/RobotAPI/robots/Armar3/convexModel/pinky_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..352ffff1a31f3e4bd693c2c37e3cc5ed35a0ac8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/pinky_r1.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/metacarpals_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/pinky_r2.iv b/data/RobotAPI/robots/Armar3/convexModel/pinky_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..3a674b7a167508772926fbd34da99d4083c6b500
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/pinky_r2.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Separator
+ {
+ File {name armar/hands/proximal_pinky_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/platform.iv b/data/RobotAPI/robots/Armar3/convexModel/platform.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ba90592389b6fc3ee31c4d0549fe1b47439f3606
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/platform.iv
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+
+Separator { #Model
+ Units
+ {
+ units MILLIMETERS
+ }
+ RotationXYZ {
+ axis X
+ angle 1.57
+ }
+ RotationXYZ{
+ axis Z
+ angle -1.57
+ }
+ File {
+ name "armar/platform/platform_conv.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/platform_pitch_link.iv b/data/RobotAPI/robots/Armar3/convexModel/platform_pitch_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..82c5044d7964ae2de6d16fe00571860455bf6e7a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/platform_pitch_link.iv
@@ -0,0 +1,14 @@
+#Inventor V2.1 ascii
+
+Separator { #Model
+ Units {
+ units MILLIMETERS
+ }
+ RotationXYZ{
+ axis Z
+ angle 1.57
+ }
+ File {
+ name "armar/platform/hd_platform_pitch_link_conv.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/platform_roll_link.iv b/data/RobotAPI/robots/Armar3/convexModel/platform_roll_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..e5ffeff568f5d320a2f8dba4259d25b21deb549a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/platform_roll_link.iv
@@ -0,0 +1,23 @@
+#Inventor V2.1 ascii
+
+Separator { #Model
+ Units {
+ units MILLIMETERS
+ }
+ RotationXYZ{
+ axis Z
+ angle 1.57
+ }
+ Transform{
+ translation 0 0 127
+ }
+ Transform {
+ rotation 0 1 0 3.1415
+ }
+ Transform {
+ rotation 0 0 1 -1.57
+ }
+ File {
+ name "armar/platform/hd_platform_roll_link_conv.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/ring_l1.iv b/data/RobotAPI/robots/Armar3/convexModel/ring_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..352ffff1a31f3e4bd693c2c37e3cc5ed35a0ac8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/ring_l1.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/metacarpals_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/ring_l2.iv b/data/RobotAPI/robots/Armar3/convexModel/ring_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..c6fb4cd4a09e9b4d4f421c52279f440081852958
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/ring_l2.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Separator
+ {
+ File {name armar/hands/proximal_ring_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/ring_r1.iv b/data/RobotAPI/robots/Armar3/convexModel/ring_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..352ffff1a31f3e4bd693c2c37e3cc5ed35a0ac8c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/ring_r1.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/metacarpals_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/ring_r2.iv b/data/RobotAPI/robots/Armar3/convexModel/ring_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..540d2b94eaf5c508207e92cbd102fa10f3d39e3c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/ring_r2.iv
@@ -0,0 +1,23 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+
+
+ Separator
+ {
+ File {name armar/hands/proximal_ring_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/shoulder2_l_rot.iv b/data/RobotAPI/robots/Armar3/convexModel/shoulder2_l_rot.iv
new file mode 100644
index 0000000000000000000000000000000000000000..87e1f6394ecd1458d453a9e47a4b850c7b1e0ba1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/shoulder2_l_rot.iv
@@ -0,0 +1,15 @@
+#Inventor V2.1 ascii
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+ Transform {
+ rotation 0 0 1 1.57
+ }
+ Transform {
+ rotation 0 0 1 1.57
+ }
+ File {
+ name "armar/left_arm/shoulder_link_l_conv.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/shoulder2_r_rot.iv b/data/RobotAPI/robots/Armar3/convexModel/shoulder2_r_rot.iv
new file mode 100644
index 0000000000000000000000000000000000000000..2bc4f69ea02a8b1f9610c5ea9c00ee840782f623
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/shoulder2_r_rot.iv
@@ -0,0 +1,23 @@
+#Inventor V2.1 ascii
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 3.14
+}
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 1.57
+ }
+ File {
+ name "armar/right_arm/shoulder_link_r_conv.wrl"
+ }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/shoulder_l.iv b/data/RobotAPI/robots/Armar3/convexModel/shoulder_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..a4955ba26b21c6b17db8c8a2decc6109a5db44fe
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/shoulder_l.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+Separator {
+
+ Units {
+ units MILLIMETERS
+ }
+ Transform {
+ rotation 0 0 1 -1.57
+ }
+
+ Transform {
+ translation 0 0 -110
+ }
+ Transform {
+ rotation 0 1 0 -1.57
+ }
+ File {
+ name "armar/left_arm/shoulder_l_conv.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/shoulder_r.iv b/data/RobotAPI/robots/Armar3/convexModel/shoulder_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..cb1a9f6e43151f3a1e11c687ef5670d30c5c6e44
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/shoulder_r.iv
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+ Transform {
+ rotation 0 0 1 1.57
+ }
+ Transform {
+ rotation 0 1 0 3.14
+ }
+ Transform {
+ translation 0 0 -110
+ }
+
+ File {
+ name "armar/right_arm/shoulder_r_conv.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/thumb_l1.iv b/data/RobotAPI/robots/Armar3/convexModel/thumb_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b6da70857b1181041ae4474a0bc38b34a87059ff
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/thumb_l1.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 -1.57
+ }
+ Separator
+ {
+ File {name armar/hands/metacarpals_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/thumb_l2.iv b/data/RobotAPI/robots/Armar3/convexModel/thumb_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..a48e14f56f63665c6f3fb48504ee046b9b6be07e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/thumb_l2.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 -1.57
+ }
+ Separator
+ {
+ File {name armar/hands/proximal_index_middle_thumb_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/thumb_r1.iv b/data/RobotAPI/robots/Armar3/convexModel/thumb_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b6da70857b1181041ae4474a0bc38b34a87059ff
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/thumb_r1.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 -1.57
+ }
+ Separator
+ {
+ File {name armar/hands/metacarpals_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/thumb_r2.iv b/data/RobotAPI/robots/Armar3/convexModel/thumb_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..d7cf09e9a425d74fd75f226b85b0832574ba0dcd
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/thumb_r2.iv
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units
+ {
+ units MILLIMETERS
+ }
+
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 -1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/proximal_index_middle_thumb_conv.wrl }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/torso.iv b/data/RobotAPI/robots/Armar3/convexModel/torso.iv
new file mode 100644
index 0000000000000000000000000000000000000000..61753ec9ad3dc87e8fa803895318ca8fd9bfe7d9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/torso.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+Separator { #Model
+
+ SoUnits
+ {
+ units MILLIMETERS
+ }
+ RotationXYZ{
+ axis Z
+ angle 1.57
+ }
+
+ File {
+ name "armar/torso/torso_conv.wrl"
+ }
+} #Model
diff --git a/data/RobotAPI/robots/Armar3/convexModel/underarm_l.iv b/data/RobotAPI/robots/Armar3/convexModel/underarm_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..88d451c3402bb81ff1cbd79c8f06c38d22bece53
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/underarm_l.iv
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 -46.5
+ rotation 0 0 0 0
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 3.14
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 1.57
+ }
+ File {
+ name "armar/left_arm/underarm_l_conv.wrl"
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/underarm_r.iv b/data/RobotAPI/robots/Armar3/convexModel/underarm_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..0ec5a19a13ae6f8a93a368e658a493c5f28a04fe
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/underarm_r.iv
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 -46.5
+ }
+
+ Transform {
+ rotation 0 0 1 1.57
+ }
+
+ File {
+ name "armar/right_arm/underarm_r_conv.wrl"
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/convexModel/upperarm_l.iv b/data/RobotAPI/robots/Armar3/convexModel/upperarm_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..99a39648879ea16c414e2faa13aec890f37bb23c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/upperarm_l.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 -1.57
+ }
+ Transform {
+ translation -25.3 0 0
+ }
+ File {
+ name "armar/left_arm/upperarm_l_conv.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/upperarm_r.iv b/data/RobotAPI/robots/Armar3/convexModel/upperarm_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..7496cad8647343e4ba0d98818d3282c501e28222
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/upperarm_r.iv
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+ Transform {
+ rotation 0 1 0 -1.57
+ }
+ Transform {
+ rotation 1 0 0 3.14
+ }
+ Transform {
+ translation -25.3 0 0
+ }
+ File {
+ name "armar/right_arm/upperarm_r_conv.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/wrist1_l.iv b/data/RobotAPI/robots/Armar3/convexModel/wrist1_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..19fef404b9ce72927594f2ebf205139f3b38b2c3
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/wrist1_l.iv
@@ -0,0 +1,15 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+ Separator
+ {
+ File {name armar/hands/handlink_red_conv.wrl }
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/wrist1_r.iv b/data/RobotAPI/robots/Armar3/convexModel/wrist1_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..58e77a458d86048ce7f45cfefb37a90de57860ce
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/wrist1_r.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+ Transform {
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ rotation 0 0 1 1.57
+ }
+ Transform {
+ rotation 1 0 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/handlink_red_conv.wrl }
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/wrist2_l.iv b/data/RobotAPI/robots/Armar3/convexModel/wrist2_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..2ceb2ec0ef603f74ddbd7c9b9dc7e20c3cb2863c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/wrist2_l.iv
@@ -0,0 +1,23 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+ Separator
+ {
+ File {name armar/hands/handlink_green_conv.wrl }
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/wrist2_r.iv b/data/RobotAPI/robots/Armar3/convexModel/wrist2_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..0ca3c2f74e8453c79e0b8984c5bc801efadd04f2
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/wrist2_r.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+ Transform {
+ rotation 0 1 0 1.57
+ }
+ Transform {
+ rotation 0 0 1 1.57
+ }
+ Transform {
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/handlink_green_conv.wrl }
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/eyes/eye.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/eyes/eye.iv
new file mode 100644
index 0000000000000000000000000000000000000000..4005d2bcc9701655b0b2bd5af70710e6db2a45c0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/eyes/eye.iv
@@ -0,0 +1,9581 @@
+#Inventor V1.0 ascii
+
+Separator {
+ ShapeHints {
+ hints (SOLID | ORDERED | CONVEX)
+ }
+ Units {
+ units MILLIMETERS
+ }
+ Material {
+ diffuseColor 0.0492702 0.212826 0.267677
+ }
+ Separator {
+ Normal {
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/eyes/eyes_pitch_link_left.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/eyes/eyes_pitch_link_left.iv
new file mode 100644
index 0000000000000000000000000000000000000000..4c69c0a114856883a90e5b2fcfcb15bc0c77c879
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/eyes/eyes_pitch_link_left.iv
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/eyes/eyes_pitch_link_right.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/eyes/eyes_pitch_link_right.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5bbf618375ecc2afc122a28cab7e9e3b4a1ad0cc
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/eyes/eyes_pitch_link_right.iv
@@ -0,0 +1,1475 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/eyes/lid.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/eyes/lid.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ab5fd96ef278c7dc8aaa14f4ee4d3e1edc7cf1ea
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/eyes/lid.iv
@@ -0,0 +1,2695 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/handlink_green.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/handlink_green.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8331696d2519a470d5a9c6555fdc8fc7c9e0c14b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/handlink_green.iv
@@ -0,0 +1,1203 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/handlink_red.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/handlink_red.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ba0de0148e8fa77f64e20eb61535f8af79a0ac64
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/handlink_red.iv
@@ -0,0 +1,1436 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/metacarpals.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/metacarpals.iv
new file mode 100644
index 0000000000000000000000000000000000000000..4800791651e8ef7bc74969422379b92cf0cc082a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/metacarpals.iv
@@ -0,0 +1,2108 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/palm1_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/palm1_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..a82ff29233dd000269f89b275a8da271ecde3fc6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/palm1_l.iv
@@ -0,0 +1,4267 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/palm1_r.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/palm1_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..25d3c3664dbad1e16d8d0cd2ddf65d24be14f05b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/palm1_r.iv
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/palm2_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/palm2_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..540dc92bdfb18b6a75ef49744481bd48309e43ff
--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/palm2_r.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/palm2_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..2df091827d32de9e452486c61136e50e2ce3c6d1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/palm2_r.iv
@@ -0,0 +1,4359 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/proximal_index_middle_thumb.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/proximal_index_middle_thumb.iv
new file mode 100644
index 0000000000000000000000000000000000000000..fe7105d9d0d420fa3afe56a0255cdb6ed68aa957
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/proximal_index_middle_thumb.iv
@@ -0,0 +1,2010 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/proximal_pinky.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/proximal_pinky.iv
new file mode 100644
index 0000000000000000000000000000000000000000..229e19227e87c60e6df638eb0696c8728902c9a3
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/proximal_pinky.iv
@@ -0,0 +1,1215 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/proximal_ring.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/hands/proximal_ring.iv
new file mode 100644
index 0000000000000000000000000000000000000000..46ee278564f281a7fdd15d80bd92a4a13080d868
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..945602a08bb91715820adedb57d984e5fd624659
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/head/head_base.wrl b/data/RobotAPI/robots/Armar3/fullmodel/armar/head/head_base.wrl
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@@ -0,0 +1,145 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/head/jaw.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/head/jaw.iv
new file mode 100644
index 0000000000000000000000000000000000000000..d99e61356b41855205f7ac03b2c9ddf9f3216b90
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/head/jaw.iv
@@ -0,0 +1,6541 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/left_arm/elbow_link_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/left_arm/elbow_link_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8ab162a7bc5c8dfb1f8e50d40e11c1df8798ca3a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/left_arm/elbow_link_l.iv
@@ -0,0 +1,1298 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/left_arm/shoulder_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/left_arm/shoulder_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..059ac900c84be364360623682aadb82e22c01623
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/left_arm/shoulder_l.iv
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/left_arm/shoulder_link_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/left_arm/shoulder_link_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..6cc3ac8d7ada78879d359eeac494d785d81e8482
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/left_arm/shoulder_link_l.iv
@@ -0,0 +1,1225 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/left_arm/underarm_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/left_arm/underarm_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..fa83a284a9ce6a6e2fe0def5fe2b23ea4ecba51b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/left_arm/underarm_l.iv
@@ -0,0 +1,553 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/left_arm/upperarm_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/left_arm/upperarm_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..aa4448cf7c2a0d5473f68a877283dd00728006e5
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/left_arm/upperarm_l.iv
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/neck/neck_pitch_link.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/neck/neck_pitch_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..60ecb2f600678c147c78d848eccb844ed1279127
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/neck/neck_pitch_link.iv
@@ -0,0 +1,2880 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/neck/neck_roll_link.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/neck/neck_roll_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..197a76d495f988f344ff9a22a57945051529341f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/neck/neck_roll_link.iv
@@ -0,0 +1,1670 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/neck/neck_yaw_link.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/neck/neck_yaw_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8821ee89265bbdcfdba67bf148049b36e7e061e9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/neck/neck_yaw_link.iv
@@ -0,0 +1,4536 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/platform/hd_platform_pitch_link.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/platform/hd_platform_pitch_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..c03e7e6793de935c857060dcb584eb5563cb9d6e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/platform/hd_platform_pitch_link.iv
@@ -0,0 +1,20344 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/platform/hd_platform_roll_link.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/platform/hd_platform_roll_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..40dd134f3a7b786cd82e3cda53ef53c02f32e9ca
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/platform/hd_platform_roll_link.iv
@@ -0,0 +1,16782 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/platform/platform.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/platform/platform.iv
new file mode 100644
index 0000000000000000000000000000000000000000..925076dc9ae24a800548818e6cafbd986e4b98dd
--- /dev/null
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@@ -0,0 +1,5872 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/right_arm/shoulder_link_r.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/right_arm/shoulder_link_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..cad080b2aa3bbf159172cf9f86a2cca503567cfc
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/right_arm/shoulder_link_r.iv
@@ -0,0 +1,1225 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/right_arm/shoulder_r.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/right_arm/shoulder_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..fe4128e415492128534416dc5450e17314399375
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/right_arm/shoulder_r.iv
@@ -0,0 +1,2746 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..8e3144cbec1a7e5fe9dde8fc7035fe46ca74a01a
--- /dev/null
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/right_arm/upperarm_r.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/right_arm/upperarm_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..0cb1611ab809954f443d6f03ba43145c565ea730
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/right_arm/upperarm_r.iv
@@ -0,0 +1,3464 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/torso/hd_torso.iv b/data/RobotAPI/robots/Armar3/fullmodel/armar/torso/hd_torso.iv
new file mode 100644
index 0000000000000000000000000000000000000000..75a56ce62a2313bee0f24df700198cdaf8af68bc
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/torso/hd_torso.iv
@@ -0,0 +1,22548 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/armar/torso/hd_torso2.wrl b/data/RobotAPI/robots/Armar3/fullmodel/armar/torso/hd_torso2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..64d9346e887476dcdedba86f15f4ffd98a204f34
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/armar/torso/hd_torso2.wrl
@@ -0,0 +1,1532 @@
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+ 1811,1815,1838,-1, 1843,1838,1815,-1, 1810,1811,1838,-1, 1808,1810,1838,-1, 1842,1838,1843,-1, 1788,1786,1815,-1,
+ 1811,1788,1815,-1, 1843,1815,1816,-1, 1818,1655,1654,-1, 1814,1654,1656,-1, 1818,1654,1814,-1, 1818,1667,1655,-1,
+ 1821,1666,1667,-1, 1818,1821,1667,-1, 1830,1665,1666,-1, 1821,1830,1666,-1, 1830,1663,1665,-1, 1832,1662,1663,-1,
+ 1830,1832,1663,-1, 1834,1661,1662,-1, 1832,1834,1662,-1, 1834,1660,1661,-1, 1837,1659,1660,-1, 1834,1837,1660,-1,
+ 1816,1658,1659,-1, 1837,1816,1659,-1, 1816,1656,1658,-1, 1816,1814,1656,-1, 1837,1843,1816,-1, 1840,1842,1843,-1,
+ 1837,1840,1843,-1, 1840,1841,1842,-1, 1821,1828,1830,-1, 1824,1826,1828,-1, 1821,1824,1828,-1, 1824,1825,1826,-1
+ ]
+ }
+ appearance Appearance
+ {
+ material Material
+ {
+ ambientIntensity 0.2
+ diffuseColor 0.9 0.9 0.9
+ specularColor .1 .1 .1
+ shininess .5
+ }
+ }
+ }
+ ]
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/elbow_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/elbow_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ad3d7349062caae6eea99ebc4f096d985bf78de2
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/elbow_l.iv
@@ -0,0 +1,35 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+
+ Transform {
+ #translation 0 0 0
+ rotation 0 1 0 3.14
+ }
+ ## Kinematics 5.0 <-> armar model: 7.5
+ ## Model of elbow is fixed to upperarm -> use offset, so transformations of kinematics have no effect
+# Transform {
+# translation 7.5 0 0
+# rotation 1 0 0 -0.07616814813524509
+# }
+ Transform {
+ translation 7.5 0 0
+ rotation 0 0 0 0
+ }
+# File {name armar/hands/axis_arrows.iv }
+ File {
+ name "armar/left_arm/elbow_link_l.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/elbow_r.iv b/data/RobotAPI/robots/Armar3/fullmodel/elbow_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..710f51ae9de188c5a384841a0829947554144abf
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/elbow_r.iv
@@ -0,0 +1,30 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 1.57
+ }
+ ## Kinematics 5.0 <-> armar model: 7.5
+ ## Model of elbow is fixed to upperarm -> use offset, so transformations of kinematics have no effect
+# Transform {
+# translation 7.5 0 0
+# rotation 1 0 0 -0.07616814813524509
+# }
+ Transform {
+ translation 7.5 0 0
+ rotation 0 0 0 0
+ }
+# File {name armar/hands/axis_arrows.iv }
+ File {
+ name "armar/left_arm/elbow_link_l.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/eye_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/eye_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5df57b2eae4774b2ab640eae55cd307d579aabc0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/eye_l.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ rotation 0 1 0 1.57
+ }
+
+ Transform {
+ rotation 0 0 1 1.57
+ }
+
+ File {
+ name "armar/eyes/eye.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/eye_link_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/eye_link_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8ec3c25ef28e6090eac76046700d629af1dce75e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/eye_link_l.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ rotation 0 1 0 1.57
+ }
+
+ Transform {
+ rotation 1 0 0 1.57
+ }
+
+ File {
+ name "armar/eyes/eyes_pitch_link_left.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/eye_link_r.iv b/data/RobotAPI/robots/Armar3/fullmodel/eye_link_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5aef77b4bd7fc28d302e638b4fa0d368fc2d805f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/eye_link_r.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ rotation 0 1 0 1.57
+ }
+
+ Transform {
+ rotation 1 0 0 1.57
+ }
+
+ File {
+ name "armar/eyes/eyes_pitch_link_right.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/eye_r.iv b/data/RobotAPI/robots/Armar3/fullmodel/eye_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..5df57b2eae4774b2ab640eae55cd307d579aabc0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/eye_r.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ rotation 0 1 0 1.57
+ }
+
+ Transform {
+ rotation 0 0 1 1.57
+ }
+
+ File {
+ name "armar/eyes/eye.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/head.iv b/data/RobotAPI/robots/Armar3/fullmodel/head.iv
new file mode 100644
index 0000000000000000000000000000000000000000..6527ea098aa8ab01a82add6f4aa2fd1b9878d0c4
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/head.iv
@@ -0,0 +1,12 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ rotation 0 1 0 1.57
+ }
+
+ File {
+ name "armar/head/head.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/head_base.iv b/data/RobotAPI/robots/Armar3/fullmodel/head_base.iv
new file mode 100644
index 0000000000000000000000000000000000000000..4d61ea7b5ca29e1af5cabf16ed4aab7bcc7aeb77
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/head_base.iv
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+
+Separator {
+ SoUnits
+ {
+ units MILLIMETERS
+ }
+ Transform {
+ translation -35 0 -605
+ }
+ RotationXYZ{
+ axis Z
+ angle 3.14
+ }
+
+ File {
+ name "armar/head/head_base.wrl"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/index_l1.iv b/data/RobotAPI/robots/Armar3/fullmodel/index_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b183bc5ab7f6d47adc995317b5d0c5187e0acb5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/index_l1.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/metacarpals.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/index_l2.iv b/data/RobotAPI/robots/Armar3/fullmodel/index_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..176a62121362a034d0d1b559788d381db31bf678
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/index_l2.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Separator
+ {
+ File {name armar/hands/proximal_index_middle_thumb.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/index_r1.iv b/data/RobotAPI/robots/Armar3/fullmodel/index_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b183bc5ab7f6d47adc995317b5d0c5187e0acb5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/index_r1.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/metacarpals.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/index_r2.iv b/data/RobotAPI/robots/Armar3/fullmodel/index_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..695d4bd7dedb74de276a2c8f377346a6d26b23f7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/index_r2.iv
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/proximal_index_middle_thumb.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/jaw.iv b/data/RobotAPI/robots/Armar3/fullmodel/jaw.iv
new file mode 100644
index 0000000000000000000000000000000000000000..a6cd0a5319271bf01eb7f327b1ac5ab7ff3751e0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/jaw.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Units {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 10 0
+ rotation 0 0 1 1.57
+ }
+
+ Transform {
+ rotation 0 1 0 -1.57
+ }
+
+ File {
+ name "armar/head/jaw.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/lid_l_bottom.iv b/data/RobotAPI/robots/Armar3/fullmodel/lid_l_bottom.iv
new file mode 100644
index 0000000000000000000000000000000000000000..fee6dbbbc050aba14dccd2977e038c56c95f1e6a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/lid_l_bottom.iv
@@ -0,0 +1,11 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 -0.87
+ }
+ File {
+ name "armar/eyes/lid.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/lid_l_top.iv b/data/RobotAPI/robots/Armar3/fullmodel/lid_l_top.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b3cbbaed2c7dfbb0e4787964dd903c830fed993a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/lid_l_top.iv
@@ -0,0 +1,11 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 -2.44
+ }
+ File {
+ name "armar/eyes/lid.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/lid_r_bottom.iv b/data/RobotAPI/robots/Armar3/fullmodel/lid_r_bottom.iv
new file mode 100644
index 0000000000000000000000000000000000000000..fee6dbbbc050aba14dccd2977e038c56c95f1e6a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/lid_r_bottom.iv
@@ -0,0 +1,11 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 -0.87
+ }
+ File {
+ name "armar/eyes/lid.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/lid_r_top.iv b/data/RobotAPI/robots/Armar3/fullmodel/lid_r_top.iv
new file mode 100644
index 0000000000000000000000000000000000000000..9e55171a4ab2695f4a37127c60f9b6f5f80769e1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/lid_r_top.iv
@@ -0,0 +1,12 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 -2.44
+ }
+
+ File {
+ name "armar/eyes/lid.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/middle_l1.iv b/data/RobotAPI/robots/Armar3/fullmodel/middle_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b183bc5ab7f6d47adc995317b5d0c5187e0acb5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/middle_l1.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/metacarpals.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/middle_l2.iv b/data/RobotAPI/robots/Armar3/fullmodel/middle_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..695d4bd7dedb74de276a2c8f377346a6d26b23f7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/middle_l2.iv
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/proximal_index_middle_thumb.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/middle_r1.iv b/data/RobotAPI/robots/Armar3/fullmodel/middle_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b183bc5ab7f6d47adc995317b5d0c5187e0acb5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/middle_r1.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/metacarpals.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/middle_r2.iv b/data/RobotAPI/robots/Armar3/fullmodel/middle_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..176a62121362a034d0d1b559788d381db31bf678
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/middle_r2.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Separator
+ {
+ File {name armar/hands/proximal_index_middle_thumb.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/neck_pitch_link.iv b/data/RobotAPI/robots/Armar3/fullmodel/neck_pitch_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..237445f2b1da9cd2e7311d6fe6ca50f1abdef60c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/neck_pitch_link.iv
@@ -0,0 +1,15 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ rotation 1 0 0 -1.57
+ }
+
+
+ File {
+ name "armar/neck/neck_pitch_link.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/neck_roll_link.iv b/data/RobotAPI/robots/Armar3/fullmodel/neck_roll_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..4e2ae6db9eec0d30223ada356ee93e444fb01bc2
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/neck_roll_link.iv
@@ -0,0 +1,14 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ rotation 0 1 0 -1.57
+ }
+
+ File {
+ name "armar/neck/neck_yaw_link.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/neck_yaw_link.iv b/data/RobotAPI/robots/Armar3/fullmodel/neck_yaw_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ab3875f0aa57811e5a5d82470b5e40ce7b474273
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/neck_yaw_link.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ rotation 0 1 0 3.14
+ }
+
+ Transform {
+ rotation 0 0 1 1.57
+ }
+
+ File {
+ name "armar/neck/neck_roll_link.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/palm1_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/palm1_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..a568672fda16bccd8c40d0d67c0c7f7cd0117f8e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/palm1_l.iv
@@ -0,0 +1,14 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 0 0 -1 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/palm1_l.iv }
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/palm1_r.iv b/data/RobotAPI/robots/Armar3/fullmodel/palm1_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..26bd093ce0fe42ca29d0ea31ce7ec6afd5c79a30
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/palm1_r.iv
@@ -0,0 +1,18 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 0 0 -1 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 3.1415
+ }
+
+ Separator
+ {
+ File {name armar/hands/palm1_r.iv }
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/palm2_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/palm2_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..dbdb1c8a987cb1d9f7dd9cb39b65f769b63d7073
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/palm2_l.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 0 0 -1 1.57
+ }
+ Transform {
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/palm2_l.iv }
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/palm2_r.iv b/data/RobotAPI/robots/Armar3/fullmodel/palm2_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..3f7e826e1f305241a7ccf99c70f16992c4d88eb5
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/palm2_r.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 0 0 -1 1.57
+ }
+ Transform {
+ rotation 0 1 0 -1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/palm2_r.iv }
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/pinky_l1.iv b/data/RobotAPI/robots/Armar3/fullmodel/pinky_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b183bc5ab7f6d47adc995317b5d0c5187e0acb5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/pinky_l1.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/metacarpals.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/pinky_l2.iv b/data/RobotAPI/robots/Armar3/fullmodel/pinky_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..05c1d220c06c592f6c81c64c05265f0abfcea07e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/pinky_l2.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Separator
+ {
+ File {name armar/hands/proximal_pinky.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/pinky_r1.iv b/data/RobotAPI/robots/Armar3/fullmodel/pinky_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b183bc5ab7f6d47adc995317b5d0c5187e0acb5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/pinky_r1.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/metacarpals.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/pinky_r2.iv b/data/RobotAPI/robots/Armar3/fullmodel/pinky_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..05c1d220c06c592f6c81c64c05265f0abfcea07e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/pinky_r2.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Separator
+ {
+ File {name armar/hands/proximal_pinky.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/platform.iv b/data/RobotAPI/robots/Armar3/fullmodel/platform.iv
new file mode 100644
index 0000000000000000000000000000000000000000..2cc73bb1aabc6e4fbdb9ec1d79ac0681ef16feda
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/platform.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+
+Separator { #Model
+
+ RotationXYZ {
+ axis X
+ angle 1.57
+ }
+ RotationXYZ{
+ axis Z
+ angle -1.57
+ }
+ File {
+ name "armar/platform/platform.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/platform_pitch_link.iv b/data/RobotAPI/robots/Armar3/fullmodel/platform_pitch_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8d997bc117be3266d3553b8a3e633bac3af47696
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/platform_pitch_link.iv
@@ -0,0 +1,12 @@
+#Inventor V2.1 ascii
+
+Separator { #Model
+RotationXYZ{
+ axis Z
+ angle 1.57
+ }
+
+ File {
+ name "armar/platform/hd_platform_pitch_link.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/platform_roll_link.iv b/data/RobotAPI/robots/Armar3/fullmodel/platform_roll_link.iv
new file mode 100644
index 0000000000000000000000000000000000000000..9e8e96625a7ebe87015c116ef66bedc27d9baebc
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/platform_roll_link.iv
@@ -0,0 +1,24 @@
+#Inventor V2.1 ascii
+
+Separator { #Model
+ Units {
+ units MILLIMETERS
+ }
+RotationXYZ{
+ axis Z
+ angle 1.57
+}
+Transform{
+translation 0 0 127
+}
+Transform {
+ rotation 0 1 0 3.1415
+}
+Transform {
+ rotation 0 0 1 -1.57
+}
+#File {name armar/hands/axis_arrows.iv }
+ File {
+ name "armar/platform/hd_platform_roll_link.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/ring_l1.iv b/data/RobotAPI/robots/Armar3/fullmodel/ring_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b183bc5ab7f6d47adc995317b5d0c5187e0acb5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/ring_l1.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/metacarpals.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/ring_l2.iv b/data/RobotAPI/robots/Armar3/fullmodel/ring_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..6874df6da94609201faa33b12ec4ca4488db9a97
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/ring_l2.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Separator
+ {
+ File {name armar/hands/proximal_ring.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/ring_r1.iv b/data/RobotAPI/robots/Armar3/fullmodel/ring_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b183bc5ab7f6d47adc995317b5d0c5187e0acb5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/ring_r1.iv
@@ -0,0 +1,17 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/metacarpals.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/ring_r2.iv b/data/RobotAPI/robots/Armar3/fullmodel/ring_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..e452991409d1001847c7f3e8458a1ed34c6f92a2
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/ring_r2.iv
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+
+
+ Separator
+ {
+ File {name armar/hands/proximal_ring.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_l_rot.iv b/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_l_rot.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ece59e1732f61046f32e1da749e8fa257dacf44e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_l_rot.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 1.57
+ }
+ File {
+ name "armar/left_arm/shoulder_link_l.iv"
+ }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_r_rot.iv b/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_r_rot.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b13e4cec80d06e8dd553bc783c3486cdf3c082f0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_r_rot.iv
@@ -0,0 +1,20 @@
+#Inventor V2.1 ascii
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 3.14
+}
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 1.57
+ }
+ File {
+ name "armar/right_arm/shoulder_link_r.iv"
+ }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/shoulder_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/shoulder_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..87a070db83d010019ff2598f386f30a25da0121a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/shoulder_l.iv
@@ -0,0 +1,24 @@
+#Inventor V2.1 ascii
+Separator {
+
+ Units {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 -1.57
+ }
+
+ Transform {
+ translation 0 0 -110
+ rotation 0 0 0 0
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 -1.57
+ }
+# File {name armar/hands/axis_arrows.iv }
+ File {
+ name "armar/left_arm/shoulder_l.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/shoulder_r.iv b/data/RobotAPI/robots/Armar3/fullmodel/shoulder_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..3723f8148b286f5e30868bb23c3fa8cee2a25e3b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/shoulder_r.iv
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 3.14
+ }
+ Transform {
+ translation 0 0 -110
+ rotation 0 0 0 0
+ }
+
+ File {
+ name "armar/right_arm/shoulder_r.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/thumb_l1.iv b/data/RobotAPI/robots/Armar3/fullmodel/thumb_l1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..09b5f121e0eec2a26c9f529f2632d9d824fa6559
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/thumb_l1.iv
@@ -0,0 +1,12 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 -1.57
+ }
+ Separator
+ {
+ File {name armar/hands/metacarpals.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/thumb_l2.iv b/data/RobotAPI/robots/Armar3/fullmodel/thumb_l2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..67212f9eea5a52619381380f4544a9b1dc20915f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/thumb_l2.iv
@@ -0,0 +1,13 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 -1.57
+ }
+ Separator
+ {
+ File {name armar/hands/proximal_index_middle_thumb.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/thumb_r1.iv b/data/RobotAPI/robots/Armar3/fullmodel/thumb_r1.iv
new file mode 100644
index 0000000000000000000000000000000000000000..09b5f121e0eec2a26c9f529f2632d9d824fa6559
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/thumb_r1.iv
@@ -0,0 +1,12 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 -1.57
+ }
+ Separator
+ {
+ File {name armar/hands/metacarpals.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/thumb_r2.iv b/data/RobotAPI/robots/Armar3/fullmodel/thumb_r2.iv
new file mode 100644
index 0000000000000000000000000000000000000000..6301183b6a19ace4a20fde4994f07bbf6508f78f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/thumb_r2.iv
@@ -0,0 +1,15 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 -1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/proximal_index_middle_thumb.iv }
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/torso.iv b/data/RobotAPI/robots/Armar3/fullmodel/torso.iv
new file mode 100644
index 0000000000000000000000000000000000000000..8cacfbbc8ab0fb4d611e317d55c80a798fa9dfec
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/torso.iv
@@ -0,0 +1,16 @@
+#Inventor V2.1 ascii
+Separator { #Model
+
+ SoUnits
+ {
+ units MILLIMETERS
+ }
+ RotationXYZ{
+ axis Z
+ angle 1.57
+ }
+
+ File {
+ name "armar/torso/hd_torso2.wrl"
+ }
+} #Model
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/underarm_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/underarm_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b0edaade4fbaeacd90c9424eecc221f90dc7e7bd
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/underarm_l.iv
@@ -0,0 +1,23 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+ Transform {
+ translation 0 0 -46.5
+ rotation 0 0 0 0
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 3.14
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 1.57
+ }
+
+ File {
+ name "armar/left_arm/underarm_l.iv"
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/underarm_r.iv b/data/RobotAPI/robots/Armar3/fullmodel/underarm_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..2199eaf119c0d19b40a2cef82fc3ca6fa011c0b3
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/underarm_r.iv
@@ -0,0 +1,21 @@
+#Inventor V2.1 ascii
+
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 -46.5
+ rotation 0 0 0 0
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 1.57
+ }
+
+ File {
+ name "armar/right_arm/underarm_r.iv"
+ }
+}
\ No newline at end of file
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/upperarm_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/upperarm_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..25d665f810b5932cb024b6e2b9f55b492f75c06a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/upperarm_l.iv
@@ -0,0 +1,19 @@
+#Inventor V2.1 ascii
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 -1.57
+ }
+
+ Transform {
+ translation -25.3 0 0
+ }
+# File {name armar/hands/axis_arrows.iv }
+ File {
+ name "armar/left_arm/upperarm_l.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/upperarm_r.iv b/data/RobotAPI/robots/Armar3/fullmodel/upperarm_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..b0da9cd8ab84e8e17457b656ce2793258c36f279
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/upperarm_r.iv
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+Separator {
+ Units {
+ units MILLIMETERS
+ }
+
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 -1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 3.14
+ }
+ Transform {
+ translation -25.3 0 0
+ }
+# File {name armar/hands/axis_arrows.iv }
+ File {
+ name "armar/right_arm/upperarm_r.iv"
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/wrist1_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/wrist1_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..7da3fd6bd90e07b945cf6b976b7e649fced49107
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/wrist1_l.iv
@@ -0,0 +1,14 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+ Separator
+ {
+ File {name armar/hands/handlink_red.iv }
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/wrist1_r.iv b/data/RobotAPI/robots/Armar3/fullmodel/wrist1_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ada4c2c446ced721414425b84216164381259677
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/wrist1_r.iv
@@ -0,0 +1,24 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+#File {name armar/hands/axis_arrows.iv }
+
+
+ Separator
+ {
+ File {name armar/hands/handlink_red.iv }
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/wrist2_l.iv b/data/RobotAPI/robots/Armar3/fullmodel/wrist2_l.iv
new file mode 100644
index 0000000000000000000000000000000000000000..60ecde4082d335b567228747aa4ce4123d2a0c87
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/wrist2_l.iv
@@ -0,0 +1,25 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+
+#File {name armar/hands/axis_arrows.iv }
+
+
+ Separator
+ {
+ File {name armar/hands/handlink_green.iv }
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/wrist2_r.iv b/data/RobotAPI/robots/Armar3/fullmodel/wrist2_r.iv
new file mode 100644
index 0000000000000000000000000000000000000000..ba755a841f73dcc16ac4b2884e175ee86bc36105
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/wrist2_r.iv
@@ -0,0 +1,22 @@
+#Inventor V2.1 ascii
+
+Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 1.57
+ }
+ Transform {
+ translation 0 0 0
+ rotation 0 1 0 1.57
+}
+
+ Separator
+ {
+ File {name armar/hands/handlink_green.iv }
+ }
+}
diff --git a/data/RobotAPI/robots/Armar3/iv_primitives/cyl1.wrl b/data/RobotAPI/robots/Armar3/iv_primitives/cyl1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..48957094e70a16fcd576592cb97338bea7f3dcba
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/iv_primitives/cyl1.wrl
@@ -0,0 +1,21 @@
+#VRML V2.0 utf8
+
+NavigationInfo {
+ type [ "EXAMINE", "ANY" ]
+}
+Transform {
+ scale 0.001 0.001 0.001 # mm -> m
+ translation 0 0 0
+ children
+ [
+ Shape {
+ appearance Appearance {
+ material Material { }
+ }
+ geometry Cylinder {
+ height 60
+ radius 20
+ }
+ }
+ ]
+}
diff --git a/data/RobotAPI/robots/Armar3/iv_primitives/cyl2.wrl b/data/RobotAPI/robots/Armar3/iv_primitives/cyl2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..59f24c981457f4a27aaa4f52fb5ca44423ab86c7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/iv_primitives/cyl2.wrl
@@ -0,0 +1,22 @@
+#VRML V2.0 utf8
+
+NavigationInfo {
+ type [ "EXAMINE", "ANY" ]
+}
+Transform {
+ scale 0.001 0.001 0.001 # mm -> m
+ translation 0 0 0
+ rotation 1 0 0 1.57
+ children
+ [
+ Shape {
+ appearance Appearance {
+ material Material { }
+ }
+ geometry Cylinder {
+ height 30
+ radius 10
+ }
+ }
+ ]
+}
diff --git a/etc/cmake/ArmarXPackageVersion.cmake b/etc/cmake/ArmarXPackageVersion.cmake
index 60397fc223b5b4b99939b2a30c26171911c353f1..80e3e95aaf011b8fdd89e4c9af73cfe084a6d586 100644
--- a/etc/cmake/ArmarXPackageVersion.cmake
+++ b/etc/cmake/ArmarXPackageVersion.cmake
@@ -1,7 +1,7 @@
# armarx version file
set(ARMARX_PACKAGE_LIBRARY_VERSION_MAJOR "0")
-set(ARMARX_PACKAGE_LIBRARY_VERSION_MINOR "6")
-set(ARMARX_PACKAGE_LIBRARY_VERSION_PATCH "2")
+set(ARMARX_PACKAGE_LIBRARY_VERSION_MINOR "7")
+set(ARMARX_PACKAGE_LIBRARY_VERSION_PATCH "5")
set(ARMARX_PACKAGE_LIBRARY_VERSION "${ARMARX_PACKAGE_LIBRARY_VERSION_MAJOR}.${ARMARX_PACKAGE_LIBRARY_VERSION_MINOR}.${ARMARX_PACKAGE_LIBRARY_VERSION_PATCH}")
diff --git a/etc/doxygen/images/TCPMoverGUI.png b/etc/doxygen/images/TCPMoverGUI.png
new file mode 100644
index 0000000000000000000000000000000000000000..20547a239b77dbc5566412d2bf164242183b6521
Binary files /dev/null and b/etc/doxygen/images/TCPMoverGUI.png differ
diff --git a/etc/doxygen/images/sensoractorunits.svg b/etc/doxygen/images/sensoractorunits.svg
new file mode 100644
index 0000000000000000000000000000000000000000..19bdf5b56a443aa561caad4986efb6e824e90ba0
--- /dev/null
+++ b/etc/doxygen/images/sensoractorunits.svg
@@ -0,0 +1,4 @@
+<?xml version="1.0" standalone="yes"?>
+
+<svg version="1.1" viewBox="0.0 0.0 960.0 540.0" fill="none" stroke="none" stroke-linecap="square" stroke-miterlimit="10" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><clipPath id="p5.0"><path d="m0 0l960.0 0l0 540.0l-960.0 0l0 -540.0z" clip-rule="nonzero"></path></clipPath><g clip-path="url(#p5.0)"><path fill="#ffffff" d="m0 0l960.0 0l0 540.0l-960.0 0z" fill-rule="nonzero"></path><path fill="#000000" fill-opacity="0.0" d="m320.1549 321.9537l0 -85.25983" fill-rule="nonzero"></path><path stroke="#4f81bd" stroke-width="3.0" stroke-linejoin="round" stroke-linecap="butt" d="m320.1549 321.9537l0 -67.25983" fill-rule="evenodd"></path><path fill="#4f81bd" stroke="#4f81bd" stroke-width="3.0" stroke-linecap="butt" d="m325.1101 254.69388l-4.9552 -13.614288l-4.9552 13.614288z" fill-rule="evenodd"></path><path fill="#000000" fill-opacity="0.0" d="m320.1549 168.43352l0 -85.25984" fill-rule="nonzero"></path><path stroke="#4f81bd" stroke-width="3.0" 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+
diff --git a/etc/doxygen/pages/Components.dox b/etc/doxygen/pages/Components.dox
index 023de80200bd3c6cbcadd9a163710562f4305b11..d5aa5901c10c8f836bee1dde0bd6f52d1aa323f1 100644
--- a/etc/doxygen/pages/Components.dox
+++ b/etc/doxygen/pages/Components.dox
@@ -1,5 +1,5 @@
/**
-\addtogroup Components 5. Components
+\addtogroup Components Components
\defgroup RobotAPI-Components RobotAPI Components
\ingroup RobotAPI Components
diff --git a/etc/doxygen/pages/GuiPlugins.dox b/etc/doxygen/pages/GuiPlugins.dox
new file mode 100644
index 0000000000000000000000000000000000000000..5aea7e242f7e7a0711e4cbbf78c4bbdc32fa1dbe
--- /dev/null
+++ b/etc/doxygen/pages/GuiPlugins.dox
@@ -0,0 +1,19 @@
+/**
+\page RobotAPI-GuiPlugins RobotAPI Gui Plugins
+
+The following Gui Plugins are available:
+
+\subpage RobotAPI-GuiPlugins-ArmarXPlotter
+
+\subpage RobotAPI-GuiPlugins-TCPMover
+
+\subpage RobotAPI-GuiPlugins-HandUnitWidget
+
+\subpage RobotAPI-GuiPlugins-HapticUnitPlugin
+
+\subpage RobotAPI-GuiPlugins-KinematicUnitPlugin
+
+\subpage RobotAPI-GuiPlugins-PlatformUnitPlugin
+
+\subpage RobotAPI-GuiPlugins-RobotViewerPlugin
+*/
diff --git a/etc/doxygen/pages/Overview.dox b/etc/doxygen/pages/Overview.dox
index 2053028a162a753d7a73a81c229d9a95339ebcac..0674f2b8497ba3c52106cab461f8ab5323062de4 100644
--- a/etc/doxygen/pages/Overview.dox
+++ b/etc/doxygen/pages/Overview.dox
@@ -1,9 +1,29 @@
/**
\page RobotAPI-Overview RobotAPI Overview
+The RobotAPI package provides a robot-intependent API that other ArmarX packages can use for accessing central functionality of a robot.
+The central elements of RobotAPI are Sensor-Actor Units, i.e. components responsible for the propagation of sensor values and actor targets.
+Sensor-Actor Units work as a link between higher level ArmarX components and the actual robot hardware or a robot simulation environment, respectively.
+The RobotAPI package contains base classes for Sensor-Actor Units for different purposes, e.g. KinematicUnit for sensors and actors related to robotic joints.
+Concrete Sensor-Actor Units inherit from these base classes in order to provide a common interface.
+Each type of hardware and each type of simulation environment requires a distinct set of Sensor-Actor Units that handle the hardware/simulator access, e.g. KinematicUnitArmar3 and KinematicUnitArmar4 for accessing the kinematic elements of ARMAR-III and ARMAR-4, respectively:
-\brief The RobotAPI package provides a robot-intependent API that other ArmarX packages can use for accessing central functionality of a robot.
+\image html sensoractorunits2.svg "Inheritance diagram for Sensor-Actor Units"
-Central aspects of RobotAPI include:
+There are three ways to access Sensor-Actor Units:
+- Direct access via the unit's interface, e.g. KinematicUnitInterface. See the \link RobotAPI-SensorActorUnits list of Sensor-Actor Units\endlink.
+
+- Indirect access via a corresponding \link RobotAPI-SensorActorUnits-observers Observer\endlink.
+An Observer is a component that corresponds to a Sensor-Actor Unit.
+It monitors the continuous sensor value stream propagated by the unit and applies registered conditions to the sensor data.
+Each condition evauating to true causes the Observer to fire a dedicated event (\link Observers Read more\endlink).
+
+- Indirect access via the RobotStateComponent.
+The RobotStateComponent maintains a Simox representation of the robot synchronized with the available Sensor-Actor Units, particularly with the KinematicUnit (\link RobotAPI-Components Read more\endlink).
+
+\image html sensoractorunits.svg "Inheritance diagram for Sensor-Actor Units"
+
+
+Further documentation on the various contents of the RobotAPI package:
\par Intelligent Coordinates
RobotAPI provides datatypes for intelligent coordinates that refer to a robot coordinate frame and can be conveniently transformed between different frames.
@@ -32,12 +52,12 @@ Available GUI-plugins provide access to the kinematic robot state, end effectors
RobotAPI also provides a GUI-plugin for robot visualization.
\par
-\link RobotAPI-ArmarXGuiPlugins Read more \endlink
+\link RobotAPI-GuiPlugins Read more \endlink
-\par Statecharts
-RobotAPI contains a set of robot-independent statecharts that can be used in other ArmarX packages.
-This includes meta statecharts for handling robot state as well as statecharts concerning different sensor modalities.
-\par
-\link RobotAPI-Statecharts Read more \endlink
+\defgroup RobotAPI RobotAPI
+\copydoc RobotAPI-Overview
+
+\defgroup RobotAPI-Statecharts Statecharts
+\ingroup RobotAPI
*/
diff --git a/etc/doxygen/pages/RobotApi-Gui-plugins.dox b/etc/doxygen/pages/RobotApi-Gui-plugins.dox
deleted file mode 100644
index 7af77799e5d2f9e7abc2cd68d7bca9f7a6459607..0000000000000000000000000000000000000000
--- a/etc/doxygen/pages/RobotApi-Gui-plugins.dox
+++ /dev/null
@@ -1,5 +0,0 @@
-/**
- * \defgroup RobotAPI-ArmarXGuiPlugins RobotAPI GUI plugins
- * \ingroup ArmarXGuiPlugins RobotAPI
- * \brief
- */
diff --git a/etc/doxygen/pages/Tutorials.dox b/etc/doxygen/pages/Tutorials.dox
index 06d62b24b3971affc90d2fa318dfb43c2ccc9e99..2d701fa653905a41faf42bca6c1bc4bae776a2c7 100644
--- a/etc/doxygen/pages/Tutorials.dox
+++ b/etc/doxygen/pages/Tutorials.dox
@@ -1,9 +1,8 @@
/**
-\cond DOXYGEN_EXCLUDE
- TODO: Uncomment once tutorials are available
- \page RobotAPI-Tutorials RobotAPI Tutorials
+\page RobotAPI-Tutorials RobotAPI Tutorials
+
+Tutorials related to RobotAPI
+\li \subpage RobotAPI-Tutorial-MoveRobotWithGui
- Tutorials related to RobotAPI
-\endcond
*/
diff --git a/etc/doxygen/pages/armarpose.dox b/etc/doxygen/pages/armarpose.dox
index 983134d4fcbd15d731f208208a6905139f1e408c..f4cb6eb1eb1303cb0cdea4111e39c1f53acafce4 100644
--- a/etc/doxygen/pages/armarpose.dox
+++ b/etc/doxygen/pages/armarpose.dox
@@ -36,7 +36,7 @@ So an example code for creating a new FramedPosition looks like this:
armarx::FramedPositionPtr position = new armarx::FramedPosition(pos, frame, agentName);
\endcode
-\section FramedPose-ChangeFrame Change the frame of an FramedPosition
+\section FramedPose-ChangeFrame Change the frame of a FramedPosition
In ArmarX the most common coordinate type is the FramedX, e.g. FramedPosition.
To change the frame in this coordinate type, you can call \ref armarx::FramedPosition::changeFrame "changeFrame()" on the FramedPosition.
You need to know the new frame, in which you want to have the
diff --git a/etc/doxygen/pages/mainpage.dox b/etc/doxygen/pages/mainpage.dox
new file mode 100644
index 0000000000000000000000000000000000000000..367b9a764ffa42ef8ef0307a713201b1d01ebb26
--- /dev/null
+++ b/etc/doxygen/pages/mainpage.dox
@@ -0,0 +1,15 @@
+/**
+\mainpage
+
+RobotAPI description
+
+\li \subpage RobotAPI-Overview "RobotAPI Overview"
+\li \subpage RobotAPI-Installation "RobotAPI Installation"
+\li \subpage RobotAPI-Tutorials "RobotAPI Tutorials"
+\li \subpage RobotAPI-HowTos "RobotAPI Howtos"
+\li \subpage RobotAPI-FAQ "RobotAPI FAQ"
+\li \subpage RobotAPI-Components "RobotAPI Components"
+\li \subpage RobotAPI-GuiPlugins "RobotAPI Gui Plugins"
+\li \subpage RobotAPI-About "RobotAPI About"
+\li \subpage RobotAPI-License "RobotAPI License"
+*/
diff --git a/etc/doxygen/pages/statecharts.dox b/etc/doxygen/pages/statecharts.dox
deleted file mode 100644
index 190c4ec423c47b70749116cbfb34e2344d536088..0000000000000000000000000000000000000000
--- a/etc/doxygen/pages/statecharts.dox
+++ /dev/null
@@ -1,5 +0,0 @@
-/**
-\defgroup RobotAPI-Statecharts RobotAPI Statecharts
-\ingroup RobotAPI Statecharts
-\brief
-*/
diff --git a/etc/doxygen/pages/tutorials/TutorialMoveRobotWithGui.dox b/etc/doxygen/pages/tutorials/TutorialMoveRobotWithGui.dox
new file mode 100644
index 0000000000000000000000000000000000000000..c30421bf523eac320224f6e6fa36da6a6094cbff
--- /dev/null
+++ b/etc/doxygen/pages/tutorials/TutorialMoveRobotWithGui.dox
@@ -0,0 +1,10 @@
+/**
+\page RobotAPI-Tutorial-MoveRobotWithGui Playing around with a kinematic simulation
+Prerequisites: None
+
+* explain components of scenario and link to their docu
+* startScenario
+* start gui
+* open widgets (KinematicUnitGui, RobotIK, RobotViewer, Plotting of some sensor values)
+* how to use the widgets
+*/
diff --git a/scenarios/CMakeLists.txt b/scenarios/CMakeLists.txt
index 29d0d1c9e76975231367f4220c0b872182ffec4c..2abeca70fde546d75fa6c8324ab9da975db54923 100644
--- a/scenarios/CMakeLists.txt
+++ b/scenarios/CMakeLists.txt
@@ -1,4 +1,5 @@
+add_subdirectory(KinematicSimulationArmar3)
+
add_subdirectory(tests)
-add_subdirectory(MMMScenario)
diff --git a/scenarios/KinematicSimulationArmar3/CMakeLists.txt b/scenarios/KinematicSimulationArmar3/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6e5939b2cbdcad3aff5ca50e00b8403627ee72e0
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/CMakeLists.txt
@@ -0,0 +1,32 @@
+# Add your components below as shown in the following example:
+
+set(SCENARIO_CONFIG_COMPONENTS
+
+ config/CommonStorage.cfg
+ config/PriorKnowledge.cfg
+ config/LongtermMemory.cfg
+ config/WorkingMemory.cfg
+ config/ObjectMemoryObserver.cfg
+
+ config/KinematicUnitSimulation.cfg
+ config/KinematicUnitObserver.cfg
+ config/HeadIKUnit.cfg
+ config/TCPControlUnit.cfg
+ config/HandUnitSimulation.LeftHand.cfg
+ config/HandUnitSimulation.RightHand.cfg
+ config/ForceTorqueUnitSimulation.cfg
+ config/ForceTorqueObserver.cfg
+
+ config/DebugObserver.cfg
+ config/ConditionHandler.cfg
+ config/SystemObserver.cfg
+ config/RobotStateComponent.cfg
+
+ config/ImageSequenceProvider.cfg
+)
+
+# RobotControl
+
+# optional 3rd parameter: "path/to/global/config.cfg"
+armarx_scenario_from_configs("KinematicSimulationArmar3" "${SCENARIO_CONFIG_COMPONENTS}" "./config/Global.cfg")
+
diff --git a/scenarios/KinematicSimulationArmar3/config/CommonStorage.cfg b/scenarios/KinematicSimulationArmar3/config/CommonStorage.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..99bcff276eb237bffc7d552c5cbc1b2dd0c205c4
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/CommonStorage.cfg
@@ -0,0 +1,107 @@
+# ==================================================================
+# MemoryX properties
+# ==================================================================
+
+# MemoryX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# MemoryX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.DataPath = ""
+
+
+# MemoryX.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}
+# MemoryX.Verbosity = Verbose
+
+
+# MemoryX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.DisableLogging = 0
+
+
+# MemoryX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.ApplicationName = ""
+
+
+# MemoryX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.Config = ""
+
+
+# ==================================================================
+# MemoryX.CommonStorage properties
+# ==================================================================
+
+# MemoryX.CommonStorage.MongoUser: MongoDB user name
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+MemoryX.CommonStorage.MongoUser = a
+
+
+# MemoryX.CommonStorage.MongoAuth: Whether authentication should be used for MongoDB
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.CommonStorage.MongoAuth = 0
+
+
+# MemoryX.CommonStorage.MongoPassword: MongoDB password
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+MemoryX.CommonStorage.MongoPassword = 1
+
+
+# MemoryX.CommonStorage.MongoHost: MongoDB hostname and optionally port number
+# Attributes:
+# - Default: localhost
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.CommonStorage.MongoHost = localhost
+
+
+# MemoryX.CommonStorage.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# MemoryX.CommonStorage.MinimumLoggingLevel = Undefined
+
+
+# MemoryX.CommonStorage.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.CommonStorage.ObjectName = ""
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/ConditionHandler.cfg b/scenarios/KinematicSimulationArmar3/config/ConditionHandler.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..a938a4186b94e0159b027fc30e3ccc3fc5c62d3a
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/ConditionHandler.cfg
@@ -0,0 +1,92 @@
+# ==================================================================
+# 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 = Armar3KinematicUnitObserver,SystemObserver,ObjectMemoryObserver
+
+
+# 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/KinematicSimulationArmar3/config/DebugObserver.cfg b/scenarios/KinematicSimulationArmar3/config/DebugObserver.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..1806791a06702d24ed5865914f404304f4244269
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/DebugObserver.cfg
@@ -0,0 +1,84 @@
+# ==================================================================
+# 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.DatapathConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DatapathConfig = ./config/datapath.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.DebugObserver properties
+# ==================================================================
+
+# ArmarX.DebugObserver.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.DebugObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.DebugObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DebugObserver.ObjectName = ""
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/ForceTorqueObserver.cfg b/scenarios/KinematicSimulationArmar3/config/ForceTorqueObserver.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..af8cc946bcaac72b3fbd8f0d070a34e85f30c798
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/ForceTorqueObserver.cfg
@@ -0,0 +1,91 @@
+# ==================================================================
+# 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.DatapathConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DatapathConfig = ./config/datapath.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.ForceTorqueUnitObserver properties
+# ==================================================================
+
+# ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName: Name of the ForceTorqueUnit Topic
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = "ForceTorqueValues"
+
+
+# ArmarX.ForceTorqueUnitObserver.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.ForceTorqueUnitObserver.MinimumLoggingLevel = Verbose
+
+
+# ArmarX.ForceTorqueUnitObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.ForceTorqueUnitObserver.ObjectName = "Armar3ForceTorqueObserver"
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/ForceTorqueUnitSimulation.cfg b/scenarios/KinematicSimulationArmar3/config/ForceTorqueUnitSimulation.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..e6503a4c767125771c7668bc8ba08b87a2ce8d9a
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/ForceTorqueUnitSimulation.cfg
@@ -0,0 +1,114 @@
+# ==================================================================
+# 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.DatapathConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DatapathConfig = ./config/datapath.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.ForceTorqueUnitSimulation properties
+# ==================================================================
+
+# ArmarX.ForceTorqueUnitSimulation.IntervalMs: The time in milliseconds between two calls to the simulation method.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ForceTorqueUnitSimulation.IntervalMs = 10
+
+
+# ArmarX.ForceTorqueUnitSimulation.SensorName: simulated sensor name
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.ForceTorqueUnitSimulation.SensorName = <set value!>
+
+
+# ArmarX.ForceTorqueUnitSimulation.ForceTorqueTopicName: Name of the topic on which the sensor values are provided
+# Attributes:
+# - Default: ForceTorqueValues
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ForceTorqueUnitSimulation.ForceTorqueTopicName = ForceTorqueValues
+
+
+# ArmarX.ForceTorqueUnitSimulation.AgentName: Name of the agent for which the sensor values are provided
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.ForceTorqueUnitSimulation.AgentName = Armar3
+
+
+# ArmarX.ForceTorqueUnitSimulation.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.ForceTorqueUnitSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ForceTorqueUnitSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ForceTorqueUnitSimulation.ObjectName = ""
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/Global.cfg b/scenarios/KinematicSimulationArmar3/config/Global.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..77927624693f052359958908ce6d8a1bb0e6bc4f
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/Global.cfg
@@ -0,0 +1,5 @@
+ArmarX.DisableLogging = no
+VisionX.DisableLogging = no
+
+ArmarX.GlobalMinimumLoggingLevel = Verbose
+VisionX.GlobalMinimumLoggingLevel = Verbose
diff --git a/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.LeftHand.cfg b/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.LeftHand.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..fc4b9bb96110823d5858d9e083b3e46cbd09bad6
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.LeftHand.cfg
@@ -0,0 +1,98 @@
+# ==================================================================
+# 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.DatapathConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DatapathConfig = ./config/datapath.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.HandUnitSimulation properties
+# ==================================================================
+
+# ArmarX.HandUnitSimulation.RobotFileName: VirtualRobot XML file in which the endeffector is is stored.
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.HandUnitSimulation.RobotFileName = RobotAPI/robots/Armar3/ArmarIII.xml
+
+
+# ArmarX.HandUnitSimulation.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.HandUnitSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.HandUnitSimulation.EndeffectorName: Name of the endeffector as stored in the XML file (will publish values on EndeffectorName + 'State')
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.HandUnitSimulation.EndeffectorName = TCP L
+
+
+# ArmarX.HandUnitSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.HandUnitSimulation.ObjectName = "LeftHandUnit"
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.RightHand.cfg b/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.RightHand.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..822c3975756a884597e1b14b6515d29804b8e79f
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.RightHand.cfg
@@ -0,0 +1,98 @@
+# ==================================================================
+# 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.DatapathConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DatapathConfig = ./config/datapath.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.HandUnitSimulation properties
+# ==================================================================
+
+# ArmarX.HandUnitSimulation.RobotFileName: VirtualRobot XML file in which the endeffector is is stored.
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.HandUnitSimulation.RobotFileName = RobotAPI/robots/Armar3/ArmarIII.xml
+
+
+# ArmarX.HandUnitSimulation.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.HandUnitSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.HandUnitSimulation.EndeffectorName: Name of the endeffector as stored in the XML file (will publish values on EndeffectorName + 'State')
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.HandUnitSimulation.EndeffectorName = TCP R
+
+
+# ArmarX.HandUnitSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.HandUnitSimulation.ObjectName = "RightHandUnit"
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/HeadIKUnit.cfg b/scenarios/KinematicSimulationArmar3/config/HeadIKUnit.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..8123d93084cae155a6f831c625e71a94031d50b2
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/HeadIKUnit.cfg
@@ -0,0 +1,91 @@
+# ==================================================================
+# 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.HeadIKUnit properties
+# ==================================================================
+
+# ArmarX.HeadIKUnit.CycleTime: Cycle time of the tcp control in ms
+# Attributes:
+# - Default: 30
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.HeadIKUnit.CycleTime = 30
+
+
+# ArmarX.HeadIKUnit.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.HeadIKUnit.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.HeadIKUnit.KinematicUnitName: Name of the KinematicUnit Proxy
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.HeadIKUnit.KinematicUnitName = "Armar3KinematicUnit"
+
+
+# ArmarX.HeadIKUnit.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.HeadIKUnit.ObjectName = ""
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/ImageSequenceProvider.cfg b/scenarios/KinematicSimulationArmar3/config/ImageSequenceProvider.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..9090c34aa190698960476de5cdbfe3ccb414d296
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/ImageSequenceProvider.cfg
@@ -0,0 +1,136 @@
+# ==================================================================
+# VisionX properties
+# ==================================================================
+
+# VisionX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# VisionX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# VisionX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# VisionX.DataPath = ""
+
+
+# VisionX.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}
+# VisionX.Verbosity = Verbose
+
+
+# VisionX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# VisionX.DisableLogging = 0
+
+
+# VisionX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# VisionX.ApplicationName = ""
+
+
+# VisionX.DatapathConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# VisionX.DatapathConfig = ./config/datapath.cfg
+
+
+# VisionX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# VisionX.Config = ""
+
+
+# ==================================================================
+# VisionX.ImageSequenceProvider properties
+# ==================================================================
+
+# VisionX.ImageSequenceProvider.CalibrationFile: Camera calibration file, will be made available in the SLICE interface
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+VisionX.ImageSequenceProvider.CalibrationFile = "/home/SMBAD/schieben/home/mca2.4/projects/armar3/robot_interface/files/camera_armar3a_640x480_wide.txt"
+
+
+# VisionX.ImageSequenceProvider.ImageSize: Target resolution of the images. Loaded images will be converted to this size.
+# Attributes:
+# - Default: 640x480
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {1024x768, 1280x960, 1600x1200, 320x240, 640x480, 768x576, 800x600, none}
+# VisionX.ImageSequenceProvider.ImageSize = 640x480
+
+
+# VisionX.ImageSequenceProvider.FrameRate: Frames per second
+# Attributes:
+# - Default: 30
+# - Bounds: [0; 60]
+# - Case sensitivity: no
+# - Required: no
+# - Format: \d+(.\d*)?
+VisionX.ImageSequenceProvider.FrameRate = 2
+
+
+# VisionX.ImageSequenceProvider.PathLeft: Filename and path of the left camera images. Filenames need to follow the format: path/*%d.bmp (e.g. path/image_left0000.bmp).
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+#VisionX.ImageSequenceProvider.PathLeft = "/home/SMBAD/schieben/home/Bilder/OLP-Test/img2/scL0000.bmp"
+VisionX.ImageSequenceProvider.PathLeft = "/home/SMBAD/schieben/home/Bilder/BlaueTasse/scL0000.bmp"
+
+
+# VisionX.ImageSequenceProvider.ImagesAreUndistorted: Sets whether images are provided undistorted.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# VisionX.ImageSequenceProvider.ImagesAreUndistorted = 0
+
+
+# VisionX.ImageSequenceProvider.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# VisionX.ImageSequenceProvider.MinimumLoggingLevel = Undefined
+
+
+# VisionX.ImageSequenceProvider.PathRight: Filename and path of the right camera images. Filenames need to follow the format: path/*%d.bmp (e.g. path/image_right0000.bmp).
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+#VisionX.ImageSequenceProvider.PathRight = "/home/SMBAD/schieben/home/Bilder/OLP-Test/img2/scR0000.bmp"
+VisionX.ImageSequenceProvider.PathRight = "/home/SMBAD/schieben/home/Bilder/BlaueTasse/scR0000.bmp"
+
+
+# VisionX.ImageSequenceProvider.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+VisionX.ImageSequenceProvider.ObjectName = "Armar3ImageProvider"
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/KinematicUnitObserver.cfg b/scenarios/KinematicSimulationArmar3/config/KinematicUnitObserver.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..965659b905355228ac0967a8f86632ece380a6f3
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/KinematicUnitObserver.cfg
@@ -0,0 +1,90 @@
+# ==================================================================
+# 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.KinematicUnitObserver properties
+# ==================================================================
+
+# ArmarX.KinematicUnitObserver.RobotFileName: Robot file name, e.g. robot_model.xml
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.KinematicUnitObserver.RobotFileName = RobotAPI/robots/Armar3/ArmarIII.xml
+
+
+# ArmarX.KinematicUnitObserver.RobotNodeSetName: Robot node name
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.KinematicUnitObserver.RobotNodeSetName = Robot
+
+
+# ArmarX.KinematicUnitObserver.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.KinematicUnitObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.KinematicUnitObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.KinematicUnitObserver.ObjectName = Armar3KinematicUnitObserver
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/KinematicUnitSimulation.cfg b/scenarios/KinematicSimulationArmar3/config/KinematicUnitSimulation.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..6bef0c11bff2dfe917e56fb1445bf34a3f91b95c
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/KinematicUnitSimulation.cfg
@@ -0,0 +1,98 @@
+# ==================================================================
+# 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.KinematicUnitSimulation properties
+# ==================================================================
+
+# ArmarX.KinematicUnitSimulation.IntervalMs: The time in milliseconds between two calls to the simulation method.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.KinematicUnitSimulation.IntervalMs = 10
+
+
+# ArmarX.KinematicUnitSimulation.RobotFileName: Robot file name, e.g. robot_model.xml
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.KinematicUnitSimulation.RobotFileName = RobotAPI/robots/Armar3/ArmarIII.xml
+
+
+# ArmarX.KinematicUnitSimulation.RobotNodeSetName: Robot node name
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.KinematicUnitSimulation.RobotNodeSetName = Robot
+
+
+# ArmarX.KinematicUnitSimulation.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.KinematicUnitSimulation.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.KinematicUnitSimulation.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.KinematicUnitSimulation.ObjectName = Armar3KinematicUnit
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/LongtermMemory.cfg b/scenarios/KinematicSimulationArmar3/config/LongtermMemory.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..bdce00076f07bb6b7b0b48c254b81bceab9d619a
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/LongtermMemory.cfg
@@ -0,0 +1,99 @@
+# ==================================================================
+# MemoryX properties
+# ==================================================================
+
+# MemoryX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# MemoryX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.DataPath = ""
+
+
+# MemoryX.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}
+# MemoryX.Verbosity = Verbose
+
+
+# MemoryX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.DisableLogging = 0
+
+
+# MemoryX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.ApplicationName = ""
+
+
+# MemoryX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.Config = ""
+
+
+# ==================================================================
+# MemoryX.LongtermMemory properties
+# ==================================================================
+
+# MemoryX.LongtermMemory.OacCollection: Mongo collection holding all OACs
+# Attributes:
+# - Default: oacs
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.LongtermMemory.OacCollection = oacs
+
+
+# MemoryX.LongtermMemory.SnapshotListCollection: Mongo collection holding a list of snapshots with corresponding metadata
+# Attributes:
+# - Default: snapshots
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.LongtermMemory.SnapshotListCollection = snapshots
+
+
+# MemoryX.LongtermMemory.DatabaseName: Mongo database to store LTM data
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+MemoryX.LongtermMemory.DatabaseName = memdb
+
+
+# MemoryX.LongtermMemory.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# MemoryX.LongtermMemory.MinimumLoggingLevel = Undefined
+
+
+# MemoryX.LongtermMemory.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.LongtermMemory.ObjectName = ""
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/ObjectMemoryObserver.cfg b/scenarios/KinematicSimulationArmar3/config/ObjectMemoryObserver.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..1bba0f7bdc4d4e998788af7c0f48030ae90d8453
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/ObjectMemoryObserver.cfg
@@ -0,0 +1,100 @@
+# ==================================================================
+# MemoryX properties
+# ==================================================================
+
+# MemoryX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# MemoryX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.DataPath = ""
+
+
+# MemoryX.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}
+# MemoryX.Verbosity = Verbose
+
+
+# MemoryX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.DisableLogging = 0
+
+
+# MemoryX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.ApplicationName = ""
+
+
+# MemoryX.DatapathConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.DatapathConfig = ./config/datapath.cfg
+
+
+# MemoryX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.Config = ""
+
+
+# ==================================================================
+# MemoryX.ObjectMemoryObserver properties
+# ==================================================================
+
+# MemoryX.ObjectMemoryObserver.WorkingMemoryProxy: Proxy of working memory
+# Attributes:
+# - Default: WorkingMemory
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.ObjectMemoryObserver.WorkingMemoryProxy = WorkingMemory
+
+
+# MemoryX.ObjectMemoryObserver.WorkingMemoryListenerTopic: Topic for working memory updates
+# Attributes:
+# - Default: WorkingMemoryUpdates
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.ObjectMemoryObserver.WorkingMemoryListenerTopic = WorkingMemoryUpdates
+
+
+# MemoryX.ObjectMemoryObserver.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# MemoryX.ObjectMemoryObserver.MinimumLoggingLevel = Undefined
+
+
+# MemoryX.ObjectMemoryObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.ObjectMemoryObserver.ObjectName = ""
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/PriorKnowledge.cfg b/scenarios/KinematicSimulationArmar3/config/PriorKnowledge.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..459e98fa0c782473ef18cd35c65878d5af05931f
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/PriorKnowledge.cfg
@@ -0,0 +1,95 @@
+# ==================================================================
+# MemoryX properties
+# ==================================================================
+
+# MemoryX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# MemoryX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.DataPath = ""
+
+
+# MemoryX.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}
+# MemoryX.Verbosity = Verbose
+
+
+# MemoryX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.DisableLogging = 0
+
+
+# MemoryX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.ApplicationName = ""
+
+
+# MemoryX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.Config = ""
+
+
+# ==================================================================
+# MemoryX.PriorKnowledge properties
+# ==================================================================
+
+# MemoryX.PriorKnowledge.RelationCollections: Comma separated list of MongoDB collection (<db>.<collection>) which store known object classes relations. First collection will be used for writing.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.PriorKnowledge.RelationCollections = ""
+
+
+# MemoryX.PriorKnowledge.ClassCollections: Comma separated list of MongoDB collection (<db>.<collection>) which store known object classes. First collection will be used for writing.
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+MemoryX.PriorKnowledge.ClassCollections = memdb.Prior_KitchenKK,memdb.Prior_KitchenKKObjects
+
+
+# MemoryX.PriorKnowledge.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# MemoryX.PriorKnowledge.MinimumLoggingLevel = Undefined
+
+
+# MemoryX.PriorKnowledge.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.PriorKnowledge.ObjectName = ""
+
+# MemoryX.PriorKnowledge.GraphCollections: Comma separated list of MongoDB collection (<db>.<collection>) which store graphs. First collection will be used for writing.
+# Attributes:
+# - Case sensitivity: no
+# - Required: no
+MemoryX.PriorKnowledge.GraphCollections = memdb.Prior_KitchenKKGraphs
+
diff --git a/scenarios/KinematicSimulationArmar3/config/RobotStateComponent.cfg b/scenarios/KinematicSimulationArmar3/config/RobotStateComponent.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..74dae5bf009f993f0afb14a861e093fd4f135935
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/RobotStateComponent.cfg
@@ -0,0 +1,4 @@
+ArmarX.RobotStateComponent.RobotFileName=RobotAPI/robots/Armar3/ArmarIII.xml # model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.RobotStateComponent.RobotNodeSetName=Robot # node set name
+ArmarX.RobotStateComponent.ObjectName=RobotStateComponent # name of the ICE adapter
+ArmarX.RobotStateComponent.AgentName=Armar3
diff --git a/scenarios/KinematicSimulationArmar3/config/SystemObserver.cfg b/scenarios/KinematicSimulationArmar3/config/SystemObserver.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..7102973bdf909d22014a0c940bfa2b128fffeabd
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/SystemObserver.cfg
@@ -0,0 +1,76 @@
+# ==================================================================
+# 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/KinematicSimulationArmar3/config/TCPControlUnit.cfg b/scenarios/KinematicSimulationArmar3/config/TCPControlUnit.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..5a9d95709b50b5b2974814a9183e19e58b61a903
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/TCPControlUnit.cfg
@@ -0,0 +1,158 @@
+# ==================================================================
+# 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.DatapathConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DatapathConfig = ./config/datapath.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.TCPControlUnit properties
+# ==================================================================
+
+# ArmarX.TCPControlUnit.CycleTime: Cycle time of the tcp control in ms
+# Attributes:
+# - Default: 30
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TCPControlUnit.CycleTime = 30
+
+
+# ArmarX.TCPControlUnit.RobotFileName: Robot file name, e.g. robot_model.xml
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.TCPControlUnit.inheritFrom=RobotConfig
+
+
+# ArmarX.TCPControlUnit.MaxJointVelocity: Maximal joint velocity in rad/sec
+# Attributes:
+# - Default: 0.523500025
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TCPControlUnit.MaxJointVelocity = 0.523500025
+
+
+# ArmarX.TCPControlUnit.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.TCPControlUnit.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.TCPControlUnit.TCPsToReport: comma seperated list of nodesets' endeffectors, which poses and velocities that should be reported. * for all, empty for none
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.TCPControlUnit.TCPsToReport = TCP R,TCP L
+
+
+# ArmarX.TCPControlUnit.MaximumCommandDelay: Delay after which the TCP Control unit releases itself if no new velocity have been set.
+# Attributes:
+# - Default: 200
+# - Case sensitivity: no
+# - Required: no
+ArmarX.TCPControlUnit.MaximumCommandDelay = 500
+
+
+# ArmarX.TCPControlUnit.KinematicUnitName: Name of the KinematicUnit Proxy
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.TCPControlUnit.KinematicUnitName = Armar3KinematicUnit
+
+
+# ArmarX.TCPControlUnit.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TCPControlUnit.ObjectName = ""
+
+
+# ==================================================================
+# ArmarX.TCPControlUnitObserver properties
+# ==================================================================
+
+# ArmarX.TCPControlUnitObserver.TCPControlUnitName: Name of the TCPControlUnit
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.TCPControlUnitObserver.TCPControlUnitName = TCPControlUnit
+
+
+# ArmarX.TCPControlUnitObserver.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.TCPControlUnitObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.TCPControlUnitObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TCPControlUnitObserver.ObjectName = ""
+
+
+
diff --git a/scenarios/KinematicSimulationArmar3/config/WorkingMemory.cfg b/scenarios/KinematicSimulationArmar3/config/WorkingMemory.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..6b9351e1ddd297c346e559a232ff100fa4e38bbb
--- /dev/null
+++ b/scenarios/KinematicSimulationArmar3/config/WorkingMemory.cfg
@@ -0,0 +1,156 @@
+# ==================================================================
+# MemoryX properties
+# ==================================================================
+
+# MemoryX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# MemoryX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.DataPath = ""
+
+
+# MemoryX.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}
+# MemoryX.Verbosity = Verbose
+
+
+# MemoryX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.DisableLogging = 0
+
+
+# MemoryX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.ApplicationName = ""
+
+
+# MemoryX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.Config = ""
+
+
+# ==================================================================
+# MemoryX.WorkingMemory properties
+# ==================================================================
+
+# MemoryX.WorkingMemory.MatchByClassName: Check for class equality when searching for corresponding instance
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.WorkingMemory.MatchByClassName = 1
+
+
+# MemoryX.WorkingMemory.MatchThreshold: Threshold value of spatial proximity between observations to consider them belonging to the same instance (0..1)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.WorkingMemory.MatchThreshold = 0
+
+
+# MemoryX.WorkingMemory.UpdatesTopicName: Name of IceStrom topic to publish scene updates on
+# Attributes:
+# - Default: WorkingMemoryUpdates
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.WorkingMemory.UpdatesTopicName = WorkingMemoryUpdates
+
+
+# MemoryX.WorkingMemory.UseKalmanFilter: Switch fusion with Kalman Filter on/off.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+MemoryX.WorkingMemory.UseKalmanFilter = 1
+
+
+# MemoryX.WorkingMemory.PublishUpdates: Publish scene updates (ObjectCreated/Updated/Removed) on IceStrom topic
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+MemoryX.WorkingMemory.PublishUpdates = 1
+
+
+# MemoryX.WorkingMemory.UseLongtermMemory: Switch longterm memory on/off.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+MemoryX.WorkingMemory.UseLongtermMemory = 1
+
+
+# MemoryX.WorkingMemory.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# MemoryX.WorkingMemory.MinimumLoggingLevel = Undefined
+
+
+# MemoryX.WorkingMemory.UsePriorMemory: Switch prior knowledge on/off.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# MemoryX.WorkingMemory.UsePriorMemory = 1
+
+
+# MemoryX.WorkingMemory.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.WorkingMemory.ObjectName = ""
+
+
+# MemoryX.WorkingMemory.PriorMemoryName: Name of PriorKnowledge Ice component
+# Attributes:
+# - Default: PriorKnowledge
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.WorkingMemory.PriorMemoryName = PriorKnowledge
+
+
+# MemoryX.WorkingMemory.LongtermMemoryName: Name of LongtermMemory Ice component
+# Attributes:
+# - Default: LongtermMemory
+# - Case sensitivity: no
+# - Required: no
+# MemoryX.WorkingMemory.LongtermMemoryName = LongtermMemory
+
+MemoryX.ObjectLocalizationMemoryUpdater.CheckFieldOfView = 0
+MemoryX.ObjectLocalizationMemoryUpdater.HandNodeNameLeft = "TCP L"
+MemoryX.ObjectLocalizationMemoryUpdater.HandNodeNameRight = "TCP R"
+
+
diff --git a/scenarios/MMMScenario/CMakeLists.txt b/scenarios/MMMScenario/CMakeLists.txt
deleted file mode 100644
index 14a51ca63854220bb4e611fbced631dcf5661e5b..0000000000000000000000000000000000000000
--- a/scenarios/MMMScenario/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-set(SCENARIO_CONFIG_COMPONENTS
- config/MMMPlayerApp.cfg
- )
-
-# optional 3rd parameter: "path/to/global/config.cfg"
-armarx_scenario_from_configs("MMMScenario" "${SCENARIO_CONFIG_COMPONENTS}" "config/global.cfg")
diff --git a/scenarios/MMMScenario/config/MMMPlayerApp.cfg b/scenarios/MMMScenario/config/MMMPlayerApp.cfg
deleted file mode 100644
index 49a06df94b78546bb804deb9ece1637b02308b8d..0000000000000000000000000000000000000000
--- a/scenarios/MMMScenario/config/MMMPlayerApp.cfg
+++ /dev/null
@@ -1,175 +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.EnableProfiling: Enable profiling of CPU load produced by this application
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.EnableProfiling = 0
-
-
-# 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.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
-# Attributes:
-# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.DependenciesConfig = ./config/dependencies.cfg
-
-
-# ArmarX.Config: Comma-separated list of configuration files
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.Config = ""
-
-
-# ==================================================================
-# ArmarX.MMMPlayer properties
-# ==================================================================
-
-# ArmarX.MMMPlayer.Kp: Proportional gain value of PID Controller
-# Attributes:
-# - Default: 1
-# - Case sensitivity: no
-# - Required: no
-ArmarX.MMMPlayer.Kp = 1
-
-
-# ArmarX.MMMPlayer.Kd: Differential gain value of PID Controller
-# Attributes:
-# - Default: 1
-# - Case sensitivity: no
-# - Required: no
-ArmarX.MMMPlayer.Kd = 0
-
-
-# ArmarX.MMMPlayer.UsePIDController: Specify whether the PID Controller should be used
-# Attributes:
-# - Default: 1
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-ArmarX.MMMPlayer.UsePIDController = 1
-
-
-# ArmarX.MMMPlayer.LoopPlayback: Specify whether should be repeated after execution
-# Attributes:
-# - Default: 1
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.MMMPlayer.LoopPlayback = 1
-
-
-# ArmarX.MMMPlayer.KinematicTopicName: Name of the KinematicUnit reporting topic
-# Attributes:
-# - Case sensitivity: no
-# - Required: yes
-ArmarX.MMMPlayer.KinematicTopicName = AllState
-
-
-# ArmarX.MMMPlayer.KinematicUnitName: Name of the KinematicUnit to which the joint values should be sent
-# Attributes:
-# - Case sensitivity: no
-# - Required: yes
-ArmarX.MMMPlayer.KinematicUnitName = KinematicUnitArmar4
-
-
-# ArmarX.MMMPlayer.FPS: FPS with which the recording should be executed. Velocities will be adapted.
-# Attributes:
-# - Default: 100
-# - Case sensitivity: no
-# - Required: no
-ArmarX.MMMPlayer.FPS = 100
-
-
-# ArmarX.MMMPlayer.MMMFile: Path to MMM XML File
-# Attributes:
-# - Case sensitivity: no
-# - Required: yes
-ArmarX.MMMPlayer.MMMFile = /home/SMBAD/marek/Dokumente/Daten/point_at_left03_armar4.xml
-
-
-# ArmarX.MMMPlayer.EnableProfiling: enable profiler which is used for logging performance events
-# Attributes:
-# - Default: 0
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.MMMPlayer.EnableProfiling = 0
-
-
-# ArmarX.MMMPlayer.Ki: Integral gain value of PID Controller
-# Attributes:
-# - Default: 9.99999975e-06
-# - Case sensitivity: no
-# - Required: no
-ArmarX.MMMPlayer.Ki = 9.99999975e-06
-ArmarX.MMMPlayer.absMaximumVelocity = 1000000
-ArmarX.MMMPlayer.RobotNodeSetName = AllState
-
-
-# ArmarX.MMMPlayer.MinimumLoggingLevel: Local logging level only for this component
-# Attributes:
-# - Default: Undefined
-# - Case sensitivity: no
-# - Required: no
-# - Possible values: {Debug, Error, Fatal, Info, Undefined, Verbose, Warning}
-# ArmarX.MMMPlayer.MinimumLoggingLevel = Undefined
-
-
-# ArmarX.MMMPlayer.ObjectName: Name of IceGrid well-known object
-# Attributes:
-# - Default: ""
-# - Case sensitivity: no
-# - Required: no
-# ArmarX.MMMPlayer.ObjectName = ""
-
-
-
diff --git a/scenarios/MMMScenario/config/global.cfg b/scenarios/MMMScenario/config/global.cfg
deleted file mode 100644
index ac68157eaa025deca2b5c7063b7e5690f759b8cf..0000000000000000000000000000000000000000
--- a/scenarios/MMMScenario/config/global.cfg
+++ /dev/null
@@ -1,12 +0,0 @@
-ArmarX.DisableLogging = no
-VisionX.DisableLogging = no
-
-ArmarX.GlobalMinimumLoggingLevel = Verbose
-#MemoryX.Verbosity = Debug
-VisionX.Verbosity = Verbose
-
-RobotConfig.RobotFileName=Armar4/robotmodel/Armar4.xml
-#RobotConfig.RobotName=Armar4
-RobotConfig.AgentName=Armar4
-RobotConfig.RobotNodeSetName=All
-#RobotConfig.PlatformName=Platform
diff --git a/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/CMakeLists.txt b/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/CMakeLists.txt
index 4cdab2f848eba6ba8ea1939c27b76c770f3f1c54..8ba9a6e56bab9040426e2e6993ba1804e5cf9482 100644
--- a/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/CMakeLists.txt
+++ b/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/CMakeLists.txt
@@ -7,7 +7,7 @@ if(Eigen3_FOUND)
endif()
set(COMPONENT_LIBS
-ArmarXInterfaces
+ArmarXCoreInterfaces
ArmarXCore
RobotAPIInterfaces
DebugDrawer
diff --git a/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTest.cpp b/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTest.cpp
index c3380bff11dd73768e9de647d33fe9b139067c86..ae00f7755b5f71eaeaaf7907617d065542f8c612 100644
--- a/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTest.cpp
+++ b/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTest.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI::DebugDrawerTestApp
* @author vahrenkamp
* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
diff --git a/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTest.h b/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTest.h
index c57c9963feae86a10204d7dd928d5c059d297c6a..3f8c50bfb1af875c41ce5e236929121a31021b3d 100644
--- a/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTest.h
+++ b/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTest.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,14 +16,14 @@
* @package RobotAPI::DebugDrawerTestApp
* @author vahrenkamp
* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#ifndef ARMARX_COMPONENT_DebugDrawerTest_H
#define ARMARX_COMPONENT_DebugDrawerTest_H
-#include <Core/core/Component.h>
+#include <ArmarXCore/core/Component.h>
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
namespace armarx
diff --git a/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTestApp.h b/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTestApp.h
index 962deed6ff20be3e134c5bcf40c6048e0dedab1d..47686c9267c33184bacc2e70e1ee19c3b66e48cb 100644
--- a/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTestApp.h
+++ b/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/DebugDrawerTestApp.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,14 +16,14 @@
* @package RobotAPI::DebugDrawerTestApp
* @author vahrenkamp
* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "DebugDrawerTest.h"
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
namespace armarx
{
diff --git a/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/main.cpp b/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/main.cpp
index 9923bbcb3c8b852f568d25d2b627622b3594e2de..f837e8036f30884b4cffaa3143d51a289366eb10 100644
--- a/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/main.cpp
+++ b/scenarios/tests/DebugDrawerTest/DebugDrawerTestApp/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package RobotAPI::DebugDrawerTestApp
* @author vahrenkamp
* @date 2015
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "DebugDrawerTestApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProject.cpp b/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProject.cpp
index e70ec49339c10c70f60ed3ba311a9987a03f87a4..103f195414416fdedf8c9b1894f13563c1948217 100644
--- a/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProject.cpp
+++ b/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProject.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RemoteRobotTestProject::
* @author ( at kit dot edu)
* @date
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
diff --git a/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProject.h b/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProject.h
index bcdafe56aeb774dcc92204465455b6f2b241a00e..94bf8c14aa4609b4138e9619d51039c858516a6f 100644
--- a/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProject.h
+++ b/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProject.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RemoteRobotTestProject::
* @author ( at kit dot edu)
* @date
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
diff --git a/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProjectApp.h b/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProjectApp.h
index a468c295916cf511089b4b0e6f42126c4c902fad..b0b64a6b0117a737ac35dba6756f949c28940a8d 100644
--- a/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProjectApp.h
+++ b/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/RemoteRobotTestProjectApp.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RemoteRobotTestProject::
* @author ( at kit dot edu)
* @date
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
diff --git a/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/test/RemoteRobotTestProjectTest.cpp b/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/test/RemoteRobotTestProjectTest.cpp
index ab3310ce34dd85cafcdc7720a23e97c58a2e0439..aa3e2250ab0b086aad64a442585a347430951fc2 100644
--- a/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/test/RemoteRobotTestProjectTest.cpp
+++ b/scenarios/tests/RemoteRobotTest/RemoteRobotTestProject/test/RemoteRobotTestProjectTest.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RemoteRobotTestProject::
* @author (at kit dot edu)
* @date
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
diff --git a/source/RobotAPI/applications/CMakeLists.txt b/source/RobotAPI/applications/CMakeLists.txt
index 0ebfe454de9a3bee8dc9016a3f81d6ef5b2a2360..821ef9dc2da3cda5f8f61f7a03809c1fc0775195 100644
--- a/source/RobotAPI/applications/CMakeLists.txt
+++ b/source/RobotAPI/applications/CMakeLists.txt
@@ -14,12 +14,9 @@ add_subdirectory(KinematicUnitSimulation)
add_subdirectory(PlatformUnitSimulation)
add_subdirectory(PlatformUnitObserver)
add_subdirectory(RobotStateComponent)
-add_subdirectory(RobotIK)
add_subdirectory(HandUnitSimulation)
add_subdirectory(ForceTorqueUnitSimulation)
-add_subdirectory(MMMPlayer)
-
add_subdirectory(XsensIMU)
add_subdirectory(InertialMeasurementUnitObserver)
diff --git a/source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h b/source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h
index b5ca6815de9f02ec8426b1f795f3658a9437e963..c415f85c18c650dc3b277d802cb72f8524f8bd58 100644
--- a/source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h
+++ b/source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,22 +16,22 @@
* @package ArmarXCore::applications
* @author Kai Welke (weöle dot at kit dot edu)
* @date 2012
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/components/units/ForceTorqueObserver.h>
namespace armarx
{
class ForceTorqueObserverApp :
- virtual public armarx::Application
- {
+ virtual public armarx::Application
+ {
void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
{
- registry->addObject( Component::create<ForceTorqueObserver>(properties) );
+ registry->addObject(Component::create<ForceTorqueObserver>(properties));
}
};
}
diff --git a/source/RobotAPI/applications/ForceTorqueObserver/main.cpp b/source/RobotAPI/applications/ForceTorqueObserver/main.cpp
index 52e9334438a84dd529a3930b5fdcfb9f64bbaf27..f75a56a95de5d3dc42543797a4c5ab4aedd30a2b 100644
--- a/source/RobotAPI/applications/ForceTorqueObserver/main.cpp
+++ b/source/RobotAPI/applications/ForceTorqueObserver/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package RobotAPI::application::ForceTorqueObserver
* @author Manfred Kroehnert
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "ForceTorqueObserverApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/ForceTorqueUnitSimulation/ForceTorqueUnitSimulationApp.h b/source/RobotAPI/applications/ForceTorqueUnitSimulation/ForceTorqueUnitSimulationApp.h
index be328546e3fcb0446f26ae29d915c7d614655c65..83c5468821c29a916335db9e2f94094d159f9fcb 100644
--- a/source/RobotAPI/applications/ForceTorqueUnitSimulation/ForceTorqueUnitSimulationApp.h
+++ b/source/RobotAPI/applications/ForceTorqueUnitSimulation/ForceTorqueUnitSimulationApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package RobotAPI::applications
* @author Peter Kaiser
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/components/units/ForceTorqueUnitSimulation.h>
namespace armarx
@@ -36,8 +35,8 @@ namespace armarx
/**
* @see armarx::Application::setup()
*/
- void setup(const ManagedIceObjectRegistryInterfacePtr ®istry, Ice::PropertiesPtr properties)
- {
+ void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
+ {
registry->addObject(Component::create<ForceTorqueUnitSimulation>(properties));
}
};
diff --git a/source/RobotAPI/applications/ForceTorqueUnitSimulation/main.cpp b/source/RobotAPI/applications/ForceTorqueUnitSimulation/main.cpp
index 398862ed8b6d5b6159043ea6bad6cc5e539ef054..080b5c2c50f0a4571180fecd57aefb5070217e9d 100644
--- a/source/RobotAPI/applications/ForceTorqueUnitSimulation/main.cpp
+++ b/source/RobotAPI/applications/ForceTorqueUnitSimulation/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI::application::ForceTorqueUnitSimulation
* @author Peter Kaiser
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
diff --git a/source/RobotAPI/applications/HandUnitSimulation/CMakeLists.txt b/source/RobotAPI/applications/HandUnitSimulation/CMakeLists.txt
index 529b2f94308fd1a0d9305cf1cbf5d2bd2669daa2..5ab07e08cab7afea440dfd8a58890e9573b27967 100644
--- a/source/RobotAPI/applications/HandUnitSimulation/CMakeLists.txt
+++ b/source/RobotAPI/applications/HandUnitSimulation/CMakeLists.txt
@@ -9,7 +9,7 @@ if (Eigen3_FOUND)
endif()
-set(COMPONENT_LIBS RobotAPIUnits ArmarXInterfaces ArmarXCore)
+set(COMPONENT_LIBS RobotAPIUnits ArmarXCoreInterfaces ArmarXCore)
set(EXE_SOURCE main.cpp)
diff --git a/source/RobotAPI/applications/HandUnitSimulation/HandUnitSimulationApp.h b/source/RobotAPI/applications/HandUnitSimulation/HandUnitSimulationApp.h
index bb995504b1d3325b443457b46a07faf00bfde838..ba67452edd496005d9e3d0b5d8778de2d79f3101 100644
--- a/source/RobotAPI/applications/HandUnitSimulation/HandUnitSimulationApp.h
+++ b/source/RobotAPI/applications/HandUnitSimulation/HandUnitSimulationApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI::application::HandUnitSimulation
* @author David Schiebener ( schiebener at kit dot edu )
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -27,7 +26,7 @@
#include <RobotAPI/components/units/HandUnitSimulation.h>
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
namespace armarx
{
@@ -46,7 +45,7 @@ namespace armarx
void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
Ice::PropertiesPtr properties)
{
- registry->addObject( Component::create<HandUnitSimulation>(properties) );
+ registry->addObject(Component::create<HandUnitSimulation>(properties));
}
};
}
diff --git a/source/RobotAPI/applications/HandUnitSimulation/main.cpp b/source/RobotAPI/applications/HandUnitSimulation/main.cpp
index 8cdb60028b4e43738a4fc9c94dc0b4de52b3dce7..27de1ec1c24063aac04682f82e99f555ad9f839d 100644
--- a/source/RobotAPI/applications/HandUnitSimulation/main.cpp
+++ b/source/RobotAPI/applications/HandUnitSimulation/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package RobotAPI::application::HandUnitSimulation
* @author David Schiebener ( schiebener at kit dot edu )
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "HandUnitSimulationApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/HapticObserver/HapticObserverApp.h b/source/RobotAPI/applications/HapticObserver/HapticObserverApp.h
index ff769075646fc41ac24c53674d5c672da55f3bb4..8bae1433630337201d8bb4d3324d069332cb1fbe 100644
--- a/source/RobotAPI/applications/HapticObserver/HapticObserverApp.h
+++ b/source/RobotAPI/applications/HapticObserver/HapticObserverApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,14 +16,14 @@
* @package RobotAPI::application::HapticObserver
* @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#ifndef _ARMARX_APPLICATION_RobotAPI_HapticObserver_H
#define _ARMARX_APPLICATION_RobotAPI_HapticObserver_H
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/components/units/HapticObserver.h>
namespace armarx
@@ -44,7 +43,7 @@ namespace armarx
void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
Ice::PropertiesPtr properties)
{
- registry->addObject( Component::create<HapticObserver>(properties) );
+ registry->addObject(Component::create<HapticObserver>(properties));
}
};
}
diff --git a/source/RobotAPI/applications/HapticObserver/main.cpp b/source/RobotAPI/applications/HapticObserver/main.cpp
index e0b4270b484237e71355600dde6e595589435535..ca0fdaf45cb5a1e1abc0c923470f1e989b4a6ca8 100644
--- a/source/RobotAPI/applications/HapticObserver/main.cpp
+++ b/source/RobotAPI/applications/HapticObserver/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package RobotAPI::application::HapticObserver
* @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "HapticObserverApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h b/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h
index 01246f6bde9b23e73c256eee6aee684960405938..1e4d804b41948b6f339bbb210c4684ee25e15a7b 100644
--- a/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h
+++ b/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package ArmarXCore::applications
* @author David Schiebener (schiebener at kit dot edu)
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/components/units/HeadIKUnit.h>
namespace armarx
@@ -32,7 +31,7 @@ namespace armarx
{
void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
{
- registry->addObject( Component::create<HeadIKUnit>(properties) );
+ registry->addObject(Component::create<HeadIKUnit>(properties));
}
};
}
diff --git a/source/RobotAPI/applications/HeadIKUnit/main.cpp b/source/RobotAPI/applications/HeadIKUnit/main.cpp
index 411a5eef168cdd16c4a3f58e69d221139511a585..e919c4a2428af4eda531c5ec684b813044451081 100644
--- a/source/RobotAPI/applications/HeadIKUnit/main.cpp
+++ b/source/RobotAPI/applications/HeadIKUnit/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI::application::HeadIKUnit
* @author David Schiebener
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
diff --git a/source/RobotAPI/applications/InertialMeasurementUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/InertialMeasurementUnitObserver/CMakeLists.txt
index 9fd6cf01ff46b757947cacb71591b6edba6b9d7b..e280918bcf6713df170b90e5a40273c4b5da86c2 100644
--- a/source/RobotAPI/applications/InertialMeasurementUnitObserver/CMakeLists.txt
+++ b/source/RobotAPI/applications/InertialMeasurementUnitObserver/CMakeLists.txt
@@ -9,7 +9,7 @@ armarx_component_set_name("InertialMeasurementUnitObserverApp")
# include_directories(${MyLib_INCLUDE_DIRS})
#endif()
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers RobotAPIUnits)
+set(COMPONENT_LIBS ArmarXCoreInterfaces ArmarXCore ArmarXCoreObservers RobotAPIUnits)
set(EXE_SOURCE InertialMeasurementUnitObserverApp.h main.cpp)
diff --git a/source/RobotAPI/applications/InertialMeasurementUnitObserver/InertialMeasurementUnitObserverApp.h b/source/RobotAPI/applications/InertialMeasurementUnitObserver/InertialMeasurementUnitObserverApp.h
index eb1acbd082b3e17a9ba4a8fea2694c4b25ab0b1c..39898375eef5a33542b0d692b4fbd5be7bbc038f 100644
--- a/source/RobotAPI/applications/InertialMeasurementUnitObserver/InertialMeasurementUnitObserverApp.h
+++ b/source/RobotAPI/applications/InertialMeasurementUnitObserver/InertialMeasurementUnitObserverApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI::application::InertialMeasurementUnitObserver
* @author Markus Grotz ( markus-grotz at web dot de )
* @date 2015
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -27,8 +26,8 @@
#include <RobotAPI/components/units/InertialMeasurementUnitObserver.h>
-#include <Core/core/application/Application.h>
-#include <Core/core/Component.h>
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
namespace armarx
@@ -48,7 +47,7 @@ namespace armarx
void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
Ice::PropertiesPtr properties)
{
- registry->addObject( Component::create<InertialMeasurementUnitObserver>(properties) );
+ registry->addObject(Component::create<InertialMeasurementUnitObserver>(properties));
}
};
}
diff --git a/source/RobotAPI/applications/InertialMeasurementUnitObserver/main.cpp b/source/RobotAPI/applications/InertialMeasurementUnitObserver/main.cpp
index 661d5706f88f4630aad7da1be2749629c69f9cd6..1a293f2ace157ceed9e65912a1197028b4c7ffb2 100644
--- a/source/RobotAPI/applications/InertialMeasurementUnitObserver/main.cpp
+++ b/source/RobotAPI/applications/InertialMeasurementUnitObserver/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package RobotAPI::application::InertialMeasurementUnitObserver
* @author Markus Grotz ( markus-grotz at web dot de )
* @date 2015
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "InertialMeasurementUnitObserverApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/KinematicUnitObserver/KinematicUnitObserverApp.h b/source/RobotAPI/applications/KinematicUnitObserver/KinematicUnitObserverApp.h
index 84dcb2406dc3f2da30874d12db1a9bebb2a11127..5dbc9624a5e8481582d1e3a67fd87fcf72d943b3 100644
--- a/source/RobotAPI/applications/KinematicUnitObserver/KinematicUnitObserverApp.h
+++ b/source/RobotAPI/applications/KinematicUnitObserver/KinematicUnitObserverApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package ArmarXCore::applications
* @author Christian Boege (boege dot at kit dot edu)
* @date 2011
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/components/units/KinematicUnitObserver.h>
namespace armarx
@@ -30,15 +29,15 @@ namespace armarx
/**
* Application for testing the armarx::KinematicUnitObserver
*/
- class KinematicUnitObserverApp :
- virtual public armarx::Application
- {
+ class KinematicUnitObserverApp :
+ virtual public armarx::Application
+ {
/**
* @see armarx::Application::setup()
*/
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject( Component::create<KinematicUnitObserver>(properties) );
+ void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
+ {
+ registry->addObject(Component::create<KinematicUnitObserver>(properties));
}
- };
+ };
}
diff --git a/source/RobotAPI/applications/KinematicUnitObserver/main.cpp b/source/RobotAPI/applications/KinematicUnitObserver/main.cpp
index 6caa89a542892ca94ff669dc94fc9034bb8c0dbf..accfeceb8d206d5851c5aa080314443bb8b708a7 100644
--- a/source/RobotAPI/applications/KinematicUnitObserver/main.cpp
+++ b/source/RobotAPI/applications/KinematicUnitObserver/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package Core::application::KinematicUnitObserver
* @author Manfred Kroehnert
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "KinematicUnitObserverApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/KinematicUnitSimulation/KinematicUnitSimulationApp.h b/source/RobotAPI/applications/KinematicUnitSimulation/KinematicUnitSimulationApp.h
index 6d4add7170f9799914444b62e68f76d49a4fcc72..46e2fa71bb276fd00f971ca8892bb87438cc700e 100644
--- a/source/RobotAPI/applications/KinematicUnitSimulation/KinematicUnitSimulationApp.h
+++ b/source/RobotAPI/applications/KinematicUnitSimulation/KinematicUnitSimulationApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package ArmarXCore::applications
* @author Christian Boege (boege at kit dot edu)
* @date 2011
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/components/units/KinematicUnitSimulation.h>
namespace armarx
@@ -36,9 +35,9 @@ namespace armarx
/**
* @see armarx::Application::setup()
*/
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject( Component::create<KinematicUnitSimulation>(properties) );
+ void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
+ {
+ registry->addObject(Component::create<KinematicUnitSimulation>(properties));
}
};
}
diff --git a/source/RobotAPI/applications/KinematicUnitSimulation/main.cpp b/source/RobotAPI/applications/KinematicUnitSimulation/main.cpp
index 14648392913909c1fe51dc553e4e05938278251c..243525eb84e1b320bb7a28a8317ab4e4c849f270 100644
--- a/source/RobotAPI/applications/KinematicUnitSimulation/main.cpp
+++ b/source/RobotAPI/applications/KinematicUnitSimulation/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package Core::application::KinematicUnitSimulation
* @author Manfred Kroehnert
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "KinematicUnitSimulationApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/MMMPlayer/CMakeLists.txt b/source/RobotAPI/applications/MMMPlayer/CMakeLists.txt
index 1aa2b39a4c3f68a824af971907286c0716c0eef0..84a48de2986de1098d0fc14f95815cb5b140da6c 100644
--- a/source/RobotAPI/applications/MMMPlayer/CMakeLists.txt
+++ b/source/RobotAPI/applications/MMMPlayer/CMakeLists.txt
@@ -16,7 +16,7 @@ if (Eigen3_FOUND)
include_directories(${Eigen3_INCLUDE_DIR})
endif()
-set(COMPONENT_LIBS MMMPlayer ArmarXInterfaces ArmarXCore ${MMMCORE_LIBRARIES})
+set(COMPONENT_LIBS MMMPlayer ArmarXCoreInterfaces ArmarXCore ${MMMCORE_LIBRARIES})
set(EXE_SOURCE MMMPlayerApp.h main.cpp)
diff --git a/source/RobotAPI/applications/MMMPlayer/MMMPlayerApp.h b/source/RobotAPI/applications/MMMPlayer/MMMPlayerApp.h
index 809e37f4b7e6a2082fc2c7ed2225ba580fe8053b..e1026ef8377fa2ab00d2424676c584fdec17794e 100644
--- a/source/RobotAPI/applications/MMMPlayer/MMMPlayerApp.h
+++ b/source/RobotAPI/applications/MMMPlayer/MMMPlayerApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI::application::MMMPlayer
* @author Mirko Waechter ( mirko dot waechter at kit dot edu )
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -27,8 +26,8 @@
#include <RobotAPI/components/MMMPlayer/MMMPlayer.h>
-#include <Core/core/application/Application.h>
-#include <Core/core/Component.h>
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
namespace armarx
@@ -48,7 +47,7 @@ namespace armarx
void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
Ice::PropertiesPtr properties)
{
- registry->addObject( Component::create<MMMPlayer>(properties) );
+ registry->addObject(Component::create<MMMPlayer>(properties));
}
};
}
diff --git a/source/RobotAPI/applications/MMMPlayer/main.cpp b/source/RobotAPI/applications/MMMPlayer/main.cpp
index 32f1a335c2cb18dc3d88afb9730c784cbb7fe4f2..da1c3893b3192d218bca51df0f5c333cc1dc9f4a 100644
--- a/source/RobotAPI/applications/MMMPlayer/main.cpp
+++ b/source/RobotAPI/applications/MMMPlayer/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package RobotAPI::application::MMMPlayer
* @author Mirko Waechter ( mirko dot waechter at kit dot edu )
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "MMMPlayerApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/PlatformUnitObserver/PlatformUnitObserverApp.h b/source/RobotAPI/applications/PlatformUnitObserver/PlatformUnitObserverApp.h
index 9196492b1df3e826284c7512692c641e079dc5b3..15eb07fc527af47aef13782b4718483ddae2fb35 100644
--- a/source/RobotAPI/applications/PlatformUnitObserver/PlatformUnitObserverApp.h
+++ b/source/RobotAPI/applications/PlatformUnitObserver/PlatformUnitObserverApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package ArmarXCore::applications
* @author Manfred Kroehnert (manfred dot kroehnert at kit dot edu)
* @date 2013
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/components/units/PlatformUnitObserver.h>
namespace armarx
@@ -38,7 +37,7 @@ namespace armarx
*/
void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
{
- registry->addObject( Component::create<PlatformUnitObserver>(properties) );
+ registry->addObject(Component::create<PlatformUnitObserver>(properties));
}
- };
+ };
}
diff --git a/source/RobotAPI/applications/PlatformUnitObserver/main.cpp b/source/RobotAPI/applications/PlatformUnitObserver/main.cpp
index d8c784b40dc36d5d5efc51150230d70d807170ba..a3e52e8ed2ab320c498d3ea43b913f8a1cff66cd 100644
--- a/source/RobotAPI/applications/PlatformUnitObserver/main.cpp
+++ b/source/RobotAPI/applications/PlatformUnitObserver/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package Core::application::PlatformUnitObserver
* @author Manfred Kroehnert
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "PlatformUnitObserverApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/PlatformUnitSimulation/PlatformUnitSimulationApp.h b/source/RobotAPI/applications/PlatformUnitSimulation/PlatformUnitSimulationApp.h
index cdf0896c3d5e8e71f72e887c23dd327b811d7773..172ca667045152e9005c73198adef48535e7f208 100644
--- a/source/RobotAPI/applications/PlatformUnitSimulation/PlatformUnitSimulationApp.h
+++ b/source/RobotAPI/applications/PlatformUnitSimulation/PlatformUnitSimulationApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package ArmarXCore::applications
* @author tobias haass
* @date 2013
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/components/units/PlatformUnitSimulation.h>
namespace armarx
@@ -36,9 +35,9 @@ namespace armarx
/**
* @see armarx::Application::setup()
*/
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject( Component::create<PlatformUnitSimulation>(properties) );
+ void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
+ {
+ registry->addObject(Component::create<PlatformUnitSimulation>(properties));
}
};
}
diff --git a/source/RobotAPI/applications/PlatformUnitSimulation/main.cpp b/source/RobotAPI/applications/PlatformUnitSimulation/main.cpp
index d0f0d8d799942effde9f5208bcd0d1ca89cbd1ee..3a2ff9ecf98e3565b84926cc8dcf41d5a2d7e7bc 100644
--- a/source/RobotAPI/applications/PlatformUnitSimulation/main.cpp
+++ b/source/RobotAPI/applications/PlatformUnitSimulation/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package Core::application::PlatformUnitSimulation
* @author Manfred Kroehnert
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "PlatformUnitSimulationApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/RobotControl/RobotControlApp.h b/source/RobotAPI/applications/RobotControl/RobotControlApp.h
index 3d6a7969d538dae9bbdb648a27dbe2e20caf7f78..c290545210136c8014c21e29b50f53f859ffd788 100644
--- a/source/RobotAPI/applications/RobotControl/RobotControlApp.h
+++ b/source/RobotAPI/applications/RobotControl/RobotControlApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package ArmarXCore::applications
* @author Kai Welke (weöle dot at kit dot edu)
* @date 2012
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/statecharts/operations/RobotControl.h>
namespace armarx
@@ -31,14 +30,14 @@ namespace armarx
* Application for testing armarx::RobotControl
*/
class RobotControlApp :
- virtual public armarx::Application
- {
+ virtual public armarx::Application
+ {
/**
* @see armarx::Application::setup()
*/
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject( Component::create<RobotControl>(properties) );
+ void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
+ {
+ registry->addObject(Component::create<RobotControl>(properties));
}
- };
+ };
}
diff --git a/source/RobotAPI/applications/RobotControl/main.cpp b/source/RobotAPI/applications/RobotControl/main.cpp
index b42109ee66362d378a75014a5d4da3802577101c..8ff8a5db87d5049bc35667f2b376a4844e8819e7 100644
--- a/source/RobotAPI/applications/RobotControl/main.cpp
+++ b/source/RobotAPI/applications/RobotControl/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package Core::application::RobotControl
* @author Manfred Kroehnert
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "RobotControlApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/RobotControlUI/RobotControlUI.cpp b/source/RobotAPI/applications/RobotControlUI/RobotControlUI.cpp
index 7862de8c1e1f915800f9c81443e5e6ae1aa66f5a..1200654b333ff92b2767293d04be750a81770c71 100644
--- a/source/RobotAPI/applications/RobotControlUI/RobotControlUI.cpp
+++ b/source/RobotAPI/applications/RobotControlUI/RobotControlUI.cpp
@@ -2,30 +2,29 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public LIcense as
- * published by the Free Software Foundation; either version 2 of
- * the LIcense, or (at your option) any later version.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public LIcense for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
- * You should have received a copy of the GNU General Public LIcense
- * along with this program. If not, see <http://www.gnu.org/lIcenses/>.
+ * 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 ArmarX::Applications
* @author Jan Issac (jan dot issac at gmx dot net)
* @date 2011
- * @copyright http://www.gnu.org/lIcenses/gpl-2.0.txt
- * GNU General Public LIcense
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
*/
#include "RobotControlUI.h"
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <iostream>
-#include <Core/observers/ObserverObjectFactories.h>
+#include <ArmarXCore/observers/ObserverObjectFactories.h>
using namespace armarx;
using namespace std;
@@ -52,22 +51,25 @@ void RobotControlUI::run()
{
string eventstring;
cout << "Please insert the event string: " << std::flush;
-// cin >> eventstring;
+ // cin >> eventstring;
eventstring = "EvLoadScenario";
- if(eventstring == "q")
+
+ if (eventstring == "q")
{
-// shutdown();
+ // shutdown();
}
- else{
+ else
+ {
cout << "Please insert the state id of the state that should process the event: " << std::flush;
int id;
-// cin >> id;
+ // cin >> id;
id = 11;
cout << "sending to id:" << id << endl;
- EventPtr evt = new Event("EVENTTOALL",eventstring);
+ EventPtr evt = new Event("EVENTTOALL", eventstring);
StateUtilFunctions::addToDictionary(evt, "proxyName", "RemoteStateOfferer");
StateUtilFunctions::addToDictionary(evt, "stateName", "MoveArm");
//robotProxy->issueEvent(id, evt);
}
-// cin >> eventstring;
+
+ // cin >> eventstring;
}
diff --git a/source/RobotAPI/applications/RobotControlUI/RobotControlUI.h b/source/RobotAPI/applications/RobotControlUI/RobotControlUI.h
index b9d76d5a99575b648bb43edad810a420bf29c236..0fa2a7b12cd6929cedaf3aa886f4e7ab2d4929e8 100644
--- a/source/RobotAPI/applications/RobotControlUI/RobotControlUI.h
+++ b/source/RobotAPI/applications/RobotControlUI/RobotControlUI.h
@@ -2,32 +2,31 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public LIcense as
- * published by the Free Software Foundation; either version 2 of
- * the LIcense, or (at your option) any later version.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public LIcense for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
- * You should have received a copy of the GNU General Public LIcense
- * along with this program. If not, see <http://www.gnu.org/lIcenses/>.
+ * 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 ArmarX::Applications
* @author Jan Issac (jan dot issac at gmx dot net)
* @date 2011
- * @copyright http://www.gnu.org/lIcenses/gpl-2.0.txt
- * GNU General Public LIcense
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
*/
#ifndef _ARMARX_SIMPLECOMPONENTTEST_H
#define _ARMARX_SIMPLECOMPONENTTEST_H
// ArmarXCore
-#include <Core/core/Component.h>
-#include <Core/core/services/tasks/RunningTask.h>
-#include <Core/core/IceManager.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/services/tasks/RunningTask.h>
+#include <ArmarXCore/core/IceManager.h>
#include <RobotAPI/statecharts/operations/RobotControl.h>
#include <string>
@@ -39,7 +38,10 @@ namespace armarx
public:
int stateId;
RobotControlInterfacePrx robotProxy;
- virtual std::string getDefaultName() const { return "RobotControlUI"; }
+ virtual std::string getDefaultName() const
+ {
+ return "RobotControlUI";
+ }
virtual void onInitComponent();
virtual void onConnectComponent();
virtual void onExitComponent();
diff --git a/source/RobotAPI/applications/RobotControlUI/RobotControlUIApp.h b/source/RobotAPI/applications/RobotControlUI/RobotControlUIApp.h
index 923620f9e4ab35948a4d0ebc5f064cfda444c7cf..0764e757abf269af90a40ec661bbbd0e958256a2 100644
--- a/source/RobotAPI/applications/RobotControlUI/RobotControlUIApp.h
+++ b/source/RobotAPI/applications/RobotControlUI/RobotControlUIApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package ArmarXCore::applications
* @author Kai Welke (weöle dot at kit dot edu)
* @date 2012
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include "RobotControlUI.h"
namespace armarx
@@ -38,7 +37,7 @@ namespace armarx
*/
void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
{
- registry->addObject( Component::create<RobotControlUI>(properties) );
+ registry->addObject(Component::create<RobotControlUI>(properties));
}
};
}
diff --git a/source/RobotAPI/applications/RobotControlUI/main.cpp b/source/RobotAPI/applications/RobotControlUI/main.cpp
index 69a727b32d7c36e304ed6ed72e9ba04b5cb07671..dca188e23dd8c529da34f498356ee8098a09cc3c 100644
--- a/source/RobotAPI/applications/RobotControlUI/main.cpp
+++ b/source/RobotAPI/applications/RobotControlUI/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package Core::application::RobotControlUI
* @author Manfred Kroehnert
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "RobotControlUIApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/RobotStateComponent/RobotStateComponentApp.h b/source/RobotAPI/applications/RobotStateComponent/RobotStateComponentApp.h
index 38fc1f7ee884be47ce111f437c93c99f9110a34d..065d5f07715699b1c499b567338f80271207dede 100644
--- a/source/RobotAPI/applications/RobotStateComponent/RobotStateComponentApp.h
+++ b/source/RobotAPI/applications/RobotStateComponent/RobotStateComponentApp.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,13 +16,13 @@
* @package RobotStateComponent::
* @author ( at kit dot edu)
* @date
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/components/RobotState/RobotStateComponent.h>
namespace armarx
@@ -37,13 +36,13 @@ namespace armarx
/**
* @see armarx::Application::setup()
*/
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
+ void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
+ {
auto state = Component::create<RobotStateComponent>(properties);
auto observer = Component::create<RobotStateObserver>(properties);
state->setRobotStateObserver(observer);
- registry->addObject( state );
- registry->addObject( observer );
+ registry->addObject(state);
+ registry->addObject(observer);
}
};
}
diff --git a/source/RobotAPI/applications/RobotStateComponent/main.cpp b/source/RobotAPI/applications/RobotStateComponent/main.cpp
index 0b602b6260fc3ddd8116c45c2e168bc13b5151a3..2966ad88097e52a83f9b0b48d78371857e9963b0 100644
--- a/source/RobotAPI/applications/RobotStateComponent/main.cpp
+++ b/source/RobotAPI/applications/RobotStateComponent/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package Core::application::RobotStateComponent
* @author Manfred Kroehnert
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "RobotStateComponentApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/RobotStateObserver/RobotStateObserverApp.h b/source/RobotAPI/applications/RobotStateObserver/RobotStateObserverApp.h
index 8242165300590cf49e412e3781e3da1ce801f119..f0b6ca4cba6e32a7c03903827e5b3bbafd24cdcc 100644
--- a/source/RobotAPI/applications/RobotStateObserver/RobotStateObserverApp.h
+++ b/source/RobotAPI/applications/RobotStateObserver/RobotStateObserverApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package ArmarXCore::applications
* @author Kai Welke (welke dot at kit dot edu)
* @date 2012
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/libraries/core/remoterobot/RobotStateObserver.h>
namespace armarx
@@ -30,15 +29,15 @@ namespace armarx
/**
* Application for testing armarx::RobotStateObserver
*/
- class RobotStateObserverApp :
- virtual public armarx::Application
- {
+ class RobotStateObserverApp :
+ virtual public armarx::Application
+ {
/**
* @see armarx::Application::setup()
*/
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject( Component::create<RobotStateObserver>(properties) );
+ void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
+ {
+ registry->addObject(Component::create<RobotStateObserver>(properties));
}
- };
+ };
}
diff --git a/source/RobotAPI/applications/RobotStateObserver/main.cpp b/source/RobotAPI/applications/RobotStateObserver/main.cpp
index 30ecac9a8f70d004c44097c49ab5e7c5d640658d..c57020dfa7cd60c3132118a1bf67052beb278d3f 100644
--- a/source/RobotAPI/applications/RobotStateObserver/main.cpp
+++ b/source/RobotAPI/applications/RobotStateObserver/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package Core::application::RobotStateObserver
* @author Manfred Kroehnert
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "RobotStateObserverApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/TCPControlUnit/TCPControlUnitApp.h b/source/RobotAPI/applications/TCPControlUnit/TCPControlUnitApp.h
index 805a724b757da2de0c0ca47a3b84bf5bc1cd2e61..5a395d6fd4aae92dd4ec535d91e2539f4d119571 100644
--- a/source/RobotAPI/applications/TCPControlUnit/TCPControlUnitApp.h
+++ b/source/RobotAPI/applications/TCPControlUnit/TCPControlUnitApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,24 +16,24 @@
* @package ArmarXCore::applications
* @author Kai Welke (weöle dot at kit dot edu)
* @date 2012
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/components/units/TCPControlUnit.h>
#include <RobotAPI/components/units/TCPControlUnitObserver.h>
namespace armarx
{
class TCPControlUnitApp :
- virtual public armarx::Application
- {
+ virtual public armarx::Application
+ {
void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
{
- registry->addObject( Component::create<TCPControlUnit>(properties) );
- registry->addObject( Component::create<TCPControlUnitObserver>(properties) );
+ registry->addObject(Component::create<TCPControlUnit>(properties));
+ registry->addObject(Component::create<TCPControlUnitObserver>(properties));
}
};
}
diff --git a/source/RobotAPI/applications/TCPControlUnit/main.cpp b/source/RobotAPI/applications/TCPControlUnit/main.cpp
index ca23f217c9b253ded6218ca10954c78e8f2c0edb..941b7017ba23ae1ed5a7dfe963ded261ccffd019 100644
--- a/source/RobotAPI/applications/TCPControlUnit/main.cpp
+++ b/source/RobotAPI/applications/TCPControlUnit/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package RobotAPI::application::TCPControlUnit
* @author Manfred Kroehnert
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "TCPControlUnitApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/WeissHapticUnit/WeissHapticUnitApp.h b/source/RobotAPI/applications/WeissHapticUnit/WeissHapticUnitApp.h
index 4466a3b0e17882e97de29656ef6618e29e713425..9b2cb9e06b8029b90c2277e2bed3ff09d97eb63b 100644
--- a/source/RobotAPI/applications/WeissHapticUnit/WeissHapticUnitApp.h
+++ b/source/RobotAPI/applications/WeissHapticUnit/WeissHapticUnitApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,14 +16,14 @@
* @package RobotAPI::application::WeissHapticUnit
* @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#ifndef _ARMARX_APPLICATION_RobotAPI_WeissHapticUnit_H
#define _ARMARX_APPLICATION_RobotAPI_WeissHapticUnit_H
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/components/units/HapticObserver.h>
#include <RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticUnit.h>
@@ -45,8 +44,8 @@ namespace armarx
void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
Ice::PropertiesPtr properties)
{
- registry->addObject( Component::create<WeissHapticUnit>(properties) );
- registry->addObject( Component::create<HapticObserver>(properties) );
+ registry->addObject(Component::create<WeissHapticUnit>(properties));
+ registry->addObject(Component::create<HapticObserver>(properties));
}
};
}
diff --git a/source/RobotAPI/applications/WeissHapticUnit/main.cpp b/source/RobotAPI/applications/WeissHapticUnit/main.cpp
index 488f764ec81279f8a74391c1f34f3ccf02ac0f7b..e627759fca862ba748105456b459d6e8da9e7d69 100644
--- a/source/RobotAPI/applications/WeissHapticUnit/main.cpp
+++ b/source/RobotAPI/applications/WeissHapticUnit/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package RobotAPI::application::WeissHapticUnit
* @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "WeissHapticUnitApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/XsensIMU/CMakeLists.txt b/source/RobotAPI/applications/XsensIMU/CMakeLists.txt
index 73778cdf5323c15503526ab8e9461e503dd2e3e4..68a3af2b1c42625496dba90e2fc18eea9acd1f6d 100644
--- a/source/RobotAPI/applications/XsensIMU/CMakeLists.txt
+++ b/source/RobotAPI/applications/XsensIMU/CMakeLists.txt
@@ -9,7 +9,7 @@ armarx_component_set_name("XsensIMUApp")
# include_directories(${MyLib_INCLUDE_DIRS})
#endif()
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore XsensIMU)
+set(COMPONENT_LIBS ArmarXCoreInterfaces ArmarXCore XsensIMU)
set(EXE_SOURCE XsensIMUApp.h main.cpp)
diff --git a/source/RobotAPI/applications/XsensIMU/XsensIMUApp.h b/source/RobotAPI/applications/XsensIMU/XsensIMUApp.h
index 92c9f0be0193fb1d8a30794a43443b229c332547..6fcd5818e014d6d66b0eeb373f30f577bced7e32 100644
--- a/source/RobotAPI/applications/XsensIMU/XsensIMUApp.h
+++ b/source/RobotAPI/applications/XsensIMU/XsensIMUApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI::application::XsensIMU
* @author Markus Grotz ( markus-grotz at web dot de )
* @date 2015
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -27,8 +26,8 @@
#include <RobotAPI/libraries/drivers/XsensIMU/XsensIMU.h>
-#include <Core/core/application/Application.h>
-#include <Core/core/Component.h>
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
namespace armarx
@@ -48,7 +47,7 @@ namespace armarx
void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
Ice::PropertiesPtr properties)
{
- registry->addObject( Component::create<XsensIMU>(properties) );
+ registry->addObject(Component::create<XsensIMU>(properties));
}
};
}
diff --git a/source/RobotAPI/applications/XsensIMU/main.cpp b/source/RobotAPI/applications/XsensIMU/main.cpp
index e58d9dd795abaf00f1e9eb2d7af93c47c413f6cf..d1a482c9f534cb79d5ecc7022b7cb6502c3794ff 100644
--- a/source/RobotAPI/applications/XsensIMU/main.cpp
+++ b/source/RobotAPI/applications/XsensIMU/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package RobotAPI::application::XsensIMU
* @author Markus Grotz ( markus-grotz at web dot de )
* @date 2015
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "XsensIMUApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/deprecated/MotionControl/CMakeLists.txt b/source/RobotAPI/applications/deprecated/MotionControl/CMakeLists.txt
index c8099e969b735a7dc2cfa1571e8b0dc139dc1e9c..711bc726927394a249a20ac8ecb4583b01433c64 100644
--- a/source/RobotAPI/applications/deprecated/MotionControl/CMakeLists.txt
+++ b/source/RobotAPI/applications/deprecated/MotionControl/CMakeLists.txt
@@ -8,7 +8,7 @@ find_package(Simox QUIET)
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers RobotAPIRobotStateComponent ArmarXCoreStatechart RobotAPIOperations)
+set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXCoreInterfaces ArmarXCore ArmarXCoreObservers RobotAPIRobotStateComponent ArmarXCoreStatechart RobotAPIOperations)
set(SOURCES main.cpp MotionControlApp.h)
diff --git a/source/RobotAPI/applications/deprecated/MotionControl/MotionControlApp.h b/source/RobotAPI/applications/deprecated/MotionControl/MotionControlApp.h
index 5a1250ca065155c1e788b0a61207acf32d549628..54c2d4765c771bac03741ed4e388da9c52c7ac3a 100644
--- a/source/RobotAPI/applications/deprecated/MotionControl/MotionControlApp.h
+++ b/source/RobotAPI/applications/deprecated/MotionControl/MotionControlApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,22 +16,22 @@
* @package ArmarXCore::applications
* @author Kai Welke (weöle dot at kit dot edu)
* @date 2012
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/statecharts/motioncontrol/MotionControl.h>
namespace armarx
{
class MotionControlApp :
- virtual public armarx::Application
- {
+ virtual public armarx::Application
+ {
void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
{
- registry->addObject( Component::create<MotionControl::MotionControlOfferer>(properties) );
+ registry->addObject(Component::create<MotionControl::MotionControlOfferer>(properties));
}
};
}
diff --git a/source/RobotAPI/applications/deprecated/MotionControl/main.cpp b/source/RobotAPI/applications/deprecated/MotionControl/main.cpp
index b12d363adb53ba4b5c4e4eb835e7e93f49d35e13..221c3c39cae5ebd4ba14fdca409ea3a4a31282e9 100644
--- a/source/RobotAPI/applications/deprecated/MotionControl/main.cpp
+++ b/source/RobotAPI/applications/deprecated/MotionControl/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package RobotAPI::application::MotionControl
* @author Manfred Kroehnert
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "MotionControlApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/deprecated/MotionControlTest/MotionControlTestApp.h b/source/RobotAPI/applications/deprecated/MotionControlTest/MotionControlTestApp.h
index af86e3541435a37fc39ca3d5d192cc0784eb7ae8..cf04af28420ce90829a0fbfba227cb73d6dca2d8 100644
--- a/source/RobotAPI/applications/deprecated/MotionControlTest/MotionControlTestApp.h
+++ b/source/RobotAPI/applications/deprecated/MotionControlTest/MotionControlTestApp.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package ArmarXCore::applications
* @author Kai Welke (weöle dot at kit dot edu)
* @date 2012
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/statecharts/motioncontrol/MotionControl.h>
namespace armarx
@@ -32,7 +31,7 @@ namespace armarx
{
void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
{
- registry->addObject( Component::create<MotionControl::MotionControlOfferer>(properties) );
+ registry->addObject(Component::create<MotionControl::MotionControlOfferer>(properties));
}
};
}
diff --git a/source/RobotAPI/applications/deprecated/MotionControlTest/main.cpp b/source/RobotAPI/applications/deprecated/MotionControlTest/main.cpp
index dd6c501553c97e8f7c8e41d6655dc79fcaed61cf..d6c5b5587217d77cf4d09da44e924780a5b7dddf 100644
--- a/source/RobotAPI/applications/deprecated/MotionControlTest/main.cpp
+++ b/source/RobotAPI/applications/deprecated/MotionControlTest/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package RobotAPI::application::MotionControlTest
* @author Manfred Kroehnert
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "MotionControlTestApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/RobotIK/CMakeLists.txt b/source/RobotAPI/applications/moved_to_robotcomponents_RobotIK/CMakeLists.txt
similarity index 100%
rename from source/RobotAPI/applications/RobotIK/CMakeLists.txt
rename to source/RobotAPI/applications/moved_to_robotcomponents_RobotIK/CMakeLists.txt
diff --git a/source/RobotAPI/applications/RobotIK/RobotIKApp.h b/source/RobotAPI/applications/moved_to_robotcomponents_RobotIK/RobotIKApp.h
similarity index 65%
rename from source/RobotAPI/applications/RobotIK/RobotIKApp.h
rename to source/RobotAPI/applications/moved_to_robotcomponents_RobotIK/RobotIKApp.h
index 2bfb0051e3a97bba0507cfb6fb2ae501d9caa600..958331f3ee99014fb9ce027a1895fe0e248959b4 100644
--- a/source/RobotAPI/applications/RobotIK/RobotIKApp.h
+++ b/source/RobotAPI/applications/moved_to_robotcomponents_RobotIK/RobotIKApp.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,13 +16,13 @@
* @package RobotAPI::RobotIK
* @author ( joshua dot haustein at gmail dot com)
* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/application/Application.h>
#include <RobotAPI/components/RobotIK/RobotIK.h>
namespace armarx
@@ -37,10 +36,10 @@ namespace armarx
/**
* @see armarx::Application::setup()
*/
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
+ void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
+ {
auto iksolver = Component::create<RobotIK>(properties);
- registry->addObject( iksolver );
+ registry->addObject(iksolver);
}
};
}
diff --git a/source/RobotAPI/applications/RobotIK/main.cpp b/source/RobotAPI/applications/moved_to_robotcomponents_RobotIK/main.cpp
similarity index 65%
rename from source/RobotAPI/applications/RobotIK/main.cpp
rename to source/RobotAPI/applications/moved_to_robotcomponents_RobotIK/main.cpp
index 2ba1087bf6c34afcd3be2ec186988d79535e8e61..18b3ad25f9a17f19a237e9479266a65aaceaa846 100644
--- a/source/RobotAPI/applications/RobotIK/main.cpp
+++ b/source/RobotAPI/applications/moved_to_robotcomponents_RobotIK/main.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,12 +16,12 @@
* @package RobotAPI::applications::RobotIK
* @author Joshua Haustein
* @date 2015
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "RobotIKApp.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/components/CMakeLists.txt b/source/RobotAPI/components/CMakeLists.txt
index 06399d58c2f161451dce1dd0afd99eec0af31a71..fb09cfb0a45c54b1fd2f503b76a857ccd73a87e4 100644
--- a/source/RobotAPI/components/CMakeLists.txt
+++ b/source/RobotAPI/components/CMakeLists.txt
@@ -1,7 +1,5 @@
add_subdirectory(units)
add_subdirectory(DebugDrawer)
-add_subdirectory(MMMPlayer)
add_subdirectory(RobotState)
-add_subdirectory(RobotIK)
diff --git a/source/RobotAPI/components/MMMPlayer/CMakeLists.txt b/source/RobotAPI/components/MMMPlayer/CMakeLists.txt
deleted file mode 100644
index 84a9104738bd6d1ba2fc58ff3d82f7f290fb722c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/MMMPlayer/CMakeLists.txt
+++ /dev/null
@@ -1,35 +0,0 @@
-armarx_component_set_name("MMMPlayer")
-
-find_package(MMMCore QUIET)
-armarx_build_if(MMMCore_FOUND "MMMCORE not available")
-if(MMMCore_FOUND)
- include_directories(${MMMCORE_INCLUDE_DIRS})
-endif()
-
-find_package(Eigen3 QUIET)
-find_package(Simox ${ArmarX_Simox_VERSION} 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 RobotAPIInterfaces RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ${MMMCORE_LIBRARIES})
-
-set(SOURCES
-./MMMPlayer.cpp
-#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.cpp
-)
-set(HEADERS
-./MMMPlayer.h
-#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.h
-)
-
-armarx_add_component("${SOURCES}" "${HEADERS}")
-
-# add unit tests
-add_subdirectory(test)
diff --git a/source/RobotAPI/components/MMMPlayer/MMMPlayer.cpp b/source/RobotAPI/components/MMMPlayer/MMMPlayer.cpp
deleted file mode 100644
index 96170872e1b0eed8f09fd2db1f9891e93ea7bf88..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/MMMPlayer/MMMPlayer.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::ArmarXObjects::MMMPlayer
- * @author Mirko Waechter ( mirko dot waechter at kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "MMMPlayer.h"
-#include <MMM/Motion/MotionReaderXML.h>
-
-#include <Core/core/exceptions/local/ExpressionException.h>
-
-#include <Core/core/system/ArmarXDataPath.h>
-
-#include <Core/observers/variant/Variant.h>
-#include <Core/interface/observers/VariantBase.h>
-
-
-using namespace armarx;
-using namespace MMM;
-
-
-void MMMPlayer::onInitComponent()
-{
- usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
- usingProxy("DebugObserver");
-
- motionFPS = 1;
- desiredFPS = 1;
- usePIDController = getProperty<bool>("UsePIDController").getValue();
- if(usePIDController)
- usingTopic(getProperty<std::string>("RobotNodeSetName").getValue());
-}
-
-
-void MMMPlayer::onConnectComponent()
-{
- {
- ScopedLock lock(playerMutex);
- currentFrame = 0;
- MotionReaderXML reader;
- auto motionPath = getProperty<std::string>("MMMFile").getValue();
- ArmarXDataPath::getAbsolutePath(motionPath, motionPath);
- motion = reader.loadMotion(motionPath);
- if(!motion)
- {
- terminate();
- return;
- }
- jointNames = motion->getJointNames();
- if(motion->getNumFrames() > 1)
- {
- float frameDuration = motion->getMotionFrame(1)->timestep - motion->getMotionFrame(0)->timestep;
- ARMARX_CHECK_EXPRESSION(frameDuration != 0);
- ARMARX_CHECK_EXPRESSION(frameDuration > 0)
- motionFPS = 1.0f/frameDuration;
- ARMARX_VERBOSE << VAROUT(motionFPS);
- }
-
- kin = getProxy<KinematicUnitInterfacePrx>(getProperty<std::string>("KinematicUnitName").getValue());
- debugObserver = getProxy<DebugObserverInterfacePrx>("DebugObserver");
- desiredFPS = getProperty<float>("FPS").getValue();
-
- start = 0.3;
- end = 1.26;
- direction = 1;
-
- jointOffets["Right Arm Shoulder2"] = 20.0/180.0*M_PI;
- jointOffets["Left Arm Shoulder2"] = 20.0/180.0*M_PI;
-
- NameControlModeMap modes;
- for (size_t i = 0; i < jointNames.size(); ++i) {
- const auto& jointName = jointNames.at(i);
- if(usePIDController)
- {
- modes[jointName] = eVelocityControl;
- }
- else
- {
- modes[jointName] = ePositionControl;
- }
- }
- kin->switchControlMode(modes);
- }
-
- maxVel = getProperty<float>("absMaximumVelocity").getValue();
- task = new PeriodicTask<MMMPlayer>(this, &MMMPlayer::run, 10, false, "MMMPlayerTask");
- motionStartTime = IceUtil::Time::now();
- task->start();
-}
-
-
-void MMMPlayer::run()
-{
- ScopedLock lock(playerMutex);
- NameValueMap targetVelocities;
-
-
-
- currentMotionTime = (IceUtil::Time::now() - motionStartTime).toSecondsDouble() * 100 * desiredFPS / motionFPS;
- if(direction>0)
- currentFrame = currentMotionTime;
- else
- currentFrame = motion->getNumFrames() - (int)currentMotionTime;
- if(currentFrame >= (int)motion->getNumFrames() || currentFrame < 0)
- {
- if(getProperty<bool>("LoopPlayback").getValue())
- {
- direction *= -1;
- motionStartTime = IceUtil::Time::now();
- return;
- }
- else if(task)
- {
- return;
- }
- }
- double interpolationValue = currentMotionTime - (int)currentMotionTime;
- auto frame = motion->getMotionFrame(currentFrame);
- MMM::MotionFramePtr nextFrame;
- if(currentFrame +1 < (int)motion->getNumFrames())
- nextFrame = motion->getMotionFrame(currentFrame+1);
- targetPositionValues.clear();
- ARMARX_INFO << deactivateSpam(1) << "frame: " << currentFrame << " " << VAROUT(interpolationValue);
- StringVariantBaseMap debugTargetValues;
- ARMARX_CHECK_EXPRESSION((int)jointNames.size() == frame->joint.rows());
- for (size_t i = 0; i < jointNames.size(); ++i) {
- const auto& jointName = jointNames.at(i);
- auto& targetPosValue = targetPositionValues[jointName] = frame->joint[i];
- if(nextFrame)
- targetPosValue += interpolationValue * (nextFrame->joint[i] - frame->joint[i]);
- auto it = jointOffets.find(jointName);
- if(it != jointOffets.end())
- targetPosValue += it->second;
- assert(targetPosValue == targetPositionValues[jointName]);
- debugTargetValues[jointName] = new Variant(targetPosValue);
- float& targetVel = targetVelocities[jointName] = 0.0;
- auto vel = frame->joint_vel[i];
- if(vel != 0.0f)
- {
- targetVel = vel;
- }
- else if(nextFrame)
- {
- if(nextFrame->timestep - frame->timestep == 0)
- ARMARX_INFO << deactivateSpam() << "timestep delta is zero at frame " << currentFrame << " - cannot calculate velocity";
- targetVel = targetVelocities[jointName] = (nextFrame->joint[i] - frame->joint[i]) / (nextFrame->timestep - frame->timestep);
-
-
- }
-
-
- MMM::MotionFramePtr nextNextFrame;
- if(currentFrame + 2 < (int)motion->getNumFrames())
- nextNextFrame = motion->getMotionFrame(currentFrame+2);
- if(nextNextFrame)
- {
- float nextTargetVel = (nextNextFrame->joint[i] - nextFrame->joint[i]) / (nextNextFrame->timestep - nextFrame->timestep);
- targetVel += interpolationValue * (nextTargetVel - targetVel);
- }
- targetVel *= desiredFPS/motionFPS*direction;
-
-
-// targetVelocities[jointName] = 0.0;
- auto pid = PIDs.find(jointName);
- if(usePIDController && pid != PIDs.end())
- {
- auto cv = pid->second->getControlValue();
- targetVel += cv;
- if(cv > 20)
- ARMARX_INFO << "" << (jointName) << ": v:" << (targetVel) << " pos: " << targetPosValue;
-
-// debugObserver->setDebugDatafield(jointName, "p", new Variant(pid->second->previousError * pid->second->Kp));
-// debugObserver->setDebugDatafield(jointName, "i", new Variant(pid->second->integral* pid->second->Ki));
-// debugObserver->setDebugDatafield(jointName, "d", new Variant(pid->second->derivative * pid->second->Kd));
-// debugObserver->setDebugDatafield(jointName, "velocity", new Variant(targetVelocities[jointName]));
- }
- targetVel = std::min<double>(maxVel/180.0*M_PI,targetVel);
- targetVel = std::max<double>(-1 * maxVel/180.0*M_PI,targetVel);
- }
-// ARMARX_INFO << "target: " << targetPositionValues ;
- std::stringstream out;
- for(auto v : debugTargetValues)
- out << v.first << ": " << v.second->getFloat() << " " << targetPositionValues[v.first] << "\n" ;
-// ARMARX_INFO << "debugtarget: " << out.str() ;
- debugObserver->setDebugChannel("targetJointAngles", debugTargetValues);
- kin->setJointVelocities(targetVelocities);
- if(!usePIDController)
- kin->setJointAngles(targetPositionValues);
- ARMARX_VERBOSE << deactivateSpam(3) << "Playing frame " << currentFrame;
-// currentFrame+=direction;
-}
-
-void MMMPlayer::reportJointAngles(const NameValueMap &angles, bool, const Ice::Current &)
-{
- ScopedLock lock(playerMutex);
- std::stringstream out;
- for(auto v : angles)
- out << v.first << ": " << v.second << " " << targetPositionValues[v.first] << "\n" ;
-// ARMARX_INFO << deactivateSpam(0.5) << "jointangles reported: " << out.str();
- if(!usePIDController)
- {
- ARMARX_INFO << deactivateSpam() << "jointangles reporting DISABLED";
- return;
-
- }
-
- for(const auto &joint: angles)
- {
-
- const std::string& name = joint.first;
- auto it = PIDs.find(name);
- if(it == PIDs.end())
- {
- PIDs[name] = PIDControllerPtr(new PIDController(getProperty<float>("Kp").getValue(),
- getProperty<float>("Ki").getValue(),
- getProperty<float>("Kd").getValue()));
- it = PIDs.find(name);
- }
- ARMARX_INFO << deactivateSpam() << name;
- PIDControllerPtr pid = it->second;
- pid->update(joint.second, targetPositionValues[name]);
- }
-}
-
-void MMMPlayer::onDisconnectComponent()
-{
- if(task)
- task->stop();
- kin->stop();
-}
-
-
-void MMMPlayer::onExitComponent()
-{
-
-}
-
-PropertyDefinitionsPtr MMMPlayer::createPropertyDefinitions()
-{
- return PropertyDefinitionsPtr(new MMMPlayerPropertyDefinitions(
- getConfigIdentifier()));
-}
diff --git a/source/RobotAPI/components/MMMPlayer/MMMPlayer.h b/source/RobotAPI/components/MMMPlayer/MMMPlayer.h
deleted file mode 100644
index 6a31c2d37601497d70547105ffee48827d167be4..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/MMMPlayer/MMMPlayer.h
+++ /dev/null
@@ -1,164 +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::ArmarXObjects::MMMPlayer
- * @author Mirko Waechter ( mirko dot waechter at kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_COMPONENT_RobotAPI_MMMPlayer_H
-#define _ARMARX_COMPONENT_RobotAPI_MMMPlayer_H
-
-#include <MMM/Motion/Motion.h>
-
-
-
-#include <Core/core/Component.h>
-
-#include <RobotAPI/interface/units/KinematicUnitInterface.h>
-
-#include <Core/core/services/tasks/PeriodicTask.h>
-#include <RobotAPI/libraries/core/PIDController.h>
-
-#include <Core/interface/observers/ObserverInterface.h>
-
-namespace armarx
-{
- /**
- * \class MMMPlayerPropertyDefinitions
- * \brief
- */
- class MMMPlayerPropertyDefinitions:
- public ComponentPropertyDefinitions
- {
- public:
- MMMPlayerPropertyDefinitions(std::string prefix):
- ComponentPropertyDefinitions(prefix)
- {
- defineRequiredProperty<std::string>("MMMFile", "Path to MMM XML File");
- defineRequiredProperty<std::string>("KinematicUnitName", "Name of the KinematicUnit to which the joint values should be sent");
- defineRequiredProperty<std::string>("KinematicTopicName", "Name of the KinematicUnit reporting topic");
- defineOptionalProperty<float>("FPS", 100.0f, "FPS with which the recording should be executed. Velocities will be adapted.");
- defineOptionalProperty<bool>("LoopPlayback", true, "Specify whether should be repeated after execution")
- .setCaseInsensitive(true)
- .map("true", true)
- .map("yes", true)
- .map("1", true)
- .map("false", false)
- .map("no", false)
- .map("0", false);
- defineOptionalProperty<bool>("UsePIDController", true, "Specify whether the PID Controller should be used")
- .setCaseInsensitive(true)
- .map("true", true)
- .map("yes", true)
- .map("1", true)
- .map("false", false)
- .map("no", false)
- .map("0", false);
- defineOptionalProperty<float>("Kp", 1.f, "Proportional gain value of PID Controller");
- defineOptionalProperty<float>("Ki", 0.00001f, "Integral gain value of PID Controller");
- defineOptionalProperty<float>("Kd", 1.0f, "Differential gain value of PID Controller");
- defineOptionalProperty<float>("absMaximumVelocity", 120.0f, "The PID will never set a velocity above this threshold in degree");
- defineOptionalProperty<std::string>("RobotNodeSetName", "RobotState", "The name of the robot node set to be used (only need for PIDController mode)");
-
- }
- };
-
- /**
- * \class MMMPlayer
- * \ingroup RobotAPI-Components
- * \brief Replays an MMM trajectory from a file.
- *
- * MMMPlayer reads an MMM trajectory from an MMM XML file (component property) and replays the motion using the KinematicUnit and its currently loaded robot.
- * The trajectory can be replayed using position control or velocity control.
- * In the latter case, the control parameters (P, I, D) can be configured via component properties.
- */
- class MMMPlayer :
- virtual public armarx::Component,
- public KinematicUnitListener
- {
- public:
- /**
- * @see armarx::ManagedIceObject::getDefaultName()
- */
- virtual std::string getDefaultName() const
- {
- return "MMMPlayer";
- }
-
- protected:
- /**
- * @see armarx::ManagedIceObject::onInitComponent()
- */
- virtual void onInitComponent();
-
- /**
- * @see armarx::ManagedIceObject::onConnectComponent()
- */
- virtual void onConnectComponent();
-
- /**
- * @see armarx::ManagedIceObject::onDisconnectComponent()
- */
- virtual void onDisconnectComponent();
-
- /**
- * @see armarx::ManagedIceObject::onExitComponent()
- */
- virtual void onExitComponent();
-
- /**
- * @see PropertyUser::createPropertyDefinitions()
- */
- virtual PropertyDefinitionsPtr createPropertyDefinitions();
-
- void run();
- bool usePIDController;
- Mutex playerMutex;
- MMM::MotionPtr motion;
- KinematicUnitInterfacePrx kin;
- DebugObserverInterfacePrx debugObserver;
- PeriodicTask<MMMPlayer>::pointer_type task;
- StringList jointNames;
- int currentFrame;
- double currentMotionTime;
- float motionFPS;
- float desiredFPS;
- std::map<std::string, PIDControllerPtr> PIDs;
- NameValueMap targetPositionValues;
- IceUtil::Time motionStartTime;
- float start, end;
- int direction;
- NameValueMap jointOffets;
- float maxVel;
-
-
- // KinematicUnitListener interface
- public:
- void reportControlModeChanged(const NameControlModeMap &, bool, const Ice::Current &){}
- void reportJointAngles(const NameValueMap &angles, bool, const Ice::Current &);
- void reportJointVelocities(const NameValueMap &, bool, const Ice::Current &){}
- void reportJointTorques(const NameValueMap &, bool, const Ice::Current &){}
- void reportJointAccelerations(const NameValueMap &, bool, const Ice::Current &){}
- void reportJointCurrents(const NameValueMap &, bool, const Ice::Current &){}
- void reportJointMotorTemperatures(const NameValueMap &, bool, const Ice::Current &){}
- void reportJointStatuses(const NameStatusMap &, bool, const Ice::Current &){}
- };
-}
-
-#endif
diff --git a/source/RobotAPI/components/MMMPlayer/test/CMakeLists.txt b/source/RobotAPI/components/MMMPlayer/test/CMakeLists.txt
deleted file mode 100644
index 16a4cf72988867edbe64273efc0970b571548e5f..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/MMMPlayer/test/CMakeLists.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-
-# Libs required for the tests
-SET(LIBS ${LIBS} ArmarXCore MMMPlayer)
-
-armarx_add_test(MMMPlayerTest MMMPlayerTest.cpp "${LIBS}")
\ No newline at end of file
diff --git a/source/RobotAPI/components/MMMPlayer/test/MMMPlayerTest.cpp b/source/RobotAPI/components/MMMPlayer/test/MMMPlayerTest.cpp
deleted file mode 100644
index 326edd5156a723b5b205d7a29ec561e2d2f18e6d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/MMMPlayer/test/MMMPlayerTest.cpp
+++ /dev/null
@@ -1,38 +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::ArmarXObjects::MMMPlayer
- * @author Mirko Waechter ( mirko dot waechter at kit dot edu )
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#define BOOST_TEST_MODULE RobotAPI::ArmarXObjects::MMMPlayer
-
-#define ARMARX_BOOST_TEST
-
-#include <RobotAPI/Test.h>
-#include <RobotAPI/components/MMMPlayer/MMMPlayer.h>
-
-#include <iostream>
-
-BOOST_AUTO_TEST_CASE(testExample)
-{
- armarx::MMMPlayer instance;
-
- BOOST_CHECK_EQUAL(true, true);
-}
diff --git a/source/RobotAPI/components/RobotIK/CMakeLists.txt b/source/RobotAPI/components/RobotIK/CMakeLists.txt
deleted file mode 100644
index e463e42ece1e089176619aecec92c53a46b0da18..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/RobotIK/CMakeLists.txt
+++ /dev/null
@@ -1,28 +0,0 @@
-armarx_set_target("Core Library: ArmarXCoreRobotIK")
-
-find_package(Eigen3 QUIET)
-find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
-
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-include_directories(${Eigen3_INCLUDE_DIR})
-include_directories(${Simox_INCLUDE_DIRS})
-
-set(LIB_NAME RobotAPIRobotIK)
-set(LIB_VERSION 0.1.0)
-set(LIB_SOVERSION 0)
-
-set(LIBS ArmarXCore RobotAPICore)
-
-set(LIB_FILES
- RobotIK.cpp
- )
-
-set(LIB_HEADERS
- RobotIK.h
-)
-
-armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
-
-add_subdirectory(test)
\ No newline at end of file
diff --git a/source/RobotAPI/components/RobotIK/RobotIK.cpp b/source/RobotAPI/components/RobotIK/RobotIK.cpp
deleted file mode 100644
index 61446149c698d0bbf52f6fee259c61c1a1a1eb00..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/RobotIK/RobotIK.cpp
+++ /dev/null
@@ -1,633 +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::ArmarXObjects::RobotIK
- * @author Joshua Haustein ( joshua dot haustein at gmail dot com )
- * @date 2015
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "RobotIK.h"
-
-#include <VirtualRobot/XML/RobotIO.h>
-#include <VirtualRobot/Nodes/RobotNode.h>
-#include <VirtualRobot/RobotNodeSet.h>
-#include <VirtualRobot/Workspace/Reachability.h>
-#include <VirtualRobot/Workspace/Manipulability.h>
-#include <VirtualRobot/IK/CoMIK.h>
-#include <VirtualRobot/IK/JointLimitAvoidanceJacobi.h>
-#include <VirtualRobot/IK/HierarchicalIK.h>
-
-#include <boost/foreach.hpp>
-#include <boost/format.hpp>
-#include <boost/filesystem.hpp>
-
-#include <Core/core/system/ArmarXDataPath.h>
-#include <Core/core/ArmarXManager.h>
-#include <Core/core/ArmarXObjectScheduler.h>
-#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
-
-#include <algorithm>
-#include <set>
-
-// using namespace std;
-using namespace VirtualRobot;
-using namespace Eigen;
-using namespace Ice;
-using namespace boost;
-
-namespace armarx
-{
-
- void RobotIK::onInitComponent()
- {
- _robotFile = getProperty<std::string>("RobotFileName").getValue();
- if (!ArmarXDataPath::getAbsolutePath(_robotFile, _robotFile))
- {
- throw UserException("Could not find robot file " + _robotFile);
- }
-
- this->_robotModel = VirtualRobot::RobotIO::loadRobot(_robotFile, VirtualRobot::RobotIO::eStructure);
-
- if (this->_robotModel)
- {
- ARMARX_VERBOSE << "Loaded robot from file " << _robotFile;
- }
- else
- {
- ARMARX_VERBOSE << "Failed loading robot from file " << _robotFile;
- }
-
- // Get number of ik trials
- _numIKTrials = getProperty<int>("NumIKTrials").getValue();
-
- // Load initial reachability maps (if configured)
- std::vector<std::string> spaces;
- std::string spacesStr = getProperty<std::string>("InitialReachabilitySpaces").getValue();
- boost::split(spaces, spacesStr, boost::is_any_of(";"));
-
- if(spacesStr != "")
- {
- std::string spacesFolder = getProperty<std::string>("ReachabilitySpacesFolder").getValue();
-
- for(auto &space : spaces)
- {
- ARMARX_INFO << "Initially loading reachability space '" << (spacesFolder + "/" + space) << "'";
-
- std::string absolutePath;
- if(!ArmarXDataPath::getAbsolutePath(spacesFolder + "/" + space, absolutePath))
- {
- ARMARX_ERROR << "Could not load reachability map '" << (spacesFolder + "/" + space) << "'";
- continue;
- }
-
- loadReachabilitySpace(absolutePath);
- }
- }
-
- usingProxy(getProperty<std::string>("RobotStateComponentName").getValue());
- offeringTopic("DebugDrawerUpdates");
- }
-
-
- void RobotIK::onConnectComponent()
- {
- _robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>(getProperty<std::string>("RobotStateComponentName").getValue());
- if (_robotStateComponentPrx->getRobotFilename().compare(_robotFile) != 0) {
- ARMARX_WARNING << "The robot state component uses the robot model " << _robotStateComponentPrx->getRobotFilename()
- << " This component, however, uses " << _robotFile << " Both models must be identical!";
- }
- _synchronizedRobot = _robotStateComponentPrx->getSynchronizedRobot();
- debugDrawer = getTopic<armarx::DebugDrawerInterfacePrx>("DebugDrawerUpdates");
-
- }
-
- void RobotIK::onDisconnectComponent()
- {
- }
-
- PropertyDefinitionsPtr RobotIK::createPropertyDefinitions()
- {
- return PropertyDefinitionsPtr(new RobotIKPropertyDefinitions(
- getConfigIdentifier()));
- }
-
- NameValueMap RobotIK::computeIKFramedPose(const std::string& robotNodeSetName,
- const FramedPoseBasePtr& tcpPose, armarx::CartesianSelection cs, const Ice::Current&) const
- {
- NameValueMap ikSolution;
- computeIK(robotNodeSetName, toGlobalPose(tcpPose), cs, ikSolution);
- return ikSolution;
- }
-
- NameValueMap RobotIK::computeIKGlobalPose(const std::string& robotNodeSetName,
- const PoseBasePtr& tcpPose, armarx::CartesianSelection cs, const Ice::Current&) const
- {
- NameValueMap ikSolution;
- Pose globalTcpPose(tcpPose->position, tcpPose->orientation);
- computeIK(robotNodeSetName, globalTcpPose.toEigen(), cs, ikSolution);
- return ikSolution;
- }
-
- ExtendedIKResult RobotIK::computeExtendedIKGlobalPose(const std::string& robotNodeSetName,
- const PoseBasePtr& tcpPose, armarx::CartesianSelection cs, const Ice::Current&) const
- {
- ExtendedIKResult ikSolution;
- Pose globalTcpPose(tcpPose->position, tcpPose->orientation);
- computeIK(robotNodeSetName, globalTcpPose.toEigen(), cs, ikSolution);
- return ikSolution;
- }
-
- NameValueMap RobotIK::computeCoMIK(const std::string& robotNodeSetJoints, const CoMIKDescriptor& desc, const Ice::Current&) const
- {
- // Make sure we have valid input parameters
- if (!_robotModel->hasRobotNodeSet(robotNodeSetJoints))
- {
- return NameValueMap();
- }
-
- if (!_robotModel->hasRobotNodeSet(desc.robotNodeSetBodies))
- {
- return NameValueMap();
- }
-
- RobotNodePtr coordSystem = RobotNodePtr();
- if (desc.coordSysName.size() > 0 && _robotModel->hasRobotNode(desc.coordSysName))
- {
- coordSystem = _robotModel->getRobotNode(desc.coordSysName);
- }
-
- // Create and initialize ik solver
- RobotNodeSetPtr joints = _robotModel->getRobotNodeSet(robotNodeSetJoints);
- CoMIK comIkSolver(joints, _robotModel->getRobotNodeSet(desc.robotNodeSetBodies), coordSystem);
- Eigen::VectorXf goal(2);
- goal(0) = desc.gx;
- goal(1) = desc.gy;
- comIkSolver.setGoal(goal, desc.tolerance);
-
- // Solve
- std::lock_guard<std::recursive_mutex> lock(_modifyRobotModelMutex);
- bool success = comIkSolver.solveIK();
- NameValueMap result;
- if (success)
- {
- BOOST_FOREACH(auto joint, joints->getAllRobotNodes())
- {
- NameValueMap::value_type jointPair(joint->getName(), joint->getJointValue());
- result.insert(jointPair);
- }
- }
- return result;
- }
-
- NameValueMap RobotIK::computeHierarchicalDeltaIK(const std::string& robotNodeSetName,
- const IKTasks& iktasks, const CoMIKDescriptor& comIK, float stepSize,
- bool avoidJointLimits, bool enableCenterOfMass, const Ice::Current&) const
- {
- typedef std::pair<int, JacobiProviderPtr> PriorityJacobiProviderPair;
- auto lowerPriorityCompare = [] (const PriorityJacobiProviderPair& a, const PriorityJacobiProviderPair& b) { return a.first < b.first; };
- std::multiset<PriorityJacobiProviderPair, decltype(lowerPriorityCompare)> jacobiProviders(lowerPriorityCompare);
-
- if (!_robotModel->hasRobotNodeSet(robotNodeSetName))
- {
- throw UserException("Unknown robot node set " + robotNodeSetName);
- }
-
- synchRobot();
-
- RobotNodeSetPtr rns = _robotModel->getRobotNodeSet(robotNodeSetName);
- // First add all ik tasks
- BOOST_FOREACH(DifferentialIKDescriptor ikTask, iktasks)
- {
- if (!_robotModel->hasRobotNode(ikTask.tcpName))
- {
- throw UserException("Unknown TCP: " + ikTask.tcpName);
- }
-
- RobotNodePtr coordSystem = RobotNodePtr();
- if(ikTask.coordSysName.size() > 0 && _robotModel->hasRobotNode(ikTask.coordSysName))
- {
- coordSystem = _robotModel->getRobotNode(ikTask.coordSysName);
- }
-
- DifferentialIKPtr diffIK(new DifferentialIK(rns, coordSystem, convertInverseJacobiMethod(ikTask.ijm)));
- Pose globalTcpPose(ikTask.tcpGoal->position, ikTask.tcpGoal->orientation);
- RobotNodePtr tcp = _robotModel->getRobotNode(ikTask.tcpName);
- diffIK->setGoal(globalTcpPose.toEigen(), tcp, convertCartesianSelection(ikTask.csel));
- JacobiProviderPtr jacoProv = diffIK;
- jacobiProviders.insert(PriorityJacobiProviderPair(ikTask.priority, jacoProv));
- }
-
- // Now add the center of mass task
- if (enableCenterOfMass)
- {
- if (!_robotModel->hasRobotNodeSet(comIK.robotNodeSetBodies))
- {
- throw UserException("Unknown robot node set for bodies: " + comIK.robotNodeSetBodies);
- }
-
- RobotNodePtr coordSystem = RobotNodePtr();
- if (comIK.coordSysName.size() > 0 && _robotModel->hasRobotNode(comIK.coordSysName))
- {
- coordSystem = _robotModel->getRobotNode(comIK.coordSysName);
- }
-
- CoMIKPtr comIkSolver(new CoMIK(rns, _robotModel->getRobotNodeSet(comIK.robotNodeSetBodies)));
- Eigen::VectorXf goal(2);
- goal(0) = comIK.gx;
- goal(1) = comIK.gy;
- comIkSolver->setGoal(goal, comIK.tolerance);
- JacobiProviderPtr jacoProv = comIkSolver;
- jacobiProviders.insert(PriorityJacobiProviderPair(comIK.priority, jacoProv));
- }
-
- std::vector<JacobiProviderPtr> jacobies;
- BOOST_FOREACH(PriorityJacobiProviderPair pair, jacobiProviders)
- {
- jacobies.push_back(pair.second);
- }
-
- if (avoidJointLimits)
- {
- JointLimitAvoidanceJacobiPtr avoidanceJacobi(new JointLimitAvoidanceJacobi(rns));
- jacobies.push_back(avoidanceJacobi);
- }
-
- std::lock_guard<std::recursive_mutex> lock(_modifyRobotModelMutex);
- HierarchicalIK hik(rns);
- Eigen::VectorXf delta = hik.computeStep(jacobies, stepSize);
- NameValueMap result;
-
- int index = 0;
- BOOST_FOREACH(RobotNodePtr node, rns->getAllRobotNodes())
- {
- NameValueMap::value_type jointPair(node->getName(), delta(index));
- result.insert(jointPair);
- ++index;
- }
- return result;
- }
-
- bool RobotIK::createReachabilitySpace(const std::string& chainName, const std::string& coordinateSystem, float stepTranslation,
- float stepRotation, const WorkspaceBounds& minBounds, const WorkspaceBounds& maxBounds, int numSamples, const Ice::Current&)
- {
- std::lock_guard<std::recursive_mutex> cacheLock(_accessReachabilityCacheMutex);
- if (_reachabilities.count(chainName) == 0)
- {
- if (!_robotModel->hasRobotNodeSet(chainName))
- {
- return false;
- }
- WorkspaceRepresentationPtr reachability(new Reachability(_robotModel));
- float minBoundsArray[] = {minBounds.x, minBounds.y, minBounds.z, minBounds.ro, minBounds.pi, minBounds.ya};
- float maxBoundsArray[] = {maxBounds.x, maxBounds.y, maxBounds.z, maxBounds.ro, maxBounds.pi, maxBounds.ya};
-
- std::lock_guard<std::recursive_mutex> robotLock(_modifyRobotModelMutex);
- // TODO add collision checks
- if (coordinateSystem.size() > 0)
- {
- if (!_robotModel->hasRobotNode(coordinateSystem))
- {
- ARMARX_ERROR << "Unknown coordinate system " << coordinateSystem;
- return false;
- }
- reachability->initialize(_robotModel->getRobotNodeSet(chainName), stepTranslation, stepRotation, minBoundsArray, maxBoundsArray,
- VirtualRobot::SceneObjectSetPtr(), VirtualRobot::SceneObjectSetPtr(), _robotModel->getRobotNode(coordinateSystem));
- }
- else
- {
- reachability->initialize(_robotModel->getRobotNodeSet(chainName), stepTranslation, stepRotation, minBoundsArray, maxBoundsArray);
- ARMARX_WARNING << "Using global coordinate system to create reachability space.";
- }
- reachability->addRandomTCPPoses(numSamples);
- _reachabilities.insert(ReachabilityCacheType::value_type(chainName, reachability));
- }
- return true;
- }
-
- bool RobotIK::defineRobotNodeSet(const std::string& name, const NodeNameList& nodes,
- const std::string& tcpName, const std::string& rootNodeName, const Ice::Current&)
- {
- auto stringsCompareEqual = [] (const std::string& a, const std::string& b) { return a.compare(b) == 0; };
- auto stringsCompareSmaller = [] (const std::string& a, const std::string& b) { return a.compare(b) <= 0; };
- // First check if there is already a set with the given name
- // We need to lock here, to make sure we are not adding similar named sets at the same time.
- std::lock_guard<std::recursive_mutex> lock(_editRobotNodeSetsMutex);
- if (_robotModel->hasRobotNodeSet(name))
- {
- // If so, check if the set is identical to the one we plan to add
- bool setsIdentical = true;
- RobotNodeSetPtr rns = _robotModel->getRobotNodeSet(name);
- // Check TCP node
- RobotNodePtr tcpNode = rns->getTCP();
- setsIdentical &= stringsCompareEqual(tcpNode->getName(), tcpName);
- // Check Root node
- RobotNodePtr rootNode = rns->getKinematicRoot();
- setsIdentical &= stringsCompareEqual(rootNode->getName(), rootNodeName);
- // Check remaining nodes
- std::vector<std::string> nodeNames;
- BOOST_FOREACH(RobotNodePtr robotNode, rns->getAllRobotNodes())
- {
- nodeNames.push_back(robotNode->getName());
- }
- // TODO check if sorting actually makes sense here
- std::sort(nodeNames.begin(), nodeNames.end(), stringsCompareSmaller);
- std::vector<std::string> inputNodeNames(nodes);
- std::sort(inputNodeNames.begin(), inputNodeNames.end(), stringsCompareSmaller);
- std::pair< std::vector<std::string>::iterator, std::vector<std::string>::iterator > mismatch;
- mismatch = std::mismatch(nodeNames.begin(), nodeNames.end(), inputNodeNames.begin(), stringsCompareEqual);
- setsIdentical &= mismatch.first == nodeNames.end() && mismatch.second == inputNodeNames.end();
-
- return setsIdentical;
- }
- // Else we can add the new robot node set
- RobotNodeSetPtr rns = RobotNodeSet::createRobotNodeSet(_robotModel, name, nodes, rootNodeName, tcpName, true);
- return _robotModel->hasRobotNodeSet(name);
- }
-
- std::string RobotIK::getRobotFilename(const Ice::Current&) const
- {
- return _robotFile;
- }
-
- bool RobotIK::hasReachabilitySpace(const std::string& chainName, const Ice::Current&) const
- {
- std::lock_guard<std::recursive_mutex> lock(_accessReachabilityCacheMutex);
- return _reachabilities.count(chainName) > 0;
- }
-
- bool RobotIK::isFramedPoseReachable(const std::string& chainName, const FramedPoseBasePtr& tcpPose, const Ice::Current&) const
- {
- return isReachable(chainName, toReachabilityMapFrame(tcpPose, chainName));
- }
-
- bool RobotIK::isPoseReachable(const std::string& chainName, const PoseBasePtr& tcpPose, const Ice::Current&) const
- {
- Pose globalTcpPose(tcpPose->position, tcpPose->orientation);
- return isReachable(chainName, globalTcpPose.toEigen());
- }
-
- bool RobotIK::loadReachabilitySpace(const std::string& filename, const Ice::Current&)
- {
- WorkspaceRepresentationPtr newSpace;
- bool success = false;
-
- // 1st try to load as manipulability file
- try
- {
- newSpace.reset(new Manipulability(_robotModel));
- newSpace->load(filename);
- success = true;
-
- ARMARX_INFO << "Map '" << filename << "' loaded as Manipulability map";
- }
- catch(...)
- {
- }
-
- // 2nd try to load as reachability file
- if(!success)
- {
- try
- {
- newSpace.reset(new Reachability(_robotModel));
- newSpace->load(filename);
- success = true;
-
- ARMARX_INFO << "Map '" << filename << "' loaded as Reachability map";
- }
- catch(...)
- {
- }
- }
-
- if(!success)
- {
- ARMARX_ERROR << "Failed to load map '" << filename << "'";
- return false;
- }
-
- try
- {
- std::lock_guard<std::recursive_mutex> lock(_accessReachabilityCacheMutex);
- std::string chainName = newSpace->getNodeSet()->getName();
-
- if (_reachabilities.count(chainName) == 0)
- {
- _reachabilities.insert(ReachabilityCacheType::value_type(chainName, newSpace));
- }
- else
- {
- ARMARX_WARNING << "Reachability map for kinematic chain '" << chainName << "' already loaded";
- return false;
- }
- }
- catch (Exception e)
- {
- throw;
- }
-
- return true;
- }
-
- bool RobotIK::saveReachabilitySpace(const std::string& robotNodeSet, const std::string& filename, const Ice::Current&) const
- {
- std::lock_guard<std::recursive_mutex> lock(_accessReachabilityCacheMutex);
- bool success = false;
- if (_reachabilities.count(robotNodeSet) > 0)
- {
- ReachabilityCacheType::const_iterator it = _reachabilities.find(robotNodeSet);
- try
- {
- filesystem::path savePath(filename);
- filesystem::create_directories(savePath.parent_path());
- it->second->save(filename);
- success = true;
- } catch (Exception e)
- { // no need to unlock, this is done automatically once we leave this context
- throw;
- }
- }
- return success;
- }
-
- void RobotIK::computeIK(const std::string& robotNodeSetName, const Eigen::Matrix4f& tcpPose,
- armarx::CartesianSelection cs, NameValueMap& ikSolution) const
- {
- if (!_robotModel->hasRobotNodeSet(robotNodeSetName))
- {
- throw UserException("The robot model does not contain the robot node set " + robotNodeSetName);
- }
- RobotNodeSetPtr rns = _robotModel->getRobotNodeSet(robotNodeSetName);
- computeIK(rns, tcpPose, cs, ikSolution);
- }
-
- void RobotIK::computeIK(const std::string& robotNodeSetName, const Eigen::Matrix4f& tcpPose,
- armarx::CartesianSelection cs, ExtendedIKResult& ikSolution) const
- {
- if (!_robotModel->hasRobotNodeSet(robotNodeSetName))
- {
- throw UserException("The robot model does not contain the robot node set " + robotNodeSetName);
- }
- RobotNodeSetPtr rns = _robotModel->getRobotNodeSet(robotNodeSetName);
- computeIK(rns, tcpPose, cs, ikSolution);
- }
-
- void RobotIK::computeIK(VirtualRobot::RobotNodeSetPtr nodeSet, const Eigen::Matrix4f& tcpPose,
- armarx::CartesianSelection cs, NameValueMap& ikSolution) const
- {
-
- ikSolution.clear();
- // For the rest of this function we need to lock access to the robot,
- // because we need to make sure we read the correct result from the robot node set.
- std::lock_guard<std::recursive_mutex> lock(_modifyRobotModelMutex);
- // Synch the internal robot state with that of the robot state component
- synchRobot();
-
- GenericIKSolver ikSolver(nodeSet, JacobiProvider::eSVDDamped);
- bool success = ikSolver.solve(tcpPose, convertCartesianSelection(cs), _numIKTrials);
- // Read solution from node set
- if (success)
- {
- const std::vector<RobotNodePtr> robotNodes = nodeSet->getAllRobotNodes();
- BOOST_FOREACH(RobotNodePtr rnode, robotNodes)
- {
- NameValueMap::value_type jointPair(rnode->getName(), rnode->getJointValue());
- ikSolution.insert(jointPair);
- }
- }
- // Lock is automatically released
- }
-
- void RobotIK::computeIK(VirtualRobot::RobotNodeSetPtr nodeSet, const Eigen::Matrix4f& tcpPose,
- armarx::CartesianSelection cs, ExtendedIKResult& ikSolution) const
- {
- ikSolution.jointAngles.clear();
- // For the rest of this function we need to lock access to the robot,
- // because we need to make sure we read the correct result from the robot node set.
- std::lock_guard<std::recursive_mutex> lock(_modifyRobotModelMutex);
- // Synch the internal robot state with that of the robot state component
- synchRobot();
-
- GenericIKSolver ikSolver(nodeSet, JacobiProvider::eSVDDamped);
-
- bool success = ikSolver.solve(tcpPose, convertCartesianSelection(cs), _numIKTrials);
- // Read solution from node set
- const std::vector<RobotNodePtr> robotNodes = nodeSet->getAllRobotNodes();
- BOOST_FOREACH(RobotNodePtr rnode, robotNodes)
- {
- NameValueMap::value_type jointPair(rnode->getName(), rnode->getJointValue());
- ikSolution.jointAngles.insert(jointPair);
- }
-
- //Calculate error
- ikSolution.error = (nodeSet->getTCP()->getGlobalPose().block<3, 1>(0, 3) - tcpPose.block<3, 1>(0, 3)).norm();
-
- ikSolution.isReachable = success;
- // Lock is automatically released
- }
-
-
- Eigen::Matrix4f RobotIK::toGlobalPose(const FramedPoseBasePtr& tcpPose) const
- {
- FramedPose framedTcpPose(tcpPose->position, tcpPose->orientation, tcpPose->frame, tcpPose->agent);
- FramedPosePtr globalTcpPose = framedTcpPose.toGlobal(_synchronizedRobot);
- return globalTcpPose->toEigen();
- }
-
- Eigen::Matrix4f RobotIK::toReachabilityMapFrame(const FramedPoseBasePtr &tcpPose, const std::string &chainName) const
- {
- FramedPosePtr p = FramedPosePtr::dynamicCast(tcpPose);
-
- PosePtr p_global(new Pose(toGlobalPose(tcpPose)));
- debugDrawer->setPoseDebugLayerVisu("Grasp Pose", p_global);
-
- std::lock_guard<std::recursive_mutex> lock(_accessReachabilityCacheMutex);
- if (_reachabilities.count(chainName))
- {
- ReachabilityCacheType::const_iterator it = _reachabilities.find(chainName);
-
- p->changeFrame(_synchronizedRobot, it->second->getBaseNode()->getName());
- }
- else
- {
- ARMARX_WARNING << "Could not convert TCP pose to reachability map frame: Map not found.";
- }
-
- return p->toEigen();
- }
-
- bool RobotIK::isReachable(const std::string& setName, const Eigen::Matrix4f& tcpPose) const
- {
- ARMARX_INFO << "Checking reachability for kinematic chain '" << setName << "': " << tcpPose;
-
- std::lock_guard<std::recursive_mutex> lock(_accessReachabilityCacheMutex);
- if (_reachabilities.count(setName))
- {
- ReachabilityCacheType::const_iterator it = _reachabilities.find(setName);
- return it->second->isCovered(tcpPose);
- }
- else
- {
- ARMARX_WARNING << "Could not find reachability map for kinematic chain '" << setName << "'";
- return false;
- }
- }
-
- VirtualRobot::IKSolver::CartesianSelection RobotIK::convertCartesianSelection(armarx::CartesianSelection cs) const
- {
- switch(cs) {
- case armarx::CartesianSelection::eX:
- return VirtualRobot::IKSolver::CartesianSelection::X;
- case armarx::CartesianSelection::eY:
- return VirtualRobot::IKSolver::CartesianSelection::Y;
- case armarx::CartesianSelection::eZ:
- return VirtualRobot::IKSolver::CartesianSelection::Z;
- case armarx::CartesianSelection::ePosition:
- return VirtualRobot::IKSolver::CartesianSelection::Position;
- case armarx::CartesianSelection::eOrientation:
- return VirtualRobot::IKSolver::CartesianSelection::Orientation;
- case armarx::CartesianSelection::eAll:
- return VirtualRobot::IKSolver::CartesianSelection::All;
- }
- return VirtualRobot::IKSolver::CartesianSelection::All;
- }
-
- VirtualRobot::JacobiProvider::InverseJacobiMethod RobotIK::convertInverseJacobiMethod(armarx::InverseJacobiMethod aenum) const
- {
- switch(aenum)
- {
- case armarx::InverseJacobiMethod::eSVD:
- return VirtualRobot::JacobiProvider::InverseJacobiMethod::eSVD;
- case armarx::InverseJacobiMethod::eSVDDamped:
- return VirtualRobot::JacobiProvider::InverseJacobiMethod::eSVDDamped;
- case armarx::InverseJacobiMethod::eTranspose:
- return VirtualRobot::JacobiProvider::InverseJacobiMethod::eTranspose;
- }
- return VirtualRobot::JacobiProvider::InverseJacobiMethod::eSVD;
- }
-
- void RobotIK::synchRobot() const
- {
- std::lock_guard<std::recursive_mutex> lock(_modifyRobotModelMutex);
- RemoteRobot::synchronizeLocalClone(_robotModel, _synchronizedRobot);
- }
-
-}
-
-
-
diff --git a/source/RobotAPI/components/RobotIK/RobotIK.h b/source/RobotAPI/components/RobotIK/RobotIK.h
deleted file mode 100644
index 9e3582c0b90ba59904f11468eeb77c799d3fe2c6..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/RobotIK/RobotIK.h
+++ /dev/null
@@ -1,374 +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::ArmarXObjects::RobotIK
- * @author Joshua Haustein ( joshua dot haustein at gmail dot com )
- * @date 2015
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_COMPONENT_RobotAPI_RobotIK_H
-#define _ARMARX_COMPONENT_RobotAPI_RobotIK_H
-
-#include <Core/core/Component.h>
-#include <Core/core/application/properties/Properties.h>
-#include <Core/core/system/ImportExportComponent.h>
-
-#include <RobotAPI/libraries/core/RobotAPIObjectFactories.h>
-#include <RobotAPI/interface/core/RobotIK.h>
-#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
-
-#include <VirtualRobot/IK/GenericIKSolver.h>
-
-#include <mutex>
-
-namespace armarx
-{
- /**
- * \class RobotIKPropertyDefinition
- * \brief
- */
- class RobotIKPropertyDefinitions:
- public ComponentPropertyDefinitions
- {
- public:
- RobotIKPropertyDefinitions(std::string prefix):
- ComponentPropertyDefinitions(prefix)
- {
- defineRequiredProperty<std::string>("RobotFileName", "Filename of VirtualRobot robot model (e.g. robot_model.xml)");
- defineRequiredProperty<std::string>("RobotStateComponentName", "Name of the robot state component that should be used");
- //Define optional properties
- defineOptionalProperty<std::string>("ReachabilitySpacesFolder", "Path to a folder containing reachability spaces");
- defineOptionalProperty<int>("NumIKTrials", 10, "Number of trials to find an ik solution");
- defineOptionalProperty<std::string>("InitialReachabilitySpaces", "", "Reachability spaces to load initially (semi-colon separated)");
- }
- };
-
-
- /**
- * \class RobotIK
- * \ingroup RobotAPI-Components
- * \brief Provides IK solving methods from VirtualRobot (see [Simox](http://simox.sourceforge.net/)).
- *
- * RobotIK provides a set of functions that allow computing IKs for any kinematic chain
- * in a robot. This component requires the following properties:
- * - RobotFileName: The VirtualRobot robot model to be used.
- * - RobotStateComponentName: The name of a robot state component.
- *
- * Furthermore, there are the following optional properties:
- * - ReachabilitySpacesFolder: A Path to a folder containing reachability spaces.
- * - NumIKTrials: The number of trials the underlying ik solver tries to find a solution before giving up (default: 10).
- *
- * The robot model is required to solve the IK. Some of the provided functionalities require the current robot state,
- * which is retrieved from the robot state component specified in the properties. These functions will only work properly,
- * if the robot model used by the robot state component is identical to the robot model of this component.
- *
- * The functionalities include:
- * - computation of an IK solution for a kinematic chain given a goal TCP pose.
- * - computation of an IK solution for a set of robot joints such that
- * the projection of the center of mass to the support surface lies within a goal region.
- * - computation of a joint value gradient to minimize the workspace error for several tasks simultaneously.
- * - creation and query of reachability spaces for kinematic chains.
- *
- * A reachability space for a kinematic chain allows a fast check whether
- * a TCP pose is reachable. Creating a reachability space, however, is a computational intensive process
- * that should be done offline. You may create a reachability space by calling the respective function
- * or by specifying a path to a folder, ReachabilitySpacesFolder, that contains a set of reachability spaces.
- * If ReachabilitySpacesFolder is specified, each file in the folder is attempted to be loaded as reachability space
- * during initialization.
- *
- * While this implementation allows parallel access to its interface functions,
- * it is not optimized towards maximizing parallelism.
- * If you need to access this component from a large number of threads/processes
- * and you care about performance, you should consider creating multiple instances
- * of this component or using local instances of the IK solver from Simox instead.
- *
- * Furthermore, at the beginning of an operation this component synchronizes its
- * internal robot state with that provided by the robot state component.
- * This can lead to invalid IK solutions if the robot state changes while computation is still in progress.
- * For example, imagine you compute an IK solution just
- * for the forearm and the wrist given a global eef pose. If during the computation the configuration
- * of the elbow changes, the computed ik solution will no longer achieve the desired eef pose.
- *
- * Also see [Simox-Tutorial] (http://sourceforge.net/p/simox/wiki/VirtualRobot/) for more information
- * of how to use Simox for IK solving.
- */
- class ARMARXCOMPONENT_IMPORT_EXPORT RobotIK :
- virtual public Component,
- virtual public RobotIKInterface
- {
- public:
-
- /**
- * \return the robot xml filename as specified in the configuration
- */
- virtual std::string getRobotFilename(const Ice::Current&) const;
-
- /**
- * Create an instance of RobotIKPropertyDefinitions.
- */
- virtual PropertyDefinitionsPtr createPropertyDefinitions();
-
- virtual std::string getDefaultName() const
- {
- return "RobotIK";
- }
-
- /**
- * @brief Computes a single IK solution for the given robot node set and desired TCP pose.
- * @details The TCP pose can be defined in any frame and is converted internally to a global pose
- * according to the current robot state. The CartesianSelection
- * parameter defines which part of the target pose should be reached.
- *
- * @param robotNodeSetName The name of a robot node set (robot node set) that is either stored
- * within the robot model or has been defined via \ref defineRobotNodeSet.
- * @param tcpPose The framed target pose for the TCP.
- * @param cs Specifies which part of the pose needs to be reached by the IK, e.g. the position only,
- * the orientation only or all.
- * @return A map that maps each joint name to its value in the found IK solution.
- */
- virtual NameValueMap computeIKFramedPose(const std::string& robotNodeSetName,
- const FramedPoseBasePtr& tcpPose, armarx::CartesianSelection cs, const Ice::Current& = Ice::Current()) const;
-
- /**
- * @brief Computes a single IK solution for the given robot node set and desired global TCP pose.
- * @details The TCP pose is assumed to be in the global frame. The CartesianSelection
- * parameter defines which part of the target pose should be reached.
- *
- * @param robotNodeSetName The name of a robot node set (robot node set) that is either stored
- * within the robot model or has been defined via \ref defineRobotNodeSet.
- * @param tcpPose The global target pose for the TCP.
- * @param cs Specifies which part of the pose needs to be reached by the IK, e.g. the position only,
- * the orientation only or all.
- * @return A map that maps each joint name to its value in the found IK solution.
- */
- virtual NameValueMap computeIKGlobalPose(const std::string& robotNodeSetName,
- const PoseBasePtr& tcpPose, armarx::CartesianSelection cs, const Ice::Current& = Ice::Current()) const;
-
- /**
- * @brief Computes a single IK solution, error and reachability for the given robot node set and desired global TCP pose.
- * @details The TCP pose is assumed to be in the global frame. The CartesianSelection
- * parameter defines which part of the target pose should be reached.
- *
- * @param robotNodeSetName The name of a robot node set (robot node set) that is either stored
- * within the robot model or has been defined via \ref defineRobotNodeSet.
- * @param tcpPose The global target pose for the TCP.
- * @param cs Specifies which part of the pose needs to be reached by the IK, e.g. the position only,
- * the orientation only or all.
- * @return A map that maps each joint name to its value in the found IK solution, the reachability and computational error.
- */
- virtual ExtendedIKResult computeExtendedIKGlobalPose(const std::string& robotNodeSetName,
- const PoseBasePtr& tcpPose, armarx::CartesianSelection cs, const Ice::Current& = Ice::Current()) const;
-
- /**
- * @brief Computes an IK solution for the given robot joints such that the center of mass lies above the
- * given point.
- * @details
- *
- * @param robotNodeSetJoints Name of the robot node set that contains the joints you wish to compute the IK for.
- * @param comIK A center of mass description. Note that the priority field is relevant for this function as there
- * is only a single CoM of descriptor.
- *
- * @return The ik-solution. Returns an empty vector if there is no solution.
- */
- virtual NameValueMap computeCoMIK(const std::string& robotNodeSetJoints, const CoMIKDescriptor& desc, const Ice::Current& = Ice::Current()) const;
-
- /**
- * @brief Computes a configuration gradient in order to solve several tasks/constraints simultaneously.
- * @details This function allows you to use the HierarchicalIK solver provided by Simox.
- * It computes a configuration gradient for the given robot node set that minimizes the workspace errors
- * for multiple tasks simultaneously. You can specify IK tasks, a center of mass task and a joint limit avoidance task.
- * For details for the different type of tasks, see the parameter description. You must define a priority for each task.
- * The task with maximal priority is the first task to be solved. Each subsequent task is then solved
- * within the null space of the previous task. <b> Note that this function returns a gradient and NOT
- * an absolute IK solution. The gradient is computed on the current configuration of the robot. <\b>.
- * The gradient is computed from the current robot configuration.
- *
- * See @url http://simox.sourceforge.net/documentation/class_virtual_robot_1_1_hierarchical_i_k.html
- * and @url http://sourceforge.net/p/simox/wiki/VirtualRobot/#hierarchical-ik-solving for more information.
- *
- * @param robotNodeSet The robot node set (e.g. kinematic tree) you wish to compute the gradient for.
- * @param diffIKs A list of IK tasks. Each IK task specifies a TCP and a desired pose for this TCP.
- * @param comIK A center of mass tasks. Defines where the center should be and its priority. Is only used if the
- CoM-task is enabled.
- * @param stepSize
- * @param avoidJointLimits Set whether or not to avoid joint limits.
- * @param enableCenterOfMass Set whether or not to adjust the center of mass.
- * @return A configuration gradient...
- */
- virtual NameValueMap computeHierarchicalDeltaIK(const std::string& robotNodeSet,
- const IKTasks& iktasks, const CoMIKDescriptor& comIK,
- float stepSize, bool avoidJointLimits, bool enableCenterOfMass, const Ice::Current& = Ice::Current()) const;
-
- /**
- * @brief Creates a new reachability space for the given robot node set.
- * @details If there is no reachability space for the given robot node set yet, a new one is created. This may take
- * some time. The function returns true iff a reachability space for the given robot node set exists after
- * execution of this function.
- *
- * @param chainName The name of a defined robot node set. This can be either a robot node set that is defined in the
- * robot model or a robot node set that has been manually defined calling \ref defineRobotNodeSet.
- * @param coordinateSystem The name of the robot node in whose coordinate system the reachability space shall be defined
- * in. If you wish to choose the global coordinate system, pass an empty string.
- * Note, however, that any reachability space defined in the
- * global coordinate system gets invalidated once the robot moves.
- * @param stepTranslation The extend of a voxel dimension in translational dimensions (x,y,z) [mm]
- * @param stepRotation The extend of a voxel dimension in rotational dimensions (roll,pitch,yaw) [rad]
- * @param minBounds The minimum workspace poses (x,y,z,ro,pi,ya) given in the base node's coordinate system [mm and rad]
- * @param maxBounds The maximum workspace poses (x,y,z,ro,pi,ya) given in base node's coordinate system [mm and rad]
- * @param numSamples The number of tcp samples to take to create the reachability space (e.g 1000000)
- * @return True iff the a reachability space for the given robot node set is available after execution of this function.
- * False in case of a failure, e.g. there is no chain with the given name.
- */
- virtual bool createReachabilitySpace(const std::string& chainName, const std::string& coordinateSystem, float stepTranslation, float stepRotation,
- const WorkspaceBounds& minBounds, const WorkspaceBounds& maxBounds, int numSamples, const Ice::Current& = Ice::Current());
-
- /**
- * @brief Defines a new robot node set.
- * @details Define a new robot node set with the given name that consists out of the given list of nodes with given
- * TCP and root frame. Iff the chain is successfully added or already exists, <it>true</it> is returned.
- * @param name The name of the robot node set.
- * @param nodes The list of robot nodes that make up the robot node set.
- * @param tcpName The name of the TCP node.
- * @param rootNode The name of the kinematic root.
- *
- * @return True, iff chain was added or already exists. False, iff a different chain with similar name already exists.
- */
- virtual bool defineRobotNodeSet(const std::string& name, const NodeNameList& nodes,
- const std::string& tcpName, const std::string& rootNode, const Ice::Current& = Ice::Current());
-
- /**
- * @brief Returns whether this component has a reachability space for the given robot node set.
- * @details True if there is a reachability space available, else false.
- *
- * @param chainName Name of the robot node set.
- * @return True if there is a reachability space available, else false.
- */
- virtual bool hasReachabilitySpace(const std::string& chainName, const Ice::Current& = Ice::Current()) const;
-
- /**
- * @brief Returns whether a given framed pose is currently reachable by the TCP of the given robot node set.
- * @details To determine whether a pose is reachable a reachability space for the given robot node set is
- * required. If no such space exists, the function returns <it>false<\it>.
- * Call \ref createReachabilitySpace first to ensure there is such a space.
- *
- * @param chainName A name of a robot node set either defined in the robot model or previously defined via
- * \ref defineRobotNodeSet.
- * @param framedPose A framed pose to check for reachability. The pose is transformed into a global pose using the
- * current robot state.
- *
- * @return True, if the pose is reachable by the TCP of the given chain. False, if it is not reachable or
- * there is no reachability space for the given chain available.
- */
- virtual bool isFramedPoseReachable(const std::string& chainName, const FramedPoseBasePtr& tcpPose, const Ice::Current& = Ice::Current()) const;
-
- /**
- * @brief Returns whether a given global pose is currently reachable by the TCP of the given robot node set.
- * @details To determine whether a pose is reachable a reachability space for the given robot node set is
- * required. If no such space exists, the function returns <it>false<\it>.
- * Call \ref createReachabilitySpace first to ensure there is such a space.
- *
- * @param chainName A name of a robot node set either defined in the robot model or previously defined via
- * \ref defineRobotNodeSet.
- * @param pose A global pose to check for reachability.
- *
- * @return True, if the pose is reachable by the TCP of the given chain. False, if it is not reachable or
- * there is no reachability space for the given chain available.
- */
- virtual bool isPoseReachable(const std::string& chainName, const PoseBasePtr& tcpPose, const Ice::Current& = Ice::Current()) const;
-
- /**
- * @brief Loads the reachability space from the given file.
- * @details If loading the reachability space succeeds, the reachability space is ready to be used after this function
- * terminates. A reachability space can only be loaded if there is no reachability space for the respective
- * robot node set yet.
- *
- * @param filename Binary file containing a reachability space. Ensure that the path is valid and accessible from
- * where this component is running.
- * @return True iff loading the reachability space was successful.
- */
- virtual bool loadReachabilitySpace(const std::string& filename, const Ice::Current& = Ice::Current());
-
- /**
- * @brief Saves a previously created reachability space of the given robot node set.
- * @details A reachability space for a robot node set can only be saved, if actually is one.
- * You can check whether a reachability space is available by calling \ref hasReachabilitySpace(robotNodeSet).
- *
- * @param robotNodeSet The robot node set for which you wish to save the reachability space.
- * @param filename The filename if the file(must be an accessible path for this component) you wish to save the space in.
- * @return True iff saving was successful.
- */
- virtual bool saveReachabilitySpace(const std::string& robotNodeSet, const std::string& filename, const Ice::Current& = Ice::Current()) const;
-
- protected:
- /**
- * Load and create a VirtualRobot::Robot instance from the RobotFileName
- * property.
- */
- virtual void onInitComponent();
- virtual void onConnectComponent();
- virtual void onDisconnectComponent();
-
- private:
- void computeIK(const std::string& robotNodeSetName, const Eigen::Matrix4f& tcpPose,
- armarx::CartesianSelection cs, NameValueMap& iksolution) const;
-
- void computeIK(VirtualRobot::RobotNodeSetPtr nodeSet, const Eigen::Matrix4f& tcpPose,
- armarx::CartesianSelection cs, NameValueMap& iksolution) const;
-
- void computeIK(const std::string& robotNodeSetName, const Eigen::Matrix4f& tcpPose,
- armarx::CartesianSelection cs, ExtendedIKResult& iksolution) const;
-
- void computeIK(VirtualRobot::RobotNodeSetPtr nodeSet, const Eigen::Matrix4f& tcpPose,
- armarx::CartesianSelection cs, ExtendedIKResult& iksolution) const;
-
- Eigen::Matrix4f toGlobalPose(const FramedPoseBasePtr& tcpPose) const;
- Eigen::Matrix4f toReachabilityMapFrame(const FramedPoseBasePtr &tcpPose, const std::string &chainName) const;
-
- bool isReachable(const std::string& setName, const Eigen::Matrix4f& tcpPose) const;
-
- VirtualRobot::IKSolver::CartesianSelection convertCartesianSelection(armarx::CartesianSelection cs) const;
-
- VirtualRobot::JacobiProvider::InverseJacobiMethod convertInverseJacobiMethod(armarx::InverseJacobiMethod aenum) const;
-
- void synchRobot() const;
-
- // Lock this mutex if you plan to modify the robot model
- // Exception: When adding node sets we don't need to.
- // Invariant: We never delete node sets nor nodes!
- mutable std::recursive_mutex _modifyRobotModelMutex;
- // Lock this mutex if you are adding a node set, to ensure we do not add
- // a similar node set at the same time.
- mutable std::recursive_mutex _editRobotNodeSetsMutex;
- // Lock this mutex if you are reading or editing the reachability cache.
- mutable std::recursive_mutex _accessReachabilityCacheMutex;
- // Needs to be locked when computing IKs! Internally thread safe though.
- VirtualRobot::RobotPtr _robotModel;
- std::string _robotFile;
- RobotStateComponentInterfacePrx _robotStateComponentPrx;
- SharedRobotInterfacePrx _synchronizedRobot;
- DebugDrawerInterfacePrx debugDrawer;
-
- // Reachability cache: not thread safe, always lock!
- typedef std::map<std::string, VirtualRobot::WorkspaceRepresentationPtr> ReachabilityCacheType;
- ReachabilityCacheType _reachabilities;
- int _numIKTrials;
- };
-
-}
-
-#endif
diff --git a/source/RobotAPI/components/RobotIK/test/CMakeLists.txt b/source/RobotAPI/components/RobotIK/test/CMakeLists.txt
deleted file mode 100644
index d3b627f916b7bb36a258bd5aa418c3607e468005..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/RobotIK/test/CMakeLists.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-SET(LIBS ${LIBS} ArmarXCore RobotAPICore RobotAPIRobotIK RobotAPIRobotStateComponent)
-armarx_add_test(RobotIKTest RobotIKTest.cpp "${LIBS}")
\ No newline at end of file
diff --git a/source/RobotAPI/components/RobotIK/test/RobotIKTest.cpp b/source/RobotAPI/components/RobotIK/test/RobotIKTest.cpp
deleted file mode 100644
index 532c8e5795786921aa2f541aaaeeff109c5209b7..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/RobotIK/test/RobotIKTest.cpp
+++ /dev/null
@@ -1,647 +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::ArmarXObjects::RobotIK
- * @author Joshua Haustein ( joshua dot haustein at gmail dot com )
- * @date 2015
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#define BOOST_TEST_MODULE RobotAPI::ArmarXObjects::RobotIK
-
-#define ARMARX_BOOST_TEST
-
-#define EPSILON_POS 1.0f
-#define EPSILON_ROT 0.1f
-#define NUMBER_THREADS 10
-
-#include <RobotAPI/Test.h>
-#include <RobotAPI/components/RobotIK/RobotIK.h>
-#include <RobotAPI/components/RobotIK/test/RobotIKTestEnvironment.h>
-
-#include <VirtualRobot/RobotNodeSet.h>
-
-#include <iostream>
-#include <thread>
-// #include <chrono>
-// #include <ctime>
-#include <ratio>
-#include <random>
-
-bool comparePosition(const Eigen::Matrix4f& m1, const Eigen::Matrix4f& m2)
-{
- bool equal = true;
- for (size_t i = 0; i < 3; ++i)
- {
- equal &= (m1(i, 3) - m2(i, 3)) * (m1(i, 3) - m2(i, 3)) <= EPSILON_POS;
- }
-
- if (!equal)
- {
- BOOST_TEST_MESSAGE("Positions not equal for poses: " << m1 << ", " << m2);
- }
- return equal;
-}
-
-bool compareOrientation(const Eigen::Matrix4f& m1, const Eigen::Matrix4f& m2)
-{
- bool equal = true;
- for (size_t i = 0; i < 3; ++i)
- {
- for (size_t j = 0; j < 3; ++j)
- {
- equal &= (m1(i, j) - m2(i, j)) * (m1(i, j) - m2(i, j)) <= EPSILON_ROT;
- }
- }
-
- if (!equal)
- {
- BOOST_TEST_MESSAGE("Poses not equal: " << m1 << ", " << m2);
- }
- return equal;
-}
-
-bool compareResults(const Eigen::Matrix4f& m1, const Eigen::Matrix4f& m2, CartesianSelection csel)
-{
- bool success;
- if (csel == CartesianSelection::ePosition)
- {
- success = comparePosition(m1, m2);
- }
- else if (csel == CartesianSelection::eAll)
- {
- success = comparePosition(m1, m2) && compareOrientation(m1, m2);
- }
- else
- { // TODO extend in case other values of CartesianSelection should be tested
- success = false;
- }
- return success;
-}
-
-void synchRobot(VirtualRobot::RobotPtr localRobot, RobotStateComponentInterfacePrx robotState)
-{
- VirtualRobot::RobotConfigPtr robotConfig = localRobot->getConfig();
- SharedRobotInterfacePrx sharedRobot = robotState->getSynchronizedRobot();
- BOOST_FOREACH(auto roboNode, robotConfig->getNodes())
- {
- SharedRobotNodeInterfacePrx sharedRoboNode = sharedRobot->getRobotNode(roboNode->getName());
- float val = sharedRoboNode->getJointValue();
- localRobot->getRobotNode(roboNode->getName())->setJointValue(val);
- }
-}
-
-void testIKGlobalPose(const std::string& setName, PosePtr pose, bool& success, CartesianSelection csel,
- VirtualRobot::RobotPtr localRobot, RobotIKInterfacePrx robotIK, RobotStateComponentInterfacePrx sharedRobot)
-{
- // Test component
- synchRobot(localRobot, sharedRobot);
- NameValueMap iksolution = robotIK->computeIKGlobalPose(setName, pose, csel);
-
- // Check validity of output
- if (iksolution.size() > 0)
- {
- BOOST_TEST_MESSAGE("Pose " << pose);
- BOOST_TEST_MESSAGE("Validating ik solution" << iksolution);
- localRobot->setJointValues(iksolution);
- BOOST_TEST_MESSAGE("configuration after setting:");
- BOOST_FOREACH(auto ikEntry, iksolution)
- {
- float val = localRobot->getRobotNode(ikEntry.first)->getJointValue();
- BOOST_TEST_MESSAGE(ikEntry.first << ": " << val);
- }
- VirtualRobot::RobotNodeSetPtr nodeset = localRobot->getRobotNodeSet(setName);
- Eigen::Matrix4f tcpPose = nodeset->getTCP()->getGlobalPose();
- // BOOST_TEST_MESSAGE("Comparing tcp pose");
- success = compareResults(tcpPose, pose->toEigen(), csel);
- } else {
- BOOST_TEST_MESSAGE("Empty solution");
- success = false;
- }
-}
-
-void testIKFramedPose(const std::string& setName, FramedPosePtr fpose, bool& success, CartesianSelection csel,
- VirtualRobot::RobotPtr localRobot, RobotIKInterfacePrx robotIK, RobotStateComponentInterfacePrx roboState)
-{
- FramedPosePtr globalPose = fpose->toGlobal(roboState->getSynchronizedRobot());
- Eigen::Matrix4f poseGlobal = globalPose->toEigen();
-
- // Test component
- synchRobot(localRobot, roboState);
- NameValueMap iksolution = robotIK->computeIKFramedPose(setName, fpose, csel);
-
- // Check validity of output
- if (iksolution.size() > 0)
- {
- VirtualRobot::RobotNodeSetPtr nodeset = localRobot->getRobotNodeSet(setName);
- localRobot->setJointValues(iksolution);
- Eigen::Matrix4f tcpPose = nodeset->getTCP()->getGlobalPose();
-
- success = compareResults(tcpPose, poseGlobal, csel);
- } else {
- success = false;
- }
-}
-
-void doGlobalPoseTests(const RobotIKTestEnvironment& testEnv, bool& finished)
-{
- // Create test input
- std::string nodeSetName1("TorsoLeftArm");
- Eigen::Matrix4f poseMatrix1;
- poseMatrix1 << 1.0f, 0.0f, 0.0f, 400.0f,
- 0.0f, 1.0f, 0.0f, 600.0f,
- 0.0f, 0.0f, 1.0f, 900.0f,
- 0.0f, 0.0f, 0.0f, 1.0f;
- PosePtr pose1 = new Pose(poseMatrix1);
- // Create test input 2
- std::string nodeSetName2 = "TorsoRightArm";
- Eigen::Matrix4f poseMatrix2;
- poseMatrix2 << 1.0f, 0.0f, 0.0f, 400.0f,
- 0.0f, -1.0f, 0.0f, 100.0f,
- 0.0f, 0.0f, -1.0f, 600.0f,
- 0.0f, 0.0f, 0.0f, 1.0f;
- PosePtr pose2 = new Pose(poseMatrix2);
-
- Eigen::Matrix4f unreachablePoseMatrix;
- unreachablePoseMatrix << 1.0f, 0.0f, 0.0f, 1000.0f,
- 0.0f, 1.0f, 0.0f, 1000.0f,
- 0.0f, 0.0f, 1.0f, 1300.0f,
- 0.0f, 0.0f, 0.0f, 1.0f;
- PosePtr unreachablePose = new Pose(unreachablePoseMatrix);
-
- bool testSuccesses[3 * NUMBER_THREADS];
- // bool testSuccesses[2 * NUMBER_THREADS];
- std::vector<std::thread> threads;
- for (unsigned int tid = 0; tid < NUMBER_THREADS; ++tid)
- {
- VirtualRobot::RobotPtr localRobot1 = testEnv._robotModel->clone("LocalRobot1");
- threads.push_back(std::thread(testIKGlobalPose, std::ref(nodeSetName1), pose1,
- std::ref(testSuccesses[3 * tid]), CartesianSelection::ePosition, localRobot1, testEnv._robotIK, testEnv._robotStateComponent));
- VirtualRobot::RobotPtr localRobot2 = testEnv._robotModel->clone("LocalRobot2");
- threads.push_back(std::thread(testIKGlobalPose, std::ref(nodeSetName2), pose2,
- std::ref(testSuccesses[3 * tid + 1]), CartesianSelection::eAll, localRobot2, testEnv._robotIK, testEnv._robotStateComponent));
- VirtualRobot::RobotPtr localRobot3 = testEnv._robotModel->clone("LocalRobot3");
- threads.push_back(std::thread(testIKGlobalPose, std::ref(nodeSetName2), unreachablePose,
- std::ref(testSuccesses[3 * tid + 2]), CartesianSelection::eAll, localRobot3, testEnv._robotIK, testEnv._robotStateComponent));
- }
-
- for (size_t tid = 0; tid < threads.size(); ++tid)
- {
- threads[tid].join();
- }
-
- BOOST_CHECK(threads.size() == 3 * NUMBER_THREADS);
- for (size_t tid = 0; tid < NUMBER_THREADS; ++tid) {
- BOOST_CHECK(testSuccesses[3 * tid]);
- BOOST_CHECK(testSuccesses[3 * tid + 1]);
- BOOST_CHECK(!testSuccesses[3 * tid + 2]);
- }
- finished = true;
-}
-
-void doFramedPoseTests(const RobotIKTestEnvironment& testEnv, bool& finished)
-{
- // Create test input
- std::string nodeSetName("TorsoLeftArm");
- std::string frame("TCP L");
- Eigen::Matrix4f poseMatrix;
- poseMatrix << 0.86603f, -0.5f, 0.0f, 50.0f,
- 0.5f, 0.86603f, 0.0f, 60.0f,
- 0.0f, 0.0f, 1.0f, 40.0f,
- 0.0f, 0.0f, 0.0f, 1.0f;
- FramedPosePtr pose = new FramedPose(poseMatrix, frame, testEnv._robotStateComponent->getRobotName());
-
- bool testSuccesses[NUMBER_THREADS];
- std::vector<std::thread> threads;
- for (unsigned int tid = 0; tid < NUMBER_THREADS; ++tid)
- {
- VirtualRobot::RobotPtr localRobot = testEnv._robotModel->clone("LocalRobot");
- threads.push_back(std::thread(testIKFramedPose, std::ref(nodeSetName), pose,
- std::ref(testSuccesses[tid]), CartesianSelection::eAll, localRobot, testEnv._robotIK, testEnv._robotStateComponent));
- }
-
- for (size_t tid = 0; tid < threads.size(); ++tid)
- {
- threads[tid].join();
- }
-
- for (size_t tid = 0; tid < NUMBER_THREADS; ++tid) {
- BOOST_CHECK(testSuccesses[tid]);
- }
- finished = true;
-}
-
-void doReachabilityTests(const RobotIKTestEnvironment& testEnv, bool& finished)
-{
- std::string nodeSetName("TorsoLeftArm");
- std::string frame("TCP L");
- std::string baseFrame("Armar3_Base");
-
- // Define two global poses
- // First, a reachable pose
- Eigen::Matrix4f matrix;
- matrix << 0.275582f, 0.950628f, 0.142693f, -363.636f,
- 0.892777f, -0.198076f, -0.404616f, 181.818f,
- -0.356376f, 0.238898f, -0.903285f, 727.273f,
- 1.0f, 1.0f, 1.0f, 1.0f;
- PosePtr reachablePose = new Pose(matrix);
- // Second, a unreachable pose
- matrix << 1.0f, 0.0f, 0.0f, 1000.0f,
- 0.0f, 1.0f, 0.0f, 1000.0f,
- 0.0f, 0.0f, 1.0f, 1300.0f,
- 0.0f, 0.0f, 0.0f, 1.0f;
- PosePtr unreachablePose = new Pose(matrix);
- // Now define two framed poses
- // Again, first reachable
- // matrix << 1.0f, 0.0f, 0.0f, 5.0f,
- // 0.0f, 1.0f, 0.0f, 6.0f,
- // 0.0f, 0.0f, 1.0f, 4.0f,
- // 0.0f, 0.0f, 0.0f, 1.0f;
- // FramedPosePtr reachableFramedPose = new FramedPose(matrix, frame, testEnv._robotStateComponent->getRobotName());
- // and an unreachable
- matrix << 0.86603f, -0.5f, 0.0f, 1000.0f,
- 0.5f, 0.86603f, 0.0f, 600.0f,
- 0.0f, 0.0f, 1.0f, 400.0f,
- 0.0f, 0.0f, 0.0f, 1.0f;
- FramedPosePtr unreachableFramedPose = new FramedPose(matrix, frame, testEnv._robotStateComponent->getRobotName());
-
- // To create a reachability space we need workspace bounds.
- WorkspaceBounds minBounds;
- minBounds.x = -1000.0f;
- minBounds.y = -1000.0f;
- minBounds.z = -1000.0f;
- minBounds.ro = -3.15f;
- minBounds.pi = -3.15f;
- minBounds.ya = -3.15f;
-
- WorkspaceBounds maxBounds;
- maxBounds.x = 1000.0f;
- maxBounds.y = 1000.0f;
- maxBounds.z = 1000.0f;
- maxBounds.ro = 3.15f;
- maxBounds.pi = 3.15f;
- maxBounds.ya = 3.15f;
-
- // Now start testing
- // First, make a sanity check on hasReachabilitySpace
- BOOST_CHECK(!testEnv._robotIK->hasReachabilitySpace(nodeSetName));
-
- // We don't have a reachability space yet, so isPoseReachable should always return false.
- BOOST_CHECK(!testEnv._robotIK->isPoseReachable(nodeSetName, reachablePose));
- BOOST_CHECK(!testEnv._robotIK->isPoseReachable(nodeSetName, unreachablePose));
- // BOOST_CHECK(!testEnv._robotIK->isFramedPoseReachable(nodeSetName, reachableFramedPose));
- BOOST_CHECK(!testEnv._robotIK->isFramedPoseReachable(nodeSetName, unreachableFramedPose));
-
- bool createdReachabilitySpace = testEnv._robotIK->createReachabilitySpace(nodeSetName, baseFrame, 200.0f, 0.3f, minBounds, maxBounds, 1000000);
- // This should work
- BOOST_CHECK(createdReachabilitySpace);
-
- // Now we should have a reachability space:
- BOOST_CHECK(testEnv._robotIK->hasReachabilitySpace(nodeSetName));
-
- // Finally test the poses:
- BOOST_CHECK(testEnv._robotIK->isPoseReachable(nodeSetName, reachablePose));
- BOOST_CHECK(!testEnv._robotIK->isPoseReachable(nodeSetName, unreachablePose));
- // BOOST_CHECK(testEnv._robotIK->isFramedPoseReachable(nodeSetName, reachableFramedPose));
- BOOST_CHECK(!testEnv._robotIK->isFramedPoseReachable(nodeSetName, unreachableFramedPose));
-
- std::string savepath(testEnv._spaceSavePath + "testReachabilitySpace.bin");
- BOOST_TEST_MESSAGE(savepath);
- BOOST_CHECK(testEnv._robotIK->saveReachabilitySpace(nodeSetName, savepath));
- finished = true;
-
-}
-
-void doLoadReachabilityTest(const RobotIKTestEnvironment& testEnv, bool& finished)
-{
- std::string nodeSetName("TorsoLeftArm");
- std::string frame("TCP L");
- std::string baseFrame("Armar3_Base");
-
- // Define two global poses
- // First, a reachable pose
- Eigen::Matrix4f matrix;
- matrix << 0.275582f, 0.950628f, 0.142693f, -363.636f,
- 0.892777f, -0.198076f, -0.404616f, 181.818f,
- -0.356376f, 0.238898f, -0.903285f, 727.273f,
- 1.0f, 1.0f, 1.0f, 1.0f;
- PosePtr reachablePose = new Pose(matrix);
- // Second, a unreachable pose
- matrix << 1.0f, 0.0f, 0.0f, 1000.0f,
- 0.0f, 1.0f, 0.0f, 1000.0f,
- 0.0f, 0.0f, 1.0f, 1300.0f,
- 0.0f, 0.0f, 0.0f, 1.0f;
- PosePtr unreachablePose = new Pose(matrix);
-
- matrix << 0.86603f, -0.5f, 0.0f, 1000.0f,
- 0.5f, 0.86603f, 0.0f, 600.0f,
- 0.0f, 0.0f, 1.0f, 400.0f,
- 0.0f, 0.0f, 0.0f, 1.0f;
- FramedPosePtr unreachableFramedPose = new FramedPose(matrix, frame, testEnv._robotStateComponent->getRobotName());
-
- // To create a reachability space we need workspace bounds.
- WorkspaceBounds minBounds;
- minBounds.x = -1000.0f;
- minBounds.y = -1000.0f;
- minBounds.z = -1000.0f;
- minBounds.ro = -3.15f;
- minBounds.pi = -3.15f;
- minBounds.ya = -3.15f;
-
- WorkspaceBounds maxBounds;
- maxBounds.x = 1000.0f;
- maxBounds.y = 1000.0f;
- maxBounds.z = 1000.0f;
- maxBounds.ro = 3.15f;
- maxBounds.pi = 3.15f;
- maxBounds.ya = 3.15f;
-
- // Now start testing
- testEnv._robotIK->createReachabilitySpace(nodeSetName, baseFrame, 200.0f, 0.3f, minBounds, maxBounds, 1000000);
-
- // Now we should have a reachability space:
- BOOST_CHECK(testEnv._robotIK->hasReachabilitySpace(nodeSetName));
-
- // Finally test the poses:
- BOOST_CHECK(testEnv._robotIK->isPoseReachable(nodeSetName, reachablePose));
- BOOST_CHECK(!testEnv._robotIK->isPoseReachable(nodeSetName, unreachablePose));
- // BOOST_CHECK(testEnv._robotIK->isFramedPoseReachable(nodeSetName, reachableFramedPose));
- BOOST_CHECK(!testEnv._robotIK->isFramedPoseReachable(nodeSetName, unreachableFramedPose));
-
- finished = true;
-}
-
-void doDefineNodeSetTests(const RobotIKTestEnvironment& testEnv, bool& finished)
-{
- std::string setName1("TestSet1");
- std::string tcpName("TCP L");
- std::string rootNode("Platform");
- NodeNameList jointList;
- jointList.push_back("Shoulder 1 L");
- jointList.push_back("Shoulder 2 L");
- jointList.push_back("Upperarm L");
- jointList.push_back("Elbow L");
- jointList.push_back("Underarm L");
-
- VirtualRobot::RobotPtr localRobot = testEnv._robotModel->clone("MyLocalRobot");
-
- bool defineSuccessful = testEnv._robotIK->defineRobotNodeSet(setName1, jointList, tcpName, rootNode);
- BOOST_CHECK(defineSuccessful);
-
- VirtualRobot::RobotNodeSet::createRobotNodeSet(localRobot, setName1, jointList, rootNode, tcpName, true);
-
- Eigen::Matrix4f poseMatrix1;
- poseMatrix1 << -0.258819f, -0.965926f, 0.0f, -315.0f,
- 0.0f, 0.0f, 1.0f, 550.0f,
- -0.965926f, 0.258819f, 0.0f, 1077.5f,
- 0.0f, 0.0f, 0.0f, 1.0f;
-
- PosePtr pose1 = new Pose(poseMatrix1);
-
- bool ikSuccess = false;
- testIKGlobalPose(setName1, pose1, ikSuccess, CartesianSelection::ePosition, localRobot, testEnv._robotIK, testEnv._robotStateComponent);
- BOOST_CHECK(ikSuccess);
-
- // Redefine should always return true.
- BOOST_CHECK(testEnv._robotIK->defineRobotNodeSet(setName1, jointList, tcpName, rootNode));
-
- // Redefine with different parameters, however, always false
- NodeNameList modifiedJointList(jointList);
- modifiedJointList.pop_back();
- BOOST_CHECK(!testEnv._robotIK->defineRobotNodeSet(setName1, modifiedJointList, tcpName, rootNode));
- std::string tcpName2("TCP R");
- BOOST_CHECK(!testEnv._robotIK->defineRobotNodeSet(setName1, jointList, tcpName2, rootNode));
- std::string rootNode2("Shoulder 1 L");
- BOOST_CHECK(!testEnv._robotIK->defineRobotNodeSet(setName1, jointList, tcpName, rootNode2));
- finished = true;
-}
-
-void doRobotIKComputeCoMIKTests(const RobotIKTestEnvironment& testEnv, bool& finished)
-{
- std::string completeRobotSetname("Robot");
- CoMIKDescriptor comdesc;
- comdesc.priority = 0;
- comdesc.gx = 4.0;
- comdesc.gy = 45.0;
- comdesc.robotNodeSetBodies = completeRobotSetname;
- comdesc.tolerance = 2.0f;
- comdesc.coordSysName = "Armar3_Base";
- std::string jointsSetName("TorsoBothArms");
- VirtualRobot::RobotPtr localRobot = testEnv._robotModel->clone("MyLocalRobot");
-
- NameValueMap ikSolution = testEnv._robotIK->computeCoMIK(jointsSetName, comdesc);
- VirtualRobot::RobotNodeSetPtr robotNodeSet = localRobot->getRobotNodeSet(completeRobotSetname);
-
- localRobot->setJointValues(ikSolution);
- Eigen::Vector3f resultCoM = robotNodeSet->getCoM();
-
- // BOOST_TEST_MESSAGE("desired com " << comdesc.gx << " " << comdesc.gy);
- // BOOST_TEST_MESSAGE("is com " << resultCoM[0] << " " << resultCoM[1]);
- BOOST_CHECK((comdesc.gx - resultCoM[0])*(comdesc.gx - resultCoM[0]) <= comdesc.tolerance * comdesc.tolerance);
- BOOST_CHECK((comdesc.gy - resultCoM[1])*(comdesc.gy - resultCoM[1]) <= comdesc.tolerance * comdesc.tolerance);
- finished = true;
-}
-
-void doRobotIKComputeHierarchicalDeltaIKTests(const RobotIKTestEnvironment& testEnv, bool& finished)
-{
- std::string jointsSetName("TorsoBothArms");
- IKTasks ikTasks;
- // Set up a task for the left arm first
- DifferentialIKDescriptor leftArmGoal;
- leftArmGoal.priority = 2;
- leftArmGoal.tcpName = "TCP L";
- leftArmGoal.csel = CartesianSelection::ePosition;
- leftArmGoal.ijm = InverseJacobiMethod::eSVD;
- Eigen::Matrix4f poseMatrix1;
- poseMatrix1 << 1.0f, 0.0f, 0.0f, -285.0f,
- 0.0f, 1.0f, 0.0f, 540.0f,
- 0.0f, 0.0f, 1.0f, 1125.0f,
- 0.0f, 0.0f, 0.0f, 1.0f;
- PosePtr pose1 = new Pose(poseMatrix1);
- leftArmGoal.tcpGoal = pose1;
- ikTasks.push_back(leftArmGoal);
- VirtualRobot::RobotPtr localRobot = testEnv._robotModel->clone("MyLocalRobot");
-
- // now let's set up a task for the right arm
- DifferentialIKDescriptor rightArmGoal;
- rightArmGoal.priority = 1;
- rightArmGoal.tcpName = "TCP R";
- rightArmGoal.csel = CartesianSelection::ePosition;
- rightArmGoal.ijm = InverseJacobiMethod::eSVD;
- Eigen::Matrix4f poseMatrix2;
- poseMatrix2 << 1.0f, 0.0f, 0.0f, 400.0f,
- 0.0f, 1.0f, 0.0f, 100.0f,
- 0.0f, 0.0f, 1.0f, 900.0f,
- 0.0f, 0.0f, 0.0f, 1.0f;
- PosePtr pose2 = new Pose(poseMatrix2);
- rightArmGoal.tcpGoal = pose2;
- ikTasks.push_back(rightArmGoal);
-
- // finally let's add a center of mass task
- std::string completeRobotSetname("Robot");
- CoMIKDescriptor comdesc;
- comdesc.priority = 0;
- comdesc.gx = 4.0;
- comdesc.gy = 45.0;
- comdesc.robotNodeSetBodies = completeRobotSetname;
- comdesc.tolerance = 2.0f;
- comdesc.coordSysName = "Armar3_Base";
-
- float stepSize = 0.1;
- NameValueMap ikGradient;
- BOOST_TEST_MESSAGE(poseMatrix1);
- while (!compareResults(poseMatrix1, localRobot->getRobotNodeSet("TorsoLeftArm")->getTCP()->getGlobalPose(), CartesianSelection::ePosition)
- || !compareResults(poseMatrix2, localRobot->getRobotNodeSet("TorsoRightArm")->getTCP()->getGlobalPose(), CartesianSelection::ePosition))
- {
- ikGradient = testEnv._robotIK->computeHierarchicalDeltaIK(jointsSetName, ikTasks, comdesc, stepSize, true, true);
- BOOST_CHECK(ikGradient.size() > 0);
-
- VirtualRobot::RobotNodeSetPtr rns = localRobot->getRobotNodeSet(jointsSetName);
- const std::vector<VirtualRobot::RobotNodePtr> robotNodes = rns->getAllRobotNodes();
-
- NameValueMap newConfig;
- BOOST_FOREACH(auto node, robotNodes)
- {
- float val = node->getJointValue();
- float delta = ikGradient.find(node->getName())->second;
- newConfig.insert(NameValueMap::value_type(node->getName(), val + delta));
- }
- localRobot->setJointValues(newConfig);
- testEnv._robotStateComponent->reportJointAngles(newConfig, true);
- }
-
- BOOST_CHECK(compareResults(poseMatrix1, localRobot->getRobotNodeSet("TorsoLeftArm")->getTCP()->getGlobalPose(), CartesianSelection::ePosition));
- BOOST_CHECK(compareResults(poseMatrix2, localRobot->getRobotNodeSet("TorsoRightArm")->getTCP()->getGlobalPose(), CartesianSelection::ePosition));
-
- Eigen::Vector3f resultCoM = localRobot->getRobotNodeSet(completeRobotSetname)->getCoM();
- BOOST_TEST_MESSAGE("desired com " << comdesc.gx << " " << comdesc.gy);
- BOOST_TEST_MESSAGE("is com " << resultCoM[0] << " " << resultCoM[1]);
-
- BOOST_CHECK((comdesc.gx - resultCoM[0])*(comdesc.gx - resultCoM[0]) <= comdesc.tolerance * comdesc.tolerance);
- BOOST_CHECK((comdesc.gy - resultCoM[1])*(comdesc.gy - resultCoM[1]) <= comdesc.tolerance * comdesc.tolerance);
- finished = true;
-}
-
-BOOST_AUTO_TEST_CASE(RobotIKGlobalPoseTest)
-{
- // Create test environment first
- RobotIKTestEnvironment testEnv("RobotIKGlobalPoseTest");
- bool finished = false;
- doGlobalPoseTests(testEnv, finished);
-}
-
-BOOST_AUTO_TEST_CASE(RobotIKFramedPoseTest)
-{
- // Create test environment first
- RobotIKTestEnvironment testEnv("RobotIKFramedPoseTest");
- bool finished = false;
- doFramedPoseTests(testEnv, finished);
-}
-
-BOOST_AUTO_TEST_CASE(RobotIKReachabilityTest)
-{
- RobotIKTestEnvironment testEnv("RobotIKReachabilityTest");
- bool finished = false;
- doReachabilityTests(testEnv, finished);
-}
-
-BOOST_AUTO_TEST_CASE(RobotIKDefineRobotSetTest)
-{
- RobotIKTestEnvironment testEnv("RobotIKDefineNodeTest");
- bool finished = false;
- doDefineNodeSetTests(testEnv, finished);
-}
-
-BOOST_AUTO_TEST_CASE(RobotIKComputeCoMIKTest)
-{
- RobotIKTestEnvironment testEnv("RobotIKComputeCoMIKTest");
- bool finished = false;
- doRobotIKComputeCoMIKTests(testEnv, finished);
-}
-
-BOOST_AUTO_TEST_CASE(RobotIKComputeHierarchicalDeltaIK)
-{
- RobotIKTestEnvironment testEnv("RobotIKComputeHierarchicalDeltaIK");
- bool finished = false;
- doRobotIKComputeHierarchicalDeltaIKTests(testEnv, finished);
-}
-
-BOOST_AUTO_TEST_CASE(RobotIKLoadReachabilitySpaceTest)
-{
- RobotIKTestEnvironment testEnv("RobotIKLoadReachabilitySpaceTest", true);
- std::string nodeSetName("TorsoLeftArm");
- BOOST_CHECK(testEnv._robotIK->hasReachabilitySpace(nodeSetName));
-}
-
-// BOOST_AUTO_TEST_CASE(RobotIKLoadTest)
-// {
-// RobotIKTestEnvironment testEnv("RobotIKLoadTest");
-// // set up time stuff
-// std::chrono::steady_clock::time_point startPoint = std::chrono::steady_clock::now();
-// std::chrono::duration<double> time_span = std::chrono::duration_cast< std::chrono::duration<double> >(std::chrono::steady_clock::now() - startPoint);
-// // set up random generators
-// std::default_random_engine generator; //1234567890
-// // std::uniform_int_distribution<int> uniDistribution(0, 5);
-// std::uniform_int_distribution<int> uniDistribution(0, 5);
-// // some bookkeeping data structures
-// std::vector<std::thread> threads;
-// bool hikStarted = false;
-// bool hikFinished = false;
-// bool dummyFinished = false;
-
-// while (time_span.count() < 120.0)
-// {
-// int testNumber = uniDistribution(generator);
-// switch (testNumber)
-// {
-// case 0:
-// threads.push_back(std::thread(doGlobalPoseTests, std::ref(testEnv), std::ref(dummyFinished)));
-// break;
-// case 1:
-// threads.push_back(std::thread(doFramedPoseTests, std::ref(testEnv), std::ref(dummyFinished)));
-// break;
-// case 2:
-// threads.push_back(std::thread(doLoadReachabilityTest, std::ref(testEnv), std::ref(dummyFinished)));
-// break;
-// case 3:
-// threads.push_back(std::thread(doDefineNodeSetTests, std::ref(testEnv), std::ref(dummyFinished)));
-// break;
-// case 4:
-// threads.push_back(std::thread(doRobotIKComputeCoMIKTests, std::ref(testEnv), std::ref(dummyFinished)));
-// break;
-// case 5:
-// if (!hikStarted)
-// {
-// hikStarted = true;
-// // threads.push_back(std::thread(doRobotIKComputeHierarchicalDeltaIKTests, std::ref(testEnv), std::ref(hikFinished)));
-// }
-// break;
-// }
-// if (hikFinished)
-// {
-// hikStarted = false;
-// hikFinished = false;
-// }
-// std::this_thread::sleep_for(std::chrono::seconds(uniDistribution(generator)));
-// time_span = std::chrono::duration_cast< std::chrono::duration<double> >(std::chrono::steady_clock::now() - startPoint);
-// }
-
-// for (size_t i = 0; i < threads.size(); ++i)
-// {
-// threads[i].join();
-// }
-// }
diff --git a/source/RobotAPI/components/RobotIK/test/RobotIKTestEnvironment.h b/source/RobotAPI/components/RobotIK/test/RobotIKTestEnvironment.h
deleted file mode 100644
index 5f704e7810d967f4aca5433fb8383783304bb3c6..0000000000000000000000000000000000000000
--- a/source/RobotAPI/components/RobotIK/test/RobotIKTestEnvironment.h
+++ /dev/null
@@ -1,88 +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::ArmarXObjects::RobotIKTestEnvironment
-* @author Joshua Haustein ( joshua dot haustein at gmail dot com)
-* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl.txt
-* GNU General Public License
-*/
-
-#include <RobotAPI/components/RobotIK/RobotIK.h>
-#include <RobotAPI/components/RobotState/RobotStateComponent.h>
-
-#include <Core/core/test/IceTestHelper.h>
-#include <Core/core/application/Application.h>
-#include <Core/core/system/FactoryCollectionBase.h>
-
-#include <VirtualRobot/XML/RobotIO.h>
-
-#include <RobotAPI/Test.h>
-
-using namespace armarx;
-
-class RobotIKTestEnvironment
-{
-public:
- RobotIKTestEnvironment(const std::string& testName, bool loadSpaces = false, int registryPort = 11220, bool addObjects = true)
- {
- Ice::PropertiesPtr properties = Ice::createProperties();
- armarx::Application::LoadDefaultConfig(properties);
- std::string robotFilename = test::getCmakeValue("PROJECT_DATA_DIR") + "/RobotAPI/tests/robotmodel/ArmarIII.xml";
- properties->setProperty("ArmarX.RobotStateComponent.RobotFileName", robotFilename);
- properties->setProperty("ArmarX.RobotStateComponent.ObjectName", "RobotStateComponent");
- properties->setProperty("ArmarX.RobotStateComponent.AgentName", "Armar3");
- properties->setProperty("ArmarX.RobotStateComponent.RobotNodeSetName", "Robot");
- properties->setProperty("ArmarX.RobotIK.RobotFileName", robotFilename);
- properties->setProperty("ArmarX.RobotIK.RobotStateComponentName", "RobotStateComponent");
-
- _spaceSavePath = test::getCmakeValue("PROJECT_BINARY_DIR") + "/Testing/Temporary/spaces/";
-
- if (loadSpaces)
- {
- properties->setProperty("ArmarX.RobotIK.ReachabilitySpacesFolder", _spaceSavePath);
- properties->setProperty("ArmarX.RobotIK.InitialReachabilitySpaces", "testReachabilitySpace.bin");
- }
-
- _iceTestHelper = new IceTestHelper(registryPort, registryPort + 1);
- _iceTestHelper->startEnvironment();
-
- _manager = new TestArmarXManager(testName, _iceTestHelper->getCommunicator(), properties);
-
- if (addObjects)
- {
- _robotStateComponent = _manager->createComponentAndRun<RobotStateComponent, RobotStateComponentInterfacePrx>("ArmarX", "RobotStateComponent");
- _robotIK = _manager->createComponentAndRun<RobotIK, RobotIKInterfacePrx>("ArmarX", "RobotIK");
- }
-
- _robotModel = VirtualRobot::RobotIO::loadRobot(robotFilename, VirtualRobot::RobotIO::eStructure);
- }
-
- ~RobotIKTestEnvironment()
- {
- _manager->shutdown();
- }
-
- RobotStateComponentInterfacePrx _robotStateComponent;
- RobotIKInterfacePrx _robotIK;
- TestArmarXManagerPtr _manager;
- IceTestHelperPtr _iceTestHelper;
- VirtualRobot::RobotPtr _robotModel;
- std::string _spaceSavePath;
-};
-
-typedef boost::shared_ptr<RobotIKTestEnvironment> RobotIKTestEnvironmentPtr;
-
diff --git a/source/RobotAPI/components/RobotState/CMakeLists.txt b/source/RobotAPI/components/RobotState/CMakeLists.txt
index 1f6c68863792b14286f039b47c6dd498ab377061..fa39860ac77df6f7e32fd8d86392cd06ba2537b6 100644
--- a/source/RobotAPI/components/RobotState/CMakeLists.txt
+++ b/source/RobotAPI/components/RobotState/CMakeLists.txt
@@ -10,8 +10,8 @@ include_directories(${Eigen3_INCLUDE_DIR})
include_directories(${Simox_INCLUDE_DIRS})
set(LIB_NAME RobotAPIRobotStateComponent)
-set(LIB_VERSION 0.1.0)
-set(LIB_SOVERSION 0)
+
+
set(LIBS ArmarXCore RobotAPICore)
@@ -25,4 +25,4 @@ set(LIB_HEADERS
SharedRobotServants.h
)
-armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index b874c7b9c903de746cf3d436232836159dfbd862..10319136430a482f414e9773c574edbabe62b07d 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotStateComponent::
* @author ( at kit dot edu)
* @date
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -28,10 +27,10 @@
#include <VirtualRobot/RobotNodeSet.h>
#include <boost/format.hpp>
#include <boost/foreach.hpp>
-#include <Core/core/system/ArmarXDataPath.h>
-#include <Core/core/ArmarXManager.h>
-#include <Core/core/ArmarXObjectScheduler.h>
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/ArmarXManager.h>
+#include <ArmarXCore/core/ArmarXObjectScheduler.h>
+#include <ArmarXCore/core/application/Application.h>
using namespace std;
using namespace VirtualRobot;
@@ -52,7 +51,7 @@ namespace armarx
_synchronizedPrx->unref();
}
}
- catch(...)
+ catch (...)
{}
}
@@ -60,13 +59,15 @@ namespace armarx
void RobotStateComponent::onInitComponent()
{
relativeRobotFile = getProperty<std::string>("RobotFileName").getValue();
- if (!ArmarXDataPath::getAbsolutePath(relativeRobotFile,robotFile))
+
+ if (!ArmarXDataPath::getAbsolutePath(relativeRobotFile, robotFile))
{
throw UserException("Could not find robot file " + robotFile);
}
this->_synchronized = VirtualRobot::RobotIO::loadRobot(robotFile, VirtualRobot::RobotIO::eStructure);
_synchronized->setName(getProperty<std::string>("AgentName").getValue());
+
if (this->_synchronized)
{
ARMARX_VERBOSE << "Loaded robot from file " << robotFile << ". Robot name: " << this->_synchronized->getName();
@@ -79,15 +80,16 @@ namespace armarx
string robotNodeSetName = getProperty<std::string>("RobotNodeSetName").getValue();
- if(robotNodeSetName == "")
+ if (robotNodeSetName == "")
{
throw UserException("RobotNodeSet not defined");
}
VirtualRobot::RobotNodeSetPtr rns = this->_synchronized->getRobotNodeSet(robotNodeSetName);
+
if (!rns)
{
- throw UserException("RobotNodeSet not defined");
+ throw UserException("RobotNodeSet not defined");
}
vector<RobotNodePtr> nodes = rns->getAllRobotNodes();
@@ -129,20 +131,24 @@ namespace armarx
}
- SharedRobotInterfacePrx RobotStateComponent::getSynchronizedRobot(const Current & current) const
+ SharedRobotInterfacePrx RobotStateComponent::getSynchronizedRobot(const Current& current) const
{
if (!this->_synchronizedPrx)
{
throw NotInitializedException("Shared Robot is NULL", "getSynchronizedRobot");
}
+
return this->_synchronizedPrx;
}
- SharedRobotInterfacePrx RobotStateComponent::getRobotSnapshot(const string & time,const Current & current)
+ SharedRobotInterfacePrx RobotStateComponent::getRobotSnapshot(const string& time, const Current& current)
{
- if(!_synchronized)
+ if (!_synchronized)
+ {
throw NotInitializedException("Shared Robot is NULL", "getRobotSnapshot");
+ }
+
auto clone = this->_synchronized->clone(_synchronized->getName());
SharedRobotInterfacePtr p = new SharedRobotServant(clone);
@@ -154,15 +160,15 @@ namespace armarx
void RobotStateComponent::reportJointAngles(const NameValueMap& jointAngles, bool aValueChanged, const Current& c)
{
-// IceUtil::Time start = IceUtil::Time::now();
- if(aValueChanged)
+ // IceUtil::Time start = IceUtil::Time::now();
+ if (aValueChanged)
{
{
WriteLockPtr lock = _synchronized->getWriteLock();
std::vector<float> jv;
std::vector< RobotNodePtr > nodes;
- BOOST_FOREACH(NameValueMap::value_type namedAngle, jointAngles )
+ BOOST_FOREACH(NameValueMap::value_type namedAngle, jointAngles)
{
RobotNodePtr node = this->_synchronized->getRobotNode(namedAngle.first);
nodes.push_back(node);
@@ -170,52 +176,64 @@ namespace armarx
}
_synchronized->setJointValues(nodes, jv);
}
- if(robotStateObs)
+
+ if (robotStateObs)
+ {
robotStateObs->updatePoses();
+ }
}
- if(_sharedRobotServant)
+
+ if (_sharedRobotServant)
+ {
_sharedRobotServant->setTimestamp(IceUtil::Time::now());
-// ARMARX_VERBOSE << deactivateSpam(2) << "my duration: " << (IceUtil::Time::now() - start).toMicroSecondsDouble() << " ms";
+ }
+
+ // ARMARX_VERBOSE << deactivateSpam(2) << "my duration: " << (IceUtil::Time::now() - start).toMicroSecondsDouble() << " ms";
}
std::string RobotStateComponent::getRobotFilename(const Ice::Current&) const
- {
+ {
return relativeRobotFile;
}
- std::vector<string> RobotStateComponent::getArmarXPackages(const Current &) const
+ std::vector<string> RobotStateComponent::getArmarXPackages(const Current&) const
{
std::vector<string> result;
auto packages = armarx::Application::GetProjectDependencies();
packages.push_back(Application::GetProjectName());
- for(const std::string &projectName : packages)
+
+ for (const std::string& projectName : packages)
{
- if(projectName.empty())
+ if (projectName.empty())
+ {
continue;
+ }
result.push_back(projectName);
}
return result;
}
-
- void RobotStateComponent::reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged,const Current& c){}
- void RobotStateComponent::reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged,const Current& c)
+
+ void RobotStateComponent::reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged, const Current& c) {}
+ void RobotStateComponent::reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged, const Current& c)
{
- if(robotStateObs)
+ if (robotStateObs)
+ {
robotStateObs->updateNodeVelocities(jointVelocities);
+ }
}
- void RobotStateComponent::reportJointTorques(const NameValueMap& jointTorques, bool aValueChanged,const Current& c){}
+ void RobotStateComponent::reportJointTorques(const NameValueMap& jointTorques, bool aValueChanged, const Current& c) {}
- void RobotStateComponent::reportJointAccelerations(const NameValueMap &jointAccelerations, bool aValueChanged, const Current &c)
+ void RobotStateComponent::reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Current& c)
{
}
- void RobotStateComponent::reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged,const Current& c){}
- void RobotStateComponent::reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, bool aValueChanged, const Current& c){}
- void RobotStateComponent::reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Current& c){}
+ void RobotStateComponent::reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged, const Current& c) {}
+ void RobotStateComponent::reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, bool aValueChanged, const Current& c) {}
+ void RobotStateComponent::reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Current& c) {}
/*void RobotStateComponent::reportPlatformPose(float currentPlatformPositionX, float currentPlatformPositionY, float currentPlatformRotation, const Ice::Current& c)
{
@@ -252,12 +270,16 @@ namespace armarx
robotStateObs = observer;
}
- string RobotStateComponent::getRobotName(const Current &) const
+ string RobotStateComponent::getRobotName(const Current&) const
{
- if(_synchronized)
+ if (_synchronized)
+ {
return _synchronizedPrx->getName();
+ }
else
+ {
throw NotInitializedException("Robot Ptr is NULL", "getName");
+ }
}
}
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.h b/source/RobotAPI/components/RobotState/RobotStateComponent.h
index 0afb8f32c3d3c545e3a1722eeb98433cba500485..617d938e6e3644604f56e7be7fc7e7f750da9e29 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.h
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotStateComponent::
* @author ( stefan dot ulbrich at kit dot edu)
* @date
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,9 +25,9 @@
#include "SharedRobotServants.h"
-#include <Core/core/Component.h>
-#include <Core/core/application/properties/Properties.h>
-#include <Core/core/system/ImportExportComponent.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/application/properties/Properties.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <RobotAPI/interface/core/RobotState.h>
#include "SharedRobotServants.h"
@@ -43,13 +42,13 @@ namespace armarx
* \brief
*/
class RobotStatePropertyDefinitions:
- public ComponentPropertyDefinitions
+ public ComponentPropertyDefinitions
{
public:
RobotStatePropertyDefinitions(std::string prefix):
ComponentPropertyDefinitions(prefix)
{
- defineRequiredProperty<std::string>("RobotNodeSetName","Set of nodes that is controlled by the KinematicUnit");
+ defineRequiredProperty<std::string>("RobotNodeSetName", "Set of nodes that is controlled by the KinematicUnit");
defineRequiredProperty<std::string>("RobotFileName", "Filename of VirtualRobot robot model (e.g. robot_model.xml)");
defineRequiredProperty<std::string>("AgentName", "Name of the agent for which the sensor values are provided");
}
@@ -57,7 +56,7 @@ namespace armarx
/**
- * \class RobotStateComponent
+ * \defgroup Component-RobotStateComponent RobotStateComponent
* \ingroup RobotAPI-Components
* \brief Maintains a robot representation based on VirtualRobot (see [Simox](http://simox.sourceforge.net/)).
*
@@ -72,6 +71,11 @@ namespace armarx
* to calculate on the same values.
* See \ref armarx::RemoteRobot "RemoteRobot" for more details and the usage of this component.
*/
+
+ /**
+ * @brief The RobotStateComponent class
+ * @ingroup Component-RobotStateComponent
+ */
class ARMARXCOMPONENT_IMPORT_EXPORT RobotStateComponent :
virtual public Component,
virtual public RobotStateComponentInterface
@@ -87,8 +91,8 @@ namespace armarx
/**
* \return Clone of the internal synchronized robot.
*/
- virtual SharedRobotInterfacePrx getRobotSnapshot(const std::string & time, const Ice::Current&);
-
+ virtual SharedRobotInterfacePrx getRobotSnapshot(const std::string& time, const Ice::Current&);
+
/**
* \return the robot xml filename as specified in the configuration
*/
@@ -104,7 +108,7 @@ namespace armarx
*
* \return The name of this robot instance.
*/
- virtual std::string getRobotName(const Ice::Current &) const;
+ virtual std::string getRobotName(const Ice::Current&) const;
/**
* Create an instance of RobotStatePropertyDefinitions.
diff --git a/source/RobotAPI/components/RobotState/SharedRobotServants.cpp b/source/RobotAPI/components/RobotState/SharedRobotServants.cpp
index ac0def3d77e4deabb85a065bf2240c47bd1100ca..ba706483d794fe354d875367db1be3a02e49dea2 100644
--- a/source/RobotAPI/components/RobotState/SharedRobotServants.cpp
+++ b/source/RobotAPI/components/RobotState/SharedRobotServants.cpp
@@ -1,6 +1,6 @@
#include "SharedRobotServants.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
#include <boost/foreach.hpp>
@@ -14,7 +14,7 @@
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/RobotNodeSet.h>
#include <Ice/ObjectAdapter.h>
-#include <Core/observers/variant/TimestampVariant.h>
+#include <ArmarXCore/observers/variant/TimestampVariant.h>
using namespace std;
@@ -31,360 +31,407 @@ using namespace Ice;
namespace armarx
{
-typedef std::map<std::string, SharedRobotNodeInterfacePrx> NodeCache;
+ typedef std::map<std::string, SharedRobotNodeInterfacePrx> NodeCache;
-///////////////////////////////
-// SharedObjectBase
-///////////////////////////////
+ ///////////////////////////////
+ // SharedObjectBase
+ ///////////////////////////////
-SharedObjectBase::SharedObjectBase()
-{
- this-> _referenceCount=0;
- #ifdef VERBOSE
- ARMARX_LOG_S << "construct " << this << flush;
- #endif
-}
+ SharedObjectBase::SharedObjectBase()
+ {
+ this-> _referenceCount = 0;
+#ifdef VERBOSE
+ ARMARX_LOG_S << "construct " << this << flush;
+#endif
+ }
-void SharedObjectBase::ref(const Current ¤t)
-{
- boost::lock_guard<boost::mutex> lock(this->_counterMutex);
+ void SharedObjectBase::ref(const Current& current)
+ {
+ boost::lock_guard<boost::mutex> lock(this->_counterMutex);
- _referenceCount++;
+ _referenceCount++;
- #ifdef VERBOSE
- ARMARX_LOG_S << "ref: " << _referenceCount << " " << this << flush;
- #endif
-}
+#ifdef VERBOSE
+ ARMARX_LOG_S << "ref: " << _referenceCount << " " << this << flush;
+#endif
+ }
-void SharedObjectBase::unref(const Current ¤t)
-{
- boost::lock_guard<boost::mutex> lock(this->_counterMutex);
+ void SharedObjectBase::unref(const Current& current)
+ {
+ boost::lock_guard<boost::mutex> lock(this->_counterMutex);
#ifdef VERBOSE
- ARMARX_LOG_S << "unref: " << _referenceCount << " " << this << flush;
+ ARMARX_LOG_S << "unref: " << _referenceCount << " " << this << flush;
#endif
- _referenceCount --;
- if (_referenceCount==0)
- this->destroy(current);
-}
+ _referenceCount --;
-void SharedObjectBase::destroy(const Current ¤t)
-{
- try {
- current.adapter->remove(current.id);
- #ifdef VERBOSE
- ARMARX_ERROR_S << "[SharedObject] destroy " << " " << this << flush;
- #endif
- } catch (const NotRegisteredException&e){
-// ARMARX_INFO_S << "destroy failed with: " << e.what();
- throw ObjectNotExistException(__FILE__, __LINE__);
- };
-}
+ if (_referenceCount == 0)
+ {
+ this->destroy(current);
+ }
+ }
+
+ void SharedObjectBase::destroy(const Current& current)
+ {
+ try
+ {
+ current.adapter->remove(current.id);
+#ifdef VERBOSE
+ ARMARX_ERROR_S << "[SharedObject] destroy " << " " << this << flush;
+#endif
+ }
+ catch (const NotRegisteredException& e)
+ {
+ // ARMARX_INFO_S << "destroy failed with: " << e.what();
+ throw ObjectNotExistException(__FILE__, __LINE__);
+ };
+ }
-///////////////////////////////
-// SharedRobotNodeServant
-///////////////////////////////
+ ///////////////////////////////
+ // SharedRobotNodeServant
+ ///////////////////////////////
-SharedRobotNodeServant::SharedRobotNodeServant(RobotNodePtr node) :
- _node(node)
-{
+ SharedRobotNodeServant::SharedRobotNodeServant(RobotNodePtr node) :
+ _node(node)
+ {
#ifdef VERBOSE
- ARMARX_LOG_S << "[SharedRobotNodeServant] construct " << " " << this << flush;
+ ARMARX_LOG_S << "[SharedRobotNodeServant] construct " << " " << this << flush;
#endif
-}
+ }
-SharedRobotNodeServant::~SharedRobotNodeServant()
-{
+ SharedRobotNodeServant::~SharedRobotNodeServant()
+ {
#ifdef VERBOSE
- ARMARX_FATAL_S << "[SharedRobotNodeServant] destruct " << " " << this << flush;
+ ARMARX_FATAL_S << "[SharedRobotNodeServant] destruct " << " " << this << flush;
#endif
-}
+ }
-float SharedRobotNodeServant::getJointValue(const Current ¤t) const
-{
- ReadLockPtr lock = _node->getRobot()->getReadLock();
- return _node->getJointValue();
-}
+ float SharedRobotNodeServant::getJointValue(const Current& current) const
+ {
+ ReadLockPtr lock = _node->getRobot()->getReadLock();
+ return _node->getJointValue();
+ }
-string SharedRobotNodeServant::getName(const Current ¤t) const
-{
- ReadLockPtr lock = _node->getRobot()->getReadLock();
- return _node->getName();
-}
+ string SharedRobotNodeServant::getName(const Current& current) const
+ {
+ ReadLockPtr lock = _node->getRobot()->getReadLock();
+ return _node->getName();
+ }
-PoseBasePtr SharedRobotNodeServant::getLocalTransformation(const Current ¤t) const
-{
- ReadLockPtr lock = _node->getRobot()->getReadLock();
- return new Pose(_node->getLocalTransformation());
-}
+ PoseBasePtr SharedRobotNodeServant::getLocalTransformation(const Current& current) const
+ {
+ ReadLockPtr lock = _node->getRobot()->getReadLock();
+ return new Pose(_node->getLocalTransformation());
+ }
-FramedPoseBasePtr SharedRobotNodeServant::getGlobalPose(const Current ¤t) const
-{
- ReadLockPtr lock = _node->getRobot()->getReadLock();
- return new FramedPose(_node->getGlobalPose(),
- GlobalFrame,
- "");
-}
+ FramedPoseBasePtr SharedRobotNodeServant::getGlobalPose(const Current& current) const
+ {
+ ReadLockPtr lock = _node->getRobot()->getReadLock();
+ return new FramedPose(_node->getGlobalPose(),
+ GlobalFrame,
+ "");
+ }
-FramedPoseBasePtr SharedRobotNodeServant::getPoseInRootFrame(const Current ¤t) const
-{
- ReadLockPtr lock = _node->getRobot()->getReadLock();
- return new FramedPose(_node->getPoseInRootFrame(),
- _node->getRobot()->getRootNode()->getName(),
- _node->getRobot()->getName());
-}
+ FramedPoseBasePtr SharedRobotNodeServant::getPoseInRootFrame(const Current& current) const
+ {
+ ReadLockPtr lock = _node->getRobot()->getReadLock();
+ return new FramedPose(_node->getPoseInRootFrame(),
+ _node->getRobot()->getRootNode()->getName(),
+ _node->getRobot()->getName());
+ }
-JointType SharedRobotNodeServant::getType(const Current ¤t) const
-{
- ReadLockPtr lock = _node->getRobot()->getReadLock();
- if (_node->isRotationalJoint()) return eRevolute;
- else if (_node->isTranslationalJoint()) return ePrismatic;
- else return eFixed;
-}
+ JointType SharedRobotNodeServant::getType(const Current& current) const
+ {
+ ReadLockPtr lock = _node->getRobot()->getReadLock();
-Vector3BasePtr SharedRobotNodeServant::getJointTranslationDirection(const Current ¤t) const
-{
- ReadLockPtr lock = _node->getRobot()->getReadLock();
- boost::shared_ptr<RobotNodePrismatic> prismatic = dynamic_pointer_cast<RobotNodePrismatic>(_node);
- if (prismatic)
- return new Vector3(prismatic->getJointTranslationDirection());
- else
- return new Vector3;
-}
+ if (_node->isRotationalJoint())
+ {
+ return eRevolute;
+ }
+ else if (_node->isTranslationalJoint())
+ {
+ return ePrismatic;
+ }
+ else
+ {
+ return eFixed;
+ }
+ }
-Vector3BasePtr SharedRobotNodeServant::getJointRotationAxis(const Current ¤t) const
-{
- ReadLockPtr lock = _node->getRobot()->getReadLock();
- boost::shared_ptr<RobotNodeRevolute> revolute = dynamic_pointer_cast<RobotNodeRevolute>(_node);
- if (revolute)
- return new Vector3(revolute->getJointRotationAxis());
- else
- return new Vector3;
-}
+ Vector3BasePtr SharedRobotNodeServant::getJointTranslationDirection(const Current& current) const
+ {
+ ReadLockPtr lock = _node->getRobot()->getReadLock();
+ boost::shared_ptr<RobotNodePrismatic> prismatic = dynamic_pointer_cast<RobotNodePrismatic>(_node);
+
+ if (prismatic)
+ {
+ return new Vector3(prismatic->getJointTranslationDirection());
+ }
+ else
+ {
+ return new Vector3;
+ }
+ }
+ Vector3BasePtr SharedRobotNodeServant::getJointRotationAxis(const Current& current) const
+ {
+ ReadLockPtr lock = _node->getRobot()->getReadLock();
+ boost::shared_ptr<RobotNodeRevolute> revolute = dynamic_pointer_cast<RobotNodeRevolute>(_node);
-bool SharedRobotNodeServant::hasChild(const string &name, bool recursive, const Current ¤t) const
-{
- ReadLockPtr lock = _node->getRobot()->getReadLock();
- //return _node->hasChild(name,recursive);
- return false;
-}
+ if (revolute)
+ {
+ return new Vector3(revolute->getJointRotationAxis());
+ }
+ else
+ {
+ return new Vector3;
+ }
+ }
-string SharedRobotNodeServant::getParent(const Current ¤t) const
-{
- ReadLockPtr lock = _node->getRobot()->getReadLock();
- SceneObjectPtr parent = _node->getParent();
- if (!parent) throw UserException("This RobotNode has no parent.");
- return parent->getName();
-}
-NameList SharedRobotNodeServant::getChildren(const Current ¤t) const
-{
- ReadLockPtr lock = _node->getRobot()->getReadLock();
- vector<SceneObjectPtr> children = _node->getChildren();
- NameList names;
- BOOST_FOREACH(SceneObjectPtr node, children){
- names.push_back(node->getName());
+ bool SharedRobotNodeServant::hasChild(const string& name, bool recursive, const Current& current) const
+ {
+ ReadLockPtr lock = _node->getRobot()->getReadLock();
+ //return _node->hasChild(name,recursive);
+ return false;
}
- return names;
-}
-NameList SharedRobotNodeServant::getAllParents(const std::string &name, const Ice::Current ¤t) const
-{
- ReadLockPtr lock = _node->getRobot()->getReadLock();
- vector<RobotNodePtr> parents = _node->getAllParents(_node->getRobot()->getRobotNodeSet(name));
- NameList names;
- BOOST_FOREACH(RobotNodePtr node, parents){
- names.push_back(node->getName());
+ string SharedRobotNodeServant::getParent(const Current& current) const
+ {
+ ReadLockPtr lock = _node->getRobot()->getReadLock();
+ SceneObjectPtr parent = _node->getParent();
+
+ if (!parent)
+ {
+ throw UserException("This RobotNode has no parent.");
+ }
+
+ return parent->getName();
}
- return names;
-}
-float SharedRobotNodeServant::getJointValueOffest(const Current ¤t) const
-{
- ReadLockPtr lock = _node->getRobot()->getReadLock();
- return _node->getJointValueOffset();
-}
+ NameList SharedRobotNodeServant::getChildren(const Current& current) const
+ {
+ ReadLockPtr lock = _node->getRobot()->getReadLock();
+ vector<SceneObjectPtr> children = _node->getChildren();
+ NameList names;
+ BOOST_FOREACH(SceneObjectPtr node, children)
+ {
+ names.push_back(node->getName());
+ }
+ return names;
+ }
-float SharedRobotNodeServant::getJointLimitHigh(const Current ¤t) const
-{
- ReadLockPtr lock = _node->getRobot()->getReadLock();
- return _node->getJointLimitHigh();
-}
+ NameList SharedRobotNodeServant::getAllParents(const std::string& name, const Ice::Current& current) const
+ {
+ ReadLockPtr lock = _node->getRobot()->getReadLock();
+ vector<RobotNodePtr> parents = _node->getAllParents(_node->getRobot()->getRobotNodeSet(name));
+ NameList names;
+ BOOST_FOREACH(RobotNodePtr node, parents)
+ {
+ names.push_back(node->getName());
+ }
+ return names;
+ }
-float SharedRobotNodeServant::getJointLimitLow(const Current ¤t) const
-{
- ReadLockPtr lock = _node->getRobot()->getReadLock();
- return _node->getJointLimitLow();
-}
+ float SharedRobotNodeServant::getJointValueOffest(const Current& current) const
+ {
+ ReadLockPtr lock = _node->getRobot()->getReadLock();
+ return _node->getJointValueOffset();
+ }
+ float SharedRobotNodeServant::getJointLimitHigh(const Current& current) const
+ {
+ ReadLockPtr lock = _node->getRobot()->getReadLock();
+ return _node->getJointLimitHigh();
+ }
-///////////////////////////////
-// SharedRobotServant
-///////////////////////////////
+ float SharedRobotNodeServant::getJointLimitLow(const Current& current) const
+ {
+ ReadLockPtr lock = _node->getRobot()->getReadLock();
+ return _node->getJointLimitLow();
+ }
-SharedRobotServant::SharedRobotServant(RobotPtr robot)
- : _robot(robot)
-{
+
+ ///////////////////////////////
+ // SharedRobotServant
+ ///////////////////////////////
+
+ SharedRobotServant::SharedRobotServant(RobotPtr robot)
+ : _robot(robot)
+ {
#ifdef VERBOSE
- ARMARX_WARNING_S << "construct " << this << flush;
+ ARMARX_WARNING_S << "construct " << this << flush;
#endif
-}
+ }
-SharedRobotServant::~SharedRobotServant()
-{
+ SharedRobotServant::~SharedRobotServant()
+ {
#ifdef VERBOSE
- ARMARX_WARNING_S << "destruct " << this << flush;
+ ARMARX_WARNING_S << "destruct " << this << flush;
#endif
- boost::recursive_mutex::scoped_lock cloneLock(m);
+ boost::recursive_mutex::scoped_lock cloneLock(m);
- for(auto value: this->_cachedNodes)
- {
- try
+ for (auto value : this->_cachedNodes)
{
- value.second->unref();
+ try
+ {
+ value.second->unref();
+ }
+ catch (...) {}
}
- catch(...){}
}
-}
-SharedRobotNodeInterfacePrx SharedRobotServant::getRobotNode(const string &name, const Current ¤t)
-{
-// ARMARX_LOG_S << "Looking for node: " << name << flush;
- assert(_robot);
- boost::recursive_mutex::scoped_lock cloneLock(m);
- SharedRobotNodeInterfacePrx prx;
- if (this->_cachedNodes.find(name) == this->_cachedNodes.end()){
- RobotNodePtr robotNode = _robot->getRobotNode(name);
- if (!robotNode){
- ARMARX_WARNING_S << "RobotNode \"" + name + "\" not defined.";
- throw UserException("RobotNode \"" + name + "\" not defined.");
+ SharedRobotNodeInterfacePrx SharedRobotServant::getRobotNode(const string& name, const Current& current)
+ {
+ // ARMARX_LOG_S << "Looking for node: " << name << flush;
+ assert(_robot);
+ boost::recursive_mutex::scoped_lock cloneLock(m);
+ SharedRobotNodeInterfacePrx prx;
+
+ if (this->_cachedNodes.find(name) == this->_cachedNodes.end())
+ {
+ RobotNodePtr robotNode = _robot->getRobotNode(name);
+
+ if (!robotNode)
+ {
+ ARMARX_WARNING_S << "RobotNode \"" + name + "\" not defined.";
+ throw UserException("RobotNode \"" + name + "\" not defined.");
+ }
+
+ SharedRobotNodeInterfacePtr servant = new SharedRobotNodeServant(
+ _robot->getRobotNode(name));
+ //servant->ref();
+ prx = SharedRobotNodeInterfacePrx::uncheckedCast(current.adapter->addWithUUID(servant));
+ prx->ref();
+ // return prx;
+ this->_cachedNodes[name] = prx;
}
- SharedRobotNodeInterfacePtr servant = new SharedRobotNodeServant(
- _robot->getRobotNode(name));
- //servant->ref();
- prx = SharedRobotNodeInterfacePrx::uncheckedCast(current.adapter->addWithUUID(servant));
- prx->ref();
-// return prx;
- this->_cachedNodes[name] = prx;
+ return this->_cachedNodes[name];
}
- return this->_cachedNodes[name];
-}
-
-SharedRobotNodeInterfacePrx SharedRobotServant::getRootNode(const Current ¤t)
-{
- assert(_robot);
- boost::recursive_mutex::scoped_lock cloneLock(m);
- string name = _robot->getRootNode()/*,current*/->getName();
- return this->getRobotNode(name, current);
-}
+ SharedRobotNodeInterfacePrx SharedRobotServant::getRootNode(const Current& current)
+ {
+ assert(_robot);
+ boost::recursive_mutex::scoped_lock cloneLock(m);
+ string name = _robot->getRootNode()/*,current*/->getName();
+ return this->getRobotNode(name, current);
+ }
-bool SharedRobotServant::hasRobotNode(const string & name, const Current ¤t)
-{
- return _robot->hasRobotNode(name);
-}
-NameList SharedRobotServant::getRobotNodes(const Current ¤t)
-{
- vector<RobotNodePtr> robotNodes = _robot->getRobotNodes();
- NameList names;
- BOOST_FOREACH(RobotNodePtr node, robotNodes){
- names.push_back(node->getName());
+ bool SharedRobotServant::hasRobotNode(const string& name, const Current& current)
+ {
+ return _robot->hasRobotNode(name);
}
- return names;
-}
-RobotNodeSetInfoPtr SharedRobotServant::getRobotNodeSet(const string & name, const Current ¤t)
-{
- RobotNodeSetPtr robotNodeSet = _robot->getRobotNodeSet(name);
- if (!robotNodeSet) throw UserException("RobotNodeSet \""+name+"\" not defined");
- vector<RobotNodePtr> robotNodes = robotNodeSet->getAllRobotNodes();
- NameList names;
- BOOST_FOREACH(RobotNodePtr node, robotNodes){
- names.push_back(node->getName());
+ NameList SharedRobotServant::getRobotNodes(const Current& current)
+ {
+ vector<RobotNodePtr> robotNodes = _robot->getRobotNodes();
+ NameList names;
+ BOOST_FOREACH(RobotNodePtr node, robotNodes)
+ {
+ names.push_back(node->getName());
+ }
+ return names;
}
- RobotNodeSetInfoPtr info = new RobotNodeSetInfo;
- info->names = names;
- info->name = name;
- info->tcpName = robotNodeSet->getTCP()->getName();
- info->rootName = robotNodeSet->getKinematicRoot()->getName();
+ RobotNodeSetInfoPtr SharedRobotServant::getRobotNodeSet(const string& name, const Current& current)
+ {
+ RobotNodeSetPtr robotNodeSet = _robot->getRobotNodeSet(name);
+
+ if (!robotNodeSet)
+ {
+ throw UserException("RobotNodeSet \"" + name + "\" not defined");
+ }
- return info;
+ vector<RobotNodePtr> robotNodes = robotNodeSet->getAllRobotNodes();
+ NameList names;
+ BOOST_FOREACH(RobotNodePtr node, robotNodes)
+ {
+ names.push_back(node->getName());
+ }
-}
+ RobotNodeSetInfoPtr info = new RobotNodeSetInfo;
+ info->names = names;
+ info->name = name;
+ info->tcpName = robotNodeSet->getTCP()->getName();
+ info->rootName = robotNodeSet->getKinematicRoot()->getName();
+
+ return info;
-NameList SharedRobotServant::getRobotNodeSets(const Current ¤t)
-{
- vector<RobotNodeSetPtr> robotNodeSets = _robot->getRobotNodeSets();
- NameList names;
- BOOST_FOREACH(RobotNodeSetPtr set, robotNodeSets){
- names.push_back(set->getName());
}
- return names;
-}
+ NameList SharedRobotServant::getRobotNodeSets(const Current& current)
+ {
+ vector<RobotNodeSetPtr> robotNodeSets = _robot->getRobotNodeSets();
+ NameList names;
+ BOOST_FOREACH(RobotNodeSetPtr set, robotNodeSets)
+ {
+ names.push_back(set->getName());
+ }
-bool SharedRobotServant::hasRobotNodeSet(const string & name, const Current ¤t)
-{
- return _robot->hasRobotNodeSet(name);
-}
+ return names;
+ }
-string SharedRobotServant::getName(const Current ¤t)
-{
- //ARMARX_VERBOSE_S << "SharedRobotServant::getname:" << _robot->getName();
- return _robot->getName();
-}
+ bool SharedRobotServant::hasRobotNodeSet(const string& name, const Current& current)
+ {
+ return _robot->hasRobotNodeSet(name);
+ }
-string SharedRobotServant::getType(const Current ¤t)
-{
- return _robot->getType();
-}
+ string SharedRobotServant::getName(const Current& current)
+ {
+ //ARMARX_VERBOSE_S << "SharedRobotServant::getname:" << _robot->getName();
+ return _robot->getName();
+ }
-void SharedRobotServant::setTimestamp(const IceUtil::Time &updateTime)
-{
- updateTimestamp = updateTime;
-}
+ string SharedRobotServant::getType(const Current& current)
+ {
+ return _robot->getType();
+ }
-PoseBasePtr SharedRobotServant::getGlobalPose(const Current ¤t)
-{
- ReadLockPtr lock = _robot->getReadLock();
- return new Pose(_robot->getGlobalPose());
-}
+ void SharedRobotServant::setTimestamp(const IceUtil::Time& updateTime)
+ {
+ updateTimestamp = updateTime;
+ }
-NameValueMap SharedRobotServant::getConfig(const Current ¤t)
-{
- if(!_robot)
+ PoseBasePtr SharedRobotServant::getGlobalPose(const Current& current)
{
- ARMARX_WARNING_S << "no robot set";
- return NameValueMap();
+ ReadLockPtr lock = _robot->getReadLock();
+ return new Pose(_robot->getGlobalPose());
}
- ReadLockPtr lock = _robot->getReadLock();
- std::map < std::string, float > values = _robot->getConfig()->getRobotNodeJointValueMap();
- NameValueMap result(values.begin(), values.end());
- return result;
-}
-TimestampBasePtr SharedRobotServant::getTimestamp(const Current &) const
-{
- return new TimestampVariant(updateTimestamp);
-}
+ NameValueMap SharedRobotServant::getConfig(const Current& current)
+ {
+ if (!_robot)
+ {
+ ARMARX_WARNING_S << "no robot set";
+ return NameValueMap();
+ }
-void SharedRobotServant::setGlobalPose(const armarx::PoseBasePtr &pose, const Current &)
-{
- WriteLockPtr lock = _robot->getWriteLock();
- _robot->setGlobalPose(PosePtr::dynamicCast(pose)->toEigen(), true);
-}
+ ReadLockPtr lock = _robot->getReadLock();
+ std::map < std::string, float > values = _robot->getConfig()->getRobotNodeJointValueMap();
+ NameValueMap result(values.begin(), values.end());
+ return result;
+ }
-RobotPtr SharedRobotServant::getRobot() const
-{
- return this->_robot;
-}
+ TimestampBasePtr SharedRobotServant::getTimestamp(const Current&) const
+ {
+ return new TimestampVariant(updateTimestamp);
+ }
+
+ void SharedRobotServant::setGlobalPose(const armarx::PoseBasePtr& pose, const Current&)
+ {
+ WriteLockPtr lock = _robot->getWriteLock();
+ _robot->setGlobalPose(PosePtr::dynamicCast(pose)->toEigen(), true);
+ }
+
+ RobotPtr SharedRobotServant::getRobot() const
+ {
+ return this->_robot;
+ }
}
diff --git a/source/RobotAPI/components/RobotState/SharedRobotServants.h b/source/RobotAPI/components/RobotState/SharedRobotServants.h
index 5c6637590876a868d0ff7cd9e5b479b02316e288..845ed5465c4d5a4a43ad52f7ad9551b9c878f340 100644
--- a/source/RobotAPI/components/RobotState/SharedRobotServants.h
+++ b/source/RobotAPI/components/RobotState/SharedRobotServants.h
@@ -1,8 +1,8 @@
#ifndef __SHARED_ROBOT_SERVANTS_H__
#define __SHARED_ROBOT_SERVANTS_H__
-#include <Core/core/Component.h>
-#include <Core/core/system/ImportExportComponent.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <RobotAPI/libraries/core/FramedPose.h>
@@ -18,7 +18,8 @@ namespace VirtualRobot
typedef boost::shared_ptr<RobotNode> RobotNodePtr;
}
-namespace armarx {
+namespace armarx
+{
// Zugriff muss mutex geschuetzt werden!
/**
@@ -29,22 +30,22 @@ namespace armarx {
class SharedObjectBase :
virtual public SharedObjectInterface
{
- public:
- virtual void ref(const Ice::Current &c = Ice::Current());
- virtual void unref(const Ice::Current &c = Ice::Current());
- void destroy(const Ice::Current &c = Ice::Current());
- SharedObjectBase();
- private:
- unsigned int _referenceCount;
- boost::mutex _counterMutex;
+ public:
+ virtual void ref(const Ice::Current& c = Ice::Current());
+ virtual void unref(const Ice::Current& c = Ice::Current());
+ void destroy(const Ice::Current& c = Ice::Current());
+ SharedObjectBase();
+ private:
+ unsigned int _referenceCount;
+ boost::mutex _counterMutex;
};
/**
* @brief The SharedRobotNodeServant class is a remote represenation of a Simox VirtualRobot::Robot
- *
+ * @ingroup Component-RobotStateComponent
* @details This class is used only internally by the the RobotStateComponent. Other classes such as the LinkedPose, RemoteRobot,
* TCPControlUnit and HeadIKUnit classes address this class by the SharedRobotNodeInterface and SharedRobotNodeInterfacePrx generated by
- * ICE.
+ * Ice.
*/
class SharedRobotNodeServant :
virtual public SharedRobotNodeInterface,
@@ -54,25 +55,25 @@ namespace armarx {
SharedRobotNodeServant(VirtualRobot::RobotNodePtr node /*,const Ice::Current & current = Ice::Current()*/);
~SharedRobotNodeServant();
- virtual float getJointValue(const Ice::Current & current = Ice::Current()) const;
- virtual std::string getName(const Ice::Current & current = Ice::Current()) const;
+ virtual float getJointValue(const Ice::Current& current = Ice::Current()) const;
+ virtual std::string getName(const Ice::Current& current = Ice::Current()) const;
- virtual PoseBasePtr getLocalTransformation(const Ice::Current & current = Ice::Current()) const;
- virtual FramedPoseBasePtr getGlobalPose(const Ice::Current & current = Ice::Current()) const;
- virtual FramedPoseBasePtr getPoseInRootFrame(const Ice::Current ¤t = Ice::Current()) const;
+ virtual PoseBasePtr getLocalTransformation(const Ice::Current& current = Ice::Current()) const;
+ virtual FramedPoseBasePtr getGlobalPose(const Ice::Current& current = Ice::Current()) const;
+ virtual FramedPoseBasePtr getPoseInRootFrame(const Ice::Current& current = Ice::Current()) const;
- virtual JointType getType(const Ice::Current & current = Ice::Current()) const;
- virtual Vector3BasePtr getJointTranslationDirection(const Ice::Current & current = Ice::Current()) const;
- virtual Vector3BasePtr getJointRotationAxis(const Ice::Current & current = Ice::Current()) const;
+ virtual JointType getType(const Ice::Current& current = Ice::Current()) const;
+ virtual Vector3BasePtr getJointTranslationDirection(const Ice::Current& current = Ice::Current()) const;
+ virtual Vector3BasePtr getJointRotationAxis(const Ice::Current& current = Ice::Current()) const;
- virtual bool hasChild(const std::string &name, bool recursive, const Ice::Current & current = Ice::Current()) const;
- virtual std::string getParent(const Ice::Current & current = Ice::Current()) const;
- virtual NameList getChildren(const Ice::Current & current = Ice::Current()) const;
- virtual NameList getAllParents(const std::string &name, const Ice::Current & current = Ice::Current()) const;
+ virtual bool hasChild(const std::string& name, bool recursive, const Ice::Current& current = Ice::Current()) const;
+ virtual std::string getParent(const Ice::Current& current = Ice::Current()) const;
+ virtual NameList getChildren(const Ice::Current& current = Ice::Current()) const;
+ virtual NameList getAllParents(const std::string& name, const Ice::Current& current = Ice::Current()) const;
- virtual float getJointValueOffest(const Ice::Current & current = Ice::Current()) const;
- virtual float getJointLimitHigh(const Ice::Current & current = Ice::Current()) const;
- virtual float getJointLimitLow(const Ice::Current & current = Ice::Current()) const;
+ virtual float getJointValueOffest(const Ice::Current& current = Ice::Current()) const;
+ virtual float getJointLimitHigh(const Ice::Current& current = Ice::Current()) const;
+ virtual float getJointLimitLow(const Ice::Current& current = Ice::Current()) const;
@@ -81,6 +82,7 @@ namespace armarx {
};
/**
+ * @ingroup Component-RobotStateComponent
* @brief The SharedRobotNodeServant class is a remote represenation of a Simox VirtualRobot::Robot
*
* @details This class is used only internally by the the RobotStateComponent. The RemoteRobot class SharedRobotInterface and SharedRobotInterfacePrx
@@ -95,26 +97,26 @@ namespace armarx {
SharedRobotServant(VirtualRobot::RobotPtr robot);
~SharedRobotServant();
- virtual SharedRobotNodeInterfacePrx getRobotNode(const std::string & name, const Ice::Current & current = Ice::Current());
- virtual SharedRobotNodeInterfacePrx getRootNode(const Ice::Current & current = Ice::Current());
- virtual bool hasRobotNode(const std::string & name, const Ice::Current & current = Ice::Current());
+ virtual SharedRobotNodeInterfacePrx getRobotNode(const std::string& name, const Ice::Current& current = Ice::Current());
+ virtual SharedRobotNodeInterfacePrx getRootNode(const Ice::Current& current = Ice::Current());
+ virtual bool hasRobotNode(const std::string& name, const Ice::Current& current = Ice::Current());
- virtual NameList getRobotNodes(const Ice::Current & current = Ice::Current());
- virtual RobotNodeSetInfoPtr getRobotNodeSet(const std::string & name, const Ice::Current & current = Ice::Current());
- virtual NameList getRobotNodeSets(const Ice::Current & current = Ice::Current());
- virtual bool hasRobotNodeSet(const std::string & name, const Ice::Current & current = Ice::Current());
+ virtual NameList getRobotNodes(const Ice::Current& current = Ice::Current());
+ virtual RobotNodeSetInfoPtr getRobotNodeSet(const std::string& name, const Ice::Current& current = Ice::Current());
+ virtual NameList getRobotNodeSets(const Ice::Current& current = Ice::Current());
+ virtual bool hasRobotNodeSet(const std::string& name, const Ice::Current& current = Ice::Current());
- virtual std::string getName(const Ice::Current & current = Ice::Current());
- virtual std::string getType(const Ice::Current & current = Ice::Current());
+ virtual std::string getName(const Ice::Current& current = Ice::Current());
+ virtual std::string getType(const Ice::Current& current = Ice::Current());
- virtual PoseBasePtr getGlobalPose(const Ice::Current & current = Ice::Current());
- NameValueMap getConfig(const Ice::Current & current = Ice::Current());
- virtual void setGlobalPose(const PoseBasePtr& pose, const Ice::Current ¤t);
+ virtual PoseBasePtr getGlobalPose(const Ice::Current& current = Ice::Current());
+ NameValueMap getConfig(const Ice::Current& current = Ice::Current());
+ virtual void setGlobalPose(const PoseBasePtr& pose, const Ice::Current& current);
VirtualRobot::RobotPtr getRobot() const;
- void setTimestamp(const IceUtil::Time &updateTime);
- TimestampBasePtr getTimestamp(const Ice::Current &) const;
+ void setTimestamp(const IceUtil::Time& updateTime);
+ TimestampBasePtr getTimestamp(const Ice::Current&) const;
protected:
VirtualRobot::RobotPtr _robot;
boost::recursive_mutex m;
diff --git a/source/RobotAPI/components/units/ATINetFTUnit.cpp b/source/RobotAPI/components/units/ATINetFTUnit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e0cf62d91b1b371ab5a6012a65cb720c7f03572a
--- /dev/null
+++ b/source/RobotAPI/components/units/ATINetFTUnit.cpp
@@ -0,0 +1,292 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package VisionX::ArmarXObjects::ATINetFTUnit
+ * @author Jonas Rauber ( kit at jonasrauber dot de )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "ATINetFTUnit.h"
+#include <sys/socket.h>
+#include <arpa/inet.h>
+#include <iostream>
+#include <string>
+#include <netdb.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <vector>
+#include <inttypes.h>
+using namespace armarx;
+
+
+
+void ATINetFTUnit::onInitComponent()
+{
+
+}
+
+void ATINetFTUnit::onConnectComponent()
+{
+ /*
+ * Read ATINetFT hostname and port from properties
+ * std::string receiverHostName("192.168.1.1:49152");
+ */
+
+ std::string ATINetFTReceiverHostName = getProperty<std::string>("ATINetFTReceiveHostName").getValue();
+ std::string captureName = getProperty<std::string>("CaptureName").getValue();
+ ARMARX_INFO << "Capture Name " << captureName;
+ size_t pos = captureName.find("0");
+ captureNamePrefix = captureName.substr(0,pos);
+ ARMARX_INFO << "Capture Name Prefix " << captureNamePrefix;
+ std::string captureNameSuffix = captureName.substr(pos,captureName.size());
+ ARMARX_INFO << "Capture Name Suffix " << captureNameSuffix;
+ nPaddingZeros = captureNameSuffix.size();
+ captureNumber = std::stoi(captureNameSuffix);
+ establishATINetFTReceiveHostConnection(ATINetFTReceiverHostName);
+ ftDataSize = 6;
+ sendPacketSize = 8;
+ receivePacketSize = 36;
+ recordingStopped = true;
+ recordingCompleted = true;
+ recordingStarted = false;
+
+ /*
+ * Connect to ATINetFT
+ */
+ /*if (ATINetFT.Connect(hostName).Result != Result::Success)
+ {
+ ARMARX_ERROR << "Could not connect to ATINetFT at " << hostName << flush;
+ return;
+ }
+ else
+ {
+ ARMARX_IMPORTANT << "Connected to ATINetFT at " << hostName << flush;
+ }*/
+
+ /*
+ * Enable Marker Data
+ */
+ /*Result::Enum result = ATINetFT.EnableMarkerData().Result;
+
+ if (result != Result::Success)
+ {
+ ARMARX_ERROR << "ATINetFT EnableMarkerData() returned error code " << result << flush;
+ return;
+ }*/
+}
+
+void ATINetFTUnit::onDisconnectComponent()
+{
+ ARMARX_IMPORTANT << "Disconnecting from ATINetFT" << flush;
+
+}
+
+
+void ATINetFTUnit::onExitComponent()
+{
+
+}
+
+void ATINetFTUnit::periodicExec()
+{
+ if (recordingStarted)
+
+
+ {
+
+ float ftdata[ftDataSize];
+ char receivePacketContent[receivePacketSize];
+
+ if (!receivePacket(receivePacketContent))
+ {
+ ARMARX_INFO << "recvfrom() failed :";
+ }
+ else
+ {
+ convertToFTValues(receivePacketContent, ftdata, ftDataSize);
+ writeFTValuesToFile(ftdata, ftDataSize);
+ sampleIndex++;
+ }
+
+ }
+
+}
+
+PropertyDefinitionsPtr ATINetFTUnit::createPropertyDefinitions()
+{
+ return PropertyDefinitionsPtr(new ATINetFTUnitPropertyDefinitions(
+ getConfigIdentifier()));
+}
+
+void ATINetFTUnit::startRecording(const std::string& customName, const Ice::Current& c)
+{
+ if (remoteTriggerEnabled)
+ {
+ if (recordingCompleted)
+ {
+ int bpSize = sendPacketSize;
+ char bytePacket[bpSize];
+ *(uint16_t*)&bytePacket[0] = htons(0x1234); /* standard header. */
+ *(uint16_t*)&bytePacket[2] = htons(2); /* per table 9.1 in Net F/T user manual. */
+ *(uint32_t*)&bytePacket[4] = htonl(0); /* see section 9.1 in Net F/T user manual. */
+ recordingStarted = sendPacket(bytePacket,bpSize);
+
+ if (recordingStarted)
+ {
+ recordingStopped = false;
+ recordingCompleted = false;
+ //TODO build filename captureNamePrefic+customName
+ recordingFile.open(captureNamePrefix);
+ sampleIndex = 0;
+ }
+ }
+ }
+}
+
+void ATINetFTUnit::stopRecording(const Ice::Current& c)
+{
+ if (remoteTriggerEnabled)
+ {
+ int bpSize = 8;
+ char bytePacket[bpSize];
+ *(uint16_t*)&bytePacket[0] = htons(0x1234); /* standard header. */
+ *(uint16_t*)&bytePacket[2] = htons(0); /* per table 9.1 in Net F/T user manual. */
+ *(uint32_t*)&bytePacket[4] = htonl(0); /* see section 9.1 in Net F/T user manual. */
+
+ recordingStopped = sendPacket(bytePacket,bpSize);
+ if (recordingStopped)
+ {
+ recordingFile.close();
+ recordingStarted = false;
+ }
+
+ }
+}
+
+bool ATINetFTUnit::sendPacket(char *bytePacket, int bpSize)
+{
+ if (remoteTriggerEnabled)
+ {
+ if(sendto(senderSocket, bytePacket, bpSize, 0, (struct sockaddr *)&receiveHostAddr, sizeof(receiveHostAddr))!= bpSize) {
+
+ return false;
+ }
+ return true;
+ }
+ return false;
+}
+
+bool ATINetFTUnit::receivePacket(char *receiveBuf)
+{
+
+ int test = sizeof(receiveHostAddr);
+
+ int receiveint = recvfrom(senderSocket, receiveBuf, receivePacketSize, 0, ( struct sockaddr *) &receiveHostAddr, ((socklen_t*)&test));
+
+ if (receiveint < 0)
+ {
+
+ return false;
+ }
+
+
+ return true;
+}
+
+void ATINetFTUnit::convertToFTValues(char *receiveBuf, float *ftdata, int ftdataSize)
+{
+ uint32_t rdt_sequence = ntohl(*(uint32_t*)&receiveBuf[0]);
+ uint32_t ft_sequence = ntohl(*(uint32_t*)&receiveBuf[4]);
+ uint32_t status = ntohl(*(uint32_t*)&receiveBuf[8]);
+
+ for( int i = 0; i < ftdataSize; i++ ) {
+ ftdata[i] = float(int32_t(ntohl(*(uint32_t*)&receiveBuf[12 + i * 4])))/ 1000000.0f;
+ }
+}
+
+void ATINetFTUnit::writeFTValuesToFile(float *ftdata, int ftdataSize)
+{
+ recordingFile << sampleIndex << " ";
+ for (int i = 0; i < ftdataSize; i++)
+ recordingFile << ftdata[i] << " ";
+ recordingFile << "\n";
+}
+
+void ATINetFTUnit::establishATINetFTReceiveHostConnection(std::string receiverHostName)
+{
+ remoteTriggerEnabled = false;
+
+ //Construct the server sockaddr_ structure
+ memset(&senderHostAddr, 0, sizeof(senderHostAddr));
+ senderHostAddr.sin_family=AF_INET;
+ senderHostAddr.sin_addr.s_addr=htonl(INADDR_ANY);
+ senderHostAddr.sin_port=htons(0);
+
+ //Create the socket
+ if((senderSocket=socket(AF_INET, SOCK_DGRAM, 0))<0) {
+ return;
+ }
+
+ if(bind(senderSocket,( struct sockaddr *) &senderHostAddr, sizeof(senderHostAddr))<0) {
+ return;
+ }
+
+ //Construct the server sockaddr_ structure
+ memset(&receiveHostAddr, 0, sizeof(receiveHostAddr));
+ size_t pos = receiverHostName.find(":");
+ std::string hostname = receiverHostName.substr(0, pos);
+
+ std::string hostport = receiverHostName.substr(pos+1, receiverHostName.size());
+
+ struct hostent *he;
+ struct in_addr **addr_list;
+ int i;
+
+ if ( (he = gethostbyname( hostname.c_str() ) ) == NULL)
+ {
+ // get the host info
+ herror("gethostbyname");
+ return;
+ }
+
+ addr_list = (struct in_addr **) he->h_addr_list;
+
+ for(i = 0; addr_list[i] != NULL; i++)
+ {
+
+ char ip[100];
+ //Return the first one;
+ strcpy(ip , inet_ntoa(*addr_list[i]) );
+
+ inet_pton(AF_INET,ip,&receiveHostAddr.sin_addr.s_addr);
+
+ receiveHostAddr.sin_port=htons(atoi(hostport.c_str()));
+ remoteTriggerEnabled = true;
+ ARMARX_INFO << "Connection established to " << hostname << ":"<< hostport;
+ //if((receiverSocket=socket(AF_INET, SOCK_DGRAM, 0))<0) {
+ // return;
+ //}
+ //if(bind(receiverSocket,( struct sockaddr *) &receiveHostAddr, sizeof(receiveHostAddr))<0) {
+ // return;
+ //}
+
+ return;
+ }
+ return;
+
+}
+
diff --git a/source/RobotAPI/components/units/ATINetFTUnit.h b/source/RobotAPI/components/units/ATINetFTUnit.h
new file mode 100644
index 0000000000000000000000000000000000000000..6cc20722f52ec9c1a612ce9d4bdfbbd399af3a3a
--- /dev/null
+++ b/source/RobotAPI/components/units/ATINetFTUnit.h
@@ -0,0 +1,181 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package VisionX::ArmarXObjects::ATINetFTUnit
+ * @author Jonas Rauber ( kit at jonasrauber dot de )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef _ROBOTAPI_UNITS_ATINetFTUnit_H
+#define _ROBOTAPI_UNITS_ATINetFTUnit_H
+
+
+#include <ArmarXCore/core/Component.h>
+#include <RobotAPI/interface/units/ATINetFTUnit.h>
+#include <RobotAPI/interface/units/UnitInterface.h>
+#include <netinet/in.h>
+#include <fstream>
+
+namespace armarx
+{
+ /**
+ * @class ATINetFTUnitPropertyDefinitions
+ * @brief
+ */
+ class ATINetFTUnitPropertyDefinitions:
+ public ComponentPropertyDefinitions
+ {
+ public:
+ ATINetFTUnitPropertyDefinitions(std::string prefix):
+ ComponentPropertyDefinitions(prefix)
+ {
+ defineOptionalProperty<std::string>(
+ "ATINetFTHostName",
+ "i61ATINetFT1:801",
+ "ATINetFT host name and port, usually i61ATINetFT1:801 or i61ATINetFT2:801");
+ defineOptionalProperty<std::string>(
+ "DatabasePathName",
+ "",
+ "Path name to motion database on receiving ATINetFT host");
+ defineOptionalProperty<std::string>(
+ "CaptureName",
+ "Trial01",
+ "Custom name of first trial in motion recording session");
+ defineOptionalProperty<std::string>(
+ "ATINetFTReceiveHostName",
+ "i61ATINetFT1:801",
+ "ATINetFT host name and port, usually i61ATINetFT1:801 or i61ATINetFT2:801");
+ defineOptionalProperty<float>(
+ "xOffset",
+ 0.0f,
+ "Offset along x axis from VirtualRobot origin to ATINetFT reference marker");
+ defineOptionalProperty<float>(
+ "yOffset",
+ 0.0f,
+ "Offset along y axis from VirtualRobot origin to ATINetFT reference marker");
+ defineOptionalProperty<float>(
+ "zOffset",
+ 0.0f,
+ "Offset along z axis from VirtualRobot origin to ATINetFT reference marker");
+ }
+ };
+
+ /**
+ * @class ATINetFTUnit
+ * @ingroup VisionX-Components
+ * @brief ArmarX wrapper of the ATINetFT DataStream SDK
+ *
+ * Documentation mainly uses the term subject instead of object, as that's the
+ * common term in the context of ATINetFT.
+ */
+ class ATINetFTUnit :
+ virtual public armarx::Component,
+ virtual public ATINetFTUnitInterface
+ {
+ public:
+ /**
+ * @see armarx::ManagedIceObject::getDefaultName()
+ */
+ virtual std::string getDefaultName() const
+ {
+ return "ATINetFTUnit";
+ }
+
+ virtual void startRecording(const std::string& customName, const Ice::Current& c);
+
+
+ virtual void stopRecording(const Ice::Current& c);
+
+ bool isComponentOnline(const Ice::Current& c){return remoteTriggerEnabled;};
+
+ void request(const Ice::Current& c){};
+
+
+ void release(const Ice::Current& c) { }
+
+ void init(const Ice::Current& c) { }
+
+ void start(const Ice::Current& c) { }
+
+ void stop(const Ice::Current& c) { }
+
+ armarx::UnitExecutionState getExecutionState(const Ice::Current& c) { return armarx::eUndefinedUnitExecutionState; }
+ protected:
+ /**
+ * @see armarx::ManagedIceObject::onInitComponent()
+ */
+ virtual void onInitComponent();
+
+ /**
+ * @see armarx::ManagedIceObject::onConnectComponent()
+ */
+ virtual void onConnectComponent();
+
+ /**
+ * @see armarx::ManagedIceObject::onDisconnectComponent()
+ */
+ virtual void onDisconnectComponent();
+
+ /**
+ * @see armarx::ManagedIceObject::onExitComponent()
+ */
+ virtual void onExitComponent();
+
+ /**
+ * @see PropertyUser::createPropertyDefinitions()
+ */
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+
+
+ private:
+ /**
+ * The ATINetFT DataStream SDK Client
+ */
+
+
+ void periodicExec();
+ void establishATINetFTReceiveHostConnection(std::string receiverHostName);
+ bool sendPacket(char *bytePacket, int bpSize);
+ bool receivePacket(char *bytePacket);
+ void convertToFTValues(char *receiveBuf, float *ftdata, int ftdataSize);
+ void writeFTValuesToFile(float *ftdata, int ftdataSize);
+
+ std::ofstream recordingFile;
+
+ bool remoteTriggerEnabled;
+ bool recordingStarted;
+ bool recordingStopped;
+ bool recordingCompleted;
+
+ int packetID;
+ int ftDataSize;
+ int sendPacketSize;
+ int receivePacketSize;
+ int captureNumber;
+ int senderSocket;
+ int nPaddingZeros;
+ int sampleIndex;
+
+ std::string captureNamePrefix;
+ std::string databasePathName;
+ struct sockaddr_in receiveHostAddr;
+ struct sockaddr_in senderHostAddr;
+
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/components/units/BusInspectionUnit.cpp b/source/RobotAPI/components/units/BusInspectionUnit.cpp
index 20506415423cfeba683533a9d2b4d267c5694e46..6bf0479059deefcdb3ef94496ff7d3878c41e69d 100644
--- a/source/RobotAPI/components/units/BusInspectionUnit.cpp
+++ b/source/RobotAPI/components/units/BusInspectionUnit.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package Core
* @author Matthias Hadlich (matthias dot hadlich at student dot kit dot edu)
* @copyright 2014 Matthias Hadlich
- * @license http://www.gnu.org/licenses/gpl.txt
+ * @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -32,12 +31,14 @@ using namespace std;
using namespace armarx;
-void BusInspectionUnit::onInitComponent() {
- this->onInitBusInspectionUnit();
- offeringTopic("HardwareValues");
+void BusInspectionUnit::onInitComponent()
+{
+ this->onInitBusInspectionUnit();
+ offeringTopic("HardwareValues");
}
-void BusInspectionUnit::onConnectComponent() {
+void BusInspectionUnit::onConnectComponent()
+{
ARMARX_INFO << flush;
@@ -52,24 +53,29 @@ void BusInspectionUnit::onConnectComponent() {
this->onConnectBusInspectionUnit();
}
-void BusInspectionUnit::onExitComponent() {
- this->onExitBusInspectionUnit();
+void BusInspectionUnit::onExitComponent()
+{
+ this->onExitBusInspectionUnit();
}
-BusNames BusInspectionUnit::getConfiguredBusses( const Ice::Current& c) {
+BusNames BusInspectionUnit::getConfiguredBusses(const Ice::Current& c)
+{
return *(new vector<string>());
}
-BusInformation BusInspectionUnit::getBusInformation(const std::string& bus, const Ice::Current& c){
+BusInformation BusInspectionUnit::getBusInformation(const std::string& bus, const Ice::Current& c)
+{
return *(new BusInformation);
-
+
}
-DeviceNames BusInspectionUnit::getDevicesOnBus(const std::string &bus, const Ice::Current& c ){
- return *(new vector<string>());
+DeviceNames BusInspectionUnit::getDevicesOnBus(const std::string& bus, const Ice::Current& c)
+{
+ return *(new vector<string>());
}
-DeviceInformation BusInspectionUnit::getDeviceInformation(const std::string& device, const Ice::Current& c ) {
- return *(new DeviceInformation);
+DeviceInformation BusInspectionUnit::getDeviceInformation(const std::string& device, const Ice::Current& c)
+{
+ return *(new DeviceInformation);
}
Ice::Int BusInspectionUnit::performDeviceOperation(BasicOperation operation, Ice::Int device, const Ice::Current& c)
@@ -77,7 +83,7 @@ Ice::Int BusInspectionUnit::performDeviceOperation(BasicOperation operation, Ice
return 0;
}
-Ice::Int BusInspectionUnit::performBusOperation(BasicOperation operation, const std::string &bus, const Ice::Current& c)
+Ice::Int BusInspectionUnit::performBusOperation(BasicOperation operation, const std::string& bus, const Ice::Current& c)
{
return 0;
}
@@ -88,7 +94,8 @@ bool BusInspectionUnit::isInRealTimeMode(const Ice::Current& c)
}
-std::string BusInspectionUnit::sendCommand(const std::string& command, Ice::Int device, const Ice::Current& c ) {
+std::string BusInspectionUnit::sendCommand(const std::string& command, Ice::Int device, const Ice::Current& c)
+{
return "";
}
@@ -96,7 +103,7 @@ std::string BusInspectionUnit::sendCommand(const std::string& command, Ice::Int
PropertyDefinitionsPtr BusInspectionUnit::createPropertyDefinitions()
{
return PropertyDefinitionsPtr(new BusInspectionUnitPropertyDefinitions(
- getConfigIdentifier()));
+ getConfigIdentifier()));
}
diff --git a/source/RobotAPI/components/units/BusInspectionUnit.h b/source/RobotAPI/components/units/BusInspectionUnit.h
index e0983a4c2b1f5a18f29d82bb89274de31e898f73..98a3dcaa788c7df5198b24b99cb45aea39d561e8 100644
--- a/source/RobotAPI/components/units/BusInspectionUnit.h
+++ b/source/RobotAPI/components/units/BusInspectionUnit.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package Core
* @author Matthias Hadlich (matthias dot hadlich at student dot kit dot edu)
* @copyright 2014 Matthias Hadlich
- * @license http://www.gnu.org/licenses/gpl.txt
+ * @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,9 +25,9 @@
#include <string>
-#include <Core/core/Component.h>
-#include <Core/core/application/properties/Properties.h>
-#include <Core/core/system/ImportExportComponent.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/application/properties/Properties.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <RobotAPI/interface/hardware/BusInspectionInterface.h>
@@ -39,15 +38,15 @@ namespace armarx
* \brief
*/
class BusInspectionUnitPropertyDefinitions:
- public ComponentPropertyDefinitions
+ public ComponentPropertyDefinitions
{
- public:
- BusInspectionUnitPropertyDefinitions(std::string prefix) :
- ComponentPropertyDefinitions(prefix)
- {
- }
+ public:
+ BusInspectionUnitPropertyDefinitions(std::string prefix) :
+ ComponentPropertyDefinitions(prefix)
+ {
+ }
};
-
+
/**
* \class BusInspectionUnit
* \ingroup RobotAPI-SensorActorUnits
@@ -56,40 +55,43 @@ namespace armarx
* BusInspectionUnit is the base class of a unit that allows the introspection of a connected bus system.
*/
class BusInspectionUnit :
- virtual public BusInspectionInterface, virtual public Component
+ virtual public BusInspectionInterface, virtual public Component
+ {
+ public:
+ // inherited from Component
+ virtual std::string getDefaultName() const
{
- public:
- // inherited from Component
- virtual std::string getDefaultName() const { return "BusInspectionUnit"; }
- virtual void onInitComponent();
- virtual void onConnectComponent();
- virtual void onExitComponent();
-
- virtual void onInitBusInspectionUnit() = 0;
- virtual void onConnectBusInspectionUnit() = 0;
- virtual void onExitBusInspectionUnit() = 0;
-
- virtual BusNames getConfiguredBusses( const Ice::Current& c = ::Ice::Current());
- virtual BusInformation getBusInformation(const std::string &bus, const Ice::Current& c = ::Ice::Current());
- virtual DeviceNames getDevicesOnBus(const std::string &bus, const Ice::Current& c = ::Ice::Current());
- virtual DeviceInformation getDeviceInformation(const std::string &device, const Ice::Current& c = ::Ice::Current());
-
- virtual Ice::Int performDeviceOperation(BasicOperation operation, Ice::Int device, const Ice::Current& c = ::Ice::Current());
- virtual Ice::Int performBusOperation(BasicOperation operation, const std::string &bus, const Ice::Current& c = ::Ice::Current());
- virtual bool isInRealTimeMode(const Ice::Current& c = ::Ice::Current());
-
- virtual std::string sendCommand(const std::string &command, Ice::Int device, const Ice::Current& c = ::Ice::Current());
-
- /**
- * \see PropertyUser::createPropertyDefinitions()
- */
- virtual PropertyDefinitionsPtr createPropertyDefinitions();
-
- protected:
- std::string channel;
- BusInspectionInterfacePrx busInspectionValuePrx; // gets commands from hardware
-
- };
+ return "BusInspectionUnit";
+ }
+ virtual void onInitComponent();
+ virtual void onConnectComponent();
+ virtual void onExitComponent();
+
+ virtual void onInitBusInspectionUnit() = 0;
+ virtual void onConnectBusInspectionUnit() = 0;
+ virtual void onExitBusInspectionUnit() = 0;
+
+ virtual BusNames getConfiguredBusses(const Ice::Current& c = ::Ice::Current());
+ virtual BusInformation getBusInformation(const std::string& bus, const Ice::Current& c = ::Ice::Current());
+ virtual DeviceNames getDevicesOnBus(const std::string& bus, const Ice::Current& c = ::Ice::Current());
+ virtual DeviceInformation getDeviceInformation(const std::string& device, const Ice::Current& c = ::Ice::Current());
+
+ virtual Ice::Int performDeviceOperation(BasicOperation operation, Ice::Int device, const Ice::Current& c = ::Ice::Current());
+ virtual Ice::Int performBusOperation(BasicOperation operation, const std::string& bus, const Ice::Current& c = ::Ice::Current());
+ virtual bool isInRealTimeMode(const Ice::Current& c = ::Ice::Current());
+
+ virtual std::string sendCommand(const std::string& command, Ice::Int device, const Ice::Current& c = ::Ice::Current());
+
+ /**
+ * \see PropertyUser::createPropertyDefinitions()
+ */
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+
+ protected:
+ std::string channel;
+ BusInspectionInterfacePrx busInspectionValuePrx; // gets commands from hardware
+
+ };
}
diff --git a/source/RobotAPI/components/units/CMakeLists.txt b/source/RobotAPI/components/units/CMakeLists.txt
index d5244fe973aa2a31d5cad9cd903b068f7e072fbe..88a819376ebf0782b936810614319d8adef17994 100644
--- a/source/RobotAPI/components/units/CMakeLists.txt
+++ b/source/RobotAPI/components/units/CMakeLists.txt
@@ -14,8 +14,8 @@ if (Eigen3_FOUND AND Simox_FOUND)
endif()
set(LIB_NAME RobotAPIUnits)
-set(LIB_VERSION 0.1.0)
-set(LIB_SOVERSION 0)
+
+
set(LIBS
RobotAPICore
@@ -45,6 +45,7 @@ set(LIB_HEADERS
KinematicUnitObserver.h
PlatformUnitObserver.h
SensorActorUnit.h
+ ATINetFTUnit.h
)
set(LIB_FILES
@@ -69,6 +70,7 @@ set(LIB_FILES
KinematicUnitObserver.cpp
PlatformUnitObserver.cpp
SensorActorUnit.cpp
+ ATINetFTUnit.cpp
)
-armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.cpp b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
index 540e657d73028dbb89f89b3494fd98e325a266fd..2fa220da656ab2d002693284a68f4e4ab660f74e 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.cpp
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,21 +16,21 @@
* @package ArmarX::
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2013
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "ForceTorqueObserver.h"
-#include <Core/observers/checks/ConditionCheckUpdated.h>
-#include <Core/observers/checks/ConditionCheckEquals.h>
-#include <Core/observers/checks/ConditionCheckInRange.h>
-#include <Core/observers/checks/ConditionCheckLarger.h>
-#include <Core/observers/checks/ConditionCheckSmaller.h>
-#include <Core/observers/checks/ConditionCheckEqualsWithTolerance.h>
+#include <ArmarXCore/observers/checks/ConditionCheckUpdated.h>
+#include <ArmarXCore/observers/checks/ConditionCheckEquals.h>
+#include <ArmarXCore/observers/checks/ConditionCheckInRange.h>
+#include <ArmarXCore/observers/checks/ConditionCheckLarger.h>
+#include <ArmarXCore/observers/checks/ConditionCheckSmaller.h>
+#include <ArmarXCore/observers/checks/ConditionCheckEqualsWithTolerance.h>
#include <RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h>
#include <RobotAPI/libraries/core/observerfilters/OffsetFilter.h>
-#include <Core/observers/variant/DatafieldRef.h>
+#include <ArmarXCore/observers/variant/DatafieldRef.h>
#include <RobotAPI/libraries/core/RobotAPIObjectFactories.h>
@@ -57,10 +56,14 @@ void ForceTorqueObserver::setTopicName(std::string topicName)
void ForceTorqueObserver::onInitObserver()
{
- if(topicName.empty())
+ if (topicName.empty())
+ {
usingTopic(getProperty<std::string>("ForceTorqueTopicName").getValue());
+ }
else
+ {
usingTopic(topicName);
+ }
// register all checks
offerConditionCheck("updated", new ConditionCheckUpdated());
@@ -84,20 +87,20 @@ void ForceTorqueObserver::onConnectObserver()
PropertyDefinitionsPtr ForceTorqueObserver::createPropertyDefinitions()
{
return PropertyDefinitionsPtr(new ForceTorqueObserverPropertyDefinitions(
- getConfigIdentifier()));
+ getConfigIdentifier()));
}
-void ForceTorqueObserver::offerValue(std::string nodeName, const std::string &type, FramedDirectionBasePtr value, const DataFieldIdentifierPtr& id)
+void ForceTorqueObserver::offerValue(std::string nodeName, const std::string& type, FramedDirectionBasePtr value, const DataFieldIdentifierPtr& id)
{
FramedDirectionPtr vec = FramedDirectionPtr::dynamicCast(value);
- if(!existsChannel(id->channelName))
+ if (!existsChannel(id->channelName))
{
offerChannel(id->channelName, type + " vectors on specific parts of the robot.");
}
- if(!existsDataField(id->channelName, id->datafieldName))
+ if (!existsDataField(id->channelName, id->datafieldName))
{
offerDataFieldWithDefault(id->channelName, id->datafieldName, Variant(value), "3D vector for " + type + " of " + nodeName);
}
@@ -109,39 +112,44 @@ void ForceTorqueObserver::offerValue(std::string nodeName, const std::string &ty
// pod = plain old data
std::string pod_channelName = id->channelName + POD_SUFFIX;
- if(!existsChannel(pod_channelName) )
+
+ if (!existsChannel(pod_channelName))
{
offerChannel(pod_channelName, id->datafieldName + " on " + nodeName + " as plain old data (pod)");
}
+
offerOrUpdateDataField(pod_channelName, id->datafieldName + "_x", Variant(vec->x), type + " on X axis");
offerOrUpdateDataField(pod_channelName, id->datafieldName + "_y", Variant(vec->y), type + " on Y axis");
offerOrUpdateDataField(pod_channelName, id->datafieldName + "_z", Variant(vec->z), type + " on Z axis");
offerOrUpdateDataField(pod_channelName, id->datafieldName + "_frame", Variant(vec->frame), "Frame of " + value->frame);
}
-void armarx::ForceTorqueObserver::reportSensorValues(const std::string &sensorNodeName, const FramedDirectionBasePtr &forces, const FramedDirectionBasePtr &torques, const Ice::Current &)
+void armarx::ForceTorqueObserver::reportSensorValues(const std::string& sensorNodeName, const FramedDirectionBasePtr& forces, const FramedDirectionBasePtr& torques, const Ice::Current&)
{
ScopedLock lock(dataMutex);
try
{
DataFieldIdentifierPtr id;
- if(forces)
+
+ if (forces)
{
id = getForceDatafieldId(sensorNodeName, forces->frame);
std::string type = "forces";
offerValue(sensorNodeName, type, forces, id);
}
- if(torques)
+
+ if (torques)
{
id = getTorqueDatafieldId(sensorNodeName, torques->frame);
std::string type = "torques";
offerValue(sensorNodeName, type, torques, id);
}
+
updateChannel(id->channelName);
updateChannel(id->channelName + POD_SUFFIX);
}
- catch(std::exception&e)
+ catch (std::exception& e)
{
ARMARX_ERROR << "Reporting force torque for " << sensorNodeName << " failed! ";
handleExceptions();
@@ -149,53 +157,77 @@ void armarx::ForceTorqueObserver::reportSensorValues(const std::string &sensorNo
}
-DatafieldRefBasePtr armarx::ForceTorqueObserver::createNulledDatafield(const DatafieldRefBasePtr &forceTorqueDatafieldRef, const Ice::Current &)
+DatafieldRefBasePtr armarx::ForceTorqueObserver::createNulledDatafield(const DatafieldRefBasePtr& forceTorqueDatafieldRef, const Ice::Current&)
{
return createFilteredDatafield(new filters::OffsetFilter(), forceTorqueDatafieldRef);
}
-DatafieldRefBasePtr ForceTorqueObserver::getForceDatafield(const std::string &nodeName, const Ice::Current &)
+DatafieldRefBasePtr ForceTorqueObserver::getForceDatafield(const std::string& nodeName, const Ice::Current&)
{
auto id = getForceDatafieldId(nodeName, nodeName);
- if(!existsChannel(id->channelName))
+
+ if (!existsChannel(id->channelName))
+ {
throw UserException("No sensor for node '" + nodeName + "'available: channel " + id->channelName);
- if(!existsDataField(id->channelName, id->datafieldName))
+ }
+
+ if (!existsDataField(id->channelName, id->datafieldName))
+ {
throw UserException("No sensor for node '" + nodeName + "'available: datafield " + id->datafieldName);
+ }
return new DatafieldRef(this, id->channelName, id->datafieldName);
}
-DatafieldRefBasePtr ForceTorqueObserver::getTorqueDatafield(const std::string &nodeName, const Ice::Current &)
+DatafieldRefBasePtr ForceTorqueObserver::getTorqueDatafield(const std::string& nodeName, const Ice::Current&)
{
auto id = getTorqueDatafieldId(nodeName, nodeName);
- if(!existsChannel(id->channelName))
+
+ if (!existsChannel(id->channelName))
+ {
throw UserException("No sensor for node '" + nodeName + "'available: channel " + id->channelName);
- if(!existsDataField(id->channelName, id->datafieldName))
+ }
+
+ if (!existsDataField(id->channelName, id->datafieldName))
+ {
throw UserException("No sensor for node '" + nodeName + "'available: datafield " + id->datafieldName);
+ }
return new DatafieldRef(this, id->channelName, id->datafieldName);
}
-DataFieldIdentifierPtr ForceTorqueObserver::getForceDatafieldId(const std::string &nodeName, const std::string &frame)
+DataFieldIdentifierPtr ForceTorqueObserver::getForceDatafieldId(const std::string& nodeName, const std::string& frame)
{
std::string channelName;
- if(frame == nodeName)
+
+ if (frame == nodeName)
+ {
channelName = nodeName;
+ }
else
+ {
channelName = nodeName + "_" + frame;
+ }
+
std::string datafieldName = "forces";
DataFieldIdentifierPtr id = new DataFieldIdentifier(getName(), channelName, datafieldName);
return id;
}
-DataFieldIdentifierPtr ForceTorqueObserver::getTorqueDatafieldId(const std::string &nodeName, const std::string &frame)
+DataFieldIdentifierPtr ForceTorqueObserver::getTorqueDatafieldId(const std::string& nodeName, const std::string& frame)
{
std::string channelName;
- if(frame == nodeName)
+
+ if (frame == nodeName)
+ {
channelName = nodeName;
+ }
else
+ {
channelName = nodeName + "_" + frame;
+ }
+
std::string datafieldName = "torques";
DataFieldIdentifierPtr id = new DataFieldIdentifier(getName(), channelName, datafieldName);
return id;
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.h b/source/RobotAPI/components/units/ForceTorqueObserver.h
index 4554f0e98c69bd6a7ea13dd426ec50fdd4e1c701..8aa5dbd05cf2ebcd1b8ebe227c6fe70823811215 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.h
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2013
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,7 +25,7 @@
#include <RobotAPI/interface/units/ForceTorqueUnit.h>
#include <RobotAPI/libraries/core/FramedPose.h>
-#include <Core/observers/Observer.h>
+#include <ArmarXCore/observers/Observer.h>
namespace armarx
{
@@ -35,13 +34,13 @@ namespace armarx
* \brief
*/
class ForceTorqueObserverPropertyDefinitions:
- public ComponentPropertyDefinitions
+ public ComponentPropertyDefinitions
{
public:
ForceTorqueObserverPropertyDefinitions(std::string prefix):
ComponentPropertyDefinitions(prefix)
{
- defineRequiredProperty<std::string>("ForceTorqueTopicName","Name of the ForceTorqueUnit Topic");
+ defineRequiredProperty<std::string>("ForceTorqueTopicName", "Name of the ForceTorqueUnit Topic");
}
};
@@ -54,8 +53,8 @@ namespace armarx
* Available condition checks are: *updated*, *larger*, *equals*, *smaller* and *magnitudelarger*.
*/
class ForceTorqueObserver :
- virtual public Observer,
- virtual public ForceTorqueUnitObserverInterface
+ virtual public Observer,
+ virtual public ForceTorqueUnitObserverInterface
{
public:
ForceTorqueObserver();
@@ -63,11 +62,14 @@ namespace armarx
void setTopicName(std::string topicName);
// framework hooks
- virtual std::string getDefaultName() const { return "ForceTorqueUnitObserver"; }
+ virtual std::string getDefaultName() const
+ {
+ return "ForceTorqueUnitObserver";
+ }
void onInitObserver();
void onConnectObserver();
- virtual void reportSensorValues(const std::string &sensorNodeName, const FramedDirectionBasePtr &forces, const FramedDirectionBasePtr &torques, const Ice::Current &);
+ virtual void reportSensorValues(const std::string& sensorNodeName, const FramedDirectionBasePtr& forces, const FramedDirectionBasePtr& torques, const Ice::Current&);
/**
* @see PropertyUser::createPropertyDefinitions()
@@ -84,17 +86,17 @@ namespace armarx
std::string topicName;
- void offerValue(std::string nodeName, const std::string &type, FramedDirectionBasePtr value, const DataFieldIdentifierPtr& id);
+ void offerValue(std::string nodeName, const std::string& type, FramedDirectionBasePtr value, const DataFieldIdentifierPtr& id);
// ForceTorqueUnitObserverInterface interface
public:
- DatafieldRefBasePtr createNulledDatafield(const DatafieldRefBasePtr &forceTorqueDatafieldRef, const Ice::Current &);
+ DatafieldRefBasePtr createNulledDatafield(const DatafieldRefBasePtr& forceTorqueDatafieldRef, const Ice::Current&);
- DatafieldRefBasePtr getForceDatafield(const std::string &nodeName, const Ice::Current &);
- DatafieldRefBasePtr getTorqueDatafield(const std::string &nodeName, const Ice::Current &);
+ DatafieldRefBasePtr getForceDatafield(const std::string& nodeName, const Ice::Current&);
+ DatafieldRefBasePtr getTorqueDatafield(const std::string& nodeName, const Ice::Current&);
- DataFieldIdentifierPtr getForceDatafieldId(const std::string &nodeName, const std::string &frame);
- DataFieldIdentifierPtr getTorqueDatafieldId(const std::string &nodeName, const std::string &frame);
+ DataFieldIdentifierPtr getForceDatafieldId(const std::string& nodeName, const std::string& frame);
+ DataFieldIdentifierPtr getTorqueDatafieldId(const std::string& nodeName, const std::string& frame);
};
}
diff --git a/source/RobotAPI/components/units/ForceTorqueUnit.cpp b/source/RobotAPI/components/units/ForceTorqueUnit.cpp
index dd18a056d60b74988898c824235960f98f731c11..38684050cbb157d1e6e6be9770714f75426ed3ef 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnit.cpp
+++ b/source/RobotAPI/components/units/ForceTorqueUnit.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarXCore::units
* @author Peter Kaiser <peter dot kaiser at kit dot edu>
* @date 2011
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
diff --git a/source/RobotAPI/components/units/ForceTorqueUnit.h b/source/RobotAPI/components/units/ForceTorqueUnit.h
index b239859437bddfcc6538b61a8cf7460d7fb9ca2c..2ec0ae0c4d7eed1c3210fede45a023322131fc0a 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnit.h
+++ b/source/RobotAPI/components/units/ForceTorqueUnit.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarXCore::units
* @author Peter Kaiser <peter dot kaiser at kit dot edu>
* @date 2011
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -25,9 +24,9 @@
#define _ARMARX_COMPONENT_FORCE_TORQUE_UNIT_H
-#include <Core/core/Component.h>
-#include <Core/core/application/properties/Properties.h>
-#include <Core/core/system/ImportExportComponent.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/application/properties/Properties.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
#include "RobotAPI/components/units/SensorActorUnit.h"
#include <RobotAPI/interface/units/ForceTorqueUnit.h>
@@ -42,20 +41,20 @@ namespace armarx
*/
class ForceTorqueUnitPropertyDefinitions : public ComponentPropertyDefinitions
{
- public:
- ForceTorqueUnitPropertyDefinitions(std::string prefix) :
- ComponentPropertyDefinitions(prefix)
- {
- defineRequiredProperty<std::string>("AgentName", "Name of the agent for which the sensor values are provided");
- defineOptionalProperty<std::string>("ForceTorqueTopicName","ForceTorqueValues", "Name of the topic on which the sensor values are provided");
+ public:
+ ForceTorqueUnitPropertyDefinitions(std::string prefix) :
+ ComponentPropertyDefinitions(prefix)
+ {
+ defineRequiredProperty<std::string>("AgentName", "Name of the agent for which the sensor values are provided");
+ defineOptionalProperty<std::string>("ForceTorqueTopicName", "ForceTorqueValues", "Name of the topic on which the sensor values are provided");
- // No required properties
- }
+ // No required properties
+ }
};
-
+
/**
- * \class ForceTorqueUnit
+ * \defgroup Component-ForceTorqueUnit ForceTorqueUnit
* \ingroup RobotAPI-SensorActorUnits
* \brief Base unit for force/torque sensors.
*
@@ -64,26 +63,34 @@ namespace armarx
* RobotAPI contains the ForceTorqueUnitSimulation class that does a very basic simulation of F/T-sensors.
* Other (hardware related) implementations of this unit can be found in the respective ArmarX projects.
*/
+
+ /**
+ * @ingroup Component-ForceTorqueUnit
+ * @brief The ForceTorqueUnit class
+ */
class ForceTorqueUnit :
virtual public ForceTorqueUnitInterface,
virtual public SensorActorUnit
{
- public:
- virtual std::string getDefaultName() const { return "ForceTorqueUnit"; }
-
- virtual void onInitComponent();
- virtual void onConnectComponent();
- virtual void onExitComponent();
-
- virtual void onInitForceTorqueUnit() = 0;
- virtual void onStartForceTorqueUnit() = 0;
- virtual void onExitForceTorqueUnit() = 0;
-
- virtual PropertyDefinitionsPtr createPropertyDefinitions();
-
- protected:
- ForceTorqueUnitListenerPrx listenerPrx;
- std::string listenerName;
+ public:
+ virtual std::string getDefaultName() const
+ {
+ return "ForceTorqueUnit";
+ }
+
+ virtual void onInitComponent();
+ virtual void onConnectComponent();
+ virtual void onExitComponent();
+
+ virtual void onInitForceTorqueUnit() = 0;
+ virtual void onStartForceTorqueUnit() = 0;
+ virtual void onExitForceTorqueUnit() = 0;
+
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+
+ protected:
+ ForceTorqueUnitListenerPrx listenerPrx;
+ std::string listenerName;
};
}
diff --git a/source/RobotAPI/components/units/ForceTorqueUnitSimulation.cpp b/source/RobotAPI/components/units/ForceTorqueUnitSimulation.cpp
index 42fb1c8ba4bdc24bd7bdd8fe10bb49b8f970d6ec..e0a44e3f16e29f25a5322ec6b247c2e9ba36a152 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/ForceTorqueUnitSimulation.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI::units
* @author Peter Kaiser (peter dot kaiser at kit dot edu)
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -40,7 +39,7 @@ void ForceTorqueUnitSimulation::onInitForceTorqueUnit()
//{
// forces[*s] = new armarx::FramedDirection(Eigen::Vector3f(0, 0, 0), *s);
// torques[*s] = new armarx::FramedDirection(Eigen::Vector3f(0, 0, 0), *s);
- // }
+ // }
forces = new armarx::FramedDirection(Eigen::Vector3f(0, 0, 0), sensorName, getProperty<std::string>("AgentName").getValue());
torques = new armarx::FramedDirection(Eigen::Vector3f(0, 0, 0), sensorName, getProperty<std::string>("AgentName").getValue());
@@ -68,12 +67,12 @@ void ForceTorqueUnitSimulation::simulationFunction()
//listenerPrx->reportSensorValues(torques);
}
-void ForceTorqueUnitSimulation::setOffset(const FramedDirectionBasePtr &forceOffsets, const FramedDirectionBasePtr &torqueOffsets, const Ice::Current &c)
+void ForceTorqueUnitSimulation::setOffset(const FramedDirectionBasePtr& forceOffsets, const FramedDirectionBasePtr& torqueOffsets, const Ice::Current& c)
{
// Ignore
}
-void ForceTorqueUnitSimulation::setToNull(const Ice::Current &c)
+void ForceTorqueUnitSimulation::setToNull(const Ice::Current& c)
{
// Ignore
}
diff --git a/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h b/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
index c7594288e2b1a099d6711f17be936d0ab62e3d10..cc4505a6cf781a0d1f5cd5dbb4170ed6e4d0e1a7 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
+++ b/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI::units
* @author Peter Kaiser (peter dot kaiser at kit dot edu)
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,8 +25,8 @@
#include "ForceTorqueUnit.h"
-#include <Core/core/services/tasks/PeriodicTask.h>
-#include <Core/core/system/ImportExportComponent.h>
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <RobotAPI/libraries/core/FramedPose.h>
#include <IceUtil/Time.h>
@@ -41,7 +40,7 @@ namespace armarx
* \brief
*/
class ForceTorqueUnitSimulationPropertyDefinitions :
- public ForceTorqueUnitPropertyDefinitions
+ public ForceTorqueUnitPropertyDefinitions
{
public:
ForceTorqueUnitSimulationPropertyDefinitions(std::string prefix) :
@@ -78,7 +77,7 @@ namespace armarx
/**
* \warning Not implemented yet
*/
- virtual void setOffset(const FramedDirectionBasePtr &forceOffsets, const FramedDirectionBasePtr &torqueOffsets, const Ice::Current& c = ::Ice::Current());
+ virtual void setOffset(const FramedDirectionBasePtr& forceOffsets, const FramedDirectionBasePtr& torqueOffsets, const Ice::Current& c = ::Ice::Current());
/**
* \warning Not implemented yet
diff --git a/source/RobotAPI/components/units/HandUnit.cpp b/source/RobotAPI/components/units/HandUnit.cpp
index 8c8eb50c02ac931bae337fe8dafcdeb0dc730ce5..b30f96136afd126e2f7b90e7b5ef4b0c4aae6b31 100644
--- a/source/RobotAPI/components/units/HandUnit.cpp
+++ b/source/RobotAPI/components/units/HandUnit.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,14 +16,14 @@
* @package ArmarXCore::units
* @author Manfred Kroehnert (Manfred dot Kroehnert at kit dot edu)
* @date 2013
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "HandUnit.h"
-#include <Core/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/EndEffector/EndEffector.h>
@@ -51,37 +50,47 @@ void HandUnit::onInitComponent()
{
robot = VirtualRobot::RobotIO::loadRobot(endeffectorFile, VirtualRobot::RobotIO::eStructure);
}
- catch(VirtualRobot::VirtualRobotException& e)
+ catch (VirtualRobot::VirtualRobotException& e)
{
throw UserException(e.what());
}
- if(endeffectorName == "")
+ if (endeffectorName == "")
{
throw UserException("EndeffectorName not defined");
}
- if(!robot->hasEndEffector(endeffectorName))
+
+ if (!robot->hasEndEffector(endeffectorName))
{
throw UserException("Robot does not contain an endeffector with name: " + endeffectorName);
}
+
eef = robot->getEndEffector(endeffectorName);
robotName = robot->getName();
+
if (eef->getTcp())
+ {
tcpName = robot->getEndEffector(endeffectorName)->getTcp()->getName();
+ }
else
+ {
throw UserException("Endeffector without TCP: " + endeffectorName);
+ }
// get all joints
std::vector<EndEffectorActorPtr> actors;
eef->getActors(actors);
- for (size_t i=0;i<actors.size();i++)
+
+ for (size_t i = 0; i < actors.size(); i++)
{
EndEffectorActorPtr a = actors[i];
std::vector<EndEffectorActor::ActorDefinition> ads;// = a->getDefinition();
- for (size_t j=0;j<ads.size();j++)
+
+ for (size_t j = 0; j < ads.size(); j++)
{
EndEffectorActor::ActorDefinition ad = ads[j];
- if (ad.directionAndSpeed!=0 && ad.robotNode)
+
+ if (ad.directionAndSpeed != 0 && ad.robotNode)
{
handJoints[ad.robotNode->getName()] = ad.directionAndSpeed;
}
@@ -92,7 +101,8 @@ void HandUnit::onInitComponent()
shapeNames = new SingleTypeVariantList(VariantType::String);
std::vector<std::string>::const_iterator iter = endeffectorPreshapes.begin();
- while(iter != endeffectorPreshapes.end())
+
+ while (iter != endeffectorPreshapes.end())
{
Variant currentPreshape;
currentPreshape.setString(*iter);
@@ -139,34 +149,36 @@ SingleTypeVariantListBasePtr HandUnit::getShapeNames(const Ice::Current& c)
PropertyDefinitionsPtr HandUnit::createPropertyDefinitions()
{
return PropertyDefinitionsPtr(new HandUnitPropertyDefinitions(
- getConfigIdentifier()));
+ getConfigIdentifier()));
}
-NameValueMap HandUnit::getShapeJointValues(const std::string &shapeName, const Ice::Current &)
+NameValueMap HandUnit::getShapeJointValues(const std::string& shapeName, const Ice::Current&)
{
EndEffectorPtr efp = robot->getEndEffector(getProperty<std::string>("EndeffectorName").getValue());
RobotConfigPtr rc = efp->getPreshape(shapeName);
return rc->getRobotNodeJointValueMap();
}
-NameValueMap HandUnit::getCurrentJointValues(const Ice::Current &c)
+NameValueMap HandUnit::getCurrentJointValues(const Ice::Current& c)
{
NameValueMap result;
+
for (auto j : handJoints)
{
result[j.first] = 0.0f;
}
+
return result;
}
-void HandUnit::setObjectGrasped(const std::string &objectName, const Ice::Current &)
+void HandUnit::setObjectGrasped(const std::string& objectName, const Ice::Current&)
{
- ARMARX_INFO << "Object grasped " << objectName << flush;
- graspedObject = objectName;
+ ARMARX_INFO << "Object grasped " << objectName << flush;
+ graspedObject = objectName;
}
-void HandUnit::setObjectReleased(const std::string &objectName, const Ice::Current &)
+void HandUnit::setObjectReleased(const std::string& objectName, const Ice::Current&)
{
ARMARX_INFO << "Object released " << objectName << flush;
graspedObject = "";
@@ -174,13 +186,13 @@ void HandUnit::setObjectReleased(const std::string &objectName, const Ice::Curre
-std::string armarx::HandUnit::getHandName(const Ice::Current &)
+std::string armarx::HandUnit::getHandName(const Ice::Current&)
{
return eef->getName();
}
-void armarx::HandUnit::setJointAngles(const armarx::NameValueMap& targetJointAngles, const Ice::Current & c)
+void armarx::HandUnit::setJointAngles(const armarx::NameValueMap& targetJointAngles, const Ice::Current& c)
{
}
diff --git a/source/RobotAPI/components/units/HandUnit.h b/source/RobotAPI/components/units/HandUnit.h
index 3df2d52bc68e0cf2088f9e1445a8d7504931f65f..1fd2c51bfa6d13018024dae430a9346d0e58bb12 100644
--- a/source/RobotAPI/components/units/HandUnit.h
+++ b/source/RobotAPI/components/units/HandUnit.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarXCore::units
* @author Manfred Kroehnert (manfred dot kroehnert at kit dot edu)
* @date 2013
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -28,9 +27,9 @@
#include <RobotAPI/interface/units/HandUnitInterface.h>
-#include <Core/core/application/properties/Properties.h>
-#include <Core/core/system/ImportExportComponent.h>
-#include <Core/observers/variant/SingleTypeVariantList.h>
+#include <ArmarXCore/core/application/properties/Properties.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+#include <ArmarXCore/observers/variant/SingleTypeVariantList.h>
@@ -48,7 +47,7 @@ namespace armarx
* \brief Defines all necessary properties for armarx::HandUnit
*/
class HandUnitPropertyDefinitions:
- public ComponentPropertyDefinitions
+ public ComponentPropertyDefinitions
{
public:
HandUnitPropertyDefinitions(std::string prefix):
@@ -61,7 +60,7 @@ namespace armarx
/**
- * \class HandUnit
+ * @ingroup Component-HandUnit HandUnit
* \brief Base unit for high-level access to robot hands.
* \ingroup RobotAPI-SensorActorUnits
*
@@ -69,6 +68,11 @@ namespace armarx
* It uses the HandUnitListener Ice interface to report updates of its current state
*
*/
+
+ /**
+ * @brief The HandUnit class
+ * @ingroup Component-HandUnit
+ */
class HandUnit :
virtual public HandUnitInterface,
virtual public SensorActorUnit
@@ -120,12 +124,12 @@ namespace armarx
*/
virtual SingleTypeVariantListBasePtr getShapeNames(const Ice::Current& c = ::Ice::Current());
- NameValueMap getShapeJointValues(const std::string &shapeName, const Ice::Current & c = ::Ice::Current());
- virtual NameValueMap getCurrentJointValues(const Ice::Current & c = ::Ice::Current());
+ NameValueMap getShapeJointValues(const std::string& shapeName, const Ice::Current& c = ::Ice::Current());
+ virtual NameValueMap getCurrentJointValues(const Ice::Current& c = ::Ice::Current());
- void setObjectGrasped(const std::string& objectName, const Ice::Current &);
- void setObjectReleased(const std::string& objectName, const Ice::Current &);
- void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current &);
+ void setObjectGrasped(const std::string& objectName, const Ice::Current&);
+ void setObjectReleased(const std::string& objectName, const Ice::Current&);
+ void setJointAngles(const NameValueMap& targetJointAngles, const Ice::Current&);
/**
* \see armarx::PropertyUser::createPropertyDefinitions()
@@ -161,7 +165,7 @@ namespace armarx
// HandUnitInterface interface
public:
- std::string getHandName(const Ice::Current &);
+ std::string getHandName(const Ice::Current&);
};
diff --git a/source/RobotAPI/components/units/HandUnitSimulation.cpp b/source/RobotAPI/components/units/HandUnitSimulation.cpp
index 2b18416f7b6ac0f721f5b376520031ceaef2f8b4..96adc2d15d3ab7003a340ac74de95bd23356be9d 100644
--- a/source/RobotAPI/components/units/HandUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/HandUnitSimulation.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarXCore::units
* @author David Schiebener (schiebener at kit dot edu)
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -57,7 +56,7 @@ void HandUnitSimulation::setShape(const std::string& shapeName, const Ice::Curre
-void armarx::HandUnitSimulation::setJointAngles(const NameValueMap& jointAngles, const Ice::Current &)
+void armarx::HandUnitSimulation::setJointAngles(const NameValueMap& jointAngles, const Ice::Current&)
{
}
diff --git a/source/RobotAPI/components/units/HandUnitSimulation.h b/source/RobotAPI/components/units/HandUnitSimulation.h
index 36a4d8a8359e500c21cc65bbb2f4c4369b6a328e..84fa0dd706d6dabda20f2d782747fa3f8b24ca29 100644
--- a/source/RobotAPI/components/units/HandUnitSimulation.h
+++ b/source/RobotAPI/components/units/HandUnitSimulation.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarXCore::units
* @author David Schiebener (schiebener at kit dot edu)
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -34,14 +33,14 @@ namespace armarx
* \brief Defines all necessary properties for armarx::HandUnitSimulation
*/
class HandUnitSimulationPropertyDefinitions:
- public ComponentPropertyDefinitions
+ public ComponentPropertyDefinitions
{
public:
HandUnitSimulationPropertyDefinitions(std::string prefix):
ComponentPropertyDefinitions(prefix)
{
- defineRequiredProperty<std::string>("RobotFileName","VirtualRobot XML file in which the endeffector is is stored.");
- defineRequiredProperty<std::string>("EndeffectorName","Name of the endeffector as stored in the XML file (will publish values on EndeffectorName + 'State')");
+ defineRequiredProperty<std::string>("RobotFileName", "VirtualRobot XML file in which the endeffector is is stored.");
+ defineRequiredProperty<std::string>("EndeffectorName", "Name of the endeffector as stored in the XML file (will publish values on EndeffectorName + 'State')");
}
};
diff --git a/source/RobotAPI/components/units/HapticObserver.cpp b/source/RobotAPI/components/units/HapticObserver.cpp
index 9bb402e9665847f305f0bac5bd318e298bf84c7a..569894080e054db4adcfd7e6c8639341dc21996a 100644
--- a/source/RobotAPI/components/units/HapticObserver.cpp
+++ b/source/RobotAPI/components/units/HapticObserver.cpp
@@ -1,15 +1,15 @@
#include "HapticObserver.h"
-#include <Core/observers/checks/ConditionCheckUpdated.h>
-#include <Core/observers/checks/ConditionCheckEquals.h>
-#include <Core/observers/checks/ConditionCheckInRange.h>
-#include <Core/observers/checks/ConditionCheckLarger.h>
-#include <Core/observers/checks/ConditionCheckSmaller.h>
+#include <ArmarXCore/observers/checks/ConditionCheckUpdated.h>
+#include <ArmarXCore/observers/checks/ConditionCheckEquals.h>
+#include <ArmarXCore/observers/checks/ConditionCheckInRange.h>
+#include <ArmarXCore/observers/checks/ConditionCheckLarger.h>
+#include <ArmarXCore/observers/checks/ConditionCheckSmaller.h>
#include <RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h>
#include <RobotAPI/libraries/core/RobotAPIObjectFactories.h>
#include <Eigen/Dense>
-#include <Core/observers/variant/TimestampVariant.h>
+#include <ArmarXCore/observers/variant/TimestampVariant.h>
using namespace armarx;
@@ -25,10 +25,14 @@ void HapticObserver::setTopicName(std::string topicName)
void HapticObserver::onInitObserver()
{
- if(topicName.empty())
+ if (topicName.empty())
+ {
usingTopic(getProperty<std::string>("HapticTopicName").getValue());
+ }
else
+ {
usingTopic(topicName);
+ }
// register all checks
offerConditionCheck("updated", new ConditionCheckUpdated());
@@ -57,7 +61,8 @@ void HapticObserver::reportSensorValues(const std::string& device, const std::st
float max = eigenMatrix.maxCoeff();
float mean = eigenMatrix.mean();
std::string channelName = name;
- if(!existsChannel(channelName))
+
+ if (!existsChannel(channelName))
{
offerChannel(channelName, "Haptic data");
offerDataFieldWithDefault(channelName, "device", Variant(device), "Device of the tactile sensor");
@@ -78,6 +83,7 @@ void HapticObserver::reportSensorValues(const std::string& device, const std::st
setDataField(channelName, "mean", Variant(mean));
setDataField(channelName, "timestamp", timestampPtr);
}
+
/*if(statistics.count(device) > 0)
{
statistics.at(device).add(timestamp->timestamp);
diff --git a/source/RobotAPI/components/units/HapticObserver.h b/source/RobotAPI/components/units/HapticObserver.h
index dd9cb014c5580962c4b091a61b83b981ed09407b..160d1cf81192edb6db02cc1c6596c5a261b1ef10 100644
--- a/source/RobotAPI/components/units/HapticObserver.h
+++ b/source/RobotAPI/components/units/HapticObserver.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarXCore::units
* @author Peter Kaiser <peter dot kaiser at kit dot edu>
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -25,10 +24,10 @@
#define _ARMARX_ROBOTAPI_HAPTIC_OBSERVER_H
#include <RobotAPI/interface/units/HapticUnit.h>
-#include <Core/observers/Observer.h>
-#include <Core/util/variants/eigen3/MatrixVariant.h>
-#include <Core/util/variants/eigen3/Eigen3VariantObjectFactories.h>
-#include <Core/core/services/tasks/PeriodicTask.h>
+#include <ArmarXCore/observers/Observer.h>
+#include <ArmarXCore/util/variants/eigen3/MatrixVariant.h>
+#include <ArmarXCore/util/variants/eigen3/Eigen3VariantObjectFactories.h>
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
namespace armarx
@@ -38,7 +37,7 @@ namespace armarx
* \brief
*/
class HapticObserverPropertyDefinitions:
- public ComponentPropertyDefinitions
+ public ComponentPropertyDefinitions
{
public:
HapticObserverPropertyDefinitions(std::string prefix):
@@ -65,7 +64,8 @@ namespace armarx
void add(long timestamp)
{
long delta = timestamp - lastTimestamp;
- if(deltas.size() < count)
+
+ if (deltas.size() < count)
{
deltas.push_back(delta);
}
@@ -74,6 +74,7 @@ namespace armarx
deltas.at(pos) = delta;
pos = (pos + 1) % count;
}
+
lastTimestamp = timestamp;
}
@@ -89,15 +90,18 @@ namespace armarx
long average()
{
- if(deltas.size() == 0)
+ if (deltas.size() == 0)
{
return 0;
}
+
long sum = 0;
- for(std::vector<long>::iterator it = deltas.begin(); it != deltas.end(); ++it)
+
+ for (std::vector<long>::iterator it = deltas.begin(); it != deltas.end(); ++it)
{
sum += *it;
}
+
return sum / deltas.size();
}
@@ -117,8 +121,8 @@ namespace armarx
* Available condition checks are: *updated*, *larger*, *equals* and *smaller*.
*/
class HapticObserver :
- virtual public Observer,
- virtual public HapticUnitObserverInterface
+ virtual public Observer,
+ virtual public HapticUnitObserverInterface
{
public:
HapticObserver();
@@ -126,7 +130,10 @@ namespace armarx
void setTopicName(std::string topicName);
// framework hooks
- virtual std::string getDefaultName() const { return "HapticUnitObserver"; }
+ virtual std::string getDefaultName() const
+ {
+ return "HapticUnitObserver";
+ }
void onInitObserver();
void onConnectObserver();
void onExitObserver();
diff --git a/source/RobotAPI/components/units/HapticUnit.cpp b/source/RobotAPI/components/units/HapticUnit.cpp
index aef0f4e890a05766782217b1ccdcc5b08caf6437..584b430430c5662c9e02cae02d8e4369b346b3c7 100644
--- a/source/RobotAPI/components/units/HapticUnit.cpp
+++ b/source/RobotAPI/components/units/HapticUnit.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarXCore::units
* @author Peter Kaiser <peter dot kaiser at kit dot edu>
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
diff --git a/source/RobotAPI/components/units/HapticUnit.h b/source/RobotAPI/components/units/HapticUnit.h
index 012825f072f4678855aa7aa078a5878c7af7eb19..d3daeb10a1cd26c227bad58336e1ff0d233158b7 100644
--- a/source/RobotAPI/components/units/HapticUnit.h
+++ b/source/RobotAPI/components/units/HapticUnit.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,16 +16,16 @@
* @package ArmarXCore::units
* @author Peter Kaiser <peter dot kaiser at kit dot edu>
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#ifndef _ARMARX_COMPONENT_HAPTIC_UNIT_H
#define _ARMARX_COMPONENT_HAPTIC_UNIT_H
-#include <Core/core/Component.h>
-#include <Core/core/application/properties/Properties.h>
-#include <Core/core/system/ImportExportComponent.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/application/properties/Properties.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
#include "RobotAPI/components/units/SensorActorUnit.h"
#include <RobotAPI/interface/units/HapticUnit.h>
@@ -41,38 +40,46 @@ namespace armarx
*/
class HapticUnitPropertyDefinitions : public ComponentPropertyDefinitions
{
- public:
- HapticUnitPropertyDefinitions(std::string prefix) :
- ComponentPropertyDefinitions(prefix)
- {
- defineOptionalProperty<std::string>("HapticTopicName", "HapticValues", "Name of the Haptic Topic.");
- }
+ public:
+ HapticUnitPropertyDefinitions(std::string prefix) :
+ ComponentPropertyDefinitions(prefix)
+ {
+ defineOptionalProperty<std::string>("HapticTopicName", "HapticValues", "Name of the Haptic Topic.");
+ }
};
-
+
/**
- * \class HapticUnit
+ * \defgroup Component-HapticUnit HapticUnit
* \ingroup RobotAPI-SensorActorUnits
* \brief Base unit for haptic sensors.
*/
+
+ /**
+ * @ingroup Component-HapticUnit
+ * @brief The HapticUnit class
+ */
class HapticUnit :
virtual public HapticUnitInterface,
virtual public SensorActorUnit
{
- public:
- virtual std::string getDefaultName() const { return "HapticUnit"; }
-
- virtual void onInitComponent();
- virtual void onConnectComponent();
- virtual void onExitComponent();
-
- virtual void onInitHapticUnit() = 0;
- virtual void onStartHapticUnit() = 0;
- virtual void onExitHapticUnit() = 0;
-
- virtual PropertyDefinitionsPtr createPropertyDefinitions();
-
- protected:
- HapticUnitListenerPrx hapticTopicPrx;
+ public:
+ virtual std::string getDefaultName() const
+ {
+ return "HapticUnit";
+ }
+
+ virtual void onInitComponent();
+ virtual void onConnectComponent();
+ virtual void onExitComponent();
+
+ virtual void onInitHapticUnit() = 0;
+ virtual void onStartHapticUnit() = 0;
+ virtual void onExitHapticUnit() = 0;
+
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+
+ protected:
+ HapticUnitListenerPrx hapticTopicPrx;
};
}
diff --git a/source/RobotAPI/components/units/HeadIKUnit.cpp b/source/RobotAPI/components/units/HeadIKUnit.cpp
index 86420ccb0189f575cb4442097243333cb47b3933..653a3fd7a27c418e6e9c8f01322c51ab7541da3f 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.cpp
+++ b/source/RobotAPI/components/units/HeadIKUnit.cpp
@@ -1,7 +1,7 @@
#include "HeadIKUnit.h"
-#include <Core/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/IK/GazeIK.h>
@@ -26,7 +26,7 @@ namespace armarx
usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
usingProxy("RobotStateComponent");
- usingTopic("RobotState");
+ usingTopic(getProperty<std::string>("RobotStateTopicName").getValue());
cycleTime = getProperty<int>("CycleTime").getValue();
offeringTopic("DebugDrawerUpdates");
@@ -53,7 +53,12 @@ namespace armarx
//localRobot->setConfig(robotSnapshot->getConfig());
requested = false;
- if (execTask) execTask->stop();
+
+ if (execTask)
+ {
+ execTask->stop();
+ }
+
execTask = new PeriodicTask<HeadIKUnit>(this, &HeadIKUnit::periodicExec, cycleTime, false, "HeadIKCalculator");
execTask->setDelayWarningTolerance(300);
execTask->start();
@@ -63,13 +68,19 @@ namespace armarx
void HeadIKUnit::onDisconnectComponent()
{
release();
+
//ScopedLock lock(accessMutex);
- if(drawer)
+ if (drawer)
+ {
drawer->removeSphereDebugLayerVisu("HeadViewTarget");
+ }
- if (execTask) execTask->stop();
+ if (execTask)
+ {
+ execTask->stop();
+ }
}
void HeadIKUnit::onExitComponent()
@@ -78,12 +89,16 @@ namespace armarx
- void HeadIKUnit::setCycleTime(Ice::Int milliseconds, const Ice::Current & c)
+ void HeadIKUnit::setCycleTime(Ice::Int milliseconds, const Ice::Current& c)
{
ScopedLock lock(accessMutex);
cycleTime = milliseconds;
- if (execTask) execTask->changeInterval(cycleTime);
+
+ if (execTask)
+ {
+ execTask->changeInterval(cycleTime);
+ }
}
@@ -97,11 +112,12 @@ namespace armarx
this->targetPosition->z = targetPosition->z;
this->targetPosition->frame = targetPosition->frame;
FramedPositionPtr globalTarget = FramedPositionPtr::dynamicCast(targetPosition)->toGlobal(robotStateComponentPrx->getSynchronizedRobot());
- if(drawer)
+
+ if (drawer)
{
drawer->setSphereDebugLayerVisu("HeadViewTarget",
globalTarget,
- DrawColor{1,0,0,0.7},
+ DrawColor {1, 0, 0, 0.7},
15);
@@ -115,30 +131,33 @@ namespace armarx
- void HeadIKUnit::init(const Ice::Current & c)
+ void HeadIKUnit::init(const Ice::Current& c)
{
}
- void HeadIKUnit::start(const Ice::Current & c)
+ void HeadIKUnit::start(const Ice::Current& c)
{
}
- void HeadIKUnit::stop(const Ice::Current & c)
+ void HeadIKUnit::stop(const Ice::Current& c)
{
}
- UnitExecutionState HeadIKUnit::getExecutionState(const Ice::Current & c)
+ UnitExecutionState HeadIKUnit::getExecutionState(const Ice::Current& c)
{
switch (getState())
{
case eManagedIceObjectStarted:
return eUnitStarted;
+
case eManagedIceObjectInitialized:
case eManagedIceObjectStarting:
return eUnitInitialized;
+
case eManagedIceObjectExiting:
case eManagedIceObjectExited:
return eUnitStopped;
+
default:
return eUnitConstructed;
}
@@ -147,13 +166,18 @@ namespace armarx
- void HeadIKUnit::request(const Ice::Current & c)
+ void HeadIKUnit::request(const Ice::Current& c)
{
ScopedLock lock(accessMutex);
requested = true;
ARMARX_IMPORTANT << "Requesting HeadIKUnit";
- if(execTask) execTask->stop();
+
+ if (execTask)
+ {
+ execTask->stop();
+ }
+
execTask = new PeriodicTask<HeadIKUnit>(this, &HeadIKUnit::periodicExec, cycleTime, false, "TCPVelocityCalculator");
execTask->start();
ARMARX_IMPORTANT << "Requested HeadIKUnit";
@@ -162,15 +186,17 @@ namespace armarx
- void HeadIKUnit::release(const Ice::Current & c)
+ void HeadIKUnit::release(const Ice::Current& c)
{
ScopedLock lock(accessMutex);
ARMARX_INFO << "Releasing HeadIKUnit";
requested = false;
- if(drawer)
+ if (drawer)
+ {
drawer->removeSphereDebugLayerVisu("HeadViewTarget");
+ }
// why do we stop the kin unit?
/*try
@@ -194,6 +220,7 @@ namespace armarx
{
ScopedTryLock lock(accessMutex);
+
if (lock.owns_lock())
{
doCalculation = requested && newTargetSet;
@@ -209,31 +236,37 @@ namespace armarx
if (doCalculation)
{
ScopedLock lock(accessMutex);
- RemoteRobot::synchronizeLocalClone(localRobot,robotStateComponentPrx);
+ RemoteRobot::synchronizeLocalClone(localRobot, robotStateComponentPrx);
//VirtualRobot::RobotPtr robotSnapshot(new RemoteRobot(remoteRobotPrx));
//localRobot->setConfig(robotSnapshot->getConfig());
VirtualRobot::RobotNodeSetPtr kinematicChain = localRobot->getRobotNodeSet(robotNodeSetName);
VirtualRobot::RobotNodePrismaticPtr virtualJoint;
- for (unsigned int i=0; i<kinematicChain->getSize(); i++)
+
+ for (unsigned int i = 0; i < kinematicChain->getSize(); i++)
{
if (kinematicChain->getNode(i)->getName().compare("VirtualCentralGaze") == 0)
{
virtualJoint = boost::dynamic_pointer_cast<VirtualRobot::RobotNodePrismatic>(kinematicChain->getNode(i));
}
}
+
ARMARX_DEBUG << deactivateSpam(5) << VAROUT(virtualJoint->getName()) << " " << VAROUT(kinematicChain->getName());
VirtualRobot::GazeIK ikSolver(kinematicChain, virtualJoint);
ikSolver.enableJointLimitAvoidance(true);
ikSolver.setup(10, 30, 20);
-// ikSolver.setVerbose(true);
+ // ikSolver.setVerbose(true);
auto globalPos = targetPosition->toGlobal(localRobot);
ARMARX_DEBUG << "Calculating IK for target position " << globalPos->output();
auto start = IceUtil::Time::now();
bool solutionFound = ikSolver.solve(globalPos->toEigen());
- auto duration = (IceUtil::Time::now()-start);
- if(duration.toMilliSeconds() > 500)
+ auto duration = (IceUtil::Time::now() - start);
+
+ if (duration.toMilliSeconds() > 500)
+ {
ARMARX_INFO << "Calculating Gaze IK took " << duration.toMilliSeconds() << " ms";
+ }
+
if (!solutionFound)
{
ARMARX_WARNING << "IKSolver found no solution!";
@@ -242,18 +275,19 @@ namespace armarx
{
ARMARX_DEBUG << "Solution found";
- if(drawer && localRobot->hasRobotNode("Cameras"))
+ if (drawer && localRobot->hasRobotNode("Cameras"))
{
Vector3Ptr startPos = new Vector3(localRobot->getRobotNode("Cameras")->getGlobalPose());
drawer->setSphereDebugLayerVisu("HeadViewTarget",
startPos,
- DrawColor{0,1,1,0.2},
+ DrawColor {0, 1, 1, 0.2},
17);
}
NameValueMap targetJointAngles;
NameControlModeMap controlModes;
+
for (int i = 0; i < (signed int)kinematicChain->getSize(); i++)
{
if (kinematicChain->getNode(i)->getName().compare("VirtualCentralGaze") != 0)
@@ -261,14 +295,17 @@ namespace armarx
targetJointAngles[kinematicChain->getNode(i)->getName()] = kinematicChain->getNode(i)->getJointValue();
controlModes[kinematicChain->getNode(i)->getName()] = ePositionControl;
}
+
ARMARX_DEBUG << kinematicChain->getNode(i)->getName() << ": " << kinematicChain->getNode(i)->getJointValue();
}
+
try
{
kinematicUnitPrx->switchControlMode(controlModes);
ARMARX_DEBUG << "setting new joint angles" << targetJointAngles;
kinematicUnitPrx->setJointAngles(targetJointAngles);
- } catch (...)
+ }
+ catch (...)
{
ARMARX_IMPORTANT << "setJointAngles failed";
}
diff --git a/source/RobotAPI/components/units/HeadIKUnit.h b/source/RobotAPI/components/units/HeadIKUnit.h
index 143150b61e98879b4985a995b0572ebb999644c8..c9f137bb7781b59c860a76efee8629767cf934db 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.h
+++ b/source/RobotAPI/components/units/HeadIKUnit.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author David Schiebener ( schiebener at kit dot edu)
* @date 2014
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -25,8 +24,8 @@
#define _ARMARX_HEADIKUNIT_H
-#include <Core/core/Component.h>
-#include <Core/core/services/tasks/PeriodicTask.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
@@ -41,22 +40,28 @@ namespace armarx
* \brief
*/
class HeadIKUnitPropertyDefinitions:
- public ComponentPropertyDefinitions
+ public ComponentPropertyDefinitions
{
public:
HeadIKUnitPropertyDefinitions(std::string prefix):
ComponentPropertyDefinitions(prefix)
{
- defineRequiredProperty<std::string>("KinematicUnitName","Name of the KinematicUnit Proxy");
+ defineRequiredProperty<std::string>("KinematicUnitName", "Name of the KinematicUnit Proxy");
+ defineOptionalProperty<std::string>("RobotStateTopicName", "RobotState", "Name of the RobotComponent State topic.");
defineOptionalProperty<int>("CycleTime", 30, "Cycle time of the tcp control in ms");
}
};
/**
- * \class HeadIKUnit
+ * \defgroup Component-HeadIKUnit HeadIKUnit
* \ingroup RobotAPI-SensorActorUnits
* \brief Unit for controlling a robot head via IK targets.
*/
+
+ /**
+ * @ingroup Component-HeadIKUnit
+ * @brief The HeadIKUnit class
+ */
class HeadIKUnit : virtual public Component, virtual public HeadIKUnitInterface
{
public:
@@ -65,21 +70,24 @@ namespace armarx
void onConnectComponent();
void onDisconnectComponent();
void onExitComponent();
- std::string getDefaultName() const{ return "HeadIKUnit"; }
+ std::string getDefaultName() const
+ {
+ return "HeadIKUnit";
+ }
// HeadIKUnitInterface interface
- void setCycleTime(Ice::Int milliseconds, const Ice::Current &c = Ice::Current());
- void setHeadTarget(const std::string& robotNodeSetName, const FramedPositionBasePtr &targetPosition, const Ice::Current &c = Ice::Current());
+ void setCycleTime(Ice::Int milliseconds, const Ice::Current& c = Ice::Current());
+ void setHeadTarget(const std::string& robotNodeSetName, const FramedPositionBasePtr& targetPosition, const Ice::Current& c = Ice::Current());
// UnitExecutionManagementInterface interface
- void init(const Ice::Current &c = Ice::Current());
- void start(const Ice::Current &c = Ice::Current());
- void stop(const Ice::Current &c = Ice::Current());
- UnitExecutionState getExecutionState(const Ice::Current &c = Ice::Current());
+ void init(const Ice::Current& c = Ice::Current());
+ void start(const Ice::Current& c = Ice::Current());
+ void stop(const Ice::Current& c = Ice::Current());
+ UnitExecutionState getExecutionState(const Ice::Current& c = Ice::Current());
// UnitResourceManagementInterface interface
- void request(const Ice::Current &c = Ice::Current());
- void release(const Ice::Current &c = Ice::Current());
+ void request(const Ice::Current& c = Ice::Current());
+ void release(const Ice::Current& c = Ice::Current());
// PropertyUser interface
PropertyDefinitionsPtr createPropertyDefinitions();
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnit.cpp b/source/RobotAPI/components/units/InertialMeasurementUnit.cpp
index 672f856d35c99fa1c63b1e63c1981a98bf8c3154..d0f0b1d30096fba8673df04cb2d031c14bc57cfe 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnit.cpp
+++ b/source/RobotAPI/components/units/InertialMeasurementUnit.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI::ArmarXObjects::InertialMeasurementUnit
* @author Markus Grotz ( markus-grotz at web dot de )
* @date 2015
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnit.h b/source/RobotAPI/components/units/InertialMeasurementUnit.h
index 4cd2861f7fe30d61b7778f809f3261abd8e29bfc..9dec375d78f069a9cf5710e710bee06b1393e507 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnit.h
+++ b/source/RobotAPI/components/units/InertialMeasurementUnit.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI::ArmarXObjects::InertialMeasurementUnit
* @author Markus Grotz ( markus-grotz at web dot de )
* @date 2015
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -27,7 +26,7 @@
#include "SensorActorUnit.h"
-#include <Core/core/Component.h>
+#include <ArmarXCore/core/Component.h>
#include <RobotAPI/interface/units/InertialMeasurementUnit.h>
namespace armarx
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.cpp b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.cpp
index 0499d45ff74207fcfec955dddaf7c22382b7525a..8feff3d67002613b2b5269b3671182a5aed60bc1 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.cpp
+++ b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.cpp
@@ -1,14 +1,14 @@
#include "InertialMeasurementUnitObserver.h"
-#include <Core/observers/checks/ConditionCheckEquals.h>
-#include <Core/observers/checks/ConditionCheckLarger.h>
-#include <Core/observers/checks/ConditionCheckSmaller.h>
-#include <Core/observers/checks/ConditionCheckUpdated.h>
+#include <ArmarXCore/observers/checks/ConditionCheckEquals.h>
+#include <ArmarXCore/observers/checks/ConditionCheckLarger.h>
+#include <ArmarXCore/observers/checks/ConditionCheckSmaller.h>
+#include <ArmarXCore/observers/checks/ConditionCheckUpdated.h>
#include <RobotAPI/libraries/core/Pose.h>
-#include <Core/observers/variant/TimestampVariant.h>
+#include <ArmarXCore/observers/variant/TimestampVariant.h>
@@ -41,7 +41,7 @@ void InertialMeasurementUnitObserver::onExitObserver()
debugDrawerPrx->removeLineVisu("IMU", "acceleration");
}
-void InertialMeasurementUnitObserver::reportSensorValues(const std::string &device, const std::string &name, const IMUData &values, const TimestampBasePtr ×tamp, const Ice::Current &c)
+void InertialMeasurementUnitObserver::reportSensorValues(const std::string& device, const std::string& name, const IMUData& values, const TimestampBasePtr& timestamp, const Ice::Current& c)
{
ScopedLock lock(dataMutex);
@@ -52,9 +52,10 @@ void InertialMeasurementUnitObserver::reportSensorValues(const std::string &devi
Vector3Ptr magneticRotation = new Vector3(values.magneticRotation.at(0), values.magneticRotation.at(1), values.magneticRotation.at(2));
QuaternionPtr orientationQuaternion = new Quaternion(values.orientationQuaternion.at(0), values.orientationQuaternion.at(1), values.orientationQuaternion.at(2), values.orientationQuaternion.at(3));
- if(!existsChannel(device))
+ if (!existsChannel(device))
{
- offerChannel(device, "IMU data");\
+ offerChannel(device, "IMU data");
+ \
//todo remove
offerDataFieldWithDefault(device, "name", Variant(name), "Name of the IMU sensor");
offerDataFieldWithDefault(device, "acceleration", acceleration, "acceleration values");
@@ -72,6 +73,7 @@ void InertialMeasurementUnitObserver::reportSensorValues(const std::string &devi
setDataField(device, "orientationQuaternion", orientationQuaternion);
setDataField(device, "timestamp", timestampPtr);
}
+
updateChannel(device);
Eigen::Vector3f zero;
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
index 291e4dcda27186bc28e6cad3cb622b4560e333d7..26bee065be5154cdc9bfb6ecd4f67dee3040efa2 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
+++ b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI::units
* @author David Schiebener <schiebener at kit dot edu>
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -25,7 +24,7 @@
#define _ARMARX_ROBOTAPI_IMU_OBSERVER_H
#include <RobotAPI/interface/units/InertialMeasurementUnit.h>
-#include <Core/observers/Observer.h>
+#include <ArmarXCore/observers/Observer.h>
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
@@ -36,7 +35,7 @@ namespace armarx
* \brief
*/
class InertialMeasurementUnitObserverPropertyDefinitions:
- public ComponentPropertyDefinitions
+ public ComponentPropertyDefinitions
{
public:
InertialMeasurementUnitObserverPropertyDefinitions(std::string prefix):
@@ -57,18 +56,21 @@ namespace armarx
* Available condition checks are: *updated*, *larger*, *equals* and *smaller*.
*/
class InertialMeasurementUnitObserver :
- virtual public Observer,
- virtual public InertialMeasurementUnitObserverInterface
+ virtual public Observer,
+ virtual public InertialMeasurementUnitObserverInterface
{
public:
- InertialMeasurementUnitObserver(){}
+ InertialMeasurementUnitObserver() {}
- virtual std::string getDefaultName() const { return "InertialMeasurementUnitObserver"; }
+ virtual std::string getDefaultName() const
+ {
+ return "InertialMeasurementUnitObserver";
+ }
virtual void onInitObserver();
virtual void onConnectObserver();
virtual void onExitObserver();
- void reportSensorValues(const std::string &device, const std::string &name, const IMUData &values, const TimestampBasePtr ×tamp, const Ice::Current &c = ::Ice::Current());
+ void reportSensorValues(const std::string& device, const std::string& name, const IMUData& values, const TimestampBasePtr& timestamp, const Ice::Current& c = ::Ice::Current());
/**
* @see PropertyUser::createPropertyDefinitions()
@@ -76,9 +78,9 @@ namespace armarx
virtual PropertyDefinitionsPtr createPropertyDefinitions();
- private:
- Mutex dataMutex;
- DebugDrawerInterfacePrx debugDrawerPrx;
+ private:
+ Mutex dataMutex;
+ DebugDrawerInterfacePrx debugDrawerPrx;
};
diff --git a/source/RobotAPI/components/units/KinematicUnit.cpp b/source/RobotAPI/components/units/KinematicUnit.cpp
index b360f799b39e4cc34ade44cac5c3ed6c974ca8b0..d5c08b7a95a0dd28558f217e1ff5862c2c087854 100644
--- a/source/RobotAPI/components/units/KinematicUnit.cpp
+++ b/source/RobotAPI/components/units/KinematicUnit.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarXCore::units
* @author Christian Boege (boege at kit dot edu)
* @date 2011
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -29,7 +28,8 @@
#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/VirtualRobotException.h>
#include <VirtualRobot/RuntimeEnvironment.h>
-#include <Core/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
using namespace armarx;
@@ -41,7 +41,22 @@ void KinematicUnit::onInitComponent()
std::string robotFile = getProperty<std::string>("RobotFileName").getValue();
robotNodeSetName = getProperty<std::string>("RobotNodeSetName").getValue();
- if (!ArmarXDataPath::getAbsolutePath(robotFile,robotFile))
+ std::string project = getProperty<std::string>("RobotFileNameProject").getValue();
+ StringList includePaths;
+
+ if (!project.empty())
+ {
+ CMakePackageFinder finder(project);
+ StringList projectIncludePaths;
+ auto pathsString = finder.getDataDir();
+ boost::split(projectIncludePaths,
+ pathsString,
+ boost::is_any_of(";,"),
+ boost::token_compress_on);
+ includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
+ }
+
+ if (!ArmarXDataPath::getAbsolutePath(robotFile, robotFile, includePaths))
{
throw UserException("Could not find robot file " + robotFile);
}
@@ -51,11 +66,12 @@ void KinematicUnit::onInitComponent()
{
robot = VirtualRobot::RobotIO::loadRobot(robotFile, VirtualRobot::RobotIO::eStructure);
}
- catch(VirtualRobot::VirtualRobotException& e)
+ catch (VirtualRobot::VirtualRobotException& e)
{
throw UserException(e.what());
}
- if(robotNodeSetName == "")
+
+ if (robotNodeSetName == "")
{
throw UserException("RobotNodeSet not defined");
}
@@ -111,5 +127,5 @@ void KinematicUnit::releaseKinematicUnit(const StringSequence& nodes, const Ice:
PropertyDefinitionsPtr KinematicUnit::createPropertyDefinitions()
{
return PropertyDefinitionsPtr(new KinematicUnitPropertyDefinitions(
- getConfigIdentifier()));
+ getConfigIdentifier()));
}
diff --git a/source/RobotAPI/components/units/KinematicUnit.h b/source/RobotAPI/components/units/KinematicUnit.h
index c39ddfe0caf601c3ed5dff88285964837f9fe634..c3dd87e08a5b36e1c50c3bdcb14164b162aef89e 100644
--- a/source/RobotAPI/components/units/KinematicUnit.h
+++ b/source/RobotAPI/components/units/KinematicUnit.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarXCore::units
* @author Christian Boege (boege at kit dot edu)
* @date 2011
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,9 +25,9 @@
#include <RobotAPI/components/units/SensorActorUnit.h>
-#include <Core/core/Component.h>
-#include <Core/core/application/properties/Properties.h>
-#include <Core/core/system/ImportExportComponent.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/application/properties/Properties.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
@@ -42,20 +41,21 @@ namespace armarx
* \brief
*/
class KinematicUnitPropertyDefinitions:
- public ComponentPropertyDefinitions
+ public ComponentPropertyDefinitions
{
public:
KinematicUnitPropertyDefinitions(std::string prefix):
ComponentPropertyDefinitions(prefix)
{
- defineRequiredProperty<std::string>("RobotNodeSetName","Robot node set name as defined in robot xml file, e.g. 'LeftArm'");
+ defineRequiredProperty<std::string>("RobotNodeSetName", "Robot node set name as defined in robot xml file, e.g. 'LeftArm'");
defineRequiredProperty<std::string>("RobotFileName", "Robot file name, e.g. robot_model.xml");
+ defineOptionalProperty<std::string>("RobotFileNameProject", "", "Project in which the robot filename is located (if robot is loaded from an external project)");
}
};
/**
- * \class KinematicUnit
+ * \defgroup Component-KinematicUnit KinematicUnit
* \ingroup RobotAPI-SensorActorUnits
* \brief Base unit for kinematic sensors and actors.
*
@@ -65,13 +65,21 @@ namespace armarx
* The KinematicUnit retrieves its configuration from a VirtualRobot robot model. Within the model, the joints, the unit
* controls are defined with a RobotNodeSet.
*/
+
+ /**
+ * @ingroup Component-KinematicUnit
+ * @brief The KinematicUnit class
+ */
class KinematicUnit :
virtual public KinematicUnitInterface,
virtual public SensorActorUnit
{
public:
// inherited from Component
- virtual std::string getDefaultName() const { return "KinematicUnit"; }
+ virtual std::string getDefaultName() const
+ {
+ return "KinematicUnit";
+ }
virtual void onInitComponent();
virtual void onConnectComponent();
diff --git a/source/RobotAPI/components/units/KinematicUnitObserver.cpp b/source/RobotAPI/components/units/KinematicUnitObserver.cpp
index 30c9ce63f8025c1bf242d5a93cc6803c918aa258..19673d07830dfa863605cb1648c0f2b4902d30a0 100644
--- a/source/RobotAPI/components/units/KinematicUnitObserver.cpp
+++ b/source/RobotAPI/components/units/KinematicUnitObserver.cpp
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -23,20 +22,21 @@
#include "KinematicUnitObserver.h"
#include "KinematicUnit.h"
-#include <Core/observers/checks/ConditionCheckValid.h>
-#include <Core/observers/checks/ConditionCheckUpdated.h>
-#include <Core/observers/checks/ConditionCheckEquals.h>
-#include <Core/observers/checks/ConditionCheckInRange.h>
-#include <Core/observers/checks/ConditionCheckLarger.h>
-#include <Core/observers/checks/ConditionCheckSmaller.h>
-#include <Core/observers/variant/ChannelRef.h>
-#include <Core/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/observers/checks/ConditionCheckValid.h>
+#include <ArmarXCore/observers/checks/ConditionCheckUpdated.h>
+#include <ArmarXCore/observers/checks/ConditionCheckEquals.h>
+#include <ArmarXCore/observers/checks/ConditionCheckInRange.h>
+#include <ArmarXCore/observers/checks/ConditionCheckLarger.h>
+#include <ArmarXCore/observers/checks/ConditionCheckSmaller.h>
+#include <ArmarXCore/observers/variant/ChannelRef.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/Nodes/RobotNode.h>
-#include <Core/observers/checks/ConditionCheckEqualsWithTolerance.h>
+#include <ArmarXCore/observers/checks/ConditionCheckEqualsWithTolerance.h>
using namespace armarx;
@@ -64,30 +64,45 @@ void KinematicUnitObserver::onConnectObserver()
// read names of kinematic chain elements belonging to this unit from XML and setup a map of all joints
// the kinematic chain elements belonging to this unit are defined in a RobotNodeSet
std::string robotFile = getProperty<std::string>("RobotFileName").getValue();
+ std::string project = getProperty<std::string>("RobotFileNameProject").getValue();
+ StringList includePaths;
+ if (!project.empty())
+ {
+ CMakePackageFinder finder(project);
+ StringList projectIncludePaths;
+ auto pathsString = finder.getDataDir();
+ boost::split(projectIncludePaths,
+ pathsString,
+ boost::is_any_of(";,"),
+ boost::token_compress_on);
+ includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
+ }
- if (!ArmarXDataPath::getAbsolutePath(robotFile,robotFile))
+ if (!ArmarXDataPath::getAbsolutePath(robotFile, robotFile, includePaths))
{
throw UserException("Could not find robot file " + robotFile);
}
VirtualRobot::RobotPtr robot = VirtualRobot::RobotIO::loadRobot(robotFile, VirtualRobot::RobotIO::eStructure);
- if(robotNodeSetName == "")
+
+ if (robotNodeSetName == "")
{
throw UserException("RobotNodeSet not defined");
}
+
VirtualRobot::RobotNodeSetPtr robotNodeSetPtr = robot->getRobotNodeSet(robotNodeSetName);
std::vector< VirtualRobot::RobotNodePtr > robotNodes;
robotNodes = robotNodeSetPtr->getAllRobotNodes();
// register all channels
- offerChannel("jointangles","Joint values of the " + robotNodeSetName + " kinematic chain");
- offerChannel("jointvelocities","Joint velocities of the " + robotNodeSetName + "kinematic chain");
- offerChannel("jointtorques","Joint torques of the" + robotNodeSetName + " kinematic chain");
- offerChannel("jointcurrents","Joint currents of the " + robotNodeSetName + " kinematic chain");
- offerChannel("jointmotortemperatures","Joint motor temperatures of the " + robotNodeSetName + " kinematic chain");
- offerChannel("jointcontrolmodes","Joint motor temperatures of the " + robotNodeSetName + " kinematic chain");
+ offerChannel("jointangles", "Joint values of the " + robotNodeSetName + " kinematic chain");
+ offerChannel("jointvelocities", "Joint velocities of the " + robotNodeSetName + "kinematic chain");
+ offerChannel("jointtorques", "Joint torques of the" + robotNodeSetName + " kinematic chain");
+ offerChannel("jointcurrents", "Joint currents of the " + robotNodeSetName + " kinematic chain");
+ offerChannel("jointmotortemperatures", "Joint motor temperatures of the " + robotNodeSetName + " kinematic chain");
+ offerChannel("jointcontrolmodes", "Joint motor temperatures of the " + robotNodeSetName + " kinematic chain");
// register all data fields
@@ -102,6 +117,7 @@ void KinematicUnitObserver::onConnectObserver()
offerDataField("jointcurrents", jointName, VariantType::Float, "Joint current of the " + jointName + " joint");
offerDataField("jointmotortemperatures", jointName, VariantType::Float, "Joint motor temperature of the " + jointName + " joint");
}
+
updateChannel("jointcontrolmodes");
}
@@ -112,18 +128,23 @@ void KinematicUnitObserver::onConnectObserver()
// ********************************************************************
void KinematicUnitObserver::reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged, const Ice::Current& c)
{
- try{
+ try
+ {
- if(jointModes.size() == 0)
+ if (jointModes.size() == 0)
+ {
return;
- for(auto elem : jointModes)
+ }
+
+ for (auto elem : jointModes)
{
setDataFieldFlatCopy("jointcontrolmodes", elem.first, new Variant(ControlModeToString(elem.second)));
}
+
updateChannel("jointcontrolmodes");
}
- catch(...)
+ catch (...)
{
handleExceptions();
}
@@ -131,18 +152,21 @@ void KinematicUnitObserver::reportControlModeChanged(const NameControlModeMap& j
void KinematicUnitObserver::reportJointAngles(const NameValueMap& jointAngles, bool aValueChanged, const Ice::Current& c)
{
- try{
+ try
+ {
- if(jointAngles.size() == 0)
+ if (jointAngles.size() == 0)
+ {
return;
+ }
nameValueMapToDataFields("jointangles", jointAngles);
updateChannel("jointangles");
}
- catch(...)
+ catch (...)
{
handleExceptions();
}
@@ -151,13 +175,17 @@ void KinematicUnitObserver::reportJointAngles(const NameValueMap& jointAngles,
void KinematicUnitObserver::reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged, const Ice::Current& c)
{
- try{
- if(jointVelocities.size() == 0)
+ try
+ {
+ if (jointVelocities.size() == 0)
+ {
return;
+ }
+
nameValueMapToDataFields("jointvelocities", jointVelocities);
updateChannel("jointvelocities");
}
- catch(...)
+ catch (...)
{
handleExceptions();
}
@@ -165,32 +193,40 @@ void KinematicUnitObserver::reportJointVelocities(const NameValueMap& jointVeloc
void KinematicUnitObserver::reportJointTorques(const NameValueMap& jointTorques, bool aValueChanged, const Ice::Current& c)
{
- try{
- if(jointTorques.size() == 0)
+ try
+ {
+ if (jointTorques.size() == 0)
+ {
return;
+ }
+
nameValueMapToDataFields("jointtorques", jointTorques);
updateChannel("jointtorques");
}
- catch(...)
+ catch (...)
{
handleExceptions();
}
}
-void KinematicUnitObserver::reportJointAccelerations(const NameValueMap &jointAccelerations, bool aValueChanged, const Ice::Current &c)
+void KinematicUnitObserver::reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c)
{
}
void KinematicUnitObserver::reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged, const Ice::Current& c)
{
- try{
- if(jointCurrents.size() == 0)
+ try
+ {
+ if (jointCurrents.size() == 0)
+ {
return;
+ }
+
nameValueMapToDataFields("jointcurrents", jointCurrents);
updateChannel("jointcurrents");
}
- catch(...)
+ catch (...)
{
handleExceptions();
}
@@ -198,30 +234,34 @@ void KinematicUnitObserver::reportJointCurrents(const NameValueMap& jointCurrent
void KinematicUnitObserver::reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, bool aValueChanged, const Ice::Current& c)
{
- try{
- if(jointMotorTemperatures.size() == 0)
+ try
+ {
+ if (jointMotorTemperatures.size() == 0)
+ {
return;
+ }
+
nameValueMapToDataFields("jointmotortemperatures", jointMotorTemperatures);
updateChannel("jointmotortemperatures");
}
- catch(...)
+ catch (...)
{
handleExceptions();
}
}
-void KinematicUnitObserver::reportJointStatuses(const NameStatusMap &jointStatuses, bool aValueChanged, const Ice::Current &c)
+void KinematicUnitObserver::reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Ice::Current& c)
{
}
// ********************************************************************
// private methods
// ********************************************************************
-void KinematicUnitObserver::nameValueMapToDataFields(const std::string &channelName, const NameValueMap& nameValueMap)
+void KinematicUnitObserver::nameValueMapToDataFields(const std::string& channelName, const NameValueMap& nameValueMap)
{
NameValueMap::const_iterator iter = nameValueMap.begin();
- while(iter != nameValueMap.end())
+ while (iter != nameValueMap.end())
{
setDataFieldFlatCopy(channelName, iter->first, new Variant(iter->second));
iter++;
diff --git a/source/RobotAPI/components/units/KinematicUnitObserver.h b/source/RobotAPI/components/units/KinematicUnitObserver.h
index 37e3637c9f65f77e9218b331b441348fc51af676..ecbc321b7be827e6c33bd460076c7c1cc925921a 100644
--- a/source/RobotAPI/components/units/KinematicUnitObserver.h
+++ b/source/RobotAPI/components/units/KinematicUnitObserver.h
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -24,14 +23,14 @@
#ifndef _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_H
#define _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_H
-#include <Core/core/system/ImportExport.h>
-#include <Core/core/Component.h>
-#include <Core/core/application/properties/Properties.h>
-#include <Core/interface/observers/VariantBase.h>
+#include <ArmarXCore/core/system/ImportExport.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/application/properties/Properties.h>
+#include <ArmarXCore/interface/observers/VariantBase.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
#include <RobotAPI/interface/observers/KinematicUnitObserverInterface.h>
-#include <Core/observers/ConditionCheck.h>
-#include <Core/observers/Observer.h>
+#include <ArmarXCore/observers/ConditionCheck.h>
+#include <ArmarXCore/observers/Observer.h>
#include <string>
@@ -40,19 +39,19 @@ namespace armarx
ARMARX_CREATE_CHECK(KinematicUnitObserver, equals)
ARMARX_CREATE_CHECK(KinematicUnitObserver, larger)
- /**
- * \class KinematicUnitObserver
- * \ingroup RobotAPI-SensorActorUnits-observers
- * \brief Observer monitoring kinematic sensor and actor values
- *
- * The KinematicUnitObserver allows to install conditions on all channel reported by the KinematicUnit.
- * These include joint angles, velocities, torques and motor temperatures
- *
- * The KinematicUnitObserver retrieves its configuration from a VirtualRobot robot model. Within the model, the joints
- * which are observer by the unit are define by a robotnodeset.
- *
- * Available condition checks are: *valid*, *updated*, *equals*, *inrange*, *approx*, *larger* and *smaller*.
- */
+ /**
+ * \class KinematicUnitObserver
+ * \ingroup RobotAPI-SensorActorUnits-observers
+ * \brief Observer monitoring kinematic sensor and actor values
+ *
+ * The KinematicUnitObserver allows to install conditions on all channel reported by the KinematicUnit.
+ * These include joint angles, velocities, torques and motor temperatures
+ *
+ * The KinematicUnitObserver retrieves its configuration from a VirtualRobot robot model. Within the model, the joints
+ * which are observer by the unit are define by a robotnodeset.
+ *
+ * Available condition checks are: *valid*, *updated*, *equals*, *inrange*, *approx*, *larger* and *smaller*.
+ */
class ARMARXCORE_IMPORT_EXPORT KinematicUnitObserver :
virtual public Observer,
virtual public KinematicUnitObserverInterface
@@ -85,40 +84,55 @@ namespace armarx
static std::string ControlModeToString(ControlMode mode)
{
- switch(mode)
+ switch (mode)
{
- case eDisabled:
- return "Disabled";
- case ePositionControl:
- return "PositionControl";
- case eVelocityControl:
- return "VelocityControl";
- case eTorqueControl:
- return "TorqueControl";
- case ePositionVelocityControl:
- return "PositionVelocityControl";
- case eUnknown:
- default:
- return "Unknown";
+ case eDisabled:
+ return "Disabled";
+
+ case ePositionControl:
+ return "PositionControl";
+
+ case eVelocityControl:
+ return "VelocityControl";
+
+ case eTorqueControl:
+ return "TorqueControl";
+
+ case ePositionVelocityControl:
+ return "PositionVelocityControl";
+
+ case eUnknown:
+ default:
+ return "Unknown";
}
}
- static ControlMode StringToControlMode(const std::string &mode)
+ static ControlMode StringToControlMode(const std::string& mode)
{
- if(mode == "Disabled")
+ if (mode == "Disabled")
+ {
return eDisabled;
+ }
- if(mode == "PositionControl")
+ if (mode == "PositionControl")
+ {
return ePositionControl;
+ }
- if(mode == "VelocityControl")
+ if (mode == "VelocityControl")
+ {
return eVelocityControl;
+ }
- if(mode == "TorqueControl")
+ if (mode == "TorqueControl")
+ {
return eTorqueControl;
+ }
- if(mode == "PositionVelocityControl")
+ if (mode == "PositionVelocityControl")
+ {
return ePositionVelocityControl;
+ }
return eUnknown;
}
@@ -128,35 +142,41 @@ namespace armarx
private:
std::string robotNodeSetName;
-};
-
+ };
-/**
- @class KinematicUnitDatafieldCreator
- @brief
- @ingroup RobotAPI-SensorActorUnits-util
- */
-class KinematicUnitDatafieldCreator
-{
-public:
- KinematicUnitDatafieldCreator(const std::string &channelName): _channelName(channelName){}
/**
- * @brief Function to create a Channel Representation for a KinematicUnitObserver
- * @param kinematicUnitOberserverName Name of the KinematicUnitObserver
- * @param jointName Name of a joint of the robot like it is specified
- * in the simox-robot-xml-file
- * @return returns a ChannelRepresentationPtr
+ @class KinematicUnitDatafieldCreator
+ @brief
+ @ingroup RobotAPI-SensorActorUnits-util
*/
- DataFieldIdentifier getDatafield(const std::string &kinematicUnitObserverName, const std::string &jointName) const
+ class KinematicUnitDatafieldCreator
+ {
+ public:
+ KinematicUnitDatafieldCreator(const std::string& channelName): _channelName(channelName) {}
+
+ /**
+ * @brief Function to create a Channel Representation for a KinematicUnitObserver
+ * @param kinematicUnitOberserverName Name of the KinematicUnitObserver
+ * @param jointName Name of a joint of the robot like it is specified
+ * in the simox-robot-xml-file
+ * @return returns a ChannelRepresentationPtr
+ */
+ DataFieldIdentifier getDatafield(const std::string& kinematicUnitObserverName, const std::string& jointName) const
{
- if(kinematicUnitObserverName.empty())
+ if (kinematicUnitObserverName.empty())
+ {
throw LocalException("kinematicUnitObserverName must not be empty!");
- if(jointName.empty())
+ }
+
+ if (jointName.empty())
+ {
throw LocalException("jointName must not be empty!");
+ }
+
return DataFieldIdentifier(kinematicUnitObserverName, _channelName, jointName);
}
@@ -165,9 +185,11 @@ public:
};
- namespace channels{
+ namespace channels
+ {
- namespace KinematicUnitObserver{
+ namespace KinematicUnitObserver
+ {
const KinematicUnitDatafieldCreator jointAngles("jointAngles");
const KinematicUnitDatafieldCreator jointVelocities("jointVelocities");
const KinematicUnitDatafieldCreator jointTorques("jointTorques");
diff --git a/source/RobotAPI/components/units/KinematicUnitSimulation.cpp b/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
index b81e735542abce076bbac03a5641e54419eee40c..411fb9bf187fca618596e97e4cf4c2ed29213320 100644
--- a/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/KinematicUnitSimulation.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarXCore::units
* @author Christian Boege (boege at kit dot edu)
* @date 2011
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -30,7 +29,7 @@
#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/VirtualRobotException.h>
#include <VirtualRobot/RuntimeEnvironment.h>
-#include <Core/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <algorithm>
@@ -42,8 +41,9 @@ void KinematicUnitSimulation::onInitKinematicUnit()
for (std::vector<VirtualRobot::RobotNodePtr>::iterator it = robotNodes.begin(); it != robotNodes.end(); it++)
{
std::string jointName = (*it)->getName();
- jointInfos[jointName].limitLo = (*it)->getJointLimitLo();
- jointInfos[jointName].limitHi = (*it)->getJointLimitHi();
+ jointInfos[jointName].limitLo = (*it)->getJointLimitLo();
+ jointInfos[jointName].limitHi = (*it)->getJointLimitHi();
+
if ((*it)->isRotationalJoint())
{
if (jointInfos[jointName].limitHi - jointInfos[jointName].limitLo >= float(M_PI * 2))
@@ -51,12 +51,14 @@ void KinematicUnitSimulation::onInitKinematicUnit()
jointInfos[jointName].reset();
}
}
+
ARMARX_VERBOSE << jointName << " with limits: lo: " << jointInfos[jointName].limitLo << " hi: " << jointInfos[jointName].limitHi;
}
{
// duplicate the loop because of locking
boost::mutex::scoped_lock lock(jointStatesMutex);
+
// initialize JoinStates
for (std::vector<VirtualRobot::RobotNodePtr>::iterator it = robotNodes.begin(); it != robotNodes.end(); it++)
{
@@ -65,8 +67,9 @@ void KinematicUnitSimulation::onInitKinematicUnit()
jointStates[jointName].init();
}
}
+
noise = getProperty<float>("Noise").getValue() / 180.f * M_PI;
- distribution = std::normal_distribution<double>(0,noise);
+ distribution = std::normal_distribution<double>(0, noise);
intervalMs = getProperty<int>("IntervalMs").getValue();
ARMARX_VERBOSE << "Starting kinematic unit simulation with " << intervalMs << " ms interval";
simulationTask = new PeriodicTask<KinematicUnitSimulation>(this, &KinematicUnitSimulation::simulationFunction, intervalMs, false, "KinematicUnitSimulation");
@@ -99,12 +102,14 @@ void KinematicUnitSimulation::simulationFunction()
{
boost::mutex::scoped_lock lock(jointStatesMutex);
- for ( KinematicUnitSimulationJointStates::iterator it = jointStates.begin(); it!=jointStates.end(); it++ )
+
+ for (KinematicUnitSimulationJointStates::iterator it = jointStates.begin(); it != jointStates.end(); it++)
{
float newAngle = 0.0f;
+
// calculate joint positions if joint is in velocity control mode
- if ( it->second.controlMode == eVelocityControl )
+ if (it->second.controlMode == eVelocityControl)
{
double change = (it->second.velocity * timeDeltaInSeconds);
@@ -112,13 +117,13 @@ void KinematicUnitSimulation::simulationFunction()
change += randomNoiseValue;
newAngle = it->second.angle + change;
}
- else if(it->second.controlMode == ePositionControl)
+ else if (it->second.controlMode == ePositionControl)
{
newAngle = it->second.angle;
}
// constrain the angle
- KinematicUnitSimulationJointInfo & jointInfo = jointInfos[it->first];
+ KinematicUnitSimulationJointInfo& jointInfo = jointInfos[it->first];
float maxAngle = (jointInfo.hasLimits()) ? jointInfo.limitHi : 2.0 * M_PI;
float minAngle = (jointInfo.hasLimits()) ? jointInfo.limitLo : -2.0 * M_PI;
newAngle = std::max<float>(newAngle, minAngle);
@@ -126,20 +131,22 @@ void KinematicUnitSimulation::simulationFunction()
// Check if joint existed before
KinematicUnitSimulationJointStates::iterator itPrev = previousJointStates.find(it->first);
- if(itPrev == previousJointStates.end())
+
+ if (itPrev == previousJointStates.end())
{
aPosValueChanged = aVelValueChanged = true;
}
// check if the angle has changed
- if(fabs(previousJointStates[it->first].angle - newAngle) > 0.00000001 )
+ if (fabs(previousJointStates[it->first].angle - newAngle) > 0.00000001)
{
aPosValueChanged = true;
// set the new joint angle locally for the next simulation iteration
it->second.angle = newAngle;
}
+
// check if velocities have changed
- if(fabs(previousJointStates[it->first].velocity - it->second.velocity) > 0.00000001 )
+ if (fabs(previousJointStates[it->first].velocity - it->second.velocity) > 0.00000001)
{
aVelValueChanged = true;
}
@@ -148,6 +155,7 @@ void KinematicUnitSimulation::simulationFunction()
actualJointAngles[it->first] = newAngle;
actualJointVelocities[it->first] = it->second.velocity;
}
+
previousJointStates = jointStates;
}
@@ -161,7 +169,8 @@ void KinematicUnitSimulation::switchControlMode(const NameControlModeMap& target
NameControlModeMap changedControlModes;
{
boost::mutex::scoped_lock lock(jointStatesMutex);
- for ( NameControlModeMap::const_iterator it = targetJointModes.begin(); it!=targetJointModes.end(); it++ )
+
+ for (NameControlModeMap::const_iterator it = targetJointModes.begin(); it != targetJointModes.end(); it++)
{
// target values
std::string targetJointName = it->first;
@@ -170,15 +179,20 @@ void KinematicUnitSimulation::switchControlMode(const NameControlModeMap& target
KinematicUnitSimulationJointStates::iterator iterJoints = jointStates.find(targetJointName);
// check whether there is a joint with this name and set joint angle
- if(iterJoints != jointStates.end())
+ if (iterJoints != jointStates.end())
{
- if(iterJoints->second.controlMode != targetControlMode)
+ if (iterJoints->second.controlMode != targetControlMode)
+ {
aValueChanged = true;
+ }
+
iterJoints->second.controlMode = targetControlMode;
changedControlModes.insert(*it);
}
else
+ {
ARMARX_WARNING << "Could not find joint with name " << targetJointName;
+ }
}
}
// only report control modes which have been changed
@@ -193,7 +207,8 @@ void KinematicUnitSimulation::setJointAngles(const NameValueMap& targetJointAngl
// name value maps for reporting
NameValueMap actualJointAngles;
bool aValueChanged = false;
- for ( NameValueMap::const_iterator it = targetJointAngles.begin(); it!=targetJointAngles.end(); it++ )
+
+ for (NameValueMap::const_iterator it = targetJointAngles.begin(); it != targetJointAngles.end(); it++)
{
// target values
std::string targetJointName = it->first;
@@ -201,23 +216,33 @@ void KinematicUnitSimulation::setJointAngles(const NameValueMap& targetJointAngl
// check whether there is a joint with this name and set joint angle
KinematicUnitSimulationJointStates::iterator iterJoints = jointStates.find(targetJointName);
- if(iterJoints != jointStates.end())
+
+ if (iterJoints != jointStates.end())
{
- if (fabs(iterJoints->second.angle - targetJointAngle)>0)
+ if (fabs(iterJoints->second.angle - targetJointAngle) > 0)
+ {
aValueChanged = true;
+ }
+
if (jointInfos[targetJointName].hasLimits())
{
targetJointAngle = std::max<float>(targetJointAngle, jointInfos[targetJointName].limitLo);
targetJointAngle = std::min<float>(targetJointAngle, jointInfos[targetJointName].limitHi);
}
+
iterJoints->second.angle = targetJointAngle;
actualJointAngles[targetJointName] = iterJoints->second.angle;
}
else
+ {
ARMARX_WARNING << deactivateSpam(1) << "Joint '" << targetJointName << "' not found!";
+ }
}
+
if (aValueChanged)
+ {
listenerPrx->reportJointAngles(actualJointAngles, aValueChanged);
+ }
}
void KinematicUnitSimulation::setJointVelocities(const NameValueMap& targetJointVelocities, const Ice::Current& c)
@@ -225,24 +250,32 @@ void KinematicUnitSimulation::setJointVelocities(const NameValueMap& targetJoint
boost::mutex::scoped_lock lock(jointStatesMutex);
NameValueMap actualJointVelocities;
bool aValueChanged = false;
- for ( NameValueMap::const_iterator it = targetJointVelocities.begin(); it!=targetJointVelocities.end(); it++ )
+
+ for (NameValueMap::const_iterator it = targetJointVelocities.begin(); it != targetJointVelocities.end(); it++)
{
// target values
std::string targetJointName = it->first;
float targetJointVelocity = it->second;
KinematicUnitSimulationJointStates::iterator iterJoints = jointStates.find(targetJointName);
+
// check whether there is a joint with this name and set joint angle
- if(iterJoints != jointStates.end())
+ if (iterJoints != jointStates.end())
{
if (fabs(iterJoints->second.velocity - targetJointVelocity) > 0)
+ {
aValueChanged = true;
+ }
+
iterJoints->second.velocity = targetJointVelocity;
actualJointVelocities[targetJointName] = iterJoints->second.velocity;
}
}
+
if (aValueChanged)
+ {
listenerPrx->reportJointVelocities(actualJointVelocities, aValueChanged);
+ }
}
void KinematicUnitSimulation::setJointTorques(const NameValueMap& targetJointTorques, const Ice::Current& c)
@@ -250,33 +283,43 @@ void KinematicUnitSimulation::setJointTorques(const NameValueMap& targetJointTor
boost::mutex::scoped_lock lock(jointStatesMutex);
NameValueMap actualJointTorques;
bool aValueChanged = false;
- for ( NameValueMap::const_iterator it = targetJointTorques.begin(); it!=targetJointTorques.end(); it++ )
+
+ for (NameValueMap::const_iterator it = targetJointTorques.begin(); it != targetJointTorques.end(); it++)
{
// target values
std::string targetJointName = it->first;
float targetJointTorque = it->second;
KinematicUnitSimulationJointStates::iterator iterJoints = jointStates.find(targetJointName);
+
// check whether there is a joint with this name and set joint angle
- if(iterJoints != jointStates.end())
+ if (iterJoints != jointStates.end())
{
if (fabs(iterJoints->second.torque - targetJointTorque) > 0)
+ {
aValueChanged = true;
+ }
+
iterJoints->second.torque = targetJointTorque;
actualJointTorques[targetJointName] = iterJoints->second.torque;
}
}
+
if (aValueChanged)
+ {
listenerPrx->reportJointTorques(actualJointTorques, aValueChanged);
+ }
}
NameControlModeMap KinematicUnitSimulation::getControlModes(const Ice::Current& c)
{
NameControlModeMap result;
- for ( KinematicUnitSimulationJointStates::iterator it = jointStates.begin(); it!=jointStates.end(); it++ )
+
+ for (KinematicUnitSimulationJointStates::iterator it = jointStates.begin(); it != jointStates.end(); it++)
{
result[it->first] = it->second.controlMode;
}
+
return result;
}
@@ -288,14 +331,16 @@ void KinematicUnitSimulation::setJointDecelerations(const NameValueMap& targetJo
{
}
-void KinematicUnitSimulation::stop(const Ice::Current &c)
+void KinematicUnitSimulation::stop(const Ice::Current& c)
{
boost::mutex::scoped_lock lock(jointStatesMutex);
- for ( KinematicUnitSimulationJointStates::iterator it = jointStates.begin(); it!=jointStates.end(); it++ )
+
+ for (KinematicUnitSimulationJointStates::iterator it = jointStates.begin(); it != jointStates.end(); it++)
{
it->second.velocity = 0;
}
+
SensorActorUnit::stop(c);
}
@@ -317,6 +362,7 @@ void KinematicUnitSimulation::requestJoints(const StringSequence& joints, const
ARMARX_INFO << flush;
// if one of the joints belongs to this unit, lock access to this unit for other components except for the requesting one
KinematicUnitSimulationJointStates::const_iterator it = std::find_first_of(jointStates.begin(), jointStates.end(), joints.begin(), joints.end(), mapEntryEqualsString);
+
if (jointStates.end() != it)
{
KinematicUnit::request(c);
@@ -328,6 +374,7 @@ void KinematicUnitSimulation::releaseJoints(const StringSequence& joints, const
ARMARX_INFO << flush;
// if one of the joints belongs to this unit, unlock access
KinematicUnitSimulationJointStates::const_iterator it = std::find_first_of(jointStates.begin(), jointStates.end(), joints.begin(), joints.end(), mapEntryEqualsString);
+
if (jointStates.end() != it)
{
KinematicUnit::release(c);
diff --git a/source/RobotAPI/components/units/KinematicUnitSimulation.h b/source/RobotAPI/components/units/KinematicUnitSimulation.h
index a0464e610c5bd6550bfb7b73704298855136b53b..236bda6325f8101369929f5b595ccfdd04b90198 100644
--- a/source/RobotAPI/components/units/KinematicUnitSimulation.h
+++ b/source/RobotAPI/components/units/KinematicUnitSimulation.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarXCore::units
* @author Christian Boege (boege dot at kit dot edu)
* @date 2011
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,8 +25,8 @@
#include "KinematicUnit.h"
-#include <Core/core/services/tasks/PeriodicTask.h>
-#include <Core/core/system/ImportExportComponent.h>
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <random>
#include <IceUtil/Time.h>
@@ -103,7 +102,7 @@ namespace armarx
* \brief
*/
class KinematicUnitSimulationPropertyDefinitions :
- public KinematicUnitPropertyDefinitions
+ public KinematicUnitPropertyDefinitions
{
public:
KinematicUnitSimulationPropertyDefinitions(std::string prefix) :
@@ -124,7 +123,10 @@ namespace armarx
{
public:
// inherited from Component
- virtual std::string getDefaultName() const { return "KinematicUnitSimulation"; }
+ virtual std::string getDefaultName() const
+ {
+ return "KinematicUnitSimulation";
+ }
virtual void onInitKinematicUnit();
virtual void onStartKinematicUnit();
@@ -152,7 +154,7 @@ namespace armarx
*/
virtual void setJointDecelerations(const NameValueMap& targetJointDecelerations, const Ice::Current& c = ::Ice::Current());
- void stop(const Ice::Current &c = Ice::Current());
+ void stop(const Ice::Current& c = Ice::Current());
/**
* \see PropertyUser::createPropertyDefinitions()
diff --git a/source/RobotAPI/components/units/PlatformUnit.cpp b/source/RobotAPI/components/units/PlatformUnit.cpp
index 7e0273357c3aa8010006abdfc910ff77c809f330..7a0e6c3e8b8096fd6a8f74f666612a9a3fa66b84 100644
--- a/source/RobotAPI/components/units/PlatformUnit.cpp
+++ b/source/RobotAPI/components/units/PlatformUnit.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarXCore::units
* @author Manfred Kroehnert (Manfred dot Kroehnert at kit dot edu)
* @date 2013
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -63,7 +62,7 @@ void PlatformUnit::onExitComponent()
}
-void PlatformUnit::moveTo(Ice::Float targetPlatformPositionX, Ice::Float targetPlatformPositionY, Ice::Float targetPlatformRotation, Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current &c)
+void PlatformUnit::moveTo(Ice::Float targetPlatformPositionX, Ice::Float targetPlatformPositionY, Ice::Float targetPlatformRotation, Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current& c)
{
}
@@ -71,5 +70,5 @@ void PlatformUnit::moveTo(Ice::Float targetPlatformPositionX, Ice::Float targetP
PropertyDefinitionsPtr PlatformUnit::createPropertyDefinitions()
{
return PropertyDefinitionsPtr(new PlatformUnitPropertyDefinitions(
- getConfigIdentifier()));
+ getConfigIdentifier()));
}
diff --git a/source/RobotAPI/components/units/PlatformUnit.h b/source/RobotAPI/components/units/PlatformUnit.h
index 6252fe48e75e14493bbf3db9306134d78c2e508c..3b49d038d9ac02503d4857394b8bb7faa6e72a63 100644
--- a/source/RobotAPI/components/units/PlatformUnit.h
+++ b/source/RobotAPI/components/units/PlatformUnit.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarXCore::units
* @author Manfred Kroehnert (Manfred dot Kroehnert at kit dot edu)
* @date 2013
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,8 +25,8 @@
#include <RobotAPI/components/units/SensorActorUnit.h>
-#include <Core/core/application/properties/Properties.h>
-#include <Core/core/system/ImportExportComponent.h>
+#include <ArmarXCore/core/application/properties/Properties.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
@@ -40,7 +39,7 @@ namespace armarx
* \brief Defines all necessary properties for armarx::PlatformUnit
*/
class PlatformUnitPropertyDefinitions:
- public ComponentPropertyDefinitions
+ public ComponentPropertyDefinitions
{
public:
PlatformUnitPropertyDefinitions(std::string prefix):
@@ -52,7 +51,7 @@ namespace armarx
/**
- * \class PlatformUnit
+ * \defgroup Component-PlatformUnit PlatformUnit
* \ingroup RobotAPI-SensorActorUnits
* \brief Base unit for high-level access to robot platforms.
*
@@ -60,6 +59,11 @@ namespace armarx
* An instance of a PlatformUnit provides means to set target positions.
* It uses the PlatformUnitListener Ice interface to report updates of its current state.
*/
+
+ /**
+ * @ingroup Component-PlatformUnit
+ * @brief The PlatformUnit class
+ */
class PlatformUnit :
virtual public PlatformUnitInterface,
virtual public SensorActorUnit
@@ -102,7 +106,7 @@ namespace armarx
virtual void moveTo(Ice::Float targetPlatformPositionX, Ice::Float targetPlatformPositionY, Ice::Float targetPlatformRotation,
Ice::Float positionalAccuracy, Ice::Float orientationalAccuracy, const Ice::Current& c = ::Ice::Current());
- void stopPlatform(const Ice::Current &c = Ice::Current()){}
+ void stopPlatform(const Ice::Current& c = Ice::Current()) {}
/**
* \see armarx::PropertyUser::createPropertyDefinitions()
*/
diff --git a/source/RobotAPI/components/units/PlatformUnitObserver.cpp b/source/RobotAPI/components/units/PlatformUnitObserver.cpp
index c0a6930a752a298460e0c3c9006fb23403331060..01c6bfd20e173a4ad2893ebd99782958d47d7898 100644
--- a/source/RobotAPI/components/units/PlatformUnitObserver.cpp
+++ b/source/RobotAPI/components/units/PlatformUnitObserver.cpp
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -25,13 +24,13 @@
#include "PlatformUnit.h"
-#include <Core/observers/checks/ConditionCheckUpdated.h>
-#include <Core/observers/checks/ConditionCheckEquals.h>
-#include <Core/observers/checks/ConditionCheckInRange.h>
-#include <Core/observers/checks/ConditionCheckLarger.h>
-#include <Core/observers/checks/ConditionCheckSmaller.h>
-#include <Core/observers/checks/ConditionCheckValid.h>
-#include <Core/observers/checks/ConditionCheckEqualsWithTolerance.h>
+#include <ArmarXCore/observers/checks/ConditionCheckUpdated.h>
+#include <ArmarXCore/observers/checks/ConditionCheckEquals.h>
+#include <ArmarXCore/observers/checks/ConditionCheckInRange.h>
+#include <ArmarXCore/observers/checks/ConditionCheckLarger.h>
+#include <ArmarXCore/observers/checks/ConditionCheckSmaller.h>
+#include <ArmarXCore/observers/checks/ConditionCheckValid.h>
+#include <ArmarXCore/observers/checks/ConditionCheckEqualsWithTolerance.h>
using namespace armarx;
@@ -112,5 +111,5 @@ void PlatformUnitObserver::nameValueMapToDataFields(std::string channelName, ::I
PropertyDefinitionsPtr PlatformUnitObserver::createPropertyDefinitions()
{
return PropertyDefinitionsPtr(new PlatformUnitPropertyDefinitions(
- getConfigIdentifier()));
+ getConfigIdentifier()));
}
diff --git a/source/RobotAPI/components/units/PlatformUnitObserver.h b/source/RobotAPI/components/units/PlatformUnitObserver.h
index d07da91a4a16875949df07b272b90c8f065df2a3..5589e366c3d49e004e83fce534fe842b0c7117b4 100644
--- a/source/RobotAPI/components/units/PlatformUnitObserver.h
+++ b/source/RobotAPI/components/units/PlatformUnitObserver.h
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -24,15 +23,15 @@
#ifndef _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_H
#define _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_H
-#include <Core/core/system/ImportExport.h>
-#include <Core/core/Component.h>
+#include <ArmarXCore/core/system/ImportExport.h>
+#include <ArmarXCore/core/Component.h>
#include <RobotAPI/interface/observers/PlatformUnitObserverInterface.h>
-#include <Core/interface/observers/VariantBase.h>
+#include <ArmarXCore/interface/observers/VariantBase.h>
-#include <Core/observers/ConditionCheck.h>
-#include <Core/observers/Observer.h>
-#include <Core/observers/ObserverObjectFactories.h>
+#include <ArmarXCore/observers/ConditionCheck.h>
+#include <ArmarXCore/observers/Observer.h>
+#include <ArmarXCore/observers/ObserverObjectFactories.h>
#include <string>
@@ -42,19 +41,19 @@ namespace armarx
ARMARX_CREATE_CHECK(PlatformUnitObserver, larger)
ARMARX_CREATE_CHECK(PlatformUnitObserver, inrange)
- /**
- * \class PlatformUnitObserver
- * \ingroup RobotAPI-SensorActorUnits-observers
- * \brief Observer monitoring platform-related sensor values.
- *
- * The PlatformUnitObserver allows the installation of conditions on all channel reported by the PlatformUnit.
- * These include current and target position.
- *
- * The PlatformUnitObserver retrieves its platform configuration via properties.
- * The name must exist in the used Simox robot model file.
- *
- * Available condition checks are: *valid*, *updated*, *equals*, *inrange*, *approx*, *larger* and *smaller*.
- */
+ /**
+ * \class PlatformUnitObserver
+ * \ingroup RobotAPI-SensorActorUnits-observers
+ * \brief Observer monitoring platform-related sensor values.
+ *
+ * The PlatformUnitObserver allows the installation of conditions on all channel reported by the PlatformUnit.
+ * These include current and target position.
+ *
+ * The PlatformUnitObserver retrieves its platform configuration via properties.
+ * The name must exist in the used Simox robot model file.
+ *
+ * Available condition checks are: *valid*, *updated*, *equals*, *inrange*, *approx*, *larger* and *smaller*.
+ */
class ARMARXCORE_IMPORT_EXPORT PlatformUnitObserver :
virtual public Observer,
virtual public PlatformUnitObserverInterface
@@ -94,7 +93,7 @@ namespace armarx
class PlatformUnitDatafieldCreator
{
public:
- PlatformUnitDatafieldCreator(const std::string &channelName) :
+ PlatformUnitDatafieldCreator(const std::string& channelName) :
channelName(channelName)
{}
@@ -107,10 +106,16 @@ namespace armarx
*/
DataFieldIdentifier getDatafield(const std::string& platformUnitObserverName, const std::string& platformName) const
{
- if(platformUnitObserverName.empty())
+ if (platformUnitObserverName.empty())
+ {
throw LocalException("kinematicUnitObserverName must not be empty!");
- if(platformName.empty())
+ }
+
+ if (platformName.empty())
+ {
throw LocalException("jointName must not be empty!");
+ }
+
return DataFieldIdentifier(platformUnitObserverName, channelName, platformName);
}
diff --git a/source/RobotAPI/components/units/PlatformUnitSimulation.cpp b/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
index 44c57e54a17ec4cefa57370407425351995ed97c..382a28c0a801c6fb13700d6b57fa6cee309f4f35 100644
--- a/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarXCore::units
* @author Christian Boege (boege at kit dot edu)
* @date 2011
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -54,15 +53,19 @@ void PlatformUnitSimulation::onStartPlatformUnit()
void PlatformUnitSimulation::onStopPlatformUnit()
{
- if(simulationTask)
+ if (simulationTask)
+ {
simulationTask->stop();
+ }
}
void PlatformUnitSimulation::onExitPlatformUnit()
{
- if(simulationTask)
+ if (simulationTask)
+ {
simulationTask->stop();
+ }
}
@@ -75,29 +78,41 @@ void PlatformUnitSimulation::simulationFunction()
{
ScopedLock lock(currentPoseMutex);
float diff = fabs(targetPositionX - currentPositionX);
+
if (diff > positionalAccuracy)
{
int sign = copysignf(1.0f, (targetPositionX - currentPositionX));
currentPositionX += sign * std::min<float>(linearVelocity * timeDeltaInSeconds, diff);
vel[0] = linearVelocity;
}
+
diff = fabs(targetPositionY - currentPositionY);
+
if (diff > positionalAccuracy)
{
int sign = copysignf(1.0f, (targetPositionY - currentPositionY));
currentPositionY += sign * std::min<float>(linearVelocity * timeDeltaInSeconds, diff);
vel[1] = linearVelocity;
}
+
diff = fabs(targetRotation - currentRotation);
+
if (diff > orientationalAccuracy)
{
int sign = copysignf(1.0f, (targetRotation - currentRotation));
currentRotation += sign * std::min<float>(angularVelocity * timeDeltaInSeconds, diff);
+
// stay between +/- M_2_PI
- if(currentRotation > 2 * M_PI)
+ if (currentRotation > 2 * M_PI)
+ {
currentRotation -= 2 * M_PI;
- if(currentRotation < -2 * M_PI)
+ }
+
+ if (currentRotation < -2 * M_PI)
+ {
currentRotation += 2 * M_PI;
+ }
+
vel[2] = angularVelocity;
}
@@ -127,12 +142,12 @@ PropertyDefinitionsPtr PlatformUnitSimulation::createPropertyDefinitions()
}
-void armarx::PlatformUnitSimulation::move(float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation, const Ice::Current &c)
+void armarx::PlatformUnitSimulation::move(float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation, const Ice::Current& c)
{
throw LocalException("NYI");
}
-void PlatformUnitSimulation::moveRelative(float targetPlatformOffsetX, float targetPlatformOffsetY, float targetPlatformOffsetRotation, float positionalAccuracy, float orientationalAccuracy, const Ice::Current &c)
+void PlatformUnitSimulation::moveRelative(float targetPlatformOffsetX, float targetPlatformOffsetY, float targetPlatformOffsetRotation, float positionalAccuracy, float orientationalAccuracy, const Ice::Current& c)
{
float targetPositionX, targetPositionY, targetRotation;
{
@@ -144,7 +159,7 @@ void PlatformUnitSimulation::moveRelative(float targetPlatformOffsetX, float tar
moveTo(targetPositionX, targetPositionY, targetRotation, positionalAccuracy, orientationalAccuracy);
}
-void PlatformUnitSimulation::setMaxVelocities(float positionalVelocity, float orientaionalVelocity, const Ice::Current &c)
+void PlatformUnitSimulation::setMaxVelocities(float positionalVelocity, float orientaionalVelocity, const Ice::Current& c)
{
ScopedLock lock(currentPoseMutex);
linearVelocity = positionalVelocity;
diff --git a/source/RobotAPI/components/units/PlatformUnitSimulation.h b/source/RobotAPI/components/units/PlatformUnitSimulation.h
index dfd0e18ab04cfa3ae59a2ac94a05b524e3a42a1b..0e9bb1fc683262e4117b7fae14d1a83ce9ec4a87 100644
--- a/source/RobotAPI/components/units/PlatformUnitSimulation.h
+++ b/source/RobotAPI/components/units/PlatformUnitSimulation.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarXCore::units
* @author Christian Boege (boege dot at kit dot edu)
* @date 2011
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,8 +25,8 @@
#include "PlatformUnit.h"
-#include <Core/core/services/tasks/PeriodicTask.h>
-#include <Core/core/system/ImportExportComponent.h>
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <IceUtil/Time.h>
@@ -40,7 +39,7 @@ namespace armarx
* \brief
*/
class PlatformUnitSimulationPropertyDefinitions :
- public PlatformUnitPropertyDefinitions
+ public PlatformUnitPropertyDefinitions
{
public:
PlatformUnitSimulationPropertyDefinitions(std::string prefix) :
@@ -84,10 +83,10 @@ namespace armarx
/**
* \warning Not yet implemented!
*/
- void move(float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation, const Ice::Current &c = Ice::Current());
+ void move(float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation, const Ice::Current& c = Ice::Current());
- void moveRelative(float targetPlatformOffsetX, float targetPlatformOffsetY, float targetPlatformOffsetRotation, float positionalAccuracy, float orientationalAccuracy, const Ice::Current &c = Ice::Current());
- void setMaxVelocities(float positionalVelocity, float orientaionalVelocity, const Ice::Current &c = Ice::Current());
+ void moveRelative(float targetPlatformOffsetX, float targetPlatformOffsetY, float targetPlatformOffsetRotation, float positionalAccuracy, float orientationalAccuracy, const Ice::Current& c = Ice::Current());
+ void setMaxVelocities(float positionalVelocity, float orientaionalVelocity, const Ice::Current& c = Ice::Current());
/**
* \see PropertyUser::createPropertyDefinitions()
diff --git a/source/RobotAPI/components/units/SensorActorUnit.cpp b/source/RobotAPI/components/units/SensorActorUnit.cpp
index eb4b644573b690bcf204244d665ec21f149e8cf4..c716b3f708759d67825dd565a1d2d14979a0825e 100644
--- a/source/RobotAPI/components/units/SensorActorUnit.cpp
+++ b/source/RobotAPI/components/units/SensorActorUnit.cpp
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -40,71 +39,77 @@ SensorActorUnit::~SensorActorUnit()
void SensorActorUnit::init(const Ice::Current& c)
{
- std::string currentName = c.adapter->getName();
- Ice::Identity currentId = c.adapter->getCommunicator()->stringToIdentity(currentName);
- if(ownerId == currentId)
- {
+ std::string currentName = c.adapter->getName();
+ Ice::Identity currentId = c.adapter->getCommunicator()->stringToIdentity(currentName);
+
+ if (ownerId == currentId)
+ {
CALLINFO
- if(executionState == eUnitConstructed)
- {
- executionState = eUnitInitialized;
- onInit();
- }
- else
- {
- ARMARX_LOG << armarx::eWARN << "Unit " << getName() << " is already initialized." << armarx::flush;
- }
- }
+
+ if (executionState == eUnitConstructed)
+ {
+ executionState = eUnitInitialized;
+ onInit();
+ }
+ else
+ {
+ ARMARX_LOG << armarx::eWARN << "Unit " << getName() << " is already initialized." << armarx::flush;
+ }
+ }
else
- {
+ {
ARMARX_LOG << armarx::eWARN << "Unit " << getName() << " can not be initialized while unrequested." << armarx::flush;
- }
+ }
}
void SensorActorUnit::start(const Ice::Current& c)
{
- std::string currentName = c.adapter->getName();
- Ice::Identity currentId = c.adapter->getCommunicator()->stringToIdentity(currentName);
- if(ownerId == currentId)
- {
+ std::string currentName = c.adapter->getName();
+ Ice::Identity currentId = c.adapter->getCommunicator()->stringToIdentity(currentName);
+
+ if (ownerId == currentId)
+ {
CALLINFO
- if( (executionState == eUnitInitialized ) || (executionState == eUnitStopped) )
- {
+
+ if ((executionState == eUnitInitialized) || (executionState == eUnitStopped))
+ {
executionState = eUnitStarted;
onStart();
- }
- else
- {
- ARMARX_LOG << armarx::eWARN << "Unit " << getName() << " could not be started." << armarx::flush;
- }
- }
+ }
+ else
+ {
+ ARMARX_LOG << armarx::eWARN << "Unit " << getName() << " could not be started." << armarx::flush;
+ }
+ }
else
- {
+ {
ARMARX_LOG << armarx::eWARN << "Unit " << getName() << " can not be started while unrequested." << armarx::flush;
- }
+ }
}
void SensorActorUnit::stop(const Ice::Current& c)
{
- std::string currentName = c.adapter->getName();
- Ice::Identity currentId = c.adapter->getCommunicator()->stringToIdentity(currentName);
- if(ownerId == currentId)
- {
+ std::string currentName = c.adapter->getName();
+ Ice::Identity currentId = c.adapter->getCommunicator()->stringToIdentity(currentName);
+
+ if (ownerId == currentId)
+ {
CALLINFO
- if(executionState == eUnitStarted)
- {
- executionState = eUnitStopped;
- onStop();
- }
- else
- {
- ARMARX_LOG << armarx::eWARN << "Unit " << getName() << " could not be stopped." << armarx::flush;
- }
- }
+
+ if (executionState == eUnitStarted)
+ {
+ executionState = eUnitStopped;
+ onStop();
+ }
+ else
+ {
+ ARMARX_LOG << armarx::eWARN << "Unit " << getName() << " could not be stopped." << armarx::flush;
+ }
+ }
else
- {
+ {
ARMARX_LOG << armarx::eWARN << "Unit " << getName() << " can not be stopped while unrequested. " << armarx::flush;
- }
+ }
}
UnitExecutionState SensorActorUnit::getExecutionState(const Ice::Current& c)
@@ -117,8 +122,9 @@ UnitExecutionState SensorActorUnit::getExecutionState(const Ice::Current& c)
void SensorActorUnit::request(const Ice::Current& c)
{
CALLINFO
+
// try to lock unit
- if(!unitMutex.try_lock())
+ if (!unitMutex.try_lock())
{
ARMARX_LOG << armarx::eERROR << "Trying to request already owned unit " << getName() << "\n" << armarx::flush;
throw ResourceUnavailableException("Trying to request already owned unit");
@@ -128,7 +134,7 @@ void SensorActorUnit::request(const Ice::Current& c)
std::string ownerName = c.adapter->getName();
ownerId = c.adapter->getCommunicator()->stringToIdentity(ownerName);
- ARMARX_INFO << "unit requested by "<< ownerName << flush;
+ ARMARX_INFO << "unit requested by " << ownerName << flush;
}
void SensorActorUnit::release(const Ice::Current& c)
@@ -138,7 +144,7 @@ void SensorActorUnit::release(const Ice::Current& c)
std::string callerName = c.adapter->getName();
Ice::Identity callerId = c.adapter->getCommunicator()->stringToIdentity(callerName);
- if(!(ownerId == callerId))
+ if (!(ownerId == callerId))
{
ARMARX_LOG << armarx::eERROR << "Trying to release unit owned by another component" << armarx::flush;
throw ResourceNotOwnedException("Trying to release unit owned by another component");
diff --git a/source/RobotAPI/components/units/SensorActorUnit.h b/source/RobotAPI/components/units/SensorActorUnit.h
index 7180ec22424c9417620b862540acdfa9bf790b6c..db78c6f821ff6b51336a79c10f7387c53eaca2af 100644
--- a/source/RobotAPI/components/units/SensorActorUnit.h
+++ b/source/RobotAPI/components/units/SensorActorUnit.h
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -24,9 +23,9 @@
#ifndef SENSOR_ACTOR_UNIT_H
#define SENSOR_ACTOR_UNIT_H
-#include <Core/core/system/ImportExport.h>
-#include <Core/core/Component.h>
-#include <Core/core/exceptions/Exception.h>
+#include <ArmarXCore/core/system/ImportExport.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/exceptions/Exception.h>
#include <RobotAPI/interface/units/UnitInterface.h>
@@ -44,91 +43,91 @@ namespace armarx
virtual public SensorActorUnitInterface,
virtual public Component
{
- public:
- /**
- * Constructs a SensorActorUnit.
- */
- SensorActorUnit();
- /**
- * Destructor of SensorActorUnit.
- */
- virtual ~SensorActorUnit();
+ public:
+ /**
+ * Constructs a SensorActorUnit.
+ */
+ SensorActorUnit();
+ /**
+ * Destructor of SensorActorUnit.
+ */
+ virtual ~SensorActorUnit();
- /**
- * Set execution state to eInitialized.
- *
- * Assures that init is called only once and the calls subclass method onInit().
- *
- * \param c Ice context provided by the Ice framework
- */
- virtual void init(const Ice::Current& c = ::Ice::Current());
+ /**
+ * Set execution state to eInitialized.
+ *
+ * Assures that init is called only once and the calls subclass method onInit().
+ *
+ * \param c Ice context provided by the Ice framework
+ */
+ virtual void init(const Ice::Current& c = ::Ice::Current());
- /**
- * Set execution state to eStarted
- *
- * Start streaming of sensory data and acceptance of control data.
- *
- * Start can be called if the unit is initialized and not started yet (stopped).
- * Calls subclass method inStart().
- *
- * \param c Ice context provided by the Ice framework
- */
- virtual void start(const Ice::Current& c = ::Ice::Current());
+ /**
+ * Set execution state to eStarted
+ *
+ * Start streaming of sensory data and acceptance of control data.
+ *
+ * Start can be called if the unit is initialized and not started yet (stopped).
+ * Calls subclass method inStart().
+ *
+ * \param c Ice context provided by the Ice framework
+ */
+ virtual void start(const Ice::Current& c = ::Ice::Current());
- /**
- * Set execution state to eStopped
- *
- * Stop streaming of sensory data and acceptance of control data.
- *
- * Stop can be called if the unit is started.
- * Calls subclass method onStop()
- *
- * \param c Ice context provided by the Ice framework
- */
- virtual void stop(const Ice::Current& c = ::Ice::Current());
+ /**
+ * Set execution state to eStopped
+ *
+ * Stop streaming of sensory data and acceptance of control data.
+ *
+ * Stop can be called if the unit is started.
+ * Calls subclass method onStop()
+ *
+ * \param c Ice context provided by the Ice framework
+ */
+ virtual void stop(const Ice::Current& c = ::Ice::Current());
- /**
- * Retrieve current execution state
- *
- * \param c Ice context provided by the Ice framework
- * \return current execution state
- */
- UnitExecutionState getExecutionState(const Ice::Current& c = ::Ice::Current());
+ /**
+ * Retrieve current execution state
+ *
+ * \param c Ice context provided by the Ice framework
+ * \return current execution state
+ */
+ UnitExecutionState getExecutionState(const Ice::Current& c = ::Ice::Current());
- /**
- * Request exclusive access to current unit. Throws ResourceUnavailableException on error.
- *
- * \param c Ice context provided by the Ice framework
- */
- virtual void request(const Ice::Current& c = ::Ice::Current());
+ /**
+ * Request exclusive access to current unit. Throws ResourceUnavailableException on error.
+ *
+ * \param c Ice context provided by the Ice framework
+ */
+ virtual void request(const Ice::Current& c = ::Ice::Current());
- /**
- * Release exclusive access to current unit. Throws ResourceUnavailableException on error.
- *
- * \param c Ice context provided by the Ice framework
- */
- virtual void release(const Ice::Current& c = ::Ice::Current());
+ /**
+ * Release exclusive access to current unit. Throws ResourceUnavailableException on error.
+ *
+ * \param c Ice context provided by the Ice framework
+ */
+ virtual void release(const Ice::Current& c = ::Ice::Current());
- protected:
- void onExitComponent();
- /**
- * callback onInit for subclass hook. See init().
- */
- virtual void onInit() {};
+ protected:
+ void onExitComponent();
+ /**
+ * callback onInit for subclass hook. See init().
+ */
+ virtual void onInit() {};
- /**
- * callback onStart for subclass hook. See start().
- */
- virtual void onStart() {};
+ /**
+ * callback onStart for subclass hook. See start().
+ */
+ virtual void onStart() {};
- /**
- * callback onStop for subclass hook. See stop().
- */
- virtual void onStop() {};
+ /**
+ * callback onStop for subclass hook. See stop().
+ */
+ virtual void onStop() {};
- boost::mutex unitMutex;
- Ice::Identity ownerId;
- UnitExecutionState executionState;
+ boost::mutex unitMutex;
+ Ice::Identity ownerId;
+ UnitExecutionState executionState;
};
}
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index 07ebe712c319827c8bc4e2d46f731937124c3f73..8ddedde1f105cd85d190fe028c57bded83d8b8ad 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2013
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,9 +25,9 @@
#include <boost/unordered_map.hpp>
-#include <Core/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <Core/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <VirtualRobot/RobotConfig.h>
#include <VirtualRobot/XML/RobotIO.h>
@@ -43,7 +42,7 @@ namespace armarx
{
TCPControlUnit::TCPControlUnit() :
- maxJointVelocity(30.f/180*3.141),
+ maxJointVelocity(30.f / 180 * 3.141),
cycleTime(30),
requested(false),
calculationRunning(false)
@@ -58,7 +57,7 @@ namespace armarx
usingProxy("RobotStateComponent");
usingProxy("DebugObserver");
offeringTopic(topicName);
- usingTopic("RobotState");
+ usingTopic(getProperty<std::string>("RobotStateTopicName").getValue());
cycleTime = getProperty<int>("CycleTime").getValue();
maxJointVelocity = getProperty<float>("MaxJointVelocity").getValue();
@@ -81,15 +80,19 @@ namespace armarx
localReportRobot = localRobot->clone(localRobot->getName());
std::string nodesetsString = getProperty<std::string>("TCPsToReport").getValue();
- if(!nodesetsString.empty())
+
+ if (!nodesetsString.empty())
{
- if(nodesetsString=="*")
+ if (nodesetsString == "*")
{
auto nodesets = localReportRobot->getRobotNodeSets();
- for(RobotNodeSetPtr& set : nodesets)
+
+ for (RobotNodeSetPtr& set : nodesets)
{
- if(set->getTCP())
+ if (set->getTCP())
+ {
nodesToReport.push_back(set->getTCP());
+ }
}
}
else
@@ -99,19 +102,26 @@ namespace armarx
nodesetsString,
boost::is_any_of(","),
boost::token_compress_on);
- for(auto& name : nodesetNames)
+
+ for (auto& name : nodesetNames)
{
auto node = localReportRobot->getRobotNode(name);
- if(node)
+
+ if (node)
+ {
nodesToReport.push_back(node);
+ }
else
+ {
ARMARX_ERROR << "Could not find node set with name: " << name;
+ }
}
}
}
std::vector<RobotNodePtr> nodes = localRobot->getRobotNodes();
- for(unsigned int i=0; i < nodes.size(); i++)
+
+ for (unsigned int i = 0; i < nodes.size(); i++)
{
ARMARX_VERBOSE << nodes.at(i)->getName();
}
@@ -121,8 +131,12 @@ namespace armarx
listener = getTopic<TCPControlUnitListenerPrx>(topicName);
requested = false;
- if(execTask)
+
+ if (execTask)
+ {
execTask->stop();
+ }
+
execTask = new PeriodicTask<TCPControlUnit>(this, &TCPControlUnit::periodicExec, cycleTime, false, "TCPVelocityCalculator");
execTask->start();
execTask->setDelayWarningTolerance(100);
@@ -136,13 +150,15 @@ namespace armarx
{
release();
}
- catch(std::exception&e)
+ catch (std::exception& e)
{
ARMARX_WARNING << "Releasing TCP Unit failed";
}
- if(execTask)
+ if (execTask)
+ {
execTask->stop();
+ }
}
void TCPControlUnit::onExitComponent()
@@ -151,30 +167,39 @@ namespace armarx
- void TCPControlUnit::setCycleTime(Ice::Int milliseconds, const Ice::Current & c)
+ void TCPControlUnit::setCycleTime(Ice::Int milliseconds, const Ice::Current& c)
{
ScopedLock lock(taskMutex);
cycleTime = milliseconds;
- if(execTask)
+
+ if (execTask)
+ {
execTask->changeInterval(cycleTime);
+ }
}
- void TCPControlUnit::setTCPVelocity(const std::string &nodeSetName, const std::string &tcpName, const FramedDirectionBasePtr &translationVelocity, const FramedDirectionBasePtr &orientationVelocityRPY, const Ice::Current &c)
+ void TCPControlUnit::setTCPVelocity(const std::string& nodeSetName, const std::string& tcpName, const FramedDirectionBasePtr& translationVelocity, const FramedDirectionBasePtr& orientationVelocityRPY, const Ice::Current& c)
{
ScopedLock lock(dataMutex);
ARMARX_CHECK_EXPRESSION_W_HINT(jointExistenceCheckRobot->hasRobotNodeSet(nodeSetName), "The robot does not have the node set: " + nodeSetName);
- if(translationVelocity)
+ if (translationVelocity)
+ {
ARMARX_DEBUG << "Setting new Velocity for " << nodeSetName << " in frame " << translationVelocity->frame << ":\n" << FramedDirectionPtr::dynamicCast(translationVelocity)->toEigen();
- if(orientationVelocityRPY)
+ }
+
+ if (orientationVelocityRPY)
+ {
ARMARX_DEBUG << "Orientation Velo in frame " << orientationVelocityRPY->frame << ": \n" << FramedDirectionPtr::dynamicCast(orientationVelocityRPY)->toEigen();
+ }
TCPVelocityData data;
data.nodeSetName = nodeSetName;
data.translationVelocity = FramedDirectionPtr::dynamicCast(translationVelocity);
data.orientationVelocity = FramedDirectionPtr::dynamicCast(orientationVelocityRPY);
- if(tcpName.empty())
+
+ if (tcpName.empty())
{
data.tcpName = jointExistenceCheckRobot->getRobotNodeSet(nodeSetName)->getTCP()->getName();
}
@@ -184,50 +209,60 @@ namespace armarx
data.tcpName = tcpName;
}
+
tcpVelocitiesMap[data.tcpName] = data;
lastCommandTime = IceUtil::Time::now();
}
- void TCPControlUnit::init(const Ice::Current & c)
+ void TCPControlUnit::init(const Ice::Current& c)
{
}
- void TCPControlUnit::start(const Ice::Current & c)
+ void TCPControlUnit::start(const Ice::Current& c)
{
}
- void TCPControlUnit::stop(const Ice::Current & c)
+ void TCPControlUnit::stop(const Ice::Current& c)
{
}
- UnitExecutionState TCPControlUnit::getExecutionState(const Ice::Current & c)
+ UnitExecutionState TCPControlUnit::getExecutionState(const Ice::Current& c)
{
switch (getState())
{
case eManagedIceObjectStarted:
return eUnitStarted;
+
case eManagedIceObjectInitialized:
case eManagedIceObjectStarting:
return eUnitInitialized;
+
case eManagedIceObjectExiting:
case eManagedIceObjectExited:
return eUnitStopped;
+
default:
return eUnitConstructed;
}
}
- void TCPControlUnit::request(const Ice::Current & c)
+ void TCPControlUnit::request(const Ice::Current& c)
{
ARMARX_IMPORTANT << "Requesting TCPControlUnit";
ScopedLock lock(dataMutex);
requested = true;
- if(execTask)
+
+ if (execTask)
{
- while (calculationRunning) IceUtil::ThreadControl::yield();
+ while (calculationRunning)
+ {
+ IceUtil::ThreadControl::yield();
+ }
+
execTask->stop();
}
+
lastCommandTime = IceUtil::Time::now();
execTask = new PeriodicTask<TCPControlUnit>(this, &TCPControlUnit::periodicExec, cycleTime, false, "TCPVelocityCalculator");
execTask->start();
@@ -235,11 +270,16 @@ namespace armarx
ARMARX_IMPORTANT << "Requested TCPControlUnit";
}
- void TCPControlUnit::release(const Ice::Current & c)
+ void TCPControlUnit::release(const Ice::Current& c)
{
ARMARX_IMPORTANT << "Releasing TCPControlUnit";
ScopedLock lock(dataMutex);
- while (calculationRunning) IceUtil::ThreadControl::yield();
+
+ while (calculationRunning)
+ {
+ IceUtil::ThreadControl::yield();
+ }
+
tcpVelocitiesMap.clear();
localTcpVelocitiesMap.clear();
requested = false;
@@ -258,21 +298,23 @@ namespace armarx
{
localTcpVelocitiesMap.clear();
TCPVelocityDataMap::iterator it = tcpVelocitiesMap.begin();
- for(; it != tcpVelocitiesMap.end(); it++)
+
+ for (; it != tcpVelocitiesMap.end(); it++)
{
localTcpVelocitiesMap[it->first] = it->second;
}
localDIKMap.clear();
DIKMap::iterator itDIK = dIKMap.begin();
- for(; itDIK != dIKMap.end(); itDIK++)
+
+ for (; itDIK != dIKMap.end(); itDIK++)
{
localDIKMap[itDIK->first] = itDIK->second;
}
//ARMARX_DEBUG << "RN TCP R pose1:" << localRobot->getRobotNode("TCP R")->getGlobalPose();
- RemoteRobot::synchronizeLocalClone(localRobot,robotStateComponentPrx);
+ RemoteRobot::synchronizeLocalClone(localRobot, robotStateComponentPrx);
//ARMARX_DEBUG << "RN TCP R pose2:" << localRobot->getRobotNode("TCP R")->getGlobalPose();
}
}
@@ -288,7 +330,7 @@ namespace armarx
// release(); <---- this is a potential deadlock
// }
// else
- calcAndSetVelocities();
+ calcAndSetVelocities();
}
calculationRunning = false;
@@ -299,14 +341,19 @@ namespace armarx
void TCPControlUnit::calcAndSetVelocities()
{
TCPVelocityDataMap::iterator it = localTcpVelocitiesMap.begin();
- for(; it != localTcpVelocitiesMap.end(); it++)
+
+ for (; it != localTcpVelocitiesMap.end(); it++)
{
const TCPVelocityData& data = it->second;
RobotNodeSetPtr nodeSet = localRobot->getRobotNodeSet(data.nodeSetName);
-// std::string refFrame = nodeSet->getTCP()->getName();
+ // std::string refFrame = nodeSet->getTCP()->getName();
DIKMap::iterator itDIK = localDIKMap.find(data.nodeSetName);
- if(itDIK == localDIKMap.end())
+
+ if (itDIK == localDIKMap.end())
+ {
localDIKMap[data.nodeSetName].reset(new EDifferentialIK(nodeSet, localRobot->getRootNode(), VirtualRobot::JacobiProvider::eSVDDamped));
+ }
+
EDifferentialIKPtr dIk = boost::dynamic_pointer_cast<EDifferentialIK>(localDIKMap[data.nodeSetName]);
dIk->clearGoals();
}
@@ -314,25 +361,31 @@ namespace armarx
using namespace Eigen;
it = localTcpVelocitiesMap.begin();
- for(; it != localTcpVelocitiesMap.end(); it++)
+
+ for (; it != localTcpVelocitiesMap.end(); it++)
{
TCPVelocityData& data = it->second;
-// RobotNodeSetPtr nodeSet = localRobot->getRobotNodeSet(data.nodeSetName);
+ // RobotNodeSetPtr nodeSet = localRobot->getRobotNodeSet(data.nodeSetName);
std::string refFrame = localRobot->getRootNode()->getName();
IKSolver::CartesianSelection mode;
- if(data.translationVelocity && data.orientationVelocity)
+
+ if (data.translationVelocity && data.orientationVelocity)
{
mode = IKSolver::All;
-// ARMARX_DEBUG << deactivateSpam(4) << "FullMode";
+ // ARMARX_DEBUG << deactivateSpam(4) << "FullMode";
}
- else if(data.translationVelocity && !data.orientationVelocity)
+ else if (data.translationVelocity && !data.orientationVelocity)
+ {
mode = IKSolver::Position;
- else if(!data.translationVelocity && data.orientationVelocity)
+ }
+ else if (!data.translationVelocity && data.orientationVelocity)
+ {
mode = IKSolver::Orientation;
+ }
else
{
-// ARMARX_VERBOSE << deactivateSpam(2) << "No mode feasible for " << data.nodeSetName << " - skipping";
+ // ARMARX_VERBOSE << deactivateSpam(2) << "No mode feasible for " << data.nodeSetName << " - skipping";
continue;
}
@@ -340,76 +393,91 @@ namespace armarx
Eigen::Matrix4f m;
m.setIdentity();
- if(data.orientationVelocity)
+ if (data.orientationVelocity)
{
Eigen::Matrix3f rotInOriginalFrame, rotInRefFrame;
- rotInOriginalFrame = Eigen::AngleAxisf(data.orientationVelocity->z*cycleTime*0.001, Eigen::Vector3f::UnitZ())
- * Eigen::AngleAxisf(data.orientationVelocity->y*cycleTime*0.001, Eigen::Vector3f::UnitY())
- * Eigen::AngleAxisf(data.orientationVelocity->x*cycleTime*0.001, Eigen::Vector3f::UnitX());
+ rotInOriginalFrame = Eigen::AngleAxisf(data.orientationVelocity->z * cycleTime * 0.001, Eigen::Vector3f::UnitZ())
+ * Eigen::AngleAxisf(data.orientationVelocity->y * cycleTime * 0.001, Eigen::Vector3f::UnitY())
+ * Eigen::AngleAxisf(data.orientationVelocity->x * cycleTime * 0.001, Eigen::Vector3f::UnitX());
+
if (data.orientationVelocity->frame != refFrame)
{
Eigen::Matrix4f trafoOriginalFrameToGlobal = Eigen::Matrix4f::Identity();
- if (data.orientationVelocity->frame != GlobalFrame) trafoOriginalFrameToGlobal = localRobot->getRobotNode(data.orientationVelocity->frame)->getGlobalPose();
+
+ if (data.orientationVelocity->frame != GlobalFrame)
+ {
+ trafoOriginalFrameToGlobal = localRobot->getRobotNode(data.orientationVelocity->frame)->getGlobalPose();
+ }
+
Eigen::Matrix4f trafoRefFrameToGlobal = Eigen::Matrix4f::Identity();
- if (refFrame != GlobalFrame) trafoRefFrameToGlobal = localRobot->getRobotNode(refFrame)->getGlobalPose();
+
+ if (refFrame != GlobalFrame)
+ {
+ trafoRefFrameToGlobal = localRobot->getRobotNode(refFrame)->getGlobalPose();
+ }
+
Eigen::Matrix4f trafoOriginalToRef = trafoRefFrameToGlobal.inverse() * trafoOriginalFrameToGlobal;
- rotInRefFrame = trafoOriginalToRef.block<3,3>(0,0) * rotInOriginalFrame * trafoOriginalToRef.block<3,3>(0,0).inverse();
+ rotInRefFrame = trafoOriginalToRef.block<3, 3>(0, 0) * rotInOriginalFrame * trafoOriginalToRef.block<3, 3>(0, 0).inverse();
}
else
{
rotInRefFrame = rotInOriginalFrame;
}
- m.block(0,0,3,3) = rotInRefFrame * (tcpNode->getGlobalPose().block(0,0,3,3) );
+
+ m.block(0, 0, 3, 3) = rotInRefFrame * (tcpNode->getGlobalPose().block(0, 0, 3, 3));
}
-// ARMARX_VERBOSE << deactivateSpam(1) << "Delta Mat: \n" << m;
+ // ARMARX_VERBOSE << deactivateSpam(1) << "Delta Mat: \n" << m;
-// m = m * tcpNode->getGlobalPose();
+ // m = m * tcpNode->getGlobalPose();
- if(data.translationVelocity)
+ if (data.translationVelocity)
{
data.translationVelocity = FramedDirection::ChangeFrame(localRobot, *data.translationVelocity, refFrame);
ARMARX_INFO << deactivateSpam(1) << "Translation in " << refFrame << ": " << data.translationVelocity->toEigen();
- m.block(0,3,3,1) = tcpNode->getGlobalPose().block(0,3,3,1) + data.translationVelocity->toEigen()*cycleTime*0.001;
+ m.block(0, 3, 3, 1) = tcpNode->getGlobalPose().block(0, 3, 3, 1) + data.translationVelocity->toEigen() * cycleTime * 0.001;
}
DifferentialIKPtr dIK = localDIKMap[data.nodeSetName];
- if(!dIK)
+
+ if (!dIK)
{
ARMARX_WARNING << deactivateSpam(1) << "DiffIK is NULL for robot node set: " << data.nodeSetName;
continue;
}
-// ARMARX_VERBOSE << deactivateSpam(1) << "Old Pos: \n" << tcpNode->getGlobalPose();
-// ARMARX_VERBOSE << deactivateSpam(1) << "New Goal: \n" << m;
-// if(tcpNode != nodeSet->getTCP())
-// {
-// mode = IKSolver::Z;
-// Eigen::VectorXf weight(1);
-// weight << 0.2;
-// boost::shared_dynamic_cast<EDifferentialIK>(dIK)->setGoal(m, tcpNode,mode, 0.001, 0.001/180.0f*3.14159, weight);
-// }
-// else
- dIK->setGoal(m, tcpNode,mode, 0.001, 0.001/180.0f*3.14159);
-
-// ARMARX_VERBOSE << deactivateSpam(1) << "Delta to Goal: " << dIK->getDeltaToGoal(tcpNode);
+
+ // ARMARX_VERBOSE << deactivateSpam(1) << "Old Pos: \n" << tcpNode->getGlobalPose();
+ // ARMARX_VERBOSE << deactivateSpam(1) << "New Goal: \n" << m;
+ // if(tcpNode != nodeSet->getTCP())
+ // {
+ // mode = IKSolver::Z;
+ // Eigen::VectorXf weight(1);
+ // weight << 0.2;
+ // boost::shared_dynamic_cast<EDifferentialIK>(dIK)->setGoal(m, tcpNode,mode, 0.001, 0.001/180.0f*3.14159, weight);
+ // }
+ // else
+ dIK->setGoal(m, tcpNode, mode, 0.001, 0.001 / 180.0f * 3.14159);
+
+ // ARMARX_VERBOSE << deactivateSpam(1) << "Delta to Goal: " << dIK->getDeltaToGoal(tcpNode);
}
NameValueMap targetVelocities;
NameControlModeMap controlModes;
DIKMap::iterator itDIK = localDIKMap.begin();
- for(; itDIK != localDIKMap.end(); itDIK++)
+
+ for (; itDIK != localDIKMap.end(); itDIK++)
{
RobotNodeSetPtr robotNodeSet = localRobot->getRobotNodeSet(itDIK->first);
EDifferentialIKPtr dIK = boost::dynamic_pointer_cast<EDifferentialIK>(itDIK->second);
-// ARMARX_VERBOSE << deactivateSpam(1) << "Old Pos: \n" << robotNodeSet->getTCP()->getGlobalPose();
-// dIK->setVerbose(true);
+ // ARMARX_VERBOSE << deactivateSpam(1) << "Old Pos: \n" << robotNodeSet->getTCP()->getGlobalPose();
+ // dIK->setVerbose(true);
Eigen::VectorXf jointDelta;
dIK->computeSteps(jointDelta, 0.8f, 0.001, 1, &EDifferentialIK::computeStep); // 1.0, 0.00001, 50
-// ARMARX_VERBOSE << deactivateSpam(1) << "New Goal: \n" << robotNodeSet->getTCP()->getGlobalPose();
+ // ARMARX_VERBOSE << deactivateSpam(1) << "New Goal: \n" << robotNodeSet->getTCP()->getGlobalPose();
MatrixXf fullJac = dIK->calcFullJacobian();
MatrixXf fullJacInv = dIK->computePseudoInverseJacobianMatrix(fullJac);
@@ -436,24 +504,25 @@ namespace armarx
if (jointLimitCompensation(0) == jointLimitCompensation(0))
{
- if (jointLimitCompensation.norm() > maxJointLimitCompensationRatio*jointDelta.norm())
+ if (jointLimitCompensation.norm() > maxJointLimitCompensationRatio * jointDelta.norm())
{
- jointLimitCompensation = maxJointLimitCompensationRatio*jointDelta.norm()/jointLimitCompensation.norm() * jointLimitCompensation;
+ jointLimitCompensation = maxJointLimitCompensationRatio * jointDelta.norm() / jointLimitCompensation.norm() * jointLimitCompensation;
}
+
jointDelta += jointLimitCompensation;
}
- jointDelta /=(cycleTime*0.001);
+ jointDelta /= (cycleTime * 0.001);
jointDelta = applyMaxJointVelocity(jointDelta, maxJointVelocity);
-// Eigen::Vector3f currentTCPPosition = robotNodeSet->getTCP()->getGlobalPose().block(0,3,3,1);
-// const Eigen::Matrix4f mat = robotNodeSet->getTCP()->getGlobalPose() * lastTCPPose.inverse();
-// const Eigen::Matrix3f rot = currentPose.block(0,0,3,3) * lastPose->toEigen().block(0,0,3,3).inverse();
-// Eigen::Vector3f rpy;
-// VirtualRobot::MathTools::eigen4f2rpy(mat, rpy);
-// ARMARX_DEBUG << deactivateSpam(2) << "Current TCP Position: \n" << currentTCPPosition;
-// ARMARX_VERBOSE << deactivateSpam(2)<< "ActualTCPVelocity: " << (rpy/(0.001*cycleTime));
+ // Eigen::Vector3f currentTCPPosition = robotNodeSet->getTCP()->getGlobalPose().block(0,3,3,1);
+ // const Eigen::Matrix4f mat = robotNodeSet->getTCP()->getGlobalPose() * lastTCPPose.inverse();
+ // const Eigen::Matrix3f rot = currentPose.block(0,0,3,3) * lastPose->toEigen().block(0,0,3,3).inverse();
+ // Eigen::Vector3f rpy;
+ // VirtualRobot::MathTools::eigen4f2rpy(mat, rpy);
+ // ARMARX_DEBUG << deactivateSpam(2) << "Current TCP Position: \n" << currentTCPPosition;
+ // ARMARX_VERBOSE << deactivateSpam(2)<< "ActualTCPVelocity: " << (rpy/(0.001*cycleTime));
lastTCPPose = robotNodeSet->getTCP()->getGlobalPose();
// build name value map
@@ -461,10 +530,14 @@ namespace armarx
const std::vector< VirtualRobot::RobotNodePtr > nodes = robotNodeSet->getAllRobotNodes();
std::vector< VirtualRobot::RobotNodePtr >::const_iterator iter = nodes.begin();
int i = 0;
+
while (iter != nodes.end() && i < jointDelta.rows())
{
- if(targetVelocities.find((*iter)->getName()) != targetVelocities.end())
+ if (targetVelocities.find((*iter)->getName()) != targetVelocities.end())
+ {
ARMARX_WARNING << deactivateSpam(2) << (*iter)->getName() << " is set from two joint delta calculations - overwriting first value";
+ }
+
targetVelocities.insert(std::make_pair((*iter)->getName(), jointDelta(i)));
controlModes.insert(std::make_pair((*iter)->getName(), eVelocityControl));
@@ -480,29 +553,35 @@ namespace armarx
- void TCPControlUnit::ContinuousAngles(const Eigen::AngleAxisf& oldAngle, Eigen::AngleAxisf& newAngle, double & offset)
+ void TCPControlUnit::ContinuousAngles(const Eigen::AngleAxisf& oldAngle, Eigen::AngleAxisf& newAngle, double& offset)
{
- // if(oldAngle.axis().isApprox(newAngle.axis()*-1))
+ // if(oldAngle.axis().isApprox(newAngle.axis()*-1))
const Eigen::Vector3f& v1 = oldAngle.axis();
const Eigen::Vector3f& v2 = newAngle.axis();
- const Eigen::Vector3f& v2i = newAngle.axis()*-1;
+ const Eigen::Vector3f& v2i = newAngle.axis() * -1;
double angle = acos(v1.dot(v2) / (v1.norm() * v2.norm()));
double angleInv = acos(v1.dot(v2i) / (v1.norm() * v2i.norm()));
-// std::cout << "angle1: " << angle << std::endl;
-// std::cout << "angleInv: " << angleInv << std::endl;
+ // std::cout << "angle1: " << angle << std::endl;
+ // std::cout << "angleInv: " << angleInv << std::endl;
+
+ // Eigen::AngleAxisd result;
+ if (angle > angleInv)
+ {
+ // ARMARX_IMPORTANT_S << "inversion needed" << std::endl;
+ newAngle = Eigen::AngleAxisf(2.0 * M_PI - newAngle.angle(), newAngle.axis() * -1);
+ }
+
+ // else newAngle = newAngle;
-// Eigen::AngleAxisd result;
- if(angle > angleInv)
+ if (fabs(newAngle.angle() + offset - oldAngle.angle()) > fabs(newAngle.angle() + offset - (oldAngle.angle() + M_PI * 2)))
+ {
+ offset -= M_PI * 2;
+ }
+ else if (fabs(newAngle.angle() + offset - oldAngle.angle()) > fabs((newAngle.angle() + M_PI * 2 + offset) - oldAngle.angle()))
{
-// ARMARX_IMPORTANT_S << "inversion needed" << std::endl;
- newAngle = Eigen::AngleAxisf(2.0*M_PI - newAngle.angle(), newAngle.axis()*-1);
+ offset += M_PI * 2;
}
-// else newAngle = newAngle;
- if(fabs(newAngle.angle()+offset - oldAngle.angle()) > fabs(newAngle.angle()+offset - (oldAngle.angle() + M_PI*2)) )
- offset -= M_PI*2;
- else if(fabs(newAngle.angle()+offset - oldAngle.angle()) > fabs((newAngle.angle()+M_PI*2+offset) - oldAngle.angle()) )
- offset += M_PI*2;
newAngle.angle() += offset;
}
@@ -511,12 +590,13 @@ namespace armarx
{
std::vector< VirtualRobot::RobotNodePtr > nodes = robotNodeSet->getAllRobotNodes();
Eigen::VectorXf actualJointValues(nodes.size());
- if(desiredJointValues.rows() == 0)
+
+ if (desiredJointValues.rows() == 0)
{
desiredJointValues.resize(nodes.size());
- for(unsigned int i=0; i < nodes.size(); i++)
+ for (unsigned int i = 0; i < nodes.size(); i++)
{
VirtualRobot::RobotNodePtr node = nodes.at(i);
desiredJointValues(i) = (node->getJointLimitHigh() - node->getJointLimitLow()) * 0.5f + node->getJointLimitLow();
@@ -524,23 +604,26 @@ namespace armarx
}
-// ARMARX_IMPORTANT << deactivateSpam(true, 0.5) << "desiredJointValues: " << desiredJointValues;
+
+ // ARMARX_IMPORTANT << deactivateSpam(true, 0.5) << "desiredJointValues: " << desiredJointValues;
Eigen::VectorXf jointCompensationDeltas(desiredJointValues.rows());
- for(unsigned int i = 0; i < desiredJointValues.rows(); i++)
+
+ for (unsigned int i = 0; i < desiredJointValues.rows(); i++)
{
VirtualRobot::RobotNodePtr node = nodes.at(i);
actualJointValues(i) = node->getJointValue();
- jointCompensationDeltas(i) = (node->getJointValue() - desiredJointValues(i) ) / (node->getJointLimitHigh() - node->getJointLimitLow());
- jointCompensationDeltas(i) = -pow(jointCompensationDeltas(i), 3)*pow(nodes.size()-i,2);
+ jointCompensationDeltas(i) = (node->getJointValue() - desiredJointValues(i)) / (node->getJointLimitHigh() - node->getJointLimitLow());
+ jointCompensationDeltas(i) = -pow(jointCompensationDeltas(i), 3) * pow(nodes.size() - i, 2);
}
-// ARMARX_IMPORTANT << deactivateSpam(true, 0.5) << "actualJointValues: " << actualJointValues;
- return CalcNullspaceJointDeltas(jointCompensationDeltas,jacobian, jacobianInverse);
+ // ARMARX_IMPORTANT << deactivateSpam(true, 0.5) << "actualJointValues: " << actualJointValues;
+
+ return CalcNullspaceJointDeltas(jointCompensationDeltas, jacobian, jacobianInverse);
}
Eigen::VectorXf TCPControlUnit::CalcNullspaceJointDeltas(const Eigen::VectorXf& desiredJointDeltas, const Eigen::MatrixXf& jacobian, const Eigen::MatrixXf& jacobianInverse)
{
- Eigen::MatrixXf I(jacobianInverse.rows(),jacobian.cols());
+ Eigen::MatrixXf I(jacobianInverse.rows(), jacobian.cols());
I.setIdentity();
Eigen::MatrixXf nullspaceProjection = I - jacobianInverse * jacobian;
@@ -553,18 +636,21 @@ namespace armarx
{
double currentMaxJointVel = std::numeric_limits<double>::min();
unsigned int rows = jointVelocity.rows();
- for(unsigned int i=0; i < rows; i++)
+
+ for (unsigned int i = 0; i < rows; i++)
{
currentMaxJointVel = std::max(fabs(jointVelocity(i)), currentMaxJointVel);
}
- if(currentMaxJointVel > maxJointVelocity)
+ if (currentMaxJointVel > maxJointVelocity)
{
ARMARX_IMPORTANT << deactivateSpam(1) << "max joint velocity too high: " << currentMaxJointVel << " allowed: " << maxJointVelocity;
- return jointVelocity * (maxJointVelocity/currentMaxJointVel);
+ return jointVelocity * (maxJointVelocity / currentMaxJointVel);
}
else
+ {
return jointVelocity;
+ }
}
@@ -584,27 +670,36 @@ namespace armarx
Eigen::MatrixXf EDifferentialIK::calcFullJacobian()
{
- if (nRows==0) this->setNRows();
+ if (nRows == 0)
+ {
+ this->setNRows();
+ }
+
size_t nDoF = nodes.size();
using namespace Eigen;
- MatrixXf Jacobian(nRows,nDoF);
+ MatrixXf Jacobian(nRows, nDoF);
+
+ size_t index = 0;
- size_t index=0;
- for (size_t i=0; i<tcp_set.size();i++)
+ for (size_t i = 0; i < tcp_set.size(); i++)
{
SceneObjectPtr tcp = tcp_set[i];
- if (this->targets.find(tcp)!=this->targets.end())
+
+ if (this->targets.find(tcp) != this->targets.end())
{
IKSolver::CartesianSelection mode = this->modes[tcp];
- MatrixXf partJacobian = this->getJacobianMatrix(tcp,mode);
- Jacobian.block(index,0,partJacobian.rows(),nDoF) = partJacobian;
+ MatrixXf partJacobian = this->getJacobianMatrix(tcp, mode);
+ Jacobian.block(index, 0, partJacobian.rows(), nDoF) = partJacobian;
}
else
- VR_ERROR << "Internal error?!" << endl; // Error
+ {
+ VR_ERROR << "Internal error?!" << endl; // Error
+ }
}
+
return Jacobian;
}
@@ -623,14 +718,16 @@ namespace armarx
this->coordSystem = coordSystem;
}
- void EDifferentialIK::setGoal(const Matrix4f &goal, RobotNodePtr tcp, IKSolver::CartesianSelection mode, float tolerancePosition, float toleranceRotation, VectorXf tcpWeight)
+ void EDifferentialIK::setGoal(const Matrix4f& goal, RobotNodePtr tcp, IKSolver::CartesianSelection mode, float tolerancePosition, float toleranceRotation, VectorXf tcpWeight)
{
- if(mode <= IKSolver::Z)
+ if (mode <= IKSolver::Z)
ARMARX_CHECK_EXPRESSION_W_HINT(tcpWeight.rows() == 1, "The tcpWeight vector must be of size 1")
- else if(mode <= IKSolver::Orientation)
- ARMARX_CHECK_EXPRESSION_W_HINT(tcpWeight.rows() == 3, "The tcpWeight vector must be of size 3")
- else if(mode == IKSolver::All)
- ARMARX_CHECK_EXPRESSION_W_HINT(tcpWeight.rows() == 6, "The tcpWeight vector must be of size 6");
+ else if (mode <= IKSolver::Orientation)
+ ARMARX_CHECK_EXPRESSION_W_HINT(tcpWeight.rows() == 3, "The tcpWeight vector must be of size 3")
+ else if (mode == IKSolver::All)
+ {
+ ARMARX_CHECK_EXPRESSION_W_HINT(tcpWeight.rows() == 6, "The tcpWeight vector must be of size 6");
+ }
tcpWeights[tcp] = tcpWeight;
DifferentialIK::setGoal(goal, tcp, mode, tolerancePosition, toleranceRotation);
@@ -647,19 +744,19 @@ namespace armarx
return computeSteps(jointDelta, stepSize, mininumChange, maxNStep, &DifferentialIK::computeStep);
}
-// void EDifferentialIK::setTCPWeights(Eigen::VectorXf tcpWeights)
-// {
-// this->tcpWeights = tcpWeights;
-// }
+ // void EDifferentialIK::setTCPWeights(Eigen::VectorXf tcpWeights)
+ // {
+ // this->tcpWeights = tcpWeights;
+ // }
- bool EDifferentialIK::computeSteps(VectorXf &resultJointDelta, float stepSize, float mininumChange, int maxNStep, ComputeFunction computeFunction)
+ bool EDifferentialIK::computeSteps(VectorXf& resultJointDelta, float stepSize, float mininumChange, int maxNStep, ComputeFunction computeFunction)
{
VR_ASSERT(rns);
VR_ASSERT(nodes.size() == rns->getSize());
//std::vector<RobotNodePtr> rn = this->nodes;
RobotPtr robot = rns->getRobot();
VR_ASSERT(robot);
- std::vector<float> jv(nodes.size(),0.0f);
+ std::vector<float> jv(nodes.size(), 0.0f);
std::vector<float> jvBest = rns->getJointValues();
int step = 0;
checkTolerances();
@@ -669,76 +766,89 @@ namespace armarx
VectorXf oldJointValues;
rns->getJointValues(oldJointValues);
VectorXf tempDOFWeights = dofWeights;
-// VectorXf dThetaSum(nodes.size());
+ // VectorXf dThetaSum(nodes.size());
resultJointDelta.resize(nodes.size());
resultJointDelta.setZero();
+
do
{
VectorXf dTheta = (this->*computeFunction)(stepSize);
- if(adjustDOFWeightsToJointLimits(dTheta))
+
+ if (adjustDOFWeightsToJointLimits(dTheta))
+ {
dTheta = computeStep(stepSize);
+ }
- for (unsigned int i=0; i<nodes.size();i++)
+ for (unsigned int i = 0; i < nodes.size(); i++)
{
ARMARX_DEBUG << VAROUT(nodes[i]->getJointValue()) << VAROUT(dTheta[i]);
jv[i] = (nodes[i]->getJointValue() + dTheta[i]);
+
if (boost::math::isnan(jv[i]) || boost::math::isinf(jv[i]))
{
ARMARX_WARNING_S << "Aborting, invalid joint value (nan)" << endl;
dofWeights = tempDOFWeights;
return false;
}
+
//nodes[i]->setJointValue(nodes[i]->getJointValue() + dTheta[i]);
}
- robot->setJointValues(rns,jv);
+ robot->setJointValues(rns, jv);
VectorXf newJointValues;
rns->getJointValues(newJointValues);
resultJointDelta = newJointValues - oldJointValues;
-// ARMARX_DEBUG << "joint angle deltas:\n" << dThetaSum;
+ // ARMARX_DEBUG << "joint angle deltas:\n" << dThetaSum;
// check tolerances
if (checkTolerances())
{
if (verbose)
+ {
ARMARX_INFO << deactivateSpam(1) << "Tolerances ok, loop:" << step << endl;
+ }
+
break;
}
+
float d = dTheta.norm();
float posDist = getMeanErrorPosition();
float oriErr = getErrorRotation(rns->getTCP());
- if (dTheta.norm()<mininumChange)
+
+ if (dTheta.norm() < mininumChange)
{
-// if (verbose)
- ARMARX_INFO << deactivateSpam(1) << "Could not improve result any more (dTheta.norm()=" << d << "), loop:" << step << " Resulting error: pos " << posDist << " orientation: " << oriErr << endl;
+ // if (verbose)
+ ARMARX_INFO << deactivateSpam(1) << "Could not improve result any more (dTheta.norm()=" << d << "), loop:" << step << " Resulting error: pos " << posDist << " orientation: " << oriErr << endl;
break;
}
- if (checkImprovement && posDist>lastDist)
+ if (checkImprovement && posDist > lastDist)
{
-// if (verbose)
- ARMARX_INFO << deactivateSpam(1) << "Could not improve result any more (current position error=" << posDist << ", last loop's error:" << lastDist << "), loop:" << step << endl;
- robot->setJointValues(rns,jvBest);
+ // if (verbose)
+ ARMARX_INFO << deactivateSpam(1) << "Could not improve result any more (current position error=" << posDist << ", last loop's error:" << lastDist << "), loop:" << step << endl;
+ robot->setJointValues(rns, jvBest);
break;
}
+
jvBest = jv;
lastDist = posDist;
step++;
jointDeltaIterations.push_back(std::make_pair(getWeightedError(), resultJointDelta));
}
- while (step<maxNStep);
+ while (step < maxNStep);
float bestJVError = std::numeric_limits<float>::max();
- for(unsigned int i=0; i < jointDeltaIterations.size(); i++)
+
+ for (unsigned int i = 0; i < jointDeltaIterations.size(); i++)
{
- if(jointDeltaIterations.at(i).first < bestJVError)
+ if (jointDeltaIterations.at(i).first < bestJVError)
{
bestJVError = jointDeltaIterations.at(i).first;
resultJointDelta = jointDeltaIterations.at(i).second;
@@ -747,15 +857,16 @@ namespace armarx
}
}
- robot->setJointValues(rns,oldJointValues + resultJointDelta);
+ robot->setJointValues(rns, oldJointValues + resultJointDelta);
-// ARMARX_DEBUG << "best try: " << bestIndex << " with error: " << bestJVError;
-// rns->setJointValues(oldJointValues);
-// Matrix4f oldPose = rns->getTCP()->getGlobalPose();
-// rns->setJointValues(oldJointValues+dThetaSum);
-// Matrix4f newPose = rns->getTCP()->getGlobalPose();
-// ARMARX_IMPORTANT << "tcp delta:\n" << newPose.block(0,3,3,1) - oldPose.block(0,3,3,1);
+ // ARMARX_DEBUG << "best try: " << bestIndex << " with error: " << bestJVError;
+ // rns->setJointValues(oldJointValues);
+ // Matrix4f oldPose = rns->getTCP()->getGlobalPose();
+ // rns->setJointValues(oldJointValues+dThetaSum);
+ // Matrix4f newPose = rns->getTCP()->getGlobalPose();
+ // ARMARX_IMPORTANT << "tcp delta:\n" << newPose.block(0,3,3,1) - oldPose.block(0,3,3,1);
dofWeights = tempDOFWeights;
+
if (step >= maxNStep && verbose)
{
ARMARX_INFO << deactivateSpam(1) << "IK failed, loop:" << step << endl;
@@ -767,58 +878,70 @@ namespace armarx
return true;
}
- VectorXf EDifferentialIK::computeStep(float stepSize )
+ VectorXf EDifferentialIK::computeStep(float stepSize)
{
- if (nRows==0) this->setNRows();
+ if (nRows == 0)
+ {
+ this->setNRows();
+ }
+
size_t nDoF = nodes.size();
- MatrixXf Jacobian(nRows,nDoF);
+ MatrixXf Jacobian(nRows, nDoF);
VectorXf error(nRows);
- size_t index=0;
- for (size_t i=0; i<tcp_set.size();i++)
+ size_t index = 0;
+
+ for (size_t i = 0; i < tcp_set.size(); i++)
{
SceneObjectPtr tcp = tcp_set[i];
- if (this->targets.find(tcp)!=this->targets.end())
+
+ if (this->targets.find(tcp) != this->targets.end())
{
Eigen::VectorXf delta = getDeltaToGoal(tcp);
//ARMARX_DEBUG << VAROUT(delta);
IKSolver::CartesianSelection mode = this->modes[tcp];
- MatrixXf partJacobian = this->getJacobianMatrix(tcp,mode);
+ MatrixXf partJacobian = this->getJacobianMatrix(tcp, mode);
//ARMARX_DEBUG << VAROUT(partJacobian);
- Jacobian.block(index,0,partJacobian.rows(),nDoF) = partJacobian;
+ Jacobian.block(index, 0, partJacobian.rows(), nDoF) = partJacobian;
Vector3f position = delta.head(3);
- position *=stepSize;
+ position *= stepSize;
+
if (mode & IKSolver::X)
{
error(index) = position(0);
index++;
}
+
if (mode & IKSolver::Y)
{
error(index) = position(1);
index++;
}
+
if (mode & IKSolver::Z)
{
error(index) = position(2);
index++;
}
+
if (mode & IKSolver::Orientation)
{
- error.segment(index,3) = delta.tail(3)*stepSize;
- index+=3;
+ error.segment(index, 3) = delta.tail(3) * stepSize;
+ index += 3;
}
}
else
- VR_ERROR << "Internal error?!" << endl; // Error
+ {
+ VR_ERROR << "Internal error?!" << endl; // Error
+ }
}
-// applyDOFWeightsToJacobian(Jacobian);
+ // applyDOFWeightsToJacobian(Jacobian);
ARMARX_DEBUG << VAROUT(Jacobian);
MatrixXf pseudo = computePseudoInverseJacobianMatrix(Jacobian);
ARMARX_DEBUG << VAROUT(pseudo);
@@ -827,72 +950,91 @@ namespace armarx
}
- VectorXf EDifferentialIK::computeStepIndependently(float stepSize )
+ VectorXf EDifferentialIK::computeStepIndependently(float stepSize)
{
- if (nRows==0) this->setNRows();
+ if (nRows == 0)
+ {
+ this->setNRows();
+ }
+
size_t nDoF = nodes.size();
std::map<float, MatrixXf> partJacobians;
VectorXf thetaSum(nDoF);
thetaSum.setZero();
- size_t index=0;
- for (size_t i=0; i<tcp_set.size();i++)
+ size_t index = 0;
+
+ for (size_t i = 0; i < tcp_set.size(); i++)
{
SceneObjectPtr tcp = tcp_set[i];
- if (this->targets.find(tcp)!=this->targets.end())
+
+ if (this->targets.find(tcp) != this->targets.end())
{
Eigen::VectorXf delta = getDeltaToGoal(tcp);
IKSolver::CartesianSelection mode = this->modes[tcp];
- MatrixXf partJacobian = this->getJacobianMatrix(tcp,mode);
+ MatrixXf partJacobian = this->getJacobianMatrix(tcp, mode);
// apply tcp weights
-// applyTCPWeights(tcp, partJacobian);
+ // applyTCPWeights(tcp, partJacobian);
int tcpDOF = 0;
- if(mode <= IKSolver::Z)
+
+ if (mode <= IKSolver::Z)
+ {
tcpDOF = 1;
- else if(mode <= IKSolver::Orientation)
+ }
+ else if (mode <= IKSolver::Orientation)
+ {
tcpDOF = 3;
- else if(mode == IKSolver::All)
+ }
+ else if (mode == IKSolver::All)
+ {
tcpDOF = 6;
+ }
+
index = 0;
VectorXf partError(tcpDOF);
Vector3f position = delta.head(3);
-// ARMARX_DEBUG << tcp->getName() << "'s error: " << position << " weighted error: " << position*stepSize;
- position *=stepSize;
+ // ARMARX_DEBUG << tcp->getName() << "'s error: " << position << " weighted error: " << position*stepSize;
+ position *= stepSize;
+
if (mode & IKSolver::X)
{
partError(index) = position(0);
index++;
}
+
if (mode & IKSolver::Y)
{
partError(index) = position(1);
index++;
}
+
if (mode & IKSolver::Z)
{
partError(index) = position(2);
index++;
}
+
if (mode & IKSolver::Orientation)
{
- partError.segment(index,3) = delta.tail(3)*stepSize;
- index+=3;
+ partError.segment(index, 3) = delta.tail(3) * stepSize;
+ index += 3;
}
ARMARX_DEBUG << deactivateSpam(0.05) << "step size adjusted error to goal:\n" << partError;
applyDOFWeightsToJacobian(partJacobian);
-// ARMARX_DEBUG << "Jac:\n" << partJacobian;
+ // ARMARX_DEBUG << "Jac:\n" << partJacobian;
MatrixXf pseudo = computePseudoInverseJacobianMatrix(partJacobian);
Eigen::VectorXf tcpWeightVec;
std::map<VirtualRobot:: SceneObjectPtr, Eigen::VectorXf>::iterator it = tcpWeights.find(tcp);
- if(it != tcpWeights.end())
+
+ if (it != tcpWeights.end())
{
tcpWeightVec = it->second;
}
@@ -900,40 +1042,51 @@ namespace armarx
{
IKSolver::CartesianSelection mode = modes[tcp_set.at(i)];
int size = 1;
- if(mode <= IKSolver::Z)
+
+ if (mode <= IKSolver::Z)
+ {
size = 1;
- else if(mode <= IKSolver::Orientation)
+ }
+ else if (mode <= IKSolver::Orientation)
+ {
size = 3;
- else if(mode == IKSolver::All)
+ }
+ else if (mode == IKSolver::All)
+ {
size = 6;
+ }
Eigen::VectorXf tmptcpWeightVec(size);
tmptcpWeightVec.setOnes();
- tcpWeightVec= tmptcpWeightVec;
+ tcpWeightVec = tmptcpWeightVec;
}
- if(pseudo.cols() == tcpWeightVec.rows())
+ if (pseudo.cols() == tcpWeightVec.rows())
{
Eigen::MatrixXf weightMat(tcpWeightVec.rows(), tcpWeightVec.rows());
weightMat.setIdentity();
weightMat.diagonal() = tcpWeightVec;
- // ARMARX_DEBUG << /*deactivateSpam(1) <<*/ "tcpWeightVec:\n" << tcpWeightVec;
- // ARMARX_DEBUG << /*deactivateSpam(1) << */"InvJac Before:\n" << invJacobian;
+ // ARMARX_DEBUG << /*deactivateSpam(1) <<*/ "tcpWeightVec:\n" << tcpWeightVec;
+ // ARMARX_DEBUG << /*deactivateSpam(1) << */"InvJac Before:\n" << invJacobian;
pseudo = pseudo * weightMat;
-// ARMARX_DEBUG << /*deactivateSpam(1) <<*/ "InvJac after:\n" << pseudo;
+ // ARMARX_DEBUG << /*deactivateSpam(1) <<*/ "InvJac after:\n" << pseudo;
}
else
+ {
ARMARX_WARNING << deactivateSpam(3) << "Wrong dimension of tcp weights: " << tcpWeightVec.rows() << ", but should be: " << pseudo.cols();
+ }
thetaSum += pseudo * partError;
}
else
- VR_ERROR << "Internal error?!" << endl; // Error
+ {
+ VR_ERROR << "Internal error?!" << endl; // Error
+ }
}
@@ -947,28 +1100,33 @@ namespace armarx
rns->getJointValues(jointValuesBefore);
Eigen::VectorXf resultJointDelta;
Eigen::VectorXf jointDeltaAlternative;
- bool result = computeSteps(resultJointDelta, stepSize,minChange, maxSteps);
+ bool result = computeSteps(resultJointDelta, stepSize, minChange, maxSteps);
float error = getWeightedError();
- if(useAlternativeOnFail && error > 5)
- result = computeSteps(jointDeltaAlternative,stepSize,minChange, maxSteps, &EDifferentialIK::computeStepIndependently);
- if(getWeightedError() < error)
+
+ if (useAlternativeOnFail && error > 5)
+ {
+ result = computeSteps(jointDeltaAlternative, stepSize, minChange, maxSteps, &EDifferentialIK::computeStepIndependently);
+ }
+
+ if (getWeightedError() < error)
{
resultJointDelta = jointDeltaAlternative;
}
+
return result;
}
- void EDifferentialIK::applyDOFWeightsToJacobian(MatrixXf &Jacobian)
+ void EDifferentialIK::applyDOFWeightsToJacobian(MatrixXf& Jacobian)
{
- if(dofWeights.rows() == Jacobian.cols())
+ if (dofWeights.rows() == Jacobian.cols())
{
Eigen::MatrixXf weightMat(dofWeights.rows(), dofWeights.rows());
weightMat.setIdentity();
weightMat.diagonal() = dofWeights;
-// ARMARX_DEBUG << deactivateSpam(1) << "Jac before:\n" << Jacobian;
-// ARMARX_DEBUG << deactivateSpam(1) << "Weights:\n" << weightMat;
+ // ARMARX_DEBUG << deactivateSpam(1) << "Jac before:\n" << Jacobian;
+ // ARMARX_DEBUG << deactivateSpam(1) << "Weights:\n" << weightMat;
Jacobian = Jacobian * weightMat;
-// ARMARX_DEBUG << deactivateSpam(1) << "Jac after:\n" << Jacobian;
+ // ARMARX_DEBUG << deactivateSpam(1) << "Jac after:\n" << Jacobian;
}
}
@@ -977,10 +1135,12 @@ namespace armarx
{
std::map<VirtualRobot:: SceneObjectPtr, Eigen::VectorXf>::iterator it = tcpWeights.find(tcp);
- if(it != tcpWeights.end())
+
+ if (it != tcpWeights.end())
{
Eigen::VectorXf& tcpWeightVec = it->second;
- if(partJacobian.rows() == tcpWeightVec.rows())
+
+ if (partJacobian.rows() == tcpWeightVec.rows())
{
Eigen::MatrixXf weightMat(tcpWeightVec.rows(), tcpWeightVec.rows());
@@ -991,39 +1151,58 @@ namespace armarx
ARMARX_DEBUG << deactivateSpam(1) << "Jac after: " << partJacobian;
}
else
+ {
ARMARX_WARNING << deactivateSpam(3) << "Wrong dimension of tcp weights: " << tcpWeightVec.rows() << ", but should be: " << partJacobian.rows();
+ }
}
}
void EDifferentialIK::applyTCPWeights(MatrixXf& invJacobian)
{
- if(tcpWeightVec.rows() == 0)
- for (size_t i=0; i<tcp_set.size();i++)
+ if (tcpWeightVec.rows() == 0)
+ for (size_t i = 0; i < tcp_set.size(); i++)
{
std::map<VirtualRobot:: SceneObjectPtr, Eigen::VectorXf>::iterator it = tcpWeights.find(tcp_set.at(i));
- if(it != tcpWeights.end())
+
+ if (it != tcpWeights.end())
{
Eigen::VectorXf& tmptcpWeightVec = it->second;
Eigen::VectorXf oldVec = tcpWeightVec;
- tcpWeightVec.resize(tcpWeightVec.rows()+tmptcpWeightVec.rows());
- if(oldVec.rows()>0)
+ tcpWeightVec.resize(tcpWeightVec.rows() + tmptcpWeightVec.rows());
+
+ if (oldVec.rows() > 0)
+ {
tcpWeightVec.head(oldVec.rows()) = oldVec;
+ }
+
tcpWeightVec.tail(tmptcpWeightVec.rows()) = tmptcpWeightVec;
}
else
{
IKSolver::CartesianSelection mode = modes[tcp_set.at(i)];
int size = 1;
- if(mode <= IKSolver::Z)
+
+ if (mode <= IKSolver::Z)
+ {
size = 1;
- else if(mode <= IKSolver::Orientation)
+ }
+ else if (mode <= IKSolver::Orientation)
+ {
size = 3;
- else if(mode == IKSolver::All)
+ }
+ else if (mode == IKSolver::All)
+ {
size = 6;
+ }
+
Eigen::VectorXf oldVec = tcpWeightVec;
- tcpWeightVec.resize(tcpWeightVec.rows()+size);
- if(oldVec.rows()>0)
+ tcpWeightVec.resize(tcpWeightVec.rows() + size);
+
+ if (oldVec.rows() > 0)
+ {
tcpWeightVec.head(oldVec.rows()) = oldVec;
+ }
+
Eigen::VectorXf tmptcpWeightVec(size);
tmptcpWeightVec.setOnes();
tcpWeightVec.tail(size) = tmptcpWeightVec;
@@ -1031,72 +1210,91 @@ namespace armarx
}
}
- if(invJacobian.cols() == tcpWeightVec.rows())
+ if (invJacobian.cols() == tcpWeightVec.rows())
{
Eigen::MatrixXf weightMat(tcpWeightVec.rows(), tcpWeightVec.rows());
weightMat.setIdentity();
weightMat.diagonal() = tcpWeightVec;
-// ARMARX_DEBUG << /*deactivateSpam(1) <<*/ "tcpWeightVec:\n" << tcpWeightVec;
-// ARMARX_DEBUG << /*deactivateSpam(1) << */"InvJac Before:\n" << invJacobian;
+ // ARMARX_DEBUG << /*deactivateSpam(1) <<*/ "tcpWeightVec:\n" << tcpWeightVec;
+ // ARMARX_DEBUG << /*deactivateSpam(1) << */"InvJac Before:\n" << invJacobian;
invJacobian = invJacobian * weightMat;
ARMARX_DEBUG << /*deactivateSpam(1) <<*/ "InvJac after:\n" << invJacobian;
}
else
+ {
ARMARX_WARNING << deactivateSpam(3) << "Wrong dimension of tcp weights: " << tcpWeightVec.rows() << ", but should be: " << invJacobian.cols();
+ }
}
float EDifferentialIK::getWeightedError()
{
float result = 0.0f;
- float positionOrientationRatio = 3.f/180.f*M_PI;
- for (size_t i=0; i<tcp_set.size();i++){
+ float positionOrientationRatio = 3.f / 180.f * M_PI;
+
+ for (size_t i = 0; i < tcp_set.size(); i++)
+ {
SceneObjectPtr tcp = tcp_set[i];
- result += getWeightedErrorPosition(tcp) + getErrorRotation(tcp)*positionOrientationRatio;
+ result += getWeightedErrorPosition(tcp) + getErrorRotation(tcp) * positionOrientationRatio;
}
+
return result;
}
float EDifferentialIK::getWeightedErrorPosition(SceneObjectPtr tcp)
{
if (modes[tcp] == IKSolver::Orientation)
- return 0.0f; // ignoring position
+ {
+ return 0.0f; // ignoring position
+ }
if (!tcp)
+ {
tcp = getDefaultTCP();
- Vector3f position = targets[tcp].block(0,3,3,1) - tcp->getGlobalPose().block(0,3,3,1);
+ }
+
+ Vector3f position = targets[tcp].block(0, 3, 3, 1) - tcp->getGlobalPose().block(0, 3, 3, 1);
//cout << "Error Position <" << tcp->getName() << ">: " << position.norm() << endl;
//cout << boost::format("Error Position < %1% >: %2%") % tcp->getName() % position.norm() << std::endl;
float result = 0.0f;
Eigen::VectorXf tcpWeight(3);
- if(tcpWeights.find(tcp) != tcpWeights.end())
+
+ if (tcpWeights.find(tcp) != tcpWeights.end())
+ {
tcpWeight = tcpWeights.find(tcp)->second;
+ }
else
+ {
tcpWeight.setOnes();
+ }
+
int weightIndex = 0;
+
if (modes[tcp] & IKSolver::X)
{
-// ARMARX_DEBUG << "error x: " << position(0)*tcpWeight(weightIndex);
+ // ARMARX_DEBUG << "error x: " << position(0)*tcpWeight(weightIndex);
result += position(0) * position(0) * tcpWeight(weightIndex++);
}
+
if (modes[tcp] & IKSolver::Y)
{
-// ARMARX_DEBUG << "error y: " << position(1)*tcpWeight(weightIndex);
+ // ARMARX_DEBUG << "error y: " << position(1)*tcpWeight(weightIndex);
result += position(1) * position(1) * tcpWeight(weightIndex++);
}
+
if (modes[tcp] & IKSolver::Z)
{
-// ARMARX_DEBUG << "error z: " << position(2)*tcpWeight(weightIndex);
+ // ARMARX_DEBUG << "error z: " << position(2)*tcpWeight(weightIndex);
result += position(2) * position(2) * tcpWeight(weightIndex++);
}
return sqrtf(result);
}
- bool EDifferentialIK::adjustDOFWeightsToJointLimits(const VectorXf &plannedJointDeltas)
+ bool EDifferentialIK::adjustDOFWeightsToJointLimits(const VectorXf& plannedJointDeltas)
{
- if(dofWeights.rows() != plannedJointDeltas.rows())
+ if (dofWeights.rows() != plannedJointDeltas.rows())
{
dofWeights.resize(plannedJointDeltas.rows());
dofWeights.setOnes();
@@ -1104,16 +1302,19 @@ namespace armarx
}
bool result = false;
- for (unsigned int i=0; i<nodes.size();i++)
+
+ for (unsigned int i = 0; i < nodes.size(); i++)
{
- float angle = nodes[i]->getJointValue() + plannedJointDeltas[i]*0.1;
- if(angle > nodes[i]->getJointLimitHi() || angle < nodes[i]->getJointLimitLo())
+ float angle = nodes[i]->getJointValue() + plannedJointDeltas[i] * 0.1;
+
+ if (angle > nodes[i]->getJointLimitHi() || angle < nodes[i]->getJointLimitLo())
{
ARMARX_VERBOSE << deactivateSpam(3) << nodes[i]->getName() << " joint deactivated because of joint limit";
dofWeights(i) = 0;
result = true;
}
}
+
return result;
}
@@ -1124,104 +1325,120 @@ namespace armarx
-void armarx::TCPControlUnit::reportControlModeChanged(const NameControlModeMap &, bool, const Ice::Current &)
+void armarx::TCPControlUnit::reportControlModeChanged(const NameControlModeMap&, bool, const Ice::Current&)
{
}
-void armarx::TCPControlUnit::reportJointAngles(const NameValueMap &jointAngles, bool, const Ice::Current &)
+void armarx::TCPControlUnit::reportJointAngles(const NameValueMap& jointAngles, bool, const Ice::Current&)
{
ScopedLock lock(reportMutex);
FramedPoseBaseMap tcpPoses;
std::string rootFrame = localReportRobot->getRootNode()->getName();
localReportRobot->setJointValues(jointAngles);
+
//IceUtil::Time start = IceUtil::Time::now();
- for(unsigned int i=0; i < nodesToReport.size(); i++)
+ for (unsigned int i = 0; i < nodesToReport.size(); i++)
{
RobotNodePtr& node = nodesToReport.at(i);
- const std::string &tcpName = node->getName();
- const Eigen::Matrix4f ¤tPose = node->getPoseInRootFrame();
+ const std::string& tcpName = node->getName();
+ const Eigen::Matrix4f& currentPose = node->getPoseInRootFrame();
tcpPoses[tcpName] = new FramedPose(currentPose, rootFrame, localReportRobot->getName());
}
-// ARMARX_DEBUG << deactivateSpam(5) << "TCP Pose Calc took: " << ( IceUtil::Time::now() - start).toMilliSecondsDouble();
+
+ // ARMARX_DEBUG << deactivateSpam(5) << "TCP Pose Calc took: " << ( IceUtil::Time::now() - start).toMilliSecondsDouble();
listener->reportTCPPose(tcpPoses);
}
-void armarx::TCPControlUnit::reportJointVelocities(const NameValueMap &jointVel, bool, const Ice::Current &)
+void armarx::TCPControlUnit::reportJointVelocities(const NameValueMap& jointVel, bool, const Ice::Current&)
{
- if((IceUtil::Time::now()-lastTopicReportTime).toMilliSeconds() < cycleTime )
+ if ((IceUtil::Time::now() - lastTopicReportTime).toMilliSeconds() < cycleTime)
+ {
return;
+ }
+
lastTopicReportTime = IceUtil::Time::now();
ScopedLock lock(reportMutex);
- if(!localVelReportRobot)
+
+ if (!localVelReportRobot)
+ {
localVelReportRobot = localReportRobot->clone(localReportRobot->getName());
-// ARMARX_DEBUG << jointVel; FramedPoseBaseMap tcpPoses;
+ }
+
+ // ARMARX_DEBUG << jointVel; FramedPoseBaseMap tcpPoses;
FramedDirectionMap tcpTranslationVelocities;
FramedDirectionMap tcpOrientationVelocities;
std::string rootFrame = localReportRobot->getRootNode()->getName();
NameValueMap tempJointAngles = localReportRobot->getConfig()->getRobotNodeJointValueMap();
FramedPoseBaseMap tcpPoses;
- for(unsigned int i=0; i < nodesToReport.size(); i++)
+
+ for (unsigned int i = 0; i < nodesToReport.size(); i++)
{
RobotNodePtr node = nodesToReport.at(i);
- const std::string &tcpName = node->getName();
- const Eigen::Matrix4f ¤tPose = node->getPoseInRootFrame();
+ const std::string& tcpName = node->getName();
+ const Eigen::Matrix4f& currentPose = node->getPoseInRootFrame();
tcpPoses[tcpName] = new FramedPose(currentPose, rootFrame, localReportRobot->getName());
}
double tDelta = 0.001;
- for(NameValueMap::iterator it = tempJointAngles.begin(); it != tempJointAngles.end(); it++)
+
+ for (NameValueMap::iterator it = tempJointAngles.begin(); it != tempJointAngles.end(); it++)
{
NameValueMap::const_iterator itSrc = jointVel.find(it->first);
- if(itSrc != jointVel.end())
+
+ if (itSrc != jointVel.end())
+ {
it->second += itSrc->second * tDelta;
+ }
}
localVelReportRobot->setJointValues(tempJointAngles);
+
//IceUtil::Time start = IceUtil::Time::now();
- for(unsigned int i=0; i < nodesToReport.size(); i++)
+ for (unsigned int i = 0; i < nodesToReport.size(); i++)
{
RobotNodePtr node = localVelReportRobot->getRobotNode(nodesToReport.at(i)->getName());
- const std::string &tcpName = node->getName();
- const Eigen::Matrix4f ¤tPose = node->getPoseInRootFrame();
+ const std::string& tcpName = node->getName();
+ const Eigen::Matrix4f& currentPose = node->getPoseInRootFrame();
FramedPosePtr lastPose = FramedPosePtr::dynamicCast(tcpPoses[tcpName]);
- tcpTranslationVelocities[tcpName] = new FramedDirection((currentPose.block(0,3,3,1) - lastPose->toEigen().block(0,3,3,1))/tDelta, rootFrame, localReportRobot->getName());
+ tcpTranslationVelocities[tcpName] = new FramedDirection((currentPose.block(0, 3, 3, 1) - lastPose->toEigen().block(0, 3, 3, 1)) / tDelta, rootFrame, localReportRobot->getName());
const Eigen::Matrix4f mat = currentPose * lastPose->toEigen().inverse();
-// const Eigen::Matrix3f rot = currentPose.block(0,0,3,3) * lastPose->toEigen().block(0,0,3,3).inverse();
+ // const Eigen::Matrix3f rot = currentPose.block(0,0,3,3) * lastPose->toEigen().block(0,0,3,3).inverse();
Eigen::Vector3f rpy;
VirtualRobot::MathTools::eigen4f2rpy(mat, rpy);
-// Eigen::AngleAxisf orient(rot.block<3,3>(0,0));
+ // Eigen::AngleAxisf orient(rot.block<3,3>(0,0));
- tcpOrientationVelocities[tcpName] = new FramedDirection(rpy/tDelta, rootFrame, localReportRobot->getName());
+ tcpOrientationVelocities[tcpName] = new FramedDirection(rpy / tDelta, rootFrame, localReportRobot->getName());
}
-// ARMARX_DEBUG << deactivateSpam(5) << "TCP Pose Vel Calc took: " << ( IceUtil::Time::now() - start).toMilliSecondsDouble();
+
+ // ARMARX_DEBUG << deactivateSpam(5) << "TCP Pose Vel Calc took: " << ( IceUtil::Time::now() - start).toMilliSecondsDouble();
listener->reportTCPVelocities(tcpTranslationVelocities, tcpOrientationVelocities);
}
-void armarx::TCPControlUnit::reportJointTorques(const NameValueMap &, bool, const Ice::Current &)
+void armarx::TCPControlUnit::reportJointTorques(const NameValueMap&, bool, const Ice::Current&)
{
}
-void armarx::TCPControlUnit::reportJointAccelerations(const armarx::NameValueMap &jointAccelerations, bool aValueChanged, const Ice::Current &c)
+void armarx::TCPControlUnit::reportJointAccelerations(const armarx::NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c)
{
}
-void armarx::TCPControlUnit::reportJointCurrents(const NameValueMap &, bool, const Ice::Current &)
+void armarx::TCPControlUnit::reportJointCurrents(const NameValueMap&, bool, const Ice::Current&)
{
}
-void armarx::TCPControlUnit::reportJointMotorTemperatures(const NameValueMap &, bool, const Ice::Current &)
+void armarx::TCPControlUnit::reportJointMotorTemperatures(const NameValueMap&, bool, const Ice::Current&)
{
}
-void armarx::TCPControlUnit::reportJointStatuses(const NameStatusMap &, bool, const Ice::Current &)
+void armarx::TCPControlUnit::reportJointStatuses(const NameStatusMap&, bool, const Ice::Current&)
{
}
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index 24ce0d04a82ee3cf2de97e8d71950c23c0bc92f3..31ddf540cc143fb5ad18dd90d268ccbf242481af 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Mirko Waechter (mirko.waechter at kit dot edu)
* @date 2013
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,12 +25,12 @@
#include <RobotAPI/interface/units/TCPControlUnit.h>
#include <RobotAPI/libraries/core/FramedPose.h>
-#include <Core/core/services/tasks/PeriodicTask.h>
-#include <Core/core/Component.h>
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
+#include <ArmarXCore/core/Component.h>
#include <VirtualRobot/IK/DifferentialIK.h>
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
-#include <Core/interface/observers/ObserverInterface.h>
+#include <ArmarXCore/interface/observers/ObserverInterface.h>
namespace armarx
{
@@ -40,14 +39,15 @@ namespace armarx
* \brief
*/
class TCPControlUnitPropertyDefinitions:
- public ComponentPropertyDefinitions
+ public ComponentPropertyDefinitions
{
public:
TCPControlUnitPropertyDefinitions(std::string prefix):
ComponentPropertyDefinitions(prefix)
{
- defineRequiredProperty<std::string>("KinematicUnitName","Name of the KinematicUnit Proxy");
- defineOptionalProperty<float>("MaxJointVelocity",30.f/180*3.141, "Maximal joint velocity in rad/sec");
+ defineRequiredProperty<std::string>("KinematicUnitName", "Name of the KinematicUnit Proxy");
+ defineOptionalProperty<std::string>("RobotStateTopicName", "RobotState", "Name of the RobotComponent State topic.");
+ defineOptionalProperty<float>("MaxJointVelocity", 30.f / 180 * 3.141, "Maximal joint velocity in rad/sec");
defineRequiredProperty<std::string>("RobotFileName", "Robot file name, e.g. robot_model.xml");
defineOptionalProperty<int>("CycleTime", 30, "Cycle time of the tcp control in ms");
defineOptionalProperty<float>("MaximumCommandDelay", 20000, "Delay after which the TCP Control unit releases itself if no new velocity have been set.");
@@ -58,7 +58,7 @@ namespace armarx
};
/**
- * \class TCPControlUnit
+ * \defgroup Component-TCPControlUnit TCPControlUnit
* \ingroup RobotAPI-SensorActorUnits
* \brief Unit for controlling a tool center point (TCP).
*
@@ -75,9 +75,14 @@ namespace armarx
*
* \note After usage release() **must** be called to stop the recalcuation and setting of joint velocities.
*/
+
+ /**
+ * @ingroup Component-TCPControlUnit
+ * @brief The TCPControlUnit class
+ */
class TCPControlUnit :
- virtual public Component,
- virtual public TCPControlUnitInterface
+ virtual public Component,
+ virtual public TCPControlUnitInterface
{
public:
TCPControlUnit();
@@ -89,7 +94,7 @@ namespace armarx
* \param milliseconds New cycle time.
* \param c Ice Context, leave blank.
*/
- void setCycleTime(Ice::Int milliseconds, const Ice::Current &c = Ice::Current());
+ void setCycleTime(Ice::Int milliseconds, const Ice::Current& c = Ice::Current());
/**
* \brief Sets the cartesian velocity of a node in a nodeset for translation and/or orientation.
@@ -106,32 +111,32 @@ namespace armarx
*
* \see request(), release()
*/
- void setTCPVelocity(const std::string &nodeSetName, const std::string &tcpName, const::armarx::FramedDirectionBasePtr &translationVelocity, const::armarx::FramedDirectionBasePtr &orientationVelocityRPY, const Ice::Current &c = Ice::Current());
+ void setTCPVelocity(const std::string& nodeSetName, const std::string& tcpName, const::armarx::FramedDirectionBasePtr& translationVelocity, const::armarx::FramedDirectionBasePtr& orientationVelocityRPY, const Ice::Current& c = Ice::Current());
// UnitExecutionManagementInterface interface
/**
* \brief Does not do anything at the moment.
* \param c
*/
- void init(const Ice::Current &c = Ice::Current());
+ void init(const Ice::Current& c = Ice::Current());
/**
* \brief Does not do anything at the moment.
* \param c
*/
- void start(const Ice::Current &c = Ice::Current());
+ void start(const Ice::Current& c = Ice::Current());
/**
* \brief Does not do anything at the moment.
* \param c
*/
- void stop(const Ice::Current &c = Ice::Current());
- UnitExecutionState getExecutionState(const Ice::Current &c = Ice::Current());
+ void stop(const Ice::Current& c = Ice::Current());
+ UnitExecutionState getExecutionState(const Ice::Current& c = Ice::Current());
// UnitResourceManagementInterface interface
/**
* \brief Triggers the calculation loop for using cartesian velocity. Call once before/after setting a tcp velocity with SetTCPVelocity.
* \param c Ice Context, leave blank.
*/
- void request(const Ice::Current &c = Ice::Current());
+ void request(const Ice::Current& c = Ice::Current());
/**
* \brief Releases and stops the recalculation and updating of joint velocities.
@@ -139,7 +144,7 @@ namespace armarx
* all node set will be deleted in this function.
* \param c Ice Context, leave blank.
*/
- void release(const Ice::Current &c = Ice::Current());
+ void release(const Ice::Current& c = Ice::Current());
protected:
@@ -147,20 +152,23 @@ namespace armarx
void onConnectComponent();
void onDisconnectComponent();
void onExitComponent();
- std::string getDefaultName() const{return "TCPControlUnit";}
+ std::string getDefaultName() const
+ {
+ return "TCPControlUnit";
+ }
// PropertyUser interface
PropertyDefinitionsPtr createPropertyDefinitions();
- static Eigen::VectorXf CalcNullspaceJointDeltas(const Eigen::VectorXf &desiredJointDeltas, const Eigen::MatrixXf &jacobian, const Eigen::MatrixXf &jacobianInverse);
- static Eigen::VectorXf CalcJointLimitAvoidanceDeltas(VirtualRobot::RobotNodeSetPtr robotNodeSet, const Eigen::MatrixXf &jacobian, const Eigen::MatrixXf &jacobianInverse, Eigen::VectorXf desiredJointValues = Eigen::VectorXf());
+ static Eigen::VectorXf CalcNullspaceJointDeltas(const Eigen::VectorXf& desiredJointDeltas, const Eigen::MatrixXf& jacobian, const Eigen::MatrixXf& jacobianInverse);
+ static Eigen::VectorXf CalcJointLimitAvoidanceDeltas(VirtualRobot::RobotNodeSetPtr robotNodeSet, const Eigen::MatrixXf& jacobian, const Eigen::MatrixXf& jacobianInverse, Eigen::VectorXf desiredJointValues = Eigen::VectorXf());
void calcAndSetVelocities();
private:
- static void ContinuousAngles(const Eigen::AngleAxisf &oldAngle, Eigen::AngleAxisf &newAngle, double & offset);
+ static void ContinuousAngles(const Eigen::AngleAxisf& oldAngle, Eigen::AngleAxisf& newAngle, double& offset);
void periodicExec();
void periodicReport();
Eigen::VectorXf calcJointVelocities(VirtualRobot::RobotNodeSetPtr robotNodeSet, Eigen::VectorXf tcpDelta, VirtualRobot::RobotNodePtr refFrame, VirtualRobot::IKSolver::CartesianSelection mode);
- Eigen::VectorXf applyMaxJointVelocity(const Eigen::VectorXf &jointVelocity, float maxJointVelocity);
+ Eigen::VectorXf applyMaxJointVelocity(const Eigen::VectorXf& jointVelocity, float maxJointVelocity);
float maxJointVelocity;
int cycleTime;
@@ -216,48 +224,54 @@ namespace armarx
// KinematicUnitListener interface
protected:
- void reportControlModeChanged(const NameControlModeMap &, bool, const Ice::Current &);
- void reportJointAngles(const NameValueMap &jointAngles, bool, const Ice::Current &);
- void reportJointVelocities(const NameValueMap &jointVel, bool, const Ice::Current &);
- void reportJointTorques(const NameValueMap &, bool, const Ice::Current &);
+ void reportControlModeChanged(const NameControlModeMap&, bool, const Ice::Current&);
+ void reportJointAngles(const NameValueMap& jointAngles, bool, const Ice::Current&);
+ void reportJointVelocities(const NameValueMap& jointVel, bool, const Ice::Current&);
+ void reportJointTorques(const NameValueMap&, bool, const Ice::Current&);
void reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c);
- void reportJointCurrents(const NameValueMap &, bool, const Ice::Current &);
- void reportJointMotorTemperatures(const NameValueMap &, bool, const Ice::Current &);
- void reportJointStatuses(const NameStatusMap &, bool, const Ice::Current &);
+ void reportJointCurrents(const NameValueMap&, bool, const Ice::Current&);
+ void reportJointMotorTemperatures(const NameValueMap&, bool, const Ice::Current&);
+ void reportJointStatuses(const NameStatusMap&, bool, const Ice::Current&);
};
class EDifferentialIK : public VirtualRobot::DifferentialIK, virtual public Logging
{
public:
- typedef Eigen::VectorXf (EDifferentialIK::*ComputeFunction)(float);
+ typedef Eigen::VectorXf(EDifferentialIK::*ComputeFunction)(float);
- EDifferentialIK(VirtualRobot::RobotNodeSetPtr rns,VirtualRobot:: RobotNodePtr coordSystem = VirtualRobot::RobotNodePtr(), VirtualRobot::JacobiProvider::InverseJacobiMethod invJacMethod = eSVD);
+ EDifferentialIK(VirtualRobot::RobotNodeSetPtr rns, VirtualRobot:: RobotNodePtr coordSystem = VirtualRobot::RobotNodePtr(), VirtualRobot::JacobiProvider::InverseJacobiMethod invJacMethod = eSVD);
- VirtualRobot::RobotNodePtr getRefFrame(){return coordSystem;}
- int getJacobianRows(){ return nRows;}
+ VirtualRobot::RobotNodePtr getRefFrame()
+ {
+ return coordSystem;
+ }
+ int getJacobianRows()
+ {
+ return nRows;
+ }
Eigen::MatrixXf calcFullJacobian();
void clearGoals();
void setRefFrame(VirtualRobot::RobotNodePtr coordSystem);
- void setGoal(const Eigen::Matrix4f &goal, VirtualRobot::RobotNodePtr tcp, VirtualRobot::IKSolver::CartesianSelection mode, float tolerancePosition, float toleranceRotation, Eigen::VectorXf tcpWeight);
+ void setGoal(const Eigen::Matrix4f& goal, VirtualRobot::RobotNodePtr tcp, VirtualRobot::IKSolver::CartesianSelection mode, float tolerancePosition, float toleranceRotation, Eigen::VectorXf tcpWeight);
void setDOFWeights(Eigen::VectorXf dofWeights);
-// void setTCPWeights(Eigen::VectorXf tcpWeights);
+ // void setTCPWeights(Eigen::VectorXf tcpWeights);
bool computeSteps(float stepSize = 1.f, float mininumChange = 0.01f, int maxNStep = 50);
bool computeSteps(Eigen::VectorXf& resultJointDelta, float stepSize = 1.f, float mininumChange = 0.01f, int maxNStep = 50, ComputeFunction computeFunction = &DifferentialIK::computeStep);
Eigen::VectorXf computeStep(float stepSize);
- void applyDOFWeightsToJacobian(Eigen::MatrixXf &Jacobian);
- void applyTCPWeights(VirtualRobot::RobotNodePtr tcp, Eigen::MatrixXf &partJacobian);
- void applyTCPWeights(Eigen::MatrixXf &invJacobian);
+ void applyDOFWeightsToJacobian(Eigen::MatrixXf& Jacobian);
+ void applyTCPWeights(VirtualRobot::RobotNodePtr tcp, Eigen::MatrixXf& partJacobian);
+ void applyTCPWeights(Eigen::MatrixXf& invJacobian);
float getWeightedError();
float getWeightedErrorPosition(VirtualRobot::SceneObjectPtr tcp);
Eigen::VectorXf computeStepIndependently(float stepSize);
bool solveIK(float stepSize = 1, float minChange = 0.01f, int maxSteps = 50, bool useAlternativeOnFail = false);
protected:
- bool adjustDOFWeightsToJointLimits(const Eigen::VectorXf &plannedJointDeltas);
+ bool adjustDOFWeightsToJointLimits(const Eigen::VectorXf& plannedJointDeltas);
Eigen::VectorXf dofWeights;
std::map<VirtualRobot:: SceneObjectPtr, Eigen::VectorXf> tcpWeights;
diff --git a/source/RobotAPI/components/units/TCPControlUnitObserver.cpp b/source/RobotAPI/components/units/TCPControlUnitObserver.cpp
index 9a9465a9af879902ab94e1f02fcc0f01fce3652d..2c34c81588359653d6c2592568a0c822a8f7a1b1 100644
--- a/source/RobotAPI/components/units/TCPControlUnitObserver.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnitObserver.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,26 +16,27 @@
* @package ArmarX::
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2013
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "TCPControlUnitObserver.h"
-//#include <Core/core/checks/ConditionCheckEqualsPoseWithTolerance.h>
-#include <Core/observers/checks/ConditionCheckUpdated.h>
-#include <Core/observers/checks/ConditionCheckEquals.h>
-#include <Core/observers/checks/ConditionCheckInRange.h>
-#include <Core/observers/checks/ConditionCheckLarger.h>
-#include <Core/observers/checks/ConditionCheckSmaller.h>
+//#include <ArmarXCore/core/checks/ConditionCheckEqualsPoseWithTolerance.h>
+#include <ArmarXCore/observers/checks/ConditionCheckUpdated.h>
+#include <ArmarXCore/observers/checks/ConditionCheckEquals.h>
+#include <ArmarXCore/observers/checks/ConditionCheckInRange.h>
+#include <ArmarXCore/observers/checks/ConditionCheckLarger.h>
+#include <ArmarXCore/observers/checks/ConditionCheckSmaller.h>
#include <RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h>
#include <RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h>
-#include <Core/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#define TCP_POSE_CHANNEL "TCPPose"
#define TCP_TRANS_VELOCITIES_CHANNEL "TCPVelocities"
-namespace armarx {
+namespace armarx
+{
TCPControlUnitObserver::TCPControlUnitObserver()
{
@@ -51,7 +51,7 @@ namespace armarx {
offerConditionCheck("larger", new ConditionCheckLarger());
offerConditionCheck("equals", new ConditionCheckEquals());
offerConditionCheck("smaller", new ConditionCheckSmaller());
- // offerConditionCheck("magnitudeinrange", new ConditionCheckInRange());
+ // offerConditionCheck("magnitudeinrange", new ConditionCheckInRange());
offerConditionCheck("magnitudelarger", new ConditionCheckMagnitudeLarger());
offerConditionCheck("approx", new ConditionCheckApproxPose());
@@ -69,95 +69,116 @@ namespace armarx {
PropertyDefinitionsPtr TCPControlUnitObserver::createPropertyDefinitions()
{
return PropertyDefinitionsPtr(new TCPControlUnitObserverPropertyDefinitions(
- getConfigIdentifier()));
+ getConfigIdentifier()));
}
- void TCPControlUnitObserver::reportTCPPose(const FramedPoseBaseMap &poseMap, const Ice::Current &)
+ void TCPControlUnitObserver::reportTCPPose(const FramedPoseBaseMap& poseMap, const Ice::Current&)
{
ScopedLock lock(dataMutex);
-// ARMARX_INFO << deactivateSpam() << "new tcp poses reported";
+ // ARMARX_INFO << deactivateSpam() << "new tcp poses reported";
FramedPoseBaseMap::const_iterator it = poseMap.begin();
- for(; it != poseMap.end(); it++)
+
+ for (; it != poseMap.end(); it++)
{
FramedPosePtr vec = FramedPosePtr::dynamicCast(it->second);
- const std::string &tcpName = it->first;
- if(!existsDataField(TCP_POSE_CHANNEL, tcpName))
+ const std::string& tcpName = it->first;
+
+ if (!existsDataField(TCP_POSE_CHANNEL, tcpName))
+ {
offerDataFieldWithDefault(TCP_POSE_CHANNEL, tcpName, Variant(it->second), "Pose of " + tcpName);
+ }
else
+ {
setDataField(TCP_POSE_CHANNEL, tcpName, Variant(it->second));
+ }
+
updateChannel(TCP_POSE_CHANNEL);
- if(!existsChannel(tcpName))
+
+ if (!existsChannel(tcpName))
{
offerChannel(tcpName, "pose components of " + tcpName);
- offerDataFieldWithDefault(tcpName,"x", Variant(vec->position->x), "X axis");
- offerDataFieldWithDefault(tcpName,"y", Variant(vec->position->y), "Y axis");
- offerDataFieldWithDefault(tcpName,"z", Variant(vec->position->z), "Z axis");
- offerDataFieldWithDefault(tcpName,"qx", Variant(vec->orientation->qx), "Quaternion part x");
- offerDataFieldWithDefault(tcpName,"qy", Variant(vec->orientation->qy), "Quaternion part y");
- offerDataFieldWithDefault(tcpName,"qz", Variant(vec->orientation->qz), "Quaternion part z");
- offerDataFieldWithDefault(tcpName,"qw", Variant(vec->orientation->qw), "Quaternion part w");
- offerDataFieldWithDefault(tcpName,"frame", Variant(vec->frame), "Reference Frame");
+ offerDataFieldWithDefault(tcpName, "x", Variant(vec->position->x), "X axis");
+ offerDataFieldWithDefault(tcpName, "y", Variant(vec->position->y), "Y axis");
+ offerDataFieldWithDefault(tcpName, "z", Variant(vec->position->z), "Z axis");
+ offerDataFieldWithDefault(tcpName, "qx", Variant(vec->orientation->qx), "Quaternion part x");
+ offerDataFieldWithDefault(tcpName, "qy", Variant(vec->orientation->qy), "Quaternion part y");
+ offerDataFieldWithDefault(tcpName, "qz", Variant(vec->orientation->qz), "Quaternion part z");
+ offerDataFieldWithDefault(tcpName, "qw", Variant(vec->orientation->qw), "Quaternion part w");
+ offerDataFieldWithDefault(tcpName, "frame", Variant(vec->frame), "Reference Frame");
}
else
{
- setDataField(tcpName,"x", Variant(vec->position->x));
- setDataField(tcpName,"y", Variant(vec->position->y));
- setDataField(tcpName,"z", Variant(vec->position->z));
- setDataField(tcpName,"qx", Variant(vec->orientation->qx));
- setDataField(tcpName,"qy", Variant(vec->orientation->qy));
- setDataField(tcpName,"qz", Variant(vec->orientation->qz));
- setDataField(tcpName,"qw", Variant(vec->orientation->qw));
- setDataField(tcpName,"frame", Variant(vec->frame));
+ setDataField(tcpName, "x", Variant(vec->position->x));
+ setDataField(tcpName, "y", Variant(vec->position->y));
+ setDataField(tcpName, "z", Variant(vec->position->z));
+ setDataField(tcpName, "qx", Variant(vec->orientation->qx));
+ setDataField(tcpName, "qy", Variant(vec->orientation->qy));
+ setDataField(tcpName, "qz", Variant(vec->orientation->qz));
+ setDataField(tcpName, "qw", Variant(vec->orientation->qw));
+ setDataField(tcpName, "frame", Variant(vec->frame));
}
+
updateChannel(tcpName);
}
}
- void TCPControlUnitObserver::reportTCPVelocities(const FramedDirectionMap &tcpTranslationVelocities, const FramedDirectionMap &tcpOrientationVelocities, const Ice::Current &)
+ void TCPControlUnitObserver::reportTCPVelocities(const FramedDirectionMap& tcpTranslationVelocities, const FramedDirectionMap& tcpOrientationVelocities, const Ice::Current&)
{
ScopedLock lock(dataMutex);
FramedDirectionMap::const_iterator it = tcpTranslationVelocities.begin();
- for(; it != tcpTranslationVelocities.end(); it++)
+
+ for (; it != tcpTranslationVelocities.end(); it++)
{
FramedDirectionPtr vec = FramedDirectionPtr::dynamicCast(it->second);
FramedDirectionPtr vecOri;
FramedDirectionMap::const_iterator itOri = tcpOrientationVelocities.find(it->first);
- if(itOri != tcpOrientationVelocities.end())
+
+ if (itOri != tcpOrientationVelocities.end())
+ {
vecOri = FramedDirectionPtr::dynamicCast(itOri->second);
- const std::string &tcpName = it->first;
+ }
+
+ const std::string& tcpName = it->first;
ARMARX_CHECK_EXPRESSION(vec->frame == vecOri->frame);
- if(!existsDataField(TCP_TRANS_VELOCITIES_CHANNEL, tcpName))
+ if (!existsDataField(TCP_TRANS_VELOCITIES_CHANNEL, tcpName))
+ {
offerDataFieldWithDefault(TCP_TRANS_VELOCITIES_CHANNEL, tcpName, Variant(it->second), "Pose of " + tcpName);
+ }
else
+ {
setDataField(TCP_TRANS_VELOCITIES_CHANNEL, tcpName, Variant(it->second));
+ }
+
updateChannel(TCP_TRANS_VELOCITIES_CHANNEL);
- const std::string channelName = tcpName+"Velocities";
- if(!existsChannel(channelName))
+ const std::string channelName = tcpName + "Velocities";
+
+ if (!existsChannel(channelName))
{
offerChannel(channelName, "pose components of " + tcpName);
- offerDataFieldWithDefault(channelName,"x", Variant(vec->x), "X axis");
- offerDataFieldWithDefault(channelName,"y", Variant(vec->y), "Y axis");
- offerDataFieldWithDefault(channelName,"z", Variant(vec->z), "Z axis");
- offerDataFieldWithDefault(channelName,"roll", Variant(vecOri->x), "Roll");
- offerDataFieldWithDefault(channelName,"pitch", Variant(vecOri->y), "Pitch");
- offerDataFieldWithDefault(channelName,"yaw", Variant(vecOri->z), "Yaw");
- offerDataFieldWithDefault(channelName,"frame", Variant(vecOri->frame), "Reference Frame");
+ offerDataFieldWithDefault(channelName, "x", Variant(vec->x), "X axis");
+ offerDataFieldWithDefault(channelName, "y", Variant(vec->y), "Y axis");
+ offerDataFieldWithDefault(channelName, "z", Variant(vec->z), "Z axis");
+ offerDataFieldWithDefault(channelName, "roll", Variant(vecOri->x), "Roll");
+ offerDataFieldWithDefault(channelName, "pitch", Variant(vecOri->y), "Pitch");
+ offerDataFieldWithDefault(channelName, "yaw", Variant(vecOri->z), "Yaw");
+ offerDataFieldWithDefault(channelName, "frame", Variant(vecOri->frame), "Reference Frame");
}
else
{
- setDataField(channelName,"x", Variant(vec->x));
- setDataField(channelName,"y", Variant(vec->y));
- setDataField(channelName,"z", Variant(vec->z));
- setDataField(channelName,"roll", Variant(vecOri->x));
- setDataField(channelName,"pitch", Variant(vecOri->y));
- setDataField(channelName,"yaw", Variant(vecOri->z));
- setDataField(channelName,"frame", Variant(vec->frame));
+ setDataField(channelName, "x", Variant(vec->x));
+ setDataField(channelName, "y", Variant(vec->y));
+ setDataField(channelName, "z", Variant(vec->z));
+ setDataField(channelName, "roll", Variant(vecOri->x));
+ setDataField(channelName, "pitch", Variant(vecOri->y));
+ setDataField(channelName, "yaw", Variant(vecOri->z));
+ setDataField(channelName, "frame", Variant(vec->frame));
}
+
updateChannel(channelName);
}
diff --git a/source/RobotAPI/components/units/TCPControlUnitObserver.h b/source/RobotAPI/components/units/TCPControlUnitObserver.h
index e8af6aaf86700be5e58d956b405cf2005356ca61..e3903b39e30d60d91a30acaea2d75e245f5e824f 100644
--- a/source/RobotAPI/components/units/TCPControlUnitObserver.h
+++ b/source/RobotAPI/components/units/TCPControlUnitObserver.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,28 +16,29 @@
* @package ArmarX::
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2013
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#ifndef _ARMARX_TCPCONTROLUNITOBSERVER_H
#define _ARMARX_TCPCONTROLUNITOBSERVER_H
-#include <Core/observers/Observer.h>
+#include <ArmarXCore/observers/Observer.h>
#include <RobotAPI/interface/units/TCPControlUnit.h>
-namespace armarx {
+namespace armarx
+{
/**
* \class TCPControlUnitObserverPropertyDefinitions
* \brief
*/
class TCPControlUnitObserverPropertyDefinitions:
- public ComponentPropertyDefinitions
+ public ComponentPropertyDefinitions
{
public:
TCPControlUnitObserverPropertyDefinitions(std::string prefix):
ComponentPropertyDefinitions(prefix)
{
- defineRequiredProperty<std::string>("TCPControlUnitName","Name of the TCPControlUnit");
+ defineRequiredProperty<std::string>("TCPControlUnitName", "Name of the TCPControlUnit");
}
};
@@ -53,14 +53,17 @@ namespace armarx {
* Available condition checks are: *updated*, *equals*, *approx*, *larger*, *smaller* and *magnitudelarger*.
*/
class TCPControlUnitObserver :
- virtual public Observer,
- virtual public TCPControlUnitObserverInterface
+ virtual public Observer,
+ virtual public TCPControlUnitObserverInterface
{
public:
TCPControlUnitObserver();
// framework hooks
- virtual std::string getDefaultName() const { return "TCPControlUnitObserver"; }
+ virtual std::string getDefaultName() const
+ {
+ return "TCPControlUnitObserver";
+ }
void onInitObserver();
void onConnectObserver();
@@ -71,8 +74,8 @@ namespace armarx {
public:
// TCPControlUnitListener interface
- void reportTCPPose(const FramedPoseBaseMap &poseMap, const Ice::Current &c = Ice::Current());
- void reportTCPVelocities(const FramedDirectionMap &tcpTranslationVelocities, const FramedDirectionMap &tcpOrientationVelocities, const Ice::Current &c = Ice::Current());
+ void reportTCPPose(const FramedPoseBaseMap& poseMap, const Ice::Current& c = Ice::Current());
+ void reportTCPVelocities(const FramedDirectionMap& tcpTranslationVelocities, const FramedDirectionMap& tcpOrientationVelocities, const Ice::Current& c = Ice::Current());
Mutex dataMutex;
};
diff --git a/source/RobotAPI/gui-plugins/CMakeLists.txt b/source/RobotAPI/gui-plugins/CMakeLists.txt
index a28c3cba32952879bbbc36d7a6182a54eac57986..423ec3285d801635b8d00309258cebcc9683a053 100644
--- a/source/RobotAPI/gui-plugins/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/CMakeLists.txt
@@ -1,12 +1,9 @@
add_subdirectory(KinematicUnitPlugin)
-
add_subdirectory(HandUnitPlugin)
add_subdirectory(PlatformUnitPlugin)
add_subdirectory(SensorActorWidgetsPlugin)
add_subdirectory(HapticUnitPlugin)
add_subdirectory(RobotViewerPlugin)
-add_subdirectory(RobotIKPlugin)
-#add_subdirectory(ObjectExaminerPlugin)
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/HandUnitPlugin/CMakeLists.txt
index 6bed53b72473a1516a251bfad620ca64a30a96fe..08df5c4fc989202a524b3987e304e83a1eaeb21c 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/CMakeLists.txt
@@ -27,11 +27,11 @@ set(GUI_UIS
HandUnitConfigDialog.ui
)
-set(COMPONENT_LIBS RobotAPIUnits ArmarXInterfaces ${Simox_LIBRARIES})
+set(COMPONENT_LIBS RobotAPIUnits ArmarXCoreInterfaces ${Simox_LIBRARIES})
+
+
-set(LIB_VERSION 0.1.0)
-set(LIB_SOVERSION 0)
if (ArmarXGui_FOUND)
- armarx_gui_library(HandUnitGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" "${LIB_VERSION}" "${LIB_SOVERSION}")
+ armarx_gui_library(HandUnitGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" )
endif()
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.cpp b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.cpp
index 831e9b33631f98dd92cdad52cf84ef059a6b74c6..1c29574a9c4a0e85d4de52ed1528f5beba14066a 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.cpp
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -27,7 +26,7 @@
#include <RobotAPI/components/units/HandUnit.h>
#include <IceUtil/UUID.h>
-armarx::HandUnitConfigDialog::HandUnitConfigDialog(QWidget *parent) :
+armarx::HandUnitConfigDialog::HandUnitConfigDialog(QWidget* parent) :
QDialog(parent),
ui(new Ui::HandUnitConfigDialog),
uuid(IceUtil::generateUUID())
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h
index 3a13864f4448f85715c0e03a36ac88d732f32b2f..3dad9189a3231bb20cd479fff5b09ff09efc6749 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,11 +25,12 @@
#include <QDialog>
-#include <Core/core/IceManager.h>
+#include <ArmarXCore/core/IceManager.h>
-#include <Gui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
-namespace Ui {
+namespace Ui
+{
class HandUnitConfigDialog;
}
@@ -43,17 +43,20 @@ namespace armarx
Q_OBJECT
public:
- explicit HandUnitConfigDialog(QWidget *parent = 0);
+ explicit HandUnitConfigDialog(QWidget* parent = 0);
~HandUnitConfigDialog();
protected:
// ManagedIceObject interface
- std::string getDefaultName() const { return "HandUnitConfigDialog" + uuid;}
+ std::string getDefaultName() const
+ {
+ return "HandUnitConfigDialog" + uuid;
+ }
void onInitComponent();
void onConnectComponent();
private:
- Ui::HandUnitConfigDialog *ui;
+ Ui::HandUnitConfigDialog* ui;
IceProxyFinderBase* proxyFinder;
std::string uuid;
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
index 41d7d68b6116d476855e372273366e86755a0df2..11628ca2e20f32473b81d9bdc6f1b30a2d60ae5b 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
@@ -1,7 +1,7 @@
#include "HandUnitGuiPlugin.h"
#include "HandUnitConfigDialog.h"
#include "ui_HandUnitConfigDialog.h"
-#include <Core/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
// Qt headers
#include <Qt>
@@ -11,7 +11,7 @@
#include <QLineEdit>
#include <QMessageBox>
-#include <Core/observers/variant/SingleTypeVariantList.h>
+#include <ArmarXCore/observers/variant/SingleTypeVariantList.h>
using namespace armarx;
@@ -50,7 +50,7 @@ void HandUnitWidget::onConnectComponent()
handName = handUnitProxy->getHandName();
// @@@ In simulation hand is called 'Hand L'/'Hand R'. On 3b Hand is called 'TCP R'
- if(handName != "Hand L" && handName != "Hand R" && handName != "TCP L" && handName != "TCP R")
+ if (handName != "Hand L" && handName != "Hand R" && handName != "TCP L" && handName != "TCP R")
{
//QMessageBox::warning(NULL, "Hand not supported", QString("Hand with name \"") + QString::fromStdString(handName) + " \" is not suppored.");
ARMARX_WARNING << "Hand with name \"" << handName << "\" is not supported.";
@@ -61,11 +61,13 @@ void HandUnitWidget::onConnectComponent()
SingleTypeVariantListPtr preshapeStrings = SingleTypeVariantListPtr::dynamicCast(handUnitProxy->getShapeNames());
QStringList list;
int preshapeCount = preshapeStrings->getSize();
+
for (int i = 0; i < preshapeCount; ++i)
{
std::string shape = ((preshapeStrings->getVariant(i))->get<std::string>());
list << QString::fromStdString(shape);
}
+
ui.comboPreshapes->clear();
ui.comboPreshapes->addItems(list);
}
@@ -81,12 +83,13 @@ void HandUnitWidget::onExitComponent()
QPointer<QDialog> HandUnitWidget::getConfigDialog(QWidget* parent)
{
- if(!dialog)
+ if (!dialog)
{
dialog = new HandUnitConfigDialog(parent);
//dialog->ui->editHandUnitName->setText(QString::fromStdString(handUnitProxyName));
//dialog->ui->editHandName->setText(QString::fromStdString(handName));
}
+
return qobject_cast<HandUnitConfigDialog*>(dialog);
}
@@ -102,21 +105,22 @@ void HandUnitWidget::preshapeHand()
void HandUnitWidget::setJointAngles()
{
- if(!handUnitProxy)
+ if (!handUnitProxy)
{
ARMARX_WARNING << "invalid proxy";
return;
}
- if(!setJointAnglesFlag)
+ if (!setJointAnglesFlag)
{
return;
}
+
setJointAnglesFlag = false;
NameValueMap ja;
- if(handName == "Hand L" || handName == "TCP L")
+ if (handName == "Hand L" || handName == "TCP L")
{
ja["Hand Palm 2 L"] = ui.horizontalSliderPalm->value() * M_PI / 180;
ja["Index L J0"] = ui.horizontalSliderIndexJ0->value() * M_PI / 180;
@@ -131,7 +135,7 @@ void HandUnitWidget::setJointAngles()
ja["Pinky L J0"] = rinkyValue;
ja["Pinky L J1"] = rinkyValue;
}
- else if(handName == "Hand R" || handName == "TCP R")
+ else if (handName == "Hand R" || handName == "TCP R")
{
ja["Hand Palm 2 R"] = ui.horizontalSliderPalm->value() * M_PI / 180;
ja["Index R J0"] = ui.horizontalSliderIndexJ0->value() * M_PI / 180;
@@ -185,13 +189,13 @@ void HandUnitWidget::setPreshape(std::string preshape)
handUnitProxy->setShape(preshape);
}
-void HandUnitWidget::loadSettings(QSettings *settings)
+void HandUnitWidget::loadSettings(QSettings* settings)
{
handUnitProxyName = settings->value("handUnitProxyName", QString::fromStdString(handUnitProxyName)).toString().toStdString();
handName = settings->value("handName", QString::fromStdString(handName)).toString().toStdString();
}
-void HandUnitWidget::saveSettings(QSettings *settings)
+void HandUnitWidget::saveSettings(QSettings* settings)
{
settings->setValue("handUnitProxyName", QString::fromStdString(handUnitProxyName));
settings->setValue("handName", QString::fromStdString(handName));
@@ -221,26 +225,26 @@ void HandUnitWidget::connectSlots()
-void armarx::HandUnitWidget::reportHandShaped(const std::string &handName, const std::string &handShapeName, const Ice::Current &)
+void armarx::HandUnitWidget::reportHandShaped(const std::string& handName, const std::string& handShapeName, const Ice::Current&)
{
ARMARX_IMPORTANT << handName << ": " << handShapeName;
}
-void armarx::HandUnitWidget::reportNewHandShapeName(const std::string &handName, const std::string &handShapeName, const Ice::Current &)
+void armarx::HandUnitWidget::reportNewHandShapeName(const std::string& handName, const std::string& handShapeName, const Ice::Current&)
{
ARMARX_IMPORTANT << handName << ": " << handShapeName;
}
-void armarx::HandUnitWidget::reportJointAngles(const armarx::NameValueMap &actualJointAngles, const Ice::Current &c)
+void armarx::HandUnitWidget::reportJointAngles(const armarx::NameValueMap& actualJointAngles, const Ice::Current& c)
{
}
-void armarx::HandUnitWidget::reportJointPressures(const armarx::NameValueMap &actualJointPressures, const Ice::Current &c)
+void armarx::HandUnitWidget::reportJointPressures(const armarx::NameValueMap& actualJointPressures, const Ice::Current& c)
{
}
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
index d3706a9128d5504c3500eef63c26fec3a195e367..b28665be31d178f915f633b45e15bb14b678976a 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Component::ObjectExaminerGuiPlugin
* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
* @copyright 2012
-* @license http://www.gnu.org/licenses/gpl.txt
+* @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -27,9 +26,9 @@
/* ArmarX headers */
#include "ui_HandUnitGuiPlugin.h"
-#include <Core/core/Component.h>
-#include <Gui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <Gui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
#include <RobotAPI/interface/units/HandUnitInterface.h>
@@ -38,7 +37,7 @@
#include <string>
-#include <Core/core/services/tasks/PeriodicTask.h>
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
namespace armarx
@@ -51,7 +50,7 @@ namespace armarx
\see HandUnitWidget
*/
class HandUnitGuiPlugin :
- public ArmarXGuiPlugin
+ public ArmarXGuiPlugin
{
public:
HandUnitGuiPlugin();
@@ -62,23 +61,20 @@ namespace armarx
};
/*!
- * \class HandUnitWidget
+ * \page RobotAPI-GuiPlugins-HandUnitWidget HandUnitGuiPlugin
* \brief With this widget the HandUnit can be controlled.
* \image html HandUnitGUI.png
* You can either select a preshape from the drop-down-menu on top or set each
* joint individually.
* When you add the widget to the Gui, you need to specify the following parameters:
- *
+ *
* Parameter Name | Example Value | Required? | Description
* :---------------- | :-------------: | :-------------- |:--------------------
* Proxy | LeftHandUnit | Yes | The hand unit you want to control.
- *
- * \ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
- * \see HandUnitGuiPlugin
*/
class HandUnitWidget :
- public ArmarXComponentWidgetController,
- public HandUnitListener
+ public ArmarXComponentWidgetController,
+ public HandUnitListener
{
Q_OBJECT
public:
@@ -93,17 +89,23 @@ namespace armarx
virtual void onExitComponent();
// HandUnitListener interface
- void reportHandShaped(const std::string &, const std::string &, const Ice::Current &);
- void reportNewHandShapeName(const std::string &, const std::string &, const Ice::Current &);
+ void reportHandShaped(const std::string&, const std::string&, const Ice::Current&);
+ void reportNewHandShapeName(const std::string&, const std::string&, const Ice::Current&);
// inherited of ArmarXWidget
- virtual QString getWidgetName() const { return "RobotControl.HandUnitGUI"; }
- virtual QIcon getWidgetIcon() const { return QIcon("://icons/hand.svg"); }
+ virtual QString getWidgetName() const
+ {
+ return "RobotControl.HandUnitGUI";
+ }
+ virtual QIcon getWidgetIcon() const
+ {
+ return QIcon("://icons/hand.svg");
+ }
QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
- virtual void loadSettings(QSettings * settings);
- virtual void saveSettings(QSettings * settings);
+ virtual void loadSettings(QSettings* settings);
+ virtual void saveSettings(QSettings* settings);
void configured();
public slots:
@@ -140,8 +142,8 @@ namespace armarx
// HandUnitListener interface
public:
- void reportJointAngles(const::armarx::NameValueMap &actualJointAngles, const Ice::Current &);
- void reportJointPressures(const::armarx::NameValueMap &actualJointPressures, const Ice::Current &);
+ void reportJointAngles(const::armarx::NameValueMap& actualJointAngles, const Ice::Current&);
+ void reportJointPressures(const::armarx::NameValueMap& actualJointPressures, const Ice::Current&);
};
typedef boost::shared_ptr<HandUnitWidget> HandUnitGuiPluginPtr;
}
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/HapticUnitPlugin/CMakeLists.txt
index 9caeeee68f7beded8305dce337f2fa83c8c02904..2c9d477b35b77e4b6cbc2558cd6df738803670fe 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/CMakeLists.txt
@@ -42,11 +42,11 @@ set(GUI_UIS
MatrixDisplayWidget.ui
)
-set(COMPONENT_LIBS RobotAPIUnits ArmarXInterfaces ArmarXCoreEigen3Variants ${Simox_LIBRARIES})
+set(COMPONENT_LIBS RobotAPIUnits ArmarXCoreInterfaces ArmarXCoreEigen3Variants ${Simox_LIBRARIES})
+
+
-set(LIB_VERSION 0.1.0)
-set(LIB_SOVERSION 0)
if (ArmarXGui_FOUND)
- armarx_gui_library(HapticUnitGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" "${LIB_VERSION}" "${LIB_SOVERSION}")
+ armarx_gui_library(HapticUnitGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" )
endif()
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.cpp b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.cpp
index 55aefcec1a51f80f8fda01b5a69d70936f58f859..d450ab1607339c95e83fe9eea17976c5d1ab35b7 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.cpp
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,14 +16,14 @@
* @package ArmarX::
* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "HapticUnitConfigDialog.h"
#include "ui_HapticUnitConfigDialog.h"
-armarx::HapticUnitConfigDialog::HapticUnitConfigDialog(QWidget *parent) :
+armarx::HapticUnitConfigDialog::HapticUnitConfigDialog(QWidget* parent) :
QDialog(parent),
ui(new Ui::HapticUnitConfigDialog)
{
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.h
index 1e7f3f94ae20a38593e6104f74dec8b20f9f2f63..3592cf3244d74024dc6ac1bb486ba892b1dea84c 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,7 +25,8 @@
#include <QDialog>
-namespace Ui {
+namespace Ui
+{
class HapticUnitConfigDialog;
}
@@ -38,11 +38,11 @@ namespace armarx
Q_OBJECT
public:
- explicit HapticUnitConfigDialog(QWidget *parent = 0);
+ explicit HapticUnitConfigDialog(QWidget* parent = 0);
~HapticUnitConfigDialog();
private:
- Ui::HapticUnitConfigDialog *ui;
+ Ui::HapticUnitConfigDialog* ui;
//friend class HapticUnitWidget;
};
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.cpp
index 78208f7189a63fa974c173035642662d0b9bcf38..a3437fbd79e0b255c956d7bfc3383a9746faf56b 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.cpp
@@ -2,10 +2,10 @@
#include "HapticUnitConfigDialog.h"
#include "ui_HapticUnitConfigDialog.h"
-#include <Core/core/system/ArmarXDataPath.h>
-#include <Core/observers/variant/SingleTypeVariantList.h>
-#include <Core/util/variants/eigen3/MatrixVariant.h>
-#include <Core/observers/variant/TimestampVariant.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/observers/variant/SingleTypeVariantList.h>
+#include <ArmarXCore/util/variants/eigen3/MatrixVariant.h>
+#include <ArmarXCore/observers/variant/TimestampVariant.h>
#include <IceUtil/Time.h>
@@ -75,10 +75,11 @@ void HapticUnitWidget::onDisconnectComponent()
QPointer<QDialog> HapticUnitWidget::getConfigDialog(QWidget* parent)
{
- if(!dialog)
+ if (!dialog)
{
dialog = new HapticUnitConfigDialog(parent);
}
+
return qobject_cast<HapticUnitConfigDialog*>(dialog);
}
@@ -91,7 +92,7 @@ void HapticUnitWidget::configured()
void HapticUnitWidget::updateData()
{
- for(std::pair<std::string, MatrixDatafieldDisplayWidget*> pair : matrixDisplays)
+ for (std::pair<std::string, MatrixDatafieldDisplayWidget*> pair : matrixDisplays)
{
//MatrixFloatPtr matrix = VariantPtr::dynamicCast(hapticObserverProxy->getDataField(new DataFieldIdentifier(hapticObserverProxyName, pair.first, "matrix")))->get<MatrixFloat>();
std::string name = hapticObserverProxy->getDataField(new DataFieldIdentifier(hapticObserverProxyName, pair.first, "name"))->getString();
@@ -109,7 +110,11 @@ void HapticUnitWidget::onContextMenu(QPoint point)
{
QMenu* contextMenu = new QMenu(getWidget());
MatrixDatafieldDisplayWidget* matrixDisplay = qobject_cast<MatrixDatafieldDisplayWidget*>(sender());
- if(!matrixDisplay) return;
+
+ if (!matrixDisplay)
+ {
+ return;
+ }
QAction* setDeviceTag = contextMenu->addAction(tr("Set Device Tag"));
@@ -118,14 +123,15 @@ void HapticUnitWidget::onContextMenu(QPoint point)
std::string channelName = channelNameReverseMap.at(matrixDisplay);
std::string deviceName = deviceNameReverseMap.at(matrixDisplay);
- if(action == setDeviceTag)
+ if (action == setDeviceTag)
{
std::string tag = hapticObserverProxy->getDataField(new DataFieldIdentifier(hapticObserverProxyName, channelName, "name"))->getString();
bool ok;
QString newTag = QInputDialog::getText(getWidget(), tr("Set Device Tag"),
- QString::fromStdString("New Tag for Device '" + deviceName + "'"), QLineEdit::Normal,
- QString::fromStdString(tag), &ok);
+ QString::fromStdString("New Tag for Device '" + deviceName + "'"), QLineEdit::Normal,
+ QString::fromStdString(tag), &ok);
+
if (ok && !newTag.isEmpty())
{
ARMARX_IMPORTANT_S << "requesting to set new device tag for " << deviceName << ": " << newTag.toStdString();
@@ -137,12 +143,12 @@ void HapticUnitWidget::onContextMenu(QPoint point)
}
-void HapticUnitWidget::loadSettings(QSettings *settings)
+void HapticUnitWidget::loadSettings(QSettings* settings)
{
}
-void HapticUnitWidget::saveSettings(QSettings *settings)
+void HapticUnitWidget::saveSettings(QSettings* settings)
{
}
@@ -162,14 +168,17 @@ void HapticUnitWidget::createMatrixWidgets()
void HapticUnitWidget::updateDisplayWidgets()
{
- QLayoutItem *child;
- while ((child = ui.gridLayoutDisplay->takeAt(0)) != 0) {
+ QLayoutItem* child;
+
+ while ((child = ui.gridLayoutDisplay->takeAt(0)) != 0)
+ {
delete child;
}
int i = 0;
ChannelRegistry channels = hapticObserverProxy->getAvailableChannels(false);
- for(std::pair<std::string, ChannelRegistryEntry> pair : channels)
+
+ for (std::pair<std::string, ChannelRegistryEntry> pair : channels)
{
std::string channelName = pair.first;
MatrixDatafieldDisplayWidget* matrixDisplay = new MatrixDatafieldDisplayWidget(new DatafieldRef(hapticObserverProxy, channelName, "matrix"), hapticObserverProxy, getWidget());
@@ -188,7 +197,7 @@ void HapticUnitWidget::updateDisplayWidgets()
void HapticUnitWidget::onCheckBoxOffsetFilterStateChanged(int state)
{
//ARMARX_IMPORTANT << "onCheckBoxOffsetFilterToggled: " << state;
- for(std::pair<std::string, MatrixDatafieldDisplayWidget*> pair : matrixDisplays)
+ for (std::pair<std::string, MatrixDatafieldDisplayWidget*> pair : matrixDisplays)
{
pair.second->enableOffsetFilter(ui.checkBoxOffsetFilter->isChecked());
}
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
index a466e382eeffebd3c1534d7ff888cff3ed50b786..36201d76340544e05115f1666599fb957a946e99 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Component::ObjectExaminerGuiPlugin
* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
* @copyright 2012
-* @license http://www.gnu.org/licenses/gpl.txt
+* @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -27,10 +26,10 @@
/* ArmarX headers */
#include "ui_HapticUnitGuiPlugin.h"
-#include <Core/core/Component.h>
-#include <Gui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <Gui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <Core/observers/Observer.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXCore/observers/Observer.h>
/* Qt headers */
#include <QtGui/QMainWindow>
@@ -46,14 +45,8 @@ namespace armarx
{
class HapticUnitConfigDialog;
- /*!
- \class HapticUnitGuiPlugin
- \brief This plugin provides a widget with which the HapticUnit can be controlled.
-
- \see HapticUnitWidget
- */
class HapticUnitGuiPlugin :
- public ArmarXGuiPlugin
+ public ArmarXGuiPlugin
{
public:
HapticUnitGuiPlugin();
@@ -64,14 +57,11 @@ namespace armarx
};
/*!
- \class HapticUnitWidget
+ \page RobotAPI-GuiPlugins-HapticUnitPlugin HapticUnitPlugin
\brief With this widget the HapticUnit can be controlled.
-
- \ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
- \see HapticUnitGuiPlugin
*/
class HapticUnitWidget :
- public ArmarXComponentWidgetController
+ public ArmarXComponentWidgetController
{
Q_OBJECT
public:
@@ -86,12 +76,18 @@ namespace armarx
virtual void onDisconnectComponent();
// inherited of ArmarXWidget
- virtual QString getWidgetName() const { return "RobotControl.HapticUnitGUI"; }
- virtual QIcon getWidgetIcon() const { return QIcon("://icons/haptic-hand.png"); }
+ virtual QString getWidgetName() const
+ {
+ return "RobotControl.HapticUnitGUI";
+ }
+ virtual QIcon getWidgetIcon() const
+ {
+ return QIcon("://icons/haptic-hand.png");
+ }
QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
- virtual void loadSettings(QSettings * settings);
- virtual void saveSettings(QSettings * settings);
+ virtual void loadSettings(QSettings* settings);
+ virtual void saveSettings(QSettings* settings);
void configured();
public slots:
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.cpp b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.cpp
index 655237021a4aa994631d08be2a760feb7eea6ab1..ba3f893e94292aaedab26bf463ee311196d20c40 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.cpp
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.cpp
@@ -20,7 +20,7 @@ void MatrixDatafieldDisplayWidget::updateRequested()
update();
}
-MatrixDatafieldDisplayWidget::MatrixDatafieldDisplayWidget(DatafieldRefBasePtr matrixDatafield, ObserverInterfacePrx observer, QWidget *parent) :
+MatrixDatafieldDisplayWidget::MatrixDatafieldDisplayWidget(DatafieldRefBasePtr matrixDatafield, ObserverInterfacePrx observer, QWidget* parent) :
QWidget(parent)
{
this->matrixDatafield = DatafieldRefPtr::dynamicCast(matrixDatafield);
@@ -31,7 +31,8 @@ MatrixDatafieldDisplayWidget::MatrixDatafieldDisplayWidget(DatafieldRefBasePtr m
this->data(0, 0) = 0;
enableOffsetFilter(false);
QColor c[] = {QColor::fromHsv(0, 0, 0), QColor::fromHsv(240, 255, 255), QColor::fromHsv(270, 255, 255), QColor::fromHsv(300, 255, 255),
- QColor::fromHsv(0, 255, 255), QColor::fromHsv(30, 255, 255), QColor::fromHsv(60, 255, 255)};
+ QColor::fromHsv(0, 255, 255), QColor::fromHsv(30, 255, 255), QColor::fromHsv(60, 255, 255)
+ };
this->colors = std::valarray<QColor>(c, sizeof c / sizeof c[0]);
//connect(this, SIGNAL(updateData(MatrixXf)), SLOT(setData(MatrixXf)), Qt::QueuedConnection);
@@ -43,13 +44,13 @@ MatrixDatafieldDisplayWidget::~MatrixDatafieldDisplayWidget()
//delete ui;
}
-void MatrixDatafieldDisplayWidget::paintEvent(QPaintEvent *)
+void MatrixDatafieldDisplayWidget::paintEvent(QPaintEvent*)
{
mtx.lock();
int paddingBottom = 40;
QPainter painter(this);
- painter.fillRect(rect(), QColor::fromRgb(0,0,0));
+ painter.fillRect(rect(), QColor::fromRgb(0, 0, 0));
int matrixHeight = (height() - paddingBottom) * 8 / 10;
int percentilesHeight = (height() - paddingBottom) - matrixHeight;
drawMatrix(QRect(0, 0, width(), matrixHeight), painter);
@@ -64,7 +65,7 @@ void MatrixDatafieldDisplayWidget::paintEvent(QPaintEvent *)
void MatrixDatafieldDisplayWidget::enableOffsetFilter(bool enabled)
{
- if(enabled)
+ if (enabled)
{
this->matrixDatafieldOffsetFiltered = DatafieldRefPtr::dynamicCast(observer->createFilteredDatafield(DatafieldFilterBasePtr(new filters::OffsetFilter()), matrixDatafield));
}
@@ -72,23 +73,33 @@ void MatrixDatafieldDisplayWidget::enableOffsetFilter(bool enabled)
{
this->matrixDatafieldOffsetFiltered = this->matrixDatafield;
}
+
this->percentilesDatafield = DatafieldRefPtr::dynamicCast(observer->createFilteredDatafield(DatafieldFilterBasePtr(new filters::MatrixPercentilesFilter(50)), matrixDatafieldOffsetFiltered));
}
QColor MatrixDatafieldDisplayWidget::getColor(float value, float min, float max)
{
value = (value - min) / (max - min) * (colors.size() - 1);
- if(value < 0) return colors[0];
- if(value >= colors.size() - 1) return colors[colors.size() - 1];
+
+ if (value < 0)
+ {
+ return colors[0];
+ }
+
+ if (value >= colors.size() - 1)
+ {
+ return colors[colors.size() - 1];
+ }
+
int i = (int)value;
float f2 = value - i;
- float f1 = 1- f2;
+ float f1 = 1 - f2;
QColor c1 = colors[i];
QColor c2 = colors[i + 1];
return QColor((int)(c1.red() * f1 + c2.red() * f2), (int)(c1.green() * f1 + c2.green() * f2), (int)(c1.blue() * f1 + c2.blue() * f2));
}
-void MatrixDatafieldDisplayWidget::drawMatrix(const QRect &target, QPainter &painter)
+void MatrixDatafieldDisplayWidget::drawMatrix(const QRect& target, QPainter& painter)
{
int pixelSize = std::min(target.width() / data.cols(), target.height() / data.rows());
int dx = (target.width() - pixelSize * data.cols()) / 2;
@@ -96,9 +107,9 @@ void MatrixDatafieldDisplayWidget::drawMatrix(const QRect &target, QPainter &pai
painter.setFont(QFont("Arial", 8));
painter.setPen(QColor(Qt::GlobalColor::gray));
- for(int x = 0; x < data.cols(); x++)
+ for (int x = 0; x < data.cols(); x++)
{
- for(int y = 0; y < data.rows(); y++)
+ for (int y = 0; y < data.rows(); y++)
{
QRect target = QRect(dx + x * pixelSize, dy + y * pixelSize, pixelSize, pixelSize);
painter.fillRect(target, getColor(data(y, x), min, max));
@@ -107,12 +118,13 @@ void MatrixDatafieldDisplayWidget::drawMatrix(const QRect &target, QPainter &pai
}
}
-void MatrixDatafieldDisplayWidget::drawPercentiles(const QRect &target, QPainter &painter)
+void MatrixDatafieldDisplayWidget::drawPercentiles(const QRect& target, QPainter& painter)
{
painter.setPen(QColor(Qt::GlobalColor::gray));
painter.drawRect(target);
painter.setPen(QColor(Qt::GlobalColor::red));
- for(int i = 0; i < (int)percentiles.size() - 1; i++)
+
+ for (int i = 0; i < (int)percentiles.size() - 1; i++)
{
int x1 = i * target.width() / (percentiles.size() - 1);
int x2 = (i + 1) * target.width() / (percentiles.size() - 1);
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h
index edc77d914906d094e59a2a89a28dc14f7ae33b75..76c0d573ccc91d4d850e96476ec4604b05fb1d31 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h
@@ -5,14 +5,15 @@
#include <QMutex>
#include <eigen3/Eigen/Dense>
#include <valarray>
-#include <Core/interface/observers/ObserverInterface.h>
-#include <Core/observers/variant/DatafieldRef.h>
+#include <ArmarXCore/interface/observers/ObserverInterface.h>
+#include <ArmarXCore/observers/variant/DatafieldRef.h>
using Eigen::MatrixXf;
-namespace Ui {
-class MatrixDatafieldDisplayWidget;
+namespace Ui
+{
+ class MatrixDatafieldDisplayWidget;
}
namespace armarx
@@ -28,9 +29,9 @@ namespace armarx
void updateRequested();
public:
- explicit MatrixDatafieldDisplayWidget(DatafieldRefBasePtr matrixDatafield, ObserverInterfacePrx observer, QWidget *parent = 0);
+ explicit MatrixDatafieldDisplayWidget(DatafieldRefBasePtr matrixDatafield, ObserverInterfacePrx observer, QWidget* parent = 0);
~MatrixDatafieldDisplayWidget();
- void paintEvent(QPaintEvent *);
+ void paintEvent(QPaintEvent*);
void setRange(float min, float max)
@@ -41,7 +42,8 @@ namespace armarx
void enableOffsetFilter(bool enabled);
QColor getColor(float value, float min, float max);
- void invokeUpdate(){
+ void invokeUpdate()
+ {
emit doUpdate();
}
void setInfoOverlay(QString infoOverlay)
@@ -52,11 +54,11 @@ namespace armarx
}
private:
- void drawMatrix(const QRect &target, QPainter &painter);
- void drawPercentiles(const QRect &target, QPainter &painter);
+ void drawMatrix(const QRect& target, QPainter& painter);
+ void drawPercentiles(const QRect& target, QPainter& painter);
private:
- Ui::MatrixDatafieldDisplayWidget *ui;
+ Ui::MatrixDatafieldDisplayWidget* ui;
MatrixXf data;
std::vector<float> percentiles;
float min, max;
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.cpp b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.cpp
index dc1124675d390a9ba43e9a57726cc3321e67f998..85bfd0506081b94bb2f9664ce9fc8948646d3a33 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.cpp
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.cpp
@@ -8,7 +8,7 @@
using namespace std;
using namespace armarx;
-MatrixDisplayWidget::MatrixDisplayWidget(QWidget *parent) :
+MatrixDisplayWidget::MatrixDisplayWidget(QWidget* parent) :
QWidget(parent),
ui(new Ui::MatrixDisplayWidget)
{
@@ -18,7 +18,8 @@ MatrixDisplayWidget::MatrixDisplayWidget(QWidget *parent) :
this->data = MatrixXf(1, 1);
this->data(0, 0) = 0;
QColor c[] = {QColor::fromHsv(0, 0, 0), QColor::fromHsv(240, 255, 255), QColor::fromHsv(270, 255, 255), QColor::fromHsv(300, 255, 255),
- QColor::fromHsv(0, 255, 255), QColor::fromHsv(30, 255, 255), QColor::fromHsv(60, 255, 255)};
+ QColor::fromHsv(0, 255, 255), QColor::fromHsv(30, 255, 255), QColor::fromHsv(60, 255, 255)
+ };
this->colors = std::valarray<QColor>(c, sizeof c / sizeof c[0]);
//connect(this, SIGNAL(updateData(MatrixXf)), SLOT(setData(MatrixXf)), Qt::QueuedConnection);
@@ -30,7 +31,7 @@ MatrixDisplayWidget::~MatrixDisplayWidget()
delete ui;
}
-void MatrixDisplayWidget::paintEvent(QPaintEvent *)
+void MatrixDisplayWidget::paintEvent(QPaintEvent*)
{
mtx.lock();
MatrixXf data = this->data;
@@ -41,18 +42,19 @@ void MatrixDisplayWidget::paintEvent(QPaintEvent *)
int dx = (width() - pixelSize * data.cols()) / 2;
int dy = (height() - pixelSize * data.rows()) / 2;
QPainter painter(this);
- painter.fillRect(rect(), QColor::fromRgb(0,0,0));
+ painter.fillRect(rect(), QColor::fromRgb(0, 0, 0));
painter.setFont(QFont("Arial", 8));
- for(int x = 0; x < data.cols(); x++)
+ for (int x = 0; x < data.cols(); x++)
{
- for(int y = 0; y < data.rows(); y++)
+ for (int y = 0; y < data.rows(); y++)
{
QRect target = QRect(dx + x * pixelSize, dy + y * pixelSize, pixelSize, pixelSize);
painter.fillRect(target, getColor(data(y, x), min, max));
painter.drawText(target, Qt::AlignCenter, QString::number(data(y, x)));
}
}
+
painter.setFont(QFont("Arial", 12));
painter.drawText(rect(), Qt::AlignBottom | Qt::AlignRight, infoOverlay);
@@ -62,11 +64,20 @@ void MatrixDisplayWidget::paintEvent(QPaintEvent *)
QColor MatrixDisplayWidget::getColor(float value, float min, float max)
{
value = (value - min) / (max - min) * (colors.size() - 1);
- if(value < 0) return colors[0];
- if(value >= colors.size() - 1) return colors[colors.size() - 1];
+
+ if (value < 0)
+ {
+ return colors[0];
+ }
+
+ if (value >= colors.size() - 1)
+ {
+ return colors[colors.size() - 1];
+ }
+
int i = (int)value;
float f2 = value - i;
- float f1 = 1- f2;
+ float f1 = 1 - f2;
QColor c1 = colors[i];
QColor c2 = colors[i + 1];
return QColor((int)(c1.red() * f1 + c2.red() * f2), (int)(c1.green() * f1 + c2.green() * f2), (int)(c1.blue() * f1 + c2.blue() * f2));
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h
index 33480b6a827ba490812895638a9ca7febca3124c..6354d65c7d01d0e15cade9187c41dbd4823a99d1 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h
@@ -8,8 +8,9 @@
using Eigen::MatrixXf;
-namespace Ui {
-class MatrixDisplayWidget;
+namespace Ui
+{
+ class MatrixDisplayWidget;
}
namespace armarx
@@ -31,9 +32,9 @@ namespace armarx
}
public:
- explicit MatrixDisplayWidget(QWidget *parent = 0);
+ explicit MatrixDisplayWidget(QWidget* parent = 0);
~MatrixDisplayWidget();
- void paintEvent(QPaintEvent *);
+ void paintEvent(QPaintEvent*);
@@ -44,7 +45,8 @@ namespace armarx
}
QColor getColor(float value, float min, float max);
- void invokeUpdate(){
+ void invokeUpdate()
+ {
emit doUpdate();
}
void setInfoOverlay(QString infoOverlay)
@@ -55,7 +57,7 @@ namespace armarx
}
private:
- Ui::MatrixDisplayWidget *ui;
+ Ui::MatrixDisplayWidget* ui;
MatrixXf data;
float min, max;
std::valarray<QColor> colors;
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/CMakeLists.txt
index e901507cfff19d9c499ce4eec8fc097485364bfb..bb44103a45f2fdce5cf3e469399f0b907576cd1b 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/CMakeLists.txt
@@ -38,9 +38,9 @@ set(GUI_UIS
set(COMPONENT_LIBS RobotAPIUnits DebugDrawer ${Simox_LIBRARIES})
-set(LIB_VERSION 0.1.0)
-set(LIB_SOVERSION 0)
+
+
if (ArmarXGui_FOUND)
- armarx_gui_library(KinematicUnitGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" "${LIB_VERSION}" "${LIB_SOVERSION}")
+ armarx_gui_library(KinematicUnitGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" )
endif()
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.cpp
index 4b0c7d6209d149221a18abc78d882bfd769ea56b..80817194c02ed3b42a3d0b7e21a16293bc45348e 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -34,11 +33,11 @@
#include <IceUtil/UUID.h>
-#include <Gui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
using namespace armarx;
-KinematicUnitConfigDialog::KinematicUnitConfigDialog(QWidget *parent) :
+KinematicUnitConfigDialog::KinematicUnitConfigDialog(QWidget* parent) :
QDialog(parent),
ui(new Ui::KinematicUnitConfigDialog),
uuid(IceUtil::generateUUID())
@@ -49,18 +48,18 @@ KinematicUnitConfigDialog::KinematicUnitConfigDialog(QWidget *parent) :
fileDialog->setFileMode(QFileDialog::ExistingFiles);
QStringList fileTypes;
fileTypes << tr("XML (*.xml)")
- << tr("All Files (*.*)");
+ << tr("All Files (*.*)");
fileDialog->setNameFilters(fileTypes);
connect(ui->btnSelectModelFile, SIGNAL(clicked()), fileDialog, SLOT(show()));
connect(fileDialog, SIGNAL(accepted()), this, SLOT(modelFileSelected()));
connect(this->ui->buttonBox, SIGNAL(accepted()), this, SLOT(verifyConfig()));
- ui->buttonBox->button( QDialogButtonBox::Ok )->setDefault(true);
+ ui->buttonBox->button(QDialogButtonBox::Ok)->setDefault(true);
proxyFinder = new IceProxyFinder<KinematicUnitInterfacePrx>(this);
- proxyFinder->setSearchMask("*Unit");
- ui->gridLayout->addWidget(proxyFinder, 2,1,1,2);
+ proxyFinder->setSearchMask("*");
+ ui->gridLayout->addWidget(proxyFinder, 2, 1, 1, 2);
topicFinder = new IceTopicFinder(this);
topicFinder->setSearchMask("*RobotState");
- ui->gridLayout->addWidget(topicFinder, 3,1,1,2);
+ ui->gridLayout->addWidget(topicFinder, 3, 1, 1, 2);
}
@@ -95,14 +94,18 @@ void KinematicUnitConfigDialog::modelFileSelected()
void KinematicUnitConfigDialog::verifyConfig()
{
- if(proxyFinder->getSelectedProxyName().trimmed().length() == 0)
+ if (proxyFinder->getSelectedProxyName().trimmed().length() == 0)
{
QMessageBox::critical(this, "Invalid Configuration", "The proxy name must not be empty");
}
- else if(topicFinder->getSelectedProxyName().trimmed().length() == 0)
+ else if (topicFinder->getSelectedProxyName().trimmed().length() == 0)
+ {
QMessageBox::critical(this, "Invalid Configuration", "The topic name must not be empty");
+ }
else
+ {
this->accept();
+ }
}
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
index 59fdf584f1285a3ad0905322fab7c3d47377ed82..a6990bacf5483eea1b60311a1aff04bae05fecf3 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -27,16 +26,18 @@
#include <QDialog>
#include <QFileDialog>
-#include <Core/core/services/tasks/RunningTask.h>
-#include <Core/core/IceManager.h>
-#include <Core/core/ManagedIceObject.h>
-#include <Gui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
+#include <ArmarXCore/core/services/tasks/RunningTask.h>
+#include <ArmarXCore/core/IceManager.h>
+#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
-namespace Ui {
+namespace Ui
+{
class KinematicUnitConfigDialog;
}
-namespace armarx{
+namespace armarx
+{
class KinematicUnitConfigDialog :
public QDialog,
virtual public ManagedIceObject
@@ -44,11 +45,14 @@ namespace armarx{
Q_OBJECT
public:
- explicit KinematicUnitConfigDialog(QWidget *parent = 0);
+ explicit KinematicUnitConfigDialog(QWidget* parent = 0);
~KinematicUnitConfigDialog();
// inherited from ManagedIceObject
- std::string getDefaultName() const { return "KinematicUnitConfigDialog" + uuid;}
+ std::string getDefaultName() const
+ {
+ return "KinematicUnitConfigDialog" + uuid;
+ }
void onInitComponent();
void onConnectComponent();
void onExitComponent();
@@ -63,7 +67,7 @@ namespace armarx{
IceProxyFinderBase* proxyFinder;
IceProxyFinderBase* topicFinder;
- Ui::KinematicUnitConfigDialog *ui;
+ Ui::KinematicUnitConfigDialog* ui;
QFileDialog* fileDialog;
std::string uuid;
friend class KinematicUnitWidgetController;
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 0791cf16dd584128744c355a894d996888955641..636b567c2345a9f74b66b1422e80e7c846b7b4fb 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -3,9 +3,10 @@
#include <RobotAPI/gui-plugins/KinematicUnitPlugin/ui_KinematicUnitConfigDialog.h>
-#include <Core/core/system/ArmarXDataPath.h>
-#include <Core/core/ArmarXObjectScheduler.h>
-#include <Core/core/ArmarXManager.h>
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/ArmarXObjectScheduler.h>
+#include <ArmarXCore/core/ArmarXManager.h>
#include <VirtualRobot/XML/RobotIO.h>
@@ -33,6 +34,10 @@
#include <boost/filesystem.hpp>
+#define KINEMATIC_UNIT_FILE_DEFAULT std::string("RobotAPI/robots/Armar3/ArmarIII.xml")
+#define KINEMATIC_UNIT_FILE_DEFAULT_PACKAGE std::string("RobotAPI")
+#define KINEMATIC_UNIT_NAME_DEFAULT "Robot"
+#define TOPIC_NAME_DEFAULT "RobotState"
using namespace armarx;
using namespace VirtualRobot;
@@ -44,7 +49,6 @@ KinematicUnitGuiPlugin::KinematicUnitGuiPlugin()
addWidget<KinematicUnitWidgetController>();
}
-
KinematicUnitWidgetController::KinematicUnitWidgetController() :
kinematicUnitNode(nullptr),
selectedControlMode(ePositionControl)
@@ -59,17 +63,16 @@ KinematicUnitWidgetController::KinematicUnitWidgetController() :
ui.tableJointList->setItemDelegateForColumn(eTabelColumnAngleProgressbar, &delegate);
}
-
void KinematicUnitWidgetController::onInitComponent()
{
- dirty_squaresum_old.resize(5,0);
+ dirty_squaresum_old.resize(5, 0);
ARMARX_INFO << flush;
verbose = true;
-// // parsing properties from ice config
-// kinematicUnitFile = getProperty<std::string>("RobotFileName").getValue();
-// robotNodeSetName = getProperty<std::string>("RobotNodeSetName").getValue();
-// kinematicUnitName = getProperty<std::string>("KinematicUnitName").getValue();
+ // // parsing properties from ice config
+ // kinematicUnitFile = getProperty<std::string>("RobotFileName").getValue();
+ // robotNodeSetName = getProperty<std::string>("RobotNodeSetName").getValue();
+ // kinematicUnitName = getProperty<std::string>("KinematicUnitName").getValue();
ARMARX_INFO << "RobotFileName: " << kinematicUnitFile << flush;
ARMARX_INFO << "RobotNodeSetName: " << robotNodeSetName << flush;
@@ -79,11 +82,16 @@ void KinematicUnitWidgetController::onInitComponent()
// init
robot = loadRobotFile(kinematicUnitFile);
- if(!robot)
+
+ if (!robot)
{
getObjectScheduler()->terminate();
- if(getWidget()->parentWidget())
+
+ if (getWidget()->parentWidget())
+ {
getWidget()->parentWidget()->close();
+ }
+
std::cout << "returning" << std::endl;
return;
}
@@ -97,7 +105,7 @@ void KinematicUnitWidgetController::onInitComponent()
robotNodeSet = getRobotNodeSet(robot, robotNodeSetName);
- if(!robotNodeSet)
+ if (!robotNodeSet)
{
ARMARX_ERROR << "Failed to obtain RobotNodeSet '" << robotNodeSetName << "'";
}
@@ -105,13 +113,18 @@ void KinematicUnitWidgetController::onInitComponent()
// create the debugdrawer component
std::string debugDrawerComponentName = "KinemticUnitGUIDebugDrawer_" + getName();
ARMARX_INFO << "Creating component " << debugDrawerComponentName;
- debugDrawer = Component::create<DebugDrawerComponent>(properties,debugDrawerComponentName);
+ debugDrawer = Component::create<DebugDrawerComponent>(properties, debugDrawerComponentName);
+
if (mutex3D)
{
//ARMARX_IMPORTANT << "mutex3d:" << mutex3D.get();
debugDrawer->setMutex(mutex3D);
- } else
+ }
+ else
+ {
ARMARX_ERROR << " No 3d mutex available...";
+ }
+
ArmarXManagerPtr m = getArmarXManager();
m->addObject(debugDrawer, false);
@@ -138,8 +151,11 @@ void KinematicUnitWidgetController::onInitComponent()
void KinematicUnitWidgetController::onConnectComponent()
{
- if(!robot)
+ if (!robot)
+ {
return;
+ }
+
ARMARX_INFO << flush;
// get proxy to send commands to the kinematic unit
@@ -176,45 +192,60 @@ void KinematicUnitWidgetController::onExitComponent()
}
}
-/*
- if (debugDrawer && debugDrawer->getObjectScheduler())
- {
- ARMARX_INFO << "Removing DebugDrawer component...";
- debugDrawer->getObjectScheduler()->terminate();
- ARMARX_INFO << "Removing DebugDrawer component...done";
- }
-*/
+ /*
+ if (debugDrawer && debugDrawer->getObjectScheduler())
+ {
+ ARMARX_INFO << "Removing DebugDrawer component...";
+ debugDrawer->getObjectScheduler()->terminate();
+ ARMARX_INFO << "Removing DebugDrawer component...done";
+ }
+ */
}
QPointer<QDialog> KinematicUnitWidgetController::getConfigDialog(QWidget* parent)
{
- if(!dialog)
+ if (!dialog)
{
dialog = new KinematicUnitConfigDialog(parent);
dialog->setName(dialog->getDefaultName());
- boost::filesystem::path dir(KINEMATIC_UNIT_FILE_DEFAULT);
+
+ armarx::CMakePackageFinder finder(KINEMATIC_UNIT_FILE_DEFAULT_PACKAGE);
+
+ if (!finder.packageFound())
+ {
+ ARMARX_WARNING << "ArmarX Package " << KINEMATIC_UNIT_FILE_DEFAULT_PACKAGE << " has not been found!";
+ }
+ else
+ {
+ ARMARX_INFO << "Adding to datapaths: " << finder.getDataDir();
+ armarx::ArmarXDataPath::addDataPaths(finder.getDataDir());
+ }
+
+ std::string filename = KINEMATIC_UNIT_FILE_DEFAULT;
+ ArmarXDataPath::getAbsolutePath(filename, filename);
+
+ boost::filesystem::path dir(filename);
+
dialog->fileDialog->setDirectory(QString::fromStdString(dir.remove_filename().string()));
- dialog->ui->editRobotFilepath->setText(QString::fromStdString(KINEMATIC_UNIT_FILE_DEFAULT));
+ dialog->ui->editRobotFilepath->setText(QString::fromStdString(filename));
dialog->ui->ediRobotNodeSetName->setText(KINEMATIC_UNIT_NAME_DEFAULT);
}
+
return qobject_cast<KinematicUnitConfigDialog*>(dialog);
}
+void KinematicUnitWidgetController::configured()
+{
+ ARMARX_VERBOSE << "KinematicUnitWidget::configured()";
+ kinematicUnitFile = dialog->ui->editRobotFilepath->text().toStdString();
+ robotNodeSetName = dialog->ui->ediRobotNodeSetName->text().toStdString();
+ kinematicUnitName = dialog->proxyFinder->getSelectedProxyName().toStdString();
+ topicName = dialog->topicFinder->getSelectedProxyName().toStdString();
+}
-
- void KinematicUnitWidgetController::configured()
- {
- ARMARX_VERBOSE << "KinematicUnitWidget::configured()";
- kinematicUnitFile = dialog->ui->editRobotFilepath->text().toStdString();
- robotNodeSetName = dialog->ui->ediRobotNodeSetName->text().toStdString();
- kinematicUnitName = dialog->proxyFinder->getSelectedProxyName().toStdString();
- topicName = dialog->topicFinder->getSelectedProxyName().toStdString();
- }
-
-
-void KinematicUnitWidgetController::loadSettings(QSettings *settings)
+void KinematicUnitWidgetController::loadSettings(QSettings* settings)
{
kinematicUnitFile = settings->value("kinematicUnitFile", QString::fromStdString(KINEMATIC_UNIT_FILE_DEFAULT)).toString().toStdString();
ArmarXDataPath::getAbsolutePath(kinematicUnitFile, kinematicUnitFile);
@@ -223,13 +254,15 @@ void KinematicUnitWidgetController::loadSettings(QSettings *settings)
topicName = settings->value("topicName", TOPIC_NAME_DEFAULT).toString().toStdString();
}
-void KinematicUnitWidgetController::saveSettings(QSettings *settings)
+void KinematicUnitWidgetController::saveSettings(QSettings* settings)
{
std::string robFile = kinematicUnitFile;
+
try
{
robFile = ArmarXDataPath::getRelativeArmarXPath(robFile);
- } catch (...)
+ }
+ catch (...)
{
ARMARX_WARNING << "Could not get relative filename, using full filename:" << robFile;
}
@@ -245,7 +278,7 @@ void KinematicUnitWidgetController::showVisuLayers(bool show)
{
if (debugDrawer)
{
- if(show)
+ if (show)
{
debugDrawer->enableAllLayers();
}
@@ -253,7 +286,7 @@ void KinematicUnitWidgetController::showVisuLayers(bool show)
{
debugDrawer->disableAllLayers();
}
- }
+ }
}
void KinematicUnitWidgetController::updateGuiElements()
@@ -263,21 +296,15 @@ void KinematicUnitWidgetController::updateGuiElements()
void KinematicUnitWidgetController::modelUpdateCB()
{
-
}
-SoNode *KinematicUnitWidgetController::getScene()
+SoNode* KinematicUnitWidgetController::getScene()
{
- //if(kinematicUnitNode)
- // std::cout << "returning scene=" << kinematicUnitNode->getName() << std::endl;
return rootVisu;
}
-
-
void KinematicUnitWidgetController::connectSlots()
{
-
connect(ui.pushButtonKinematicUnitPos1, SIGNAL(clicked()), this, SLOT(kinematicUnitZeroPosition()));
connect(ui.nodeListComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectJoint(int)));
@@ -291,12 +318,6 @@ void KinematicUnitWidgetController::connectSlots()
connect(ui.showDebugLayer, SIGNAL(toggled(bool)), this, SLOT(showVisuLayers(bool)), Qt::QueuedConnection);
- /* connect(this, SIGNAL(jointAnglesReported()), this, SLOT(updateJointAnglesTable()), Qt::QueuedConnection);
- connect(this, SIGNAL(jointVelocitiesReported()), this, SLOT(updateJointVelocitiesTable()), Qt::QueuedConnection);
- connect(this, SIGNAL(jointTorquesReported()), this, SLOT(updateJointTorquesTable()), Qt::QueuedConnection);
- connect(this, SIGNAL(jointControlModesReported()), this, SLOT(updateControlModesTable()), Qt::QueuedConnection);
- connect(this, SIGNAL(jointMotorTemperaturesReported()), this, SLOT(updateJointMotorTemperaturesTable()), Qt::QueuedConnection);
- */
connect(this, SIGNAL(jointAnglesReported()), this, SLOT(updateJointAnglesTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointVelocitiesReported()), this, SLOT(updateJointVelocitiesTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointTorquesReported()), this, SLOT(updateJointTorquesTable()), Qt::QueuedConnection);
@@ -305,8 +326,7 @@ void KinematicUnitWidgetController::connectSlots()
connect(this, SIGNAL(jointMotorTemperaturesReported()), this, SLOT(updateJointMotorTemperaturesTable()), Qt::QueuedConnection);
connect(this, SIGNAL(jointStatusesReported()), this, SLOT(updateJointStatusesTable()), Qt::QueuedConnection);
-
- connect(ui.tableJointList, SIGNAL(cellDoubleClicked(int,int)), this, SLOT(selectJointFromTableWidget(int,int)), Qt::QueuedConnection);
+ connect(ui.tableJointList, SIGNAL(cellDoubleClicked(int, int)), this, SLOT(selectJointFromTableWidget(int, int)), Qt::QueuedConnection);
}
void KinematicUnitWidgetController::initializeUi()
@@ -319,7 +339,7 @@ void KinematicUnitWidgetController::initializeUi()
void KinematicUnitWidgetController::kinematicUnitZeroPosition()
{
- if(!robotNodeSet)
+ if (!robotNodeSet)
{
return;
}
@@ -328,16 +348,18 @@ void KinematicUnitWidgetController::kinematicUnitZeroPosition()
std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
NameValueMap jointAngles;
NameControlModeMap jointModes;
- for (unsigned int i=0;i<rn.size();i++)
+
+ for (unsigned int i = 0; i < rn.size(); i++)
{
jointModes[rn[i]->getName()] = ePositionControl;
- jointAngles[rn[i]->getName()]=0.0f;
+ jointAngles[rn[i]->getName()] = 0.0f;
}
+
kinematicUnitInterfacePrx->switchControlMode(jointModes);
kinematicUnitInterfacePrx->setJointAngles(jointAngles);
//set slider to 0 if position control mode is used
- if(selectedControlMode == ePositionControl)
+ if (selectedControlMode == ePositionControl)
{
ui.horizontalSliderKinematicUnitPos->setSliderPosition(SLIDER_ZERO_POSITION);
}
@@ -355,34 +377,43 @@ void KinematicUnitWidgetController::setControlModePosition()
{
NameControlModeMap jointModes;
selectedControlMode = ePositionControl;
+
if (currentNode)
{
jointModes[currentNode->getName()] = ePositionControl;
-
-
if (kinematicUnitInterfacePrx)
+ {
kinematicUnitInterfacePrx->switchControlMode(jointModes);
+ }
float lo = currentNode->getJointLimitLo() * 180.0 / M_PI;
float hi = currentNode->getJointLimitHi() * 180.0 / M_PI;
- if (hi-lo <= 0.0f)
+
+ if (hi - lo <= 0.0f)
+ {
return;
+ }
+
float pos = currentNode->getJointValue() * 180.0 / M_PI;
ARMARX_INFO << "setting position control for current Node Name: " << currentNode->getName() << " with current value: " << pos;
- // ARMARX_INFO << "current joint position of " << currentNode->getName() << ": " << pos;
+
+ // Setting the slider position to pos will set the position to the slider tick closest to pos
+ // This will initially send a position target with a small delta to the joint.
+ ui.horizontalSliderKinematicUnitPos->blockSignals(true);
+
ui.horizontalSliderKinematicUnitPos->setMaximum(hi);
ui.horizontalSliderKinematicUnitPos->setMinimum(lo);
- // float ticks = (float)(ui.horizontalSliderKinematicUnitPos->maximum() - ui.horizontalSliderKinematicUnitPos->minimum()+1);
- // float posT = (pos-lo) / (hi-lo) * ticks + (float)ui.horizontalSliderKinematicUnitPos->minimum();
ui.horizontalSliderKinematicUnitPos->setSliderPosition((int)(pos));
- }
+ ui.horizontalSliderKinematicUnitPos->blockSignals(false);
+ }
}
void KinematicUnitWidgetController::setControlModeVelocity()
{
NameControlModeMap jointModes;
+
if (currentNode)
{
jointModes[currentNode->getName()] = eVelocityControl;
@@ -392,16 +423,20 @@ void KinematicUnitWidgetController::setControlModeVelocity()
ui.horizontalSliderKinematicUnitPos->setMinimum(-90);
if (kinematicUnitInterfacePrx)
+ {
kinematicUnitInterfacePrx->switchControlMode(jointModes);
+ }
selectedControlMode = eVelocityControl;
}
+
resetSliderInVelocityControl();
}
void KinematicUnitWidgetController::setControlModeTorque()
{
NameControlModeMap jointModes;
+
if (currentNode)
{
jointModes[currentNode->getName()] = eTorqueControl;
@@ -410,8 +445,11 @@ void KinematicUnitWidgetController::setControlModeTorque()
ARMARX_INFO << "setting torque control for current Node Name: " << currentNode->getName() << flush;
if (kinematicUnitInterfacePrx)
+ {
kinematicUnitInterfacePrx->switchControlMode(jointModes);
+ }
}
+
selectedControlMode = eTorqueControl;
}
@@ -420,13 +458,17 @@ VirtualRobot::RobotPtr KinematicUnitWidgetController::loadRobotFile(std::string
VirtualRobot::RobotPtr robot;
if (verbose)
+ {
ARMARX_INFO << "Loading KinematicUnit " << kinematicUnitName << " from " << kinematicUnitFile << " ..." << flush;
+ }
- if (!ArmarXDataPath::getAbsolutePath(fileName,fileName))
+ if (!ArmarXDataPath::getAbsolutePath(fileName, fileName))
{
- ARMARX_INFO << "Could not find Robot XML file with name " << fileName << flush;
+ ARMARX_INFO << "Could not find Robot XML file with name " << fileName << flush;
}
+
robot = RobotIO::loadRobot(fileName);
+
if (!robot)
{
ARMARX_INFO << "Could not find Robot XML file with name " << fileName << "(" << kinematicUnitName << ")" << flush;
@@ -467,6 +509,7 @@ VirtualRobot::RobotNodeSetPtr KinematicUnitWidgetController::getRobotNodeSet(Vir
}
}
+
return nodeSetPtr;
}
@@ -478,17 +521,20 @@ bool KinematicUnitWidgetController::initGUIComboBox(VirtualRobot::RobotNodeSetPt
if (robotNodeSet)
{
std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
- for (unsigned int i=0;i<rn.size();i++)
+
+ for (unsigned int i = 0; i < rn.size(); i++)
{
// ARMARX_INFO << "adding item to joint combo box" << rn[i]->getName() << flush;
QString name(rn[i]->getName().c_str());
ui.nodeListComboBox->addItem(name);
}
+
selectJoint(0);
ui.nodeListComboBox->setCurrentIndex(0);
return true;
}
+
return false;
}
@@ -536,22 +582,22 @@ bool KinematicUnitWidgetController::initGUIJointListTable(VirtualRobot::RobotNod
// fill in joint names
- for (unsigned int i=0;i<rn.size();i++)
+ for (unsigned int i = 0; i < rn.size(); i++)
{
// ARMARX_INFO << "adding item to joint table" << rn[i]->getName() << flush;
QString name(rn[i]->getName().c_str());
- QTableWidgetItem *newItem = new QTableWidgetItem(name);
+ QTableWidgetItem* newItem = new QTableWidgetItem(name);
ui.tableJointList->setItem(i, eTabelColumnName, newItem);
}
// init missing table fields with default values
- for (unsigned int i=0;i<rn.size();i++)
+ for (unsigned int i = 0; i < rn.size(); i++)
{
- for (unsigned int j=1;j<numberOfColumns;j++)
+ for (unsigned int j = 1; j < numberOfColumns; j++)
{
QString state = "--";
- QTableWidgetItem *newItem = new QTableWidgetItem(state);
+ QTableWidgetItem* newItem = new QTableWidgetItem(state);
ui.tableJointList->setItem(i, j, newItem);
}
}
@@ -559,13 +605,14 @@ bool KinematicUnitWidgetController::initGUIJointListTable(VirtualRobot::RobotNod
//hide columns Operation, Error, Enabled and Emergency Stop
//they will be shown when changes occur
// TODO: for some reason the columns are not hidden
- ui.tableJointList->setColumnHidden(eTabelColumnOperation,true);
- ui.tableJointList->setColumnHidden(eTabelColumnError ,true);
- ui.tableJointList->setColumnHidden(eTabelColumnEnabled ,true);
- ui.tableJointList->setColumnHidden(eTabelColumnEmergencyStop ,true);
+ ui.tableJointList->setColumnHidden(eTabelColumnOperation, true);
+ ui.tableJointList->setColumnHidden(eTabelColumnError , true);
+ ui.tableJointList->setColumnHidden(eTabelColumnEnabled , true);
+ ui.tableJointList->setColumnHidden(eTabelColumnEmergencyStop , true);
return true;
}
+
return false;
}
@@ -573,19 +620,23 @@ bool KinematicUnitWidgetController::initGUIJointListTable(VirtualRobot::RobotNod
void KinematicUnitWidgetController::selectJoint(int i)
{
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
- if (!robotNodeSet || i<0 || i>=(int)robotNodeSet->getSize())
+
+ if (!robotNodeSet || i < 0 || i >= (int)robotNodeSet->getSize())
+ {
return;
+ }
currentNode = robotNodeSet->getAllRobotNodes()[i];
+
/*
//ui.lcdNumberKinematicUnitJointValue->display(pos*180.0f/(float)M_PI);
ui.lcdNumberKinematicUnitJointValue->display(posT);
*/
- if(selectedControlMode == ePositionControl)
+ if (selectedControlMode == ePositionControl)
{
setControlModePosition();
}
- else if(selectedControlMode == eVelocityControl)
+ else if (selectedControlMode == eVelocityControl)
{
ui.horizontalSliderKinematicUnitPos->setMaximum(60);
ui.horizontalSliderKinematicUnitPos->setMinimum(-60);
@@ -593,38 +644,40 @@ void KinematicUnitWidgetController::selectJoint(int i)
setControlModeVelocity();
ui.horizontalSliderKinematicUnitPos->setSliderPosition(SLIDER_ZERO_POSITION);
}
- else if(selectedControlMode == eTorqueControl)
+ else if (selectedControlMode == eTorqueControl)
{
ui.horizontalSliderKinematicUnitPos->setMaximum(60);
ui.horizontalSliderKinematicUnitPos->setMinimum(-60);
setControlModeTorque();
ui.horizontalSliderKinematicUnitPos->setSliderPosition(SLIDER_ZERO_POSITION);
}
-
}
void KinematicUnitWidgetController::selectJointFromTableWidget(int row, int column)
{
- if(column == eTabelColumnName)
+ if (column == eTabelColumnName)
{
ui.nodeListComboBox->setCurrentIndex(row);
-// selectJoint(row);
+ // selectJoint(row);
}
}
void KinematicUnitWidgetController::sliderValueChanged(int pos)
{
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+
if (!currentNode)
+ {
return;
+ }
-// float ticks = static_cast<float>(ui.horizontalSliderKinematicUnitPos->maximum() - ui.horizontalSliderKinematicUnitPos->minimum()+1);
+ // float ticks = static_cast<float>(ui.horizontalSliderKinematicUnitPos->maximum() - ui.horizontalSliderKinematicUnitPos->minimum()+1);
float value = static_cast<float>(ui.horizontalSliderKinematicUnitPos->value());
-// float perc = (value - static_cast<float>(ui.horizontalSliderKinematicUnitPos->minimum())) / ticks;
+ // float perc = (value - static_cast<float>(ui.horizontalSliderKinematicUnitPos->minimum())) / ticks;
-// NameControlModeMap::const_iterator it;
-// it = reportedJointControlModes.find(currentNode->getName());
-// const ControlMode currentControlMode = it->second;
+ // NameControlModeMap::const_iterator it;
+ // it = reportedJointControlModes.find(currentNode->getName());
+ // const ControlMode currentControlMode = it->second;
const ControlMode currentControlMode = selectedControlMode;
if (currentControlMode == ePositionControl)
@@ -633,11 +686,11 @@ void KinematicUnitWidgetController::sliderValueChanged(int pos)
//float lo = currentNode->getJointLimitLo();
//float hi = currentNode->getJointLimitHi();
//float result = lo + (hi-lo)*perc;
-
+ //jointAngles[currentNode->getName()] = (perc - 0.5) * 2 * M_PI;
NameValueMap jointAngles;
-// jointAngles[currentNode->getName()] = (perc - 0.5) * 2 * M_PI;
jointAngles[currentNode->getName()] = value / 180.0 * M_PI;
+
if (kinematicUnitInterfacePrx)
{
kinematicUnitInterfacePrx->setJointAngles(jointAngles);
@@ -648,16 +701,18 @@ void KinematicUnitWidgetController::sliderValueChanged(int pos)
{
NameValueMap jointVelocities;
jointVelocities[currentNode->getName()] = value / 180.0 * M_PI;;
+
if (kinematicUnitInterfacePrx)
{
kinematicUnitInterfacePrx->setJointVelocities(jointVelocities);
updateModel();
}
}
- else if(currentControlMode == eTorqueControl)
+ else if (currentControlMode == eTorqueControl)
{
NameValueMap jointTorques;
- jointTorques[currentNode->getName()] = value/10.0f;
+ jointTorques[currentNode->getName()] = value / 10.0f;
+
if (kinematicUnitInterfacePrx)
{
kinematicUnitInterfacePrx->setJointTorques(jointTorques);
@@ -674,19 +729,24 @@ void KinematicUnitWidgetController::sliderValueChanged(int pos)
void KinematicUnitWidgetController::updateControlModesTable()
{
- if(!getWidget() || !robotNodeSet)
+ if (!getWidget() || !robotNodeSet)
+ {
return;
+ }
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
+
for (unsigned int i = 0; i < rn.size(); i++)
{
NameControlModeMap::const_iterator it;
it = reportedJointControlModes.find(rn[i]->getName());
QString state;
- if (it==reportedJointControlModes.end())
+ if (it == reportedJointControlModes.end())
+ {
state = "unknown";
+ }
else
{
ControlMode currentMode = it->second;
@@ -694,14 +754,14 @@ void KinematicUnitWidgetController::updateControlModesTable()
switch (currentMode)
{
- /*case eNoMode:
- state = "None";
- break;
-
- case eUnknownMode:
- state = "Unknown";
- break;
- */
+ /*case eNoMode:
+ state = "None";
+ break;
+
+ case eUnknownMode:
+ state = "Unknown";
+ break;
+ */
case eDisabled:
state = "Disabled";
break;
@@ -734,18 +794,21 @@ void KinematicUnitWidgetController::updateControlModesTable()
}
}
- QTableWidgetItem *newItem = new QTableWidgetItem(state);
+ QTableWidgetItem* newItem = new QTableWidgetItem(state);
ui.tableJointList->setItem(i, eTabelColumnControlMode, newItem);
}
}
void KinematicUnitWidgetController::updateJointStatusesTable()
{
- if(!getWidget() || !robotNodeSet)
+ if (!getWidget() || !robotNodeSet)
+ {
return;
+ }
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
+
for (unsigned int i = 0; i < rn.size(); i++)
{
NameStatusMap::const_iterator it;
@@ -753,32 +816,33 @@ void KinematicUnitWidgetController::updateJointStatusesTable()
JointStatus currentStatus = it->second;
QString state = translateStatus(currentStatus.operation);
- QTableWidgetItem *newItem = new QTableWidgetItem(state);
+ QTableWidgetItem* newItem = new QTableWidgetItem(state);
ui.tableJointList->setItem(i, eTabelColumnOperation, newItem);
state = translateStatus(currentStatus.error);
newItem = new QTableWidgetItem(state);
ui.tableJointList->setItem(i, eTabelColumnError, newItem);
- state = currentStatus.enabled? "X" : "-";
+ state = currentStatus.enabled ? "X" : "-";
newItem = new QTableWidgetItem(state);
ui.tableJointList->setItem(i, eTabelColumnEnabled, newItem);
- state = currentStatus.emergencyStop? "X" : "-";
+ state = currentStatus.emergencyStop ? "X" : "-";
newItem = new QTableWidgetItem(state);
ui.tableJointList->setItem(i, eTabelColumnEmergencyStop, newItem);
}
+
//show columns
- ui.tableJointList->setColumnHidden(eTabelColumnOperation,false);
- ui.tableJointList->setColumnHidden(eTabelColumnError,false);
- ui.tableJointList->setColumnHidden(eTabelColumnEnabled,false);
- ui.tableJointList->setColumnHidden(eTabelColumnEmergencyStop,false);
+ ui.tableJointList->setColumnHidden(eTabelColumnOperation, false);
+ ui.tableJointList->setColumnHidden(eTabelColumnError, false);
+ ui.tableJointList->setColumnHidden(eTabelColumnEnabled, false);
+ ui.tableJointList->setColumnHidden(eTabelColumnEmergencyStop, false);
}
QString KinematicUnitWidgetController::translateStatus(OperationStatus status)
{
- switch(status)
+ switch (status)
{
case eOffline:
return "Offline";
@@ -796,7 +860,7 @@ QString KinematicUnitWidgetController::translateStatus(OperationStatus status)
QString KinematicUnitWidgetController::translateStatus(ErrorStatus status)
{
- switch(status)
+ switch (status)
{
case eOk:
return "Ok";
@@ -814,7 +878,7 @@ QString KinematicUnitWidgetController::translateStatus(ErrorStatus status)
void KinematicUnitWidgetController::updateJointAnglesTable()
{
- if(!robotNodeSet)
+ if (!robotNodeSet)
{
return;
}
@@ -830,12 +894,14 @@ void KinematicUnitWidgetController::updateJointAnglesTable()
NameValueMap::const_iterator it;
RobotNodePtr node = rn[i];
it = reportedJointAngles.find(node->getName());
- if(it == reportedJointAngles.end())
+
+ if (it == reportedJointAngles.end())
{
continue;
}
+
const float currentValue = it->second;
- dirty_squaresum += currentValue*currentValue;
+ dirty_squaresum += currentValue * currentValue;
QModelIndex index = ui.tableJointList->model()->index(i, eTabelColumnAngleProgressbar);
@@ -849,33 +915,41 @@ void KinematicUnitWidgetController::updateJointAnglesTable()
{
updateModel();
dirty_squaresum_old[0] = dirty_squaresum;
-// ARMARX_INFO << "update model" << flush;
+ // ARMARX_INFO << "update model" << flush;
}
}
-void KinematicUnitWidgetController::updateJointVelocitiesTable(){
- if(!getWidget() || !robotNodeSet)
+void KinematicUnitWidgetController::updateJointVelocitiesTable()
+{
+ if (!getWidget() || !robotNodeSet)
+ {
return;
+ }
float dirty_squaresum = 0;
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
QTableWidgetItem* newItem;
+
for (unsigned int i = 0; i < rn.size(); i++)
{
NameValueMap::const_iterator it;
it = reportedJointVelocities.find(rn[i]->getName());
- if(it == reportedJointVelocities.end())
+
+ if (it == reportedJointVelocities.end())
{
continue;
}
+
const float currentValue = it->second;
- dirty_squaresum += currentValue*currentValue;
+ dirty_squaresum += currentValue * currentValue;
const QString Text = QString::number(cutJitter(currentValue));
newItem = new QTableWidgetItem(Text);
ui.tableJointList->setItem(i, eTabelColumnVelocity, newItem);
}
- if ( (fabs(dirty_squaresum_old[1] - dirty_squaresum)) > 0.0000005) {
+
+ if ((fabs(dirty_squaresum_old[1] - dirty_squaresum)) > 0.0000005)
+ {
updateModel();
dirty_squaresum_old[1] = dirty_squaresum;
}
@@ -883,8 +957,10 @@ void KinematicUnitWidgetController::updateJointVelocitiesTable(){
void KinematicUnitWidgetController::updateJointTorquesTable()
{
- if(!getWidget() || !robotNodeSet)
+ if (!getWidget() || !robotNodeSet)
+ {
return;
+ }
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
@@ -894,7 +970,8 @@ void KinematicUnitWidgetController::updateJointTorquesTable()
for (unsigned int i = 0; i < rn.size(); i++)
{
it = reportedJointTorques.find(rn[i]->getName());
- if(it == reportedJointTorques.end())
+
+ if (it == reportedJointTorques.end())
{
continue;
}
@@ -907,8 +984,10 @@ void KinematicUnitWidgetController::updateJointTorquesTable()
void KinematicUnitWidgetController::updateJointCurrentsTable()
{
- if(!getWidget() || !robotNodeSet)
+ if (!getWidget() || !robotNodeSet)
+ {
return;
+ }
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
@@ -918,7 +997,8 @@ void KinematicUnitWidgetController::updateJointCurrentsTable()
for (unsigned int i = 0; i < rn.size(); i++)
{
it = reportedJointCurrents.find(rn[i]->getName());
- if(it == reportedJointCurrents.end())
+
+ if (it == reportedJointCurrents.end())
{
continue;
}
@@ -931,8 +1011,10 @@ void KinematicUnitWidgetController::updateJointCurrentsTable()
void KinematicUnitWidgetController::updateJointMotorTemperaturesTable()
{
- if(!getWidget() || !robotNodeSet)
+ if (!getWidget() || !robotNodeSet)
+ {
return;
+ }
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
@@ -942,7 +1024,8 @@ void KinematicUnitWidgetController::updateJointMotorTemperaturesTable()
for (unsigned int i = 0; i < rn.size(); i++)
{
it = reportedJointMotorTemperatures.find(rn[i]->getName());
- if(it == reportedJointMotorTemperatures.end())
+
+ if (it == reportedJointMotorTemperatures.end())
{
continue;
}
@@ -955,8 +1038,10 @@ void KinematicUnitWidgetController::updateJointMotorTemperaturesTable()
void KinematicUnitWidgetController::reportJointAngles(const NameValueMap& jointAngles, bool aValueChanged, const Ice::Current& c)
{
- if(!aValueChanged && reportedJointAngles.size() > 0)
+ if (!aValueChanged && reportedJointAngles.size() > 0)
+ {
return;
+ }
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
reportedJointAngles = jointAngles;
@@ -965,8 +1050,10 @@ void KinematicUnitWidgetController::reportJointAngles(const NameValueMap& jointA
void KinematicUnitWidgetController::reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged, const Ice::Current& c)
{
- if(!aValueChanged && reportedJointVelocities.size() > 0)
+ if (!aValueChanged && reportedJointVelocities.size() > 0)
+ {
return;
+ }
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
reportedJointVelocities = jointVelocities;
@@ -975,8 +1062,10 @@ void KinematicUnitWidgetController::reportJointVelocities(const NameValueMap& jo
void KinematicUnitWidgetController::reportJointTorques(const NameValueMap& jointTorques, bool aValueChanged, const Ice::Current& c)
{
- if(!aValueChanged && reportedJointTorques.size() > 0)
+ if (!aValueChanged && reportedJointTorques.size() > 0)
+ {
return;
+ }
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
reportedJointTorques = jointTorques;
@@ -984,19 +1073,20 @@ void KinematicUnitWidgetController::reportJointTorques(const NameValueMap& joint
emit jointTorquesReported();
}
-void KinematicUnitWidgetController::reportJointAccelerations(const NameValueMap &jointAccelerations, bool aValueChanged, const Ice::Current &c)
+void KinematicUnitWidgetController::reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c)
{
}
void KinematicUnitWidgetController::reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged, const Ice::Current& c)
{
-// if(!aValueChanged && reportedJointControlModes.size() > 0)
-// return;
+ // if(!aValueChanged && reportedJointControlModes.size() > 0)
+ // return;
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
- for(auto&e : jointModes)
+
+ for (auto & e : jointModes)
{
-// ARMARX_INFO << "Setting jointMode of joint " << e.first << " to " << e.second;
+ // ARMARX_INFO << "Setting jointMode of joint " << e.first << " to " << e.second;
reportedJointControlModes[e.first] = e.second;
}
@@ -1006,8 +1096,10 @@ void KinematicUnitWidgetController::reportControlModeChanged(const NameControlMo
void KinematicUnitWidgetController::reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged, const Ice::Current& c)
{
- if(!aValueChanged && reportedJointCurrents.size() > 0)
+ if (!aValueChanged && reportedJointCurrents.size() > 0)
+ {
return;
+ }
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
reportedJointCurrents = jointCurrents;
@@ -1017,8 +1109,10 @@ void KinematicUnitWidgetController::reportJointCurrents(const NameValueMap& join
void KinematicUnitWidgetController::reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, bool aValueChanged, const Ice::Current& c)
{
- if(!aValueChanged && reportedJointMotorTemperatures.size() > 0)
+ if (!aValueChanged && reportedJointMotorTemperatures.size() > 0)
+ {
return;
+ }
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
reportedJointMotorTemperatures = jointMotorTemperatures;
@@ -1026,10 +1120,12 @@ void KinematicUnitWidgetController::reportJointMotorTemperatures(const NameValue
emit jointMotorTemperaturesReported();
}
-void KinematicUnitWidgetController::reportJointStatuses(const NameStatusMap &jointStatuses, bool aValueChanged, const Ice::Current &)
+void KinematicUnitWidgetController::reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Ice::Current&)
{
- if(!aValueChanged && reportedJointStatuses.size() > 0)
+ if (!aValueChanged && reportedJointStatuses.size() > 0)
+ {
return;
+ }
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
reportedJointStatuses = jointStatuses;
@@ -1040,12 +1136,12 @@ void KinematicUnitWidgetController::reportJointStatuses(const NameStatusMap &joi
void KinematicUnitWidgetController::updateModel()
{
- if(!robotNodeSet)
+ if (!robotNodeSet)
{
return;
}
-// ARMARX_INFO << "updateModel()" << flush;
+ // ARMARX_INFO << "updateModel()" << flush;
boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
std::vector< RobotNodePtr > rn2 = robotNodeSet->getAllRobotNodes();
@@ -1057,12 +1153,14 @@ void KinematicUnitWidgetController::updateModel()
VirtualRobot::RobotNodePtr node = robot->getRobotNode(rn2[i]->getName());
NameValueMap::const_iterator it;
it = reportedJointAngles.find(node->getName());
- if(it != reportedJointAngles.end())
+
+ if (it != reportedJointAngles.end())
{
usedNodes.push_back(node);
jv.push_back(it->second);
}
}
+
robot->setJointValues(usedNodes, jv);
}
@@ -1071,33 +1169,39 @@ void KinematicUnitWidgetController::setMutex3D(boost::shared_ptr<boost::recursiv
//ARMARX_IMPORTANT << "KinematicUnitWidgetController controller " << getInstanceName() << ": set mutex " << mutex3D.get();
this->mutex3D = mutex3D;
+
if (debugDrawer)
+ {
debugDrawer->setMutex(mutex3D);
+ }
}
float KinematicUnitWidgetController::cutJitter(float value)
{
- return (abs(value)<static_cast<float>(ui.jitterThresholdSpinBox->value()))?0:value;
+ return (abs(value) < static_cast<float>(ui.jitterThresholdSpinBox->value())) ? 0 : value;
}
-void RangeValueDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const
+void RangeValueDelegate::paint(QPainter* painter, const QStyleOptionViewItem& option, const QModelIndex& index) const
{
- if (index.column() == KinematicUnitWidgetController::eTabelColumnAngleProgressbar) {
+ if (index.column() == KinematicUnitWidgetController::eTabelColumnAngleProgressbar)
+ {
float jointValue = index.data(KinematicUnitWidgetController::eJointAngleRole).toFloat();
- float loDeg = index.data(KinematicUnitWidgetController::eJointLoRole).toFloat()*180/M_PI;
- float hiDeg = index.data(KinematicUnitWidgetController::eJointHiRole).toFloat()*180/M_PI;
- if(hiDeg-loDeg <= 0)
+ float loDeg = index.data(KinematicUnitWidgetController::eJointLoRole).toFloat() * 180 / M_PI;
+ float hiDeg = index.data(KinematicUnitWidgetController::eJointHiRole).toFloat() * 180 / M_PI;
+
+ if (hiDeg - loDeg <= 0)
{
QStyledItemDelegate::paint(painter, option, index);
return;
}
+
QStyleOptionProgressBarV2 progressBarOption;
progressBarOption.rect = option.rect;
progressBarOption.minimum = loDeg;
progressBarOption.maximum = hiDeg;
- progressBarOption.progress = jointValue*180/M_PI;
+ progressBarOption.progress = jointValue * 180 / M_PI;
progressBarOption.text = QString::number(jointValue);
progressBarOption.textVisible = true;
QPalette pal;
@@ -1106,26 +1210,29 @@ void RangeValueDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
QApplication::style()->drawControl(QStyle::CE_ProgressBar,
&progressBarOption, painter);
-// QProgressBar renderer;
-// float progressPercentage = (jointValue*180.0f/M_PI-loDeg)/(hiDeg - loDeg);
-// ARMARX_INFO_S << VAROUT(progressPercentage);
-// // Customize style using style-sheet..
-// QColor color((int)(255*progressPercentage), ((int)(255*(1-progressPercentage))), 0);
-// QString style = renderer.styleSheet();
-// style += "QProgressBar::chunk { background-color: " + color.name() + "}";
-// ARMARX_INFO_S << VAROUT(style);
-// renderer.resize(option.rect.size());
-// renderer.setMinimum(loDeg);
-// renderer.setMaximum(hiDeg);
-// renderer.setValue(jointValue*180.0f);
-
-// renderer.setStyleSheet(style);
-// painter->save();
-// painter->translate(option.rect.topLeft());
-// renderer.render(painter);
-// painter->restore();
- } else
+ // QProgressBar renderer;
+ // float progressPercentage = (jointValue*180.0f/M_PI-loDeg)/(hiDeg - loDeg);
+ // ARMARX_INFO_S << VAROUT(progressPercentage);
+ // // Customize style using style-sheet..
+ // QColor color((int)(255*progressPercentage), ((int)(255*(1-progressPercentage))), 0);
+ // QString style = renderer.styleSheet();
+ // style += "QProgressBar::chunk { background-color: " + color.name() + "}";
+ // ARMARX_INFO_S << VAROUT(style);
+ // renderer.resize(option.rect.size());
+ // renderer.setMinimum(loDeg);
+ // renderer.setMaximum(hiDeg);
+ // renderer.setValue(jointValue*180.0f);
+
+ // renderer.setStyleSheet(style);
+ // painter->save();
+ // painter->translate(option.rect.topLeft());
+ // renderer.render(painter);
+ // painter->restore();
+ }
+ else
+ {
QStyledItemDelegate::paint(painter, option, index);
+ }
}
Q_EXPORT_PLUGIN2(robotapi_gui_KinematicUnitGuiPlugin, KinematicUnitGuiPlugin)
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 721cd4bdd23360c4b67311163c3b7d39074fc603..6c248994f988b044802ef130c7a0cd078217995a 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Component::KinematicUnitGuiPlugin
* @author Christian Boege <boege at kit dot edu>
* @copyright 2011 Christian Böge
-* @license http://www.gnu.org/licenses/gpl.txt
+* @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -30,10 +29,10 @@
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
#include <RobotAPI/components/DebugDrawer/DebugDrawerComponent.h>
-#include <Gui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <Gui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <Core/core/Component.h>
+#include <ArmarXCore/core/Component.h>
/* Qt headers */
#include <QtGui/QMainWindow>
@@ -56,10 +55,6 @@
#include <boost/shared_ptr.hpp>
#include <boost/cstdint.hpp>
-#define KINEMATIC_UNIT_FILE_DEFAULT armarx::ArmarXDataPath::getHomePath() + std::string("Armar3/data/Armar3/robotmodel/ArmarIII.xml")
-#define KINEMATIC_UNIT_NAME_DEFAULT "Robot"
-#define TOPIC_NAME_DEFAULT "RobotState"
-
namespace armarx
{
typedef boost::shared_ptr<VirtualRobot::CoinVisualization> CoinVisualizationPtr;
@@ -72,7 +67,7 @@ namespace armarx
\see KinematicUnitWidget
*/
class KinematicUnitGuiPlugin :
- public ArmarXGuiPlugin
+ public ArmarXGuiPlugin
{
public:
KinematicUnitGuiPlugin();
@@ -84,37 +79,35 @@ namespace armarx
};
class RangeValueDelegate :
- public QStyledItemDelegate
+ public QStyledItemDelegate
{
- void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const;
+ void paint(QPainter* painter, const QStyleOptionViewItem& option, const QModelIndex& index) const;
};
/*!
- \class KinematicUnitWidget
+ \page RobotAPI-GuiPlugins-KinematicUnitPlugin KinematicUnitPlugin
+
\brief This widget shows position and velocity of all joints. Optionally a 3d robot model can be visualized.
\image html KinematicUnitGUI.png
When you add the widget to the Gui, you need to specify the following parameters:
-
+
Parameter Name | Example Value | Required? | Description
:---------------- | :-------------: | :-------------- |:--------------------
Robot model filepath | $ArmarX_Core/Armar3/data/Armar3/robotmodel/ArmarIII.xml | Yes | The robot model to use. This needs to be the same model the kinematic unit is using.
Robot nodeset name | Robot | Yes | ?
- Kinematic unit name - Proxy | Armar3KinematicUnit | Yes | The kinematic unit you wish to observe/control.
+ Kinematic unit name - Proxy | Armar3KinematicUnit | Yes | The kinematic unit you wish to observe/control.
RobotState Topic Name | RobotState | ? | ?
-
- This widget allows you to both observe and control a kinematic unit. All joints are listed in
- the table in the center of the widget. The 3D viewer shows the current state of the robot.
+
+ This widget allows you to both observe and control a kinematic unit. All joints are listed in
+ the table in the center of the widget. The 3D viewer shows the current state of the robot.
On the top you can select the joint you wish to control and the control mode. You can control
a joint with the slider below.
-
- \ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
- \see KinematicUnitGuiPlugin
*/
class KinematicUnitWidgetController :
- public ArmarXComponentWidgetController,
- public KinematicUnitListener
+ public ArmarXComponentWidgetController,
+ public KinematicUnitListener
{
Q_OBJECT
public:
@@ -122,7 +115,7 @@ namespace armarx
* @brief Holds the column index for the joint tabel.
* Used to avoid magic numbers.
*/
- enum JointTabelColumnIndex: int
+ enum JointTabelColumnIndex : int
{
eTabelColumnName = 0,
eTabelColumnControlMode,
@@ -137,7 +130,8 @@ namespace armarx
eTabelColumnEmergencyStop
};
- enum Roles {
+ enum Roles
+ {
eJointAngleRole = Qt::UserRole + 1,
eJointHiRole,
eJointLoRole
@@ -152,12 +146,18 @@ namespace armarx
virtual void onExitComponent();
// inherited of ArmarXWidget
- virtual QString getWidgetName() const { return "RobotControl.KinematicUnitGUI"; }
- virtual QIcon getWidgetIcon() const { return QIcon("://icons/kinematic_icon.svg"); }
+ virtual QString getWidgetName() const
+ {
+ return "RobotControl.KinematicUnitGUI";
+ }
+ virtual QIcon getWidgetIcon() const
+ {
+ return QIcon("://icons/kinematic_icon.svg");
+ }
QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
- virtual void loadSettings(QSettings * settings);
- virtual void saveSettings(QSettings * settings);
+ virtual void loadSettings(QSettings* settings);
+ virtual void saveSettings(QSettings* settings);
void configured();
SoNode* getScene();
@@ -249,7 +249,7 @@ namespace armarx
void reportJointAccelerations(const NameValueMap& jointAccelerations, bool aValueChanged, const Ice::Current& c);
void reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged, const Ice::Current& c);
void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, bool aValueChanged, const Ice::Current& c);
- void reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Ice::Current &);
+ void reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Ice::Current&);
void updateModel();
@@ -286,8 +286,6 @@ namespace armarx
*/
static const int SLIDER_ZERO_POSITION = 0;
-
-
/**
* @brief Returns values in
* (-ui.jitterThresholdSpinBox->value(),ui.jitterThresholdSpinBox->value())
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/CMakeLists.txt
index 14ee4c60b1c6de31ae9080b0dec02e321e666d40..0ef6bf397bea8520d2e10b7497392e3b7c2d612d 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/CMakeLists.txt
@@ -27,11 +27,11 @@ set(GUI_UIS
PlatformUnitConfigDialog.ui
)
-set(COMPONENT_LIBS RobotAPIUnits ArmarXInterfaces ${Simox_LIBRARIES})
+set(COMPONENT_LIBS RobotAPIUnits ArmarXCoreInterfaces ${Simox_LIBRARIES})
+
+
-set(LIB_VERSION 0.1.0)
-set(LIB_SOVERSION 0)
if (ArmarXGui_FOUND)
- armarx_gui_library(PlatformUnitGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" "${LIB_VERSION}" "${LIB_SOVERSION}")
+ armarx_gui_library(PlatformUnitGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" )
endif()
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.cpp b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.cpp
index 756c9cc1128483ddab954686a56d0419e5676c1f..8683057dd13c94900addaf91f665bb8e6428d5d1 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.cpp
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -27,7 +26,7 @@
#include <IceUtil/UUID.h>
-armarx::PlatformUnitConfigDialog::PlatformUnitConfigDialog(QWidget *parent) :
+armarx::PlatformUnitConfigDialog::PlatformUnitConfigDialog(QWidget* parent) :
QDialog(parent),
ui(new Ui::PlatformUnitConfigDialog),
uuid(IceUtil::generateUUID())
@@ -35,7 +34,7 @@ armarx::PlatformUnitConfigDialog::PlatformUnitConfigDialog(QWidget *parent) :
ui->setupUi(this);
finder = new IceProxyFinder<PlatformUnitInterfacePrx>(this);
finder->setSearchMask("*Unit");
- ui->gridLayout->addWidget(finder,0,1);
+ ui->gridLayout->addWidget(finder, 0, 1);
}
armarx::PlatformUnitConfigDialog::~PlatformUnitConfigDialog()
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h
index 8c0040a6cfaadceb930fee91dc4dbb7334657e1d..d735579e18c76c4132483da93455758dc3d20e3e 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,10 +25,11 @@
#include <QDialog>
-#include <Gui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
-namespace Ui {
+namespace Ui
+{
class PlatformUnitConfigDialog;
}
@@ -37,18 +37,18 @@ namespace armarx
{
class PlatformUnitConfigDialog :
public QDialog,
- virtual public ManagedIceObject
+ virtual public ManagedIceObject
{
Q_OBJECT
public:
- explicit PlatformUnitConfigDialog(QWidget *parent = 0);
+ explicit PlatformUnitConfigDialog(QWidget* parent = 0);
~PlatformUnitConfigDialog();
IceProxyFinder<PlatformUnitInterfacePrx>* finder;
private:
- Ui::PlatformUnitConfigDialog *ui;
+ Ui::PlatformUnitConfigDialog* ui;
std::string uuid;
friend class PlatformUnitWidget;
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
index 68ab6a2c4932d4eff7b834a7089c079e8c60cf24..00c597a2be1467b87c331c9059726c50c5a0bb81 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
@@ -1,7 +1,7 @@
#include "PlatformUnitGuiPlugin.h"
#include "PlatformUnitConfigDialog.h"
#include "ui_PlatformUnitConfigDialog.h"
-#include <Core/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
// Qt headers
#include <Qt>
@@ -25,11 +25,11 @@ PlatformUnitGuiPlugin::PlatformUnitGuiPlugin()
PlatformUnitWidget::PlatformUnitWidget() :
platformUnitProxyName("PlatformUnit"), // overwritten in loadSettings() anyway?
platformName("Platform"),
- speedCtrl{nullptr},
- rotaCtrl{nullptr},
- ctrlEvaluationTimer{},
- platformRotation{0},
- platformMoves{false}
+ speedCtrl {nullptr},
+ rotaCtrl {nullptr},
+ ctrlEvaluationTimer {},
+ platformRotation {0},
+platformMoves {false}
{
// init gui
ui.setupUi(getWidget());
@@ -42,8 +42,8 @@ PlatformUnitWidget::PlatformUnitWidget() :
rotaCtrl = rotat.get();
rotaCtrl->setSteps(0);
//add joystick controls
- ui.gridLayout_2->addWidget(rotat.release(),2,0,1,2);
- ui.gridLayout_3->addWidget(speed.release(),2,0,1,2);
+ ui.gridLayout_2->addWidget(rotat.release(), 2, 0, 1, 2);
+ ui.gridLayout_3->addWidget(speed.release(), 2, 0, 1, 2);
ctrlEvaluationTimer.setSingleShot(false);
}
@@ -75,28 +75,29 @@ void PlatformUnitWidget::onExitComponent()
QPointer<QDialog> PlatformUnitWidget::getConfigDialog(QWidget* parent)
{
- if(!dialog)
+ if (!dialog)
{
dialog = new PlatformUnitConfigDialog(parent);
}
+
dialog->ui->editPlatformName->setText(QString::fromStdString(platformName));
return qobject_cast<PlatformUnitConfigDialog*>(dialog);
}
- void PlatformUnitWidget::configured()
- {
- platformUnitProxyName = dialog->finder->getSelectedProxyName().toStdString();
- platformName = dialog->ui->editPlatformName->text().toStdString();
- }
+void PlatformUnitWidget::configured()
+{
+ platformUnitProxyName = dialog->finder->getSelectedProxyName().toStdString();
+ platformName = dialog->ui->editPlatformName->text().toStdString();
+}
-void PlatformUnitWidget::loadSettings(QSettings *settings)
+void PlatformUnitWidget::loadSettings(QSettings* settings)
{
platformUnitProxyName = settings->value("platformUnitProxyName", QString::fromStdString(platformUnitProxyName)).toString().toStdString();
platformName = settings->value("platformName", QString::fromStdString(platformName)).toString().toStdString();
}
-void PlatformUnitWidget::saveSettings(QSettings *settings)
+void PlatformUnitWidget::saveSettings(QSettings* settings)
{
settings->setValue("platformUnitProxyName", QString::fromStdString(platformUnitProxyName));
settings->setValue("platformName", QString::fromStdString(platformName));
@@ -107,10 +108,10 @@ void PlatformUnitWidget::connectSlots()
{
connect(ui.buttonMoveToPosition, SIGNAL(clicked()), this, SLOT(moveTo()));
connect(&ctrlEvaluationTimer, SIGNAL(timeout()), this, SLOT(controlTimerTick()));
- connect(speedCtrl,SIGNAL(pressed()), this, SLOT(startControlTimer()));
- connect(rotaCtrl,SIGNAL(pressed()), this, SLOT(startControlTimer()));
- connect(speedCtrl,SIGNAL(released()), this, SLOT(stopPlatform()));
- connect(speedCtrl,SIGNAL(released()), this, SLOT(stopControlTimer()));
+ connect(speedCtrl, SIGNAL(pressed()), this, SLOT(startControlTimer()));
+ connect(rotaCtrl, SIGNAL(pressed()), this, SLOT(startControlTimer()));
+ connect(speedCtrl, SIGNAL(released()), this, SLOT(stopPlatform()));
+ connect(speedCtrl, SIGNAL(released()), this, SLOT(stopControlTimer()));
connect(rotaCtrl, SIGNAL(released()), this, SLOT(stopPlatform()));
connect(rotaCtrl, SIGNAL(released()), this, SLOT(stopControlTimer()));
connect(ui.buttonStopPlatform, SIGNAL(pressed()), this, SLOT(stopPlatform()));
@@ -187,7 +188,7 @@ void PlatformUnitWidget::controlTimerTick()
{
float translationFactor = ui.maxTranslationSpeed->value();
float rotationFactor = ui.maxRotationSpeed->value() * -1;
- float rotationVel = rotaCtrl->getRotation()/M_PI_2 * rotationFactor;
+ float rotationVel = rotaCtrl->getRotation() / M_PI_2 * rotationFactor;
ARMARX_INFO << deactivateSpam(0.5) << speedCtrl->getPosition().x()*translationFactor << ", " << speedCtrl->getPosition().y()*translationFactor;
ARMARX_INFO << deactivateSpam(0.5) << "Rotation Speed: " << (rotationVel);
platformUnitProxy->move(speedCtrl->getPosition().x()*translationFactor, -1 * speedCtrl->getPosition().y()*translationFactor, rotationVel);
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
index 5c794a22caea8efc57a108fe6507592bafc630a5..b7a0985614fc2b87b96d3fb2544034ec1a366c54 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* \package ArmarX::Component::ObjectExaminerGuiPlugin
* \author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
* \copyright 2012
-* \license http://www.gnu.org/licenses/gpl.txt
+* \license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -27,10 +26,10 @@
/* ArmarX headers */
#include "ui_PlatformUnitGuiPlugin.h"
-#include <Gui/libraries/ArmarXGuiBase/widgets/JoystickControlWidget.h>
-#include <Core/core/Component.h>
-#include <Gui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <Gui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/JoystickControlWidget.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
@@ -51,7 +50,7 @@ namespace armarx
\see PlatformUnitWidget
*/
class PlatformUnitGuiPlugin :
- public ArmarXGuiPlugin
+ public ArmarXGuiPlugin
{
public:
PlatformUnitGuiPlugin();
@@ -62,9 +61,9 @@ namespace armarx
};
/*!
- \class PlatformUnitWidget
+ \page RobotAPI-GuiPlugins-PlatformUnitPlugin PlatformUnitPlugin
\brief With this widget the PlatformUnit can be controlled.
-
+
\image html PlatformUnitGUI.png "The plugin's ui." width=300px
-# The current position and rotation, fields to enter a new target and a button to set the platform in motion.
-# A joystick like control widget to move the platform. The platform does not rotate to move in a direction. Up moves the platform forward.
@@ -72,17 +71,15 @@ namespace armarx
-# Be careful to set a maximum velocity before using the joysticks.
When you add the widget to the Gui, you need to specify the following parameters:
-
+
Parameter Name | Example Value | Required? | Description
:---------------- | :-------------: | :-------------- |:--------------------
PlatformUnit - Proxy | PlatformUnit | Yes | The name of the platform unit.
Platform | Platform | Yes | The name of the platform.
- \see PlatformUnitGuiPlugin
- \ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
*/
class PlatformUnitWidget :
- public ArmarXComponentWidgetController,
- public PlatformUnitListener
+ public ArmarXComponentWidgetController,
+ public PlatformUnitListener
{
Q_OBJECT
public:
@@ -102,12 +99,18 @@ namespace armarx
void reportPlatformVelocity(::Ice::Float currentPlatformVelocityX, ::Ice::Float currentPlatformVelocityY, ::Ice::Float currentPlatformVelocityRotation, const Ice::Current& c = ::Ice::Current());
// inherited of ArmarXWidget
- virtual QString getWidgetName() const { return "RobotControl.PlatformUnitGUI"; }
- virtual QIcon getWidgetIcon() const { return QIcon("://icons/retro_joystick2.svg"); }
+ virtual QString getWidgetName() const
+ {
+ return "RobotControl.PlatformUnitGUI";
+ }
+ virtual QIcon getWidgetIcon() const
+ {
+ return QIcon("://icons/retro_joystick2.svg");
+ }
QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
- virtual void loadSettings(QSettings * settings);
- virtual void saveSettings(QSettings * settings);
+ virtual void loadSettings(QSettings* settings);
+ virtual void saveSettings(QSettings* settings);
void configured();
public slots:
@@ -132,9 +135,9 @@ namespace armarx
*/
void controlTimerTick();
- /**
- \brief Stops the platform
- */
+ /**
+ \brief Stops the platform
+ */
void stopPlatform();
private:
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.ui b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.ui
index fb9e733f4cd1f651dcece335a8a01000f1b20d2d..6575f4db2b6403eba7887e3e0622dc263f7cc73b 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.ui
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.ui
@@ -141,7 +141,7 @@
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="maxRotationSpeed">
<property name="value">
- <double>1.000000000000000</double>
+ <double>0.500000000000000</double>
</property>
</widget>
</item>
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.h b/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.h
deleted file mode 100644
index 3ad05d929a7186d10bb6c5ce7921ab3fe096c9e1..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.h
+++ /dev/null
@@ -1,151 +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 ArmarX::
-* @author Philipp Schmidt
-* @date 2015
-* @license http://www.gnu.org/licenses/gpl.txt
-* GNU General Public License
-
-*/
-
-#ifndef RobotIKGUIPLUGIN_H
-#define RobotIKGUIPLUGIN_H
-
-//Gui
-#include "RobotIKConfigDialog.h"
-#include "ui_RobotIKGuiPlugin.h"
-
-//ArmarX includes
-#include <Gui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <Gui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <RobotAPI/interface/core/RobotIK.h>
-#include <RobotAPI/interface/core/RobotState.h>
-#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
-
-//Qt includes
-#include <QObject>
-
-//VirtualRobot includes
-#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
-
-//Inventor includes
-#include <Inventor/sensors/SoTimerSensor.h>
-#include <Inventor/manips/SoTransformerManip.h>
-#include <Inventor/nodes/SoSphere.h>
-#include <Inventor/nodes/SoMaterial.h>
-
-namespace armarx
-{
- class RobotIKConfigDialog;
-
- class RobotIKGuiPlugin : public ArmarXGuiPlugin
- {
- public:
- RobotIKGuiPlugin();
-
- QString getPluginName()
- {
- return "RobotIKGuiPlugin";
- }
- };
-
- /**
- * \class RobotIKWidget
- * \ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
- * \brief Widget for IK computation.
- */
- class RobotIKWidgetController : public ArmarXComponentWidgetController
- {
- Q_OBJECT
-
- public:
- RobotIKWidgetController();
- virtual ~RobotIKWidgetController() {}
-
- // inherited from Component
- virtual void onInitComponent();
- virtual void onConnectComponent();
- virtual void onDisconnectComponent();
- virtual void onExitComponent();
-
- // inherited of ArmarXWidget
- virtual QString getWidgetName() const
- {
- return "RobotControl.RobotIK";
- }
- QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
- virtual void loadSettings(QSettings * settings);
- virtual void saveSettings(QSettings * settings);
- void configured();
-
- public slots:
- void solveIK();
- void kinematicChainChanged(const QString &arg1);
- void caertesianSelectionChanged(const QString &arg1);
- void resetManip();
-
- protected:
- RobotStateComponentInterfacePrx robotStateComponentPrx;
- KinematicUnitInterfacePrx kinematicUnitInterfacePrx;
- RobotIKInterfacePrx robotIKPrx;
-
- Ui::RobotIKGuiPlugin ui;
-
- private:
- void connectSlots();
- std::string robotStateComponentName;
- std::string kinematicUnitComponentName;
- std::string robotIKComponentName;
-
- QPointer<RobotIKConfigDialog> dialog;
-
- VirtualRobot::RobotPtr robot;
- StringList getIncludePaths();
- VirtualRobot::RobotPtr loadRobot(StringList includePaths);
-
- SoSeparator* manipSeparator;
- SoSeparator* currentSeparator;
-
- SoTransformerManip* tcpManip;
- static void manipFinishCallback(void *data, SoDragger* manip);
- SoTransform* tcpManipTransform;
- SoMaterial* tcpManipColor;
- SoSphere* tcpManipSphere;
-
- SoTransform* tcpCurrentTransform;
- SoMaterial* tcpCurrentColor;
- SoSphere* tcpCurrentSphere;
-
- SoTimerSensor* robotUpdateSensor;
- static void robotUpdateTimerCB(void *data, SoSensor *sensor);
-
- SoTimerSensor* textFieldUpdateSensor;
- static void textFieldUpdateTimerCB(void *data, SoSensor *sensor);
-
- ExtendedIKResult getIKSolution();
-
- CartesianSelection convertOption(std::string option);
-
- bool startUpCameraPositioningFlag;
-
- };
- typedef boost::shared_ptr<RobotIKWidgetController> RobotIKGuiPluginPtr;
- typedef boost::shared_ptr<VirtualRobot::CoinVisualization> CoinVisualizationPtr;
-}
-
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewerWidget.h b/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewerWidget.h
deleted file mode 100644
index 81379c8e7d8f633699a932edce961792a60d2840..0000000000000000000000000000000000000000
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewerWidget.h
+++ /dev/null
@@ -1,45 +0,0 @@
-#ifndef RobotViewerWidget_h
-#define RobotViewerWidget_h
-
-/* Qt headers */
-#include <QWidget>
-
-/* boost headers */
-#include <boost/smart_ptr/shared_ptr.hpp>
-
-#include "RobotViewer.h"
-
-typedef boost::shared_ptr<armarx::RobotViewer> RobotViewerPtr;
-
-namespace armarx
-{
- class RobotViewerWidget : public QWidget
- {
- Q_OBJECT
-
- public:
- /**
- * Constructor.
- * Constructs a robot viewer widget.
- * Expects a controller::ControllerPtr.
- *
- * @param control shared pointer to controller::controller
- * @param parent parent widget
- *
- */
- explicit RobotViewerWidget(QWidget* parent = 0);
-
- /**
- * Destructor.
- *
- */
- ~RobotViewerWidget();
-
- RobotViewerPtr getRobotViewer();
-
- private:
- RobotViewerPtr viewer;
- };
-}
-
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/RobotViewerPlugin/CMakeLists.txt
index 1ba70a06971a57439f9f0045c0ca5d4e3680eb53..6e53b6c2a4742d847aee982716cbda1ddb3a0464 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/CMakeLists.txt
@@ -38,9 +38,9 @@ set(GUI_UIS
set(COMPONENT_LIBS RobotAPIUnits DebugDrawer ${Simox_LIBRARIES})
-set(LIB_VERSION 0.1.0)
-set(LIB_SOVERSION 0)
+
+
if (ArmarXGui_FOUND)
- armarx_gui_library(RobotViewerGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" "${LIB_VERSION}" "${LIB_SOVERSION}")
+ armarx_gui_library(RobotViewerGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" )
endif()
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerConfigDialog.cpp b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerConfigDialog.cpp
index 377034291670ebaa1abfced5818fda808e972ffb..13e71860078b7bba0f5dff17c9af0b5551f61c07 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerConfigDialog.cpp
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerConfigDialog.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -31,13 +30,13 @@
#include <IceUtil/UUID.h>
-#include <Gui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
#include <RobotAPI/interface/core/RobotState.h>
using namespace armarx;
-RobotViewerConfigDialog::RobotViewerConfigDialog(QWidget *parent) :
+RobotViewerConfigDialog::RobotViewerConfigDialog(QWidget* parent) :
QDialog(parent),
ui(new Ui::RobotViewerConfigDialog),
uuid(IceUtil::generateUUID())
@@ -45,10 +44,10 @@ RobotViewerConfigDialog::RobotViewerConfigDialog(QWidget *parent) :
ui->setupUi(this);
connect(this->ui->buttonBox, SIGNAL(accepted()), this, SLOT(verifyConfig()));
- ui->buttonBox->button( QDialogButtonBox::Ok )->setDefault(true);
+ ui->buttonBox->button(QDialogButtonBox::Ok)->setDefault(true);
proxyFinder = new IceProxyFinder<RobotStateComponentInterfacePrx>(this);
proxyFinder->setSearchMask("RobotState*");
- ui->gridLayout->addWidget(proxyFinder, 2,1,1,2);
+ ui->gridLayout->addWidget(proxyFinder, 2, 1, 1, 2);
}
RobotViewerConfigDialog::~RobotViewerConfigDialog()
@@ -76,12 +75,14 @@ void RobotViewerConfigDialog::onExitComponent()
void RobotViewerConfigDialog::verifyConfig()
{
- if(proxyFinder->getSelectedProxyName().trimmed().length() == 0)
+ if (proxyFinder->getSelectedProxyName().trimmed().length() == 0)
{
QMessageBox::critical(this, "Invalid Configuration", "The proxy name must not be empty");
}
else
+ {
this->accept();
+ }
}
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerConfigDialog.h b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerConfigDialog.h
index b828a8e0e274bc540ec7dee4c5a8bcf3fb660669..b1e011efe331c2a50f9d4b41f877e106ec6b14e8 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerConfigDialog.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Nikolaus Vahrenkamp
* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -27,16 +26,18 @@
#include <QDialog>
#include <QFileDialog>
-#include <Core/core/services/tasks/RunningTask.h>
-#include <Core/core/IceManager.h>
-#include <Core/core/ManagedIceObject.h>
-#include <Gui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
+#include <ArmarXCore/core/services/tasks/RunningTask.h>
+#include <ArmarXCore/core/IceManager.h>
+#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
-namespace Ui {
+namespace Ui
+{
class RobotViewerConfigDialog;
}
-namespace armarx{
+namespace armarx
+{
class RobotViewerConfigDialog :
public QDialog,
virtual public ManagedIceObject
@@ -44,11 +45,14 @@ namespace armarx{
Q_OBJECT
public:
- explicit RobotViewerConfigDialog(QWidget *parent = 0);
+ explicit RobotViewerConfigDialog(QWidget* parent = 0);
~RobotViewerConfigDialog();
// inherited from ManagedIceObject
- std::string getDefaultName() const { return "RobotViewerConfigDialog" + uuid;}
+ std::string getDefaultName() const
+ {
+ return "RobotViewerConfigDialog" + uuid;
+ }
void onInitComponent();
void onConnectComponent();
void onExitComponent();
@@ -61,7 +65,7 @@ namespace armarx{
private:
IceProxyFinderBase* proxyFinder;
- Ui::RobotViewerConfigDialog *ui;
+ Ui::RobotViewerConfigDialog* ui;
std::string uuid;
friend class RobotViewerWidgetController;
};
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
index eeb89f8db30dc69883ee957107ded4a680076d97..838783ebd9aca7d7c665fdae629ed9052ddc92c4 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
@@ -3,11 +3,11 @@
#include <RobotAPI/gui-plugins/RobotViewerPlugin/ui_RobotViewerConfigDialog.h>
-#include <Core/core/system/ArmarXDataPath.h>
-#include <Core/core/ArmarXObjectScheduler.h>
-#include <Core/core/ArmarXManager.h>
-#include <Core/core/system/cmake/CMakePackageFinder.h>
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/ArmarXObjectScheduler.h>
+#include <ArmarXCore/core/ArmarXManager.h>
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
+#include <ArmarXCore/core/application/Application.h>
#include <VirtualRobot/XML/RobotIO.h>
@@ -81,12 +81,17 @@ void RobotViewerWidgetController::onInitComponent()
{
std::string debugDrawerComponentName = "RobotViewerGUIDebugDrawer_" + getName();
ARMARX_INFO << "Creating component " << debugDrawerComponentName;
- debugDrawer = Component::create<DebugDrawerComponent>(properties,debugDrawerComponentName);
+ debugDrawer = Component::create<DebugDrawerComponent>(properties, debugDrawerComponentName);
+
if (mutex3D)
{
debugDrawer->setMutex(mutex3D);
- } else
+ }
+ else
+ {
ARMARX_ERROR << " No 3d mutex available...";
+ }
+
ArmarXManagerPtr m = getArmarXManager();
m->addObject(debugDrawer);
@@ -99,6 +104,7 @@ void RobotViewerWidgetController::onInitComponent()
rootVisu->addChild(debugLayerVisu);
}
}
+
showRoot(true);
}
@@ -107,22 +113,30 @@ void RobotViewerWidgetController::onConnectComponent()
robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>(robotStateComponentName);
if (robotVisu)
+ {
robotVisu->removeAllChildren();
+ }
+
robot.reset();
- std::string rfile;
- StringList includePaths;
+ std::string rfile;
+ StringList includePaths;
// get robot filename
- try {
+ try
+ {
StringList packages = robotStateComponentPrx->getArmarXPackages();
packages.push_back(Application::GetProjectName());
ARMARX_VERBOSE << "ArmarX packages " << packages;
- for(const std::string &projectName : packages)
+
+ for (const std::string& projectName : packages)
{
- if(projectName.empty())
+ if (projectName.empty())
+ {
continue;
+ }
+
CMakePackageFinder project(projectName);
StringList projectIncludePaths;
auto pathsString = project.getDataDir();
@@ -135,44 +149,43 @@ void RobotViewerWidgetController::onConnectComponent()
includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
}
+
rfile = robotStateComponentPrx->getRobotFilename();
ARMARX_VERBOSE << "Relative robot file " << rfile;
ArmarXDataPath::getAbsolutePath(rfile, rfile, includePaths);
ARMARX_VERBOSE << "Absolute robot file " << rfile;
- } catch (...)
- {
- ARMARX_ERROR << "Unable to retrieve robot filename";
- }
+ }
+ catch (...)
+ {
+ ARMARX_ERROR << "Unable to retrieve robot filename";
+ }
- try {
+ try
+ {
ARMARX_INFO << "Loading robot from file " << rfile;
robot = loadRobotFile(rfile);
- } catch (...)
+ }
+ catch (...)
{
ARMARX_ERROR << "Failed to init robot";
}
- if(!robot)
+ if (!robot)
{
getObjectScheduler()->terminate();
- if(getWidget()->parentWidget())
+
+ if (getWidget()->parentWidget())
+ {
getWidget()->parentWidget()->close();
+ }
+
std::cout << "returning" << std::endl;
return;
}
- {
- boost::recursive_mutex::scoped_lock lock(*mutex3D);
+ setRobotVisu(ui.radioButtonCol->isChecked());
+ showRobot(ui.cbRobot->isChecked());
- CoinVisualizationPtr robotViewerVisualization = robot->getVisualization<CoinVisualization>();
- if (robotViewerVisualization)
- {
- robotVisu->addChild(robotViewerVisualization->getCoinVisualization());
- } else
- {
- ARMARX_WARNING << "no robot visu available...";
- }
- }
// start update timer
SoSensorManager* sensor_mgr = SoDB::getSensorManager();
@@ -188,12 +201,14 @@ void RobotViewerWidgetController::onDisconnectComponent()
{
ARMARX_INFO << "Disconnecting component";
+
// stop update timer
if (timerSensor)
{
SoSensorManager* sensor_mgr = SoDB::getSensorManager();
sensor_mgr->removeTimerSensor(timerSensor);
}
+
ARMARX_INFO << "Disconnecting component: timer stopped";
robotStateComponentPrx = NULL;
@@ -203,8 +218,9 @@ void RobotViewerWidgetController::onDisconnectComponent()
if (robotVisu)
{
ARMARX_INFO << "Disconnecting component: removing visu";
- robotVisu->removeAllChildren();
+ robotVisu->removeAllChildren();
}
+
robot.reset();
}
ARMARX_INFO << "Disconnecting component: finished";
@@ -240,52 +256,89 @@ void RobotViewerWidgetController::onExitComponent()
}
}
-/*
- if (debugDrawer && debugDrawer->getObjectScheduler())
- {
- ARMARX_INFO << "Removing DebugDrawer component...";
- debugDrawer->getObjectScheduler()->terminate();
- ARMARX_INFO << "Removing DebugDrawer component...done";
- }
-*/
+ /*
+ if (debugDrawer && debugDrawer->getObjectScheduler())
+ {
+ ARMARX_INFO << "Removing DebugDrawer component...";
+ debugDrawer->getObjectScheduler()->terminate();
+ ARMARX_INFO << "Removing DebugDrawer component...done";
+ }
+ */
}
QPointer<QDialog> RobotViewerWidgetController::getConfigDialog(QWidget* parent)
{
- if(!dialog)
+ if (!dialog)
{
dialog = new RobotViewerConfigDialog(parent);
dialog->setName(dialog->getDefaultName());
}
+
return qobject_cast<RobotViewerConfigDialog*>(dialog);
}
- void RobotViewerWidgetController::configured()
- {
- ARMARX_VERBOSE << "RobotViewerWidget::configured()";
- robotStateComponentName = dialog->proxyFinder->getSelectedProxyName().trimmed().toStdString();
- }
+void RobotViewerWidgetController::configured()
+{
+ ARMARX_VERBOSE << "RobotViewerWidget::configured()";
+ robotStateComponentName = dialog->proxyFinder->getSelectedProxyName().trimmed().toStdString();
+}
-void RobotViewerWidgetController::loadSettings(QSettings *settings)
+void RobotViewerWidgetController::loadSettings(QSettings* settings)
{
robotStateComponentName = settings->value("RobotStateComponent", QString::fromStdString(ROBOTSTATE_NAME_DEFAULT)).toString().toStdString();
+ bool showRob = settings->value("showRobot", QVariant(true)).toBool();
+ bool fullMod = settings->value("fullModel", QVariant(true)).toBool();
+ ui.cbRobot->setChecked(showRob);
+ ui.radioButtonFull->setChecked(fullMod);
+ ui.radioButtonCol->setChecked(!fullMod);
}
-void RobotViewerWidgetController::saveSettings(QSettings *settings)
+void RobotViewerWidgetController::saveSettings(QSettings* settings)
{
settings->setValue("RobotStateComponent", QString::fromStdString(robotStateComponentName));
+ settings->setValue("showRobot", ui.cbRobot->isChecked());
+ settings->setValue("fullModel", ui.radioButtonFull->isChecked());
}
+void RobotViewerWidgetController::setRobotVisu(bool colModel)
+{
+ robotVisu->removeAllChildren();
+
+ if (!robot)
+ {
+ return;
+ }
+
+ boost::recursive_mutex::scoped_lock lock(*mutex3D);
+
+ VirtualRobot::SceneObject::VisualizationType v = VirtualRobot::SceneObject::Full;
+
+ if (colModel)
+ {
+ v = VirtualRobot::SceneObject::Collision;
+ }
+
+ CoinVisualizationPtr robotViewerVisualization = robot->getVisualization<CoinVisualization>(v);
+
+ if (robotViewerVisualization)
+ {
+ robotVisu->addChild(robotViewerVisualization->getCoinVisualization());
+ }
+ else
+ {
+ ARMARX_WARNING << "no robot visu available...";
+ }
+}
void RobotViewerWidgetController::showVisuLayers(bool show)
{
if (debugDrawer)
{
- if(show)
+ if (show)
{
debugDrawer->enableAllLayers();
}
@@ -299,14 +352,17 @@ void RobotViewerWidgetController::showVisuLayers(bool show)
void RobotViewerWidgetController::showRoot(bool show)
{
if (!debugDrawer)
+ {
return;
+ }
std::string poseName("root");
- if(show)
+
+ if (show)
{
Eigen::Matrix4f gp = Eigen::Matrix4f::Identity();
PosePtr gpP(new Pose(gp));
- debugDrawer->setPoseDebugLayerVisu(poseName,gpP);
+ debugDrawer->setPoseDebugLayerVisu(poseName, gpP);
}
else
{
@@ -317,19 +373,22 @@ void RobotViewerWidgetController::showRoot(bool show)
void RobotViewerWidgetController::showRobot(bool show)
{
if (!robotVisu)
+ {
return;
+ }
+
boost::recursive_mutex::scoped_lock lock(*mutex3D);
- if(show && rootVisu->findChild(robotVisu)<0)
+ if (show && rootVisu->findChild(robotVisu) < 0)
{
rootVisu->addChild(robotVisu);
}
- else if (!show && rootVisu->findChild(robotVisu)>=0)
+ else if (!show && rootVisu->findChild(robotVisu) >= 0)
{
rootVisu->removeChild(robotVisu);
}
}
-SoNode *RobotViewerWidgetController::getScene()
+SoNode* RobotViewerWidgetController::getScene()
{
return rootVisu;
}
@@ -337,8 +396,12 @@ SoNode *RobotViewerWidgetController::getScene()
void RobotViewerWidgetController::timerCB(void* data, SoSensor* sensor)
{
RobotViewerWidgetController* controller = static_cast<RobotViewerWidgetController*>(data);
+
if (!controller)
+ {
return;
+ }
+
controller->updateRobotVisu();
}
@@ -349,6 +412,8 @@ void RobotViewerWidgetController::connectSlots()
connect(ui.cbDebugLayer, SIGNAL(toggled(bool)), this, SLOT(showVisuLayers(bool)), Qt::QueuedConnection);
connect(ui.cbRoot, SIGNAL(toggled(bool)), this, SLOT(showRoot(bool)), Qt::QueuedConnection);
connect(ui.cbRobot, SIGNAL(toggled(bool)), this, SLOT(showRobot(bool)), Qt::QueuedConnection);
+ connect(ui.radioButtonCol, SIGNAL(toggled(bool)), this, SLOT(colModel(bool)), Qt::QueuedConnection);
+ connect(ui.radioButtonFull, SIGNAL(toggled(bool)), this, SLOT(colModel(bool)), Qt::QueuedConnection);
}
@@ -357,11 +422,13 @@ VirtualRobot::RobotPtr RobotViewerWidgetController::loadRobotFile(std::string fi
{
VirtualRobot::RobotPtr robot;
- if (!ArmarXDataPath::getAbsolutePath(fileName,fileName))
+ if (!ArmarXDataPath::getAbsolutePath(fileName, fileName))
{
- ARMARX_INFO << "Could not find Robot XML file with name " << fileName;
+ ARMARX_INFO << "Could not find Robot XML file with name " << fileName;
}
+
robot = RobotIO::loadRobot(fileName);
+
if (!robot)
{
ARMARX_INFO << "Could not find Robot XML file with name " << fileName;
@@ -371,18 +438,33 @@ VirtualRobot::RobotPtr RobotViewerWidgetController::loadRobotFile(std::string fi
}
+void RobotViewerWidgetController::colModel(bool c)
+{
+ bool colModel = false;
+
+ if (ui.radioButtonCol->isChecked())
+ {
+ colModel = true;
+ }
+
+ setRobotVisu(colModel);
+}
+
void RobotViewerWidgetController::updateRobotVisu()
{
boost::recursive_mutex::scoped_lock lock(*mutex3D);
if (!robotStateComponentPrx || !robot)
+ {
return;
+ }
try
{
- RemoteRobot::synchronizeLocalClone(robot,robotStateComponentPrx);
- } catch (...)
+ RemoteRobot::synchronizeLocalClone(robot, robotStateComponentPrx);
+ }
+ catch (...)
{
ARMARX_INFO << deactivateSpam(5) << "Robot synchronization failed";
return;
@@ -390,14 +472,14 @@ void RobotViewerWidgetController::updateRobotVisu()
Eigen::Matrix4f gp = robot->getGlobalPose();
QString roboInfo("Robot Pose (global): pos: ");
- roboInfo += QString::number(gp(0,3), 'f', 2);
+ roboInfo += QString::number(gp(0, 3), 'f', 2);
roboInfo += QString(", ");
- roboInfo += QString::number(gp(1,3), 'f', 2);
+ roboInfo += QString::number(gp(1, 3), 'f', 2);
roboInfo += QString(", ");
- roboInfo += QString::number(gp(2,3), 'f', 2);
+ roboInfo += QString::number(gp(2, 3), 'f', 2);
roboInfo += QString(", rot:");
Eigen::Vector3f rpy;
- VirtualRobot::MathTools::eigen4f2rpy(gp,rpy);
+ VirtualRobot::MathTools::eigen4f2rpy(gp, rpy);
roboInfo += QString::number(rpy(0), 'f', 2);
roboInfo += QString(", ");
roboInfo += QString::number(rpy(1), 'f', 2);
@@ -410,8 +492,11 @@ void RobotViewerWidgetController::setMutex3D(boost::shared_ptr<boost::recursive_
{
//ARMARX_IMPORTANT << "set mutex3d :" << mutex3D.get();
this->mutex3D = mutex3D;
+
if (debugDrawer)
+ {
debugDrawer->setMutex(mutex3D);
+ }
}
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
index 6c323274f03677679a3be6006c6806a64b466bef..bc2a8c015a2f1537fdc15d620a1f47ff3348f1d1 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Component::RobotViewerGuiPlugin
* @author Nikolaus Vahrenkamp
* @copyright 2015 KIT
-* @license http://www.gnu.org/licenses/gpl.txt
+* @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -30,10 +29,10 @@
#include <RobotAPI/components/DebugDrawer/DebugDrawerComponent.h>
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
-#include <Gui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <Gui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <Core/core/Component.h>
+#include <ArmarXCore/core/Component.h>
/* Qt headers */
#include <QtGui/QMainWindow>
@@ -62,7 +61,7 @@ namespace armarx
\see RobotViewerWidget
*/
class RobotViewerGuiPlugin :
- public ArmarXGuiPlugin
+ public ArmarXGuiPlugin
{
public:
RobotViewerGuiPlugin();
@@ -74,21 +73,19 @@ namespace armarx
};
/**
- \class RobotViewerWidget
+ \page RobotAPI-GuiPlugins-RobotViewerPlugin RobotViewerPlugin
+
\brief This widget shows a 3D model of the robot. The robot is articulated and moved according to the corresponding RemoteRobot.
Further, DebugDrawer methods are available.
\image html RobotViewerGUI.png
When you add the widget to the Gui, you need to specify the following parameters:
-
+
Parameter Name | Example Value | Required? | Description
:---------------- | :-------------: | :-------------- |:--------------------
Proxy | RobotStateComponent | Yes | The name of the robot state component.
-
- \ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
- \see RobotViewerGuiPlugin
*/
class RobotViewerWidgetController :
- public ArmarXComponentWidgetController
+ public ArmarXComponentWidgetController
{
Q_OBJECT
public:
@@ -108,8 +105,8 @@ namespace armarx
return "RobotControl.RobotViewerGUI";
}
QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
- virtual void loadSettings(QSettings * settings);
- virtual void saveSettings(QSettings * settings);
+ virtual void loadSettings(QSettings* settings);
+ virtual void saveSettings(QSettings* settings);
void configured();
SoNode* getScene();
@@ -149,11 +146,13 @@ namespace armarx
SoSeparator* debugLayerVisu;
armarx::DebugDrawerComponentPtr debugDrawer;
- static void timerCB(void *data, SoSensor *sensor);
+ static void timerCB(void* data, SoSensor* sensor);
+ void setRobotVisu(bool colModel);
protected slots:
void showVisuLayers(bool show);
void showRoot(bool show);
void showRobot(bool show);
+ void colModel(bool c);
private:
// init stuff
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.ui b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.ui
index 2a8526ac88774d9fb2009fe42d8d29c8d922fca7..ea3435805816af1f4362c9b4fe94e3916265c30b 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.ui
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.ui
@@ -63,10 +63,31 @@
</item>
</layout>
</item>
+ <item row="1" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QRadioButton" name="radioButtonFull">
+ <property name="text">
+ <string>Full Model</string>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="radioButtonCol">
+ <property name="text">
+ <string>Collision Model</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
<item row="1" column="1">
- <widget class="QCheckBox" name="cbRoot">
+ <widget class="QCheckBox" name="cbRobot">
<property name="text">
- <string>show root</string>
+ <string>show robot</string>
</property>
<property name="checked">
<bool>true</bool>
@@ -74,9 +95,9 @@
</widget>
</item>
<item row="2" column="1">
- <widget class="QCheckBox" name="cbRobot">
+ <widget class="QCheckBox" name="cbRoot">
<property name="text">
- <string>show robot</string>
+ <string>show root</string>
</property>
<property name="checked">
<bool>true</bool>
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
index f761341ad777fbf0ffdead7c3485465b0d4c6ec1..a0618adeb178f217391532c66e974e3076c868ba 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,16 +16,16 @@
* @package ArmarX::Gui
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "ArmarXPlotter.h"
#include "ArmarXPlotterDialog.h"
-#include <Core/observers/ObserverObjectFactories.h>
-#include <Core/observers/variant/DataFieldIdentifier.h>
-#include <Core/observers/exceptions/local/InvalidChannelException.h>
+#include <ArmarXCore/observers/ObserverObjectFactories.h>
+#include <ArmarXCore/observers/variant/DataFieldIdentifier.h>
+#include <ArmarXCore/observers/exceptions/local/InvalidChannelException.h>
#include <qwt_plot.h>
#include <qwt_plot_curve.h>
@@ -71,20 +70,20 @@ namespace armarx
// Setup Plotter
///////////////
// panning with the left mouse button
- ( void ) new QwtPlotPanner( ui.qwtPlot->canvas() );
+ (void) new QwtPlotPanner(ui.qwtPlot->canvas());
// zoom in/out with the wheel
- QwtPlotMagnifier * magnifier = new QwtPlotMagnifier( ui.qwtPlot->canvas() );
+ QwtPlotMagnifier* magnifier = new QwtPlotMagnifier(ui.qwtPlot->canvas());
magnifier->setAxisEnabled(QwtPlot::xBottom, false);
ui.qwtPlot->canvas()->setPaintAttribute(QwtPlotCanvas::BackingStore, false); //increases performance for incremental drawing
- QwtLegend *legend = new QwtLegend;
- legend->setItemMode( QwtLegend::CheckableItem );
- ui.qwtPlot->insertLegend( legend, QwtPlot::BottomLegend );
+ QwtLegend* legend = new QwtLegend;
+ legend->setItemMode(QwtLegend::CheckableItem);
+ ui.qwtPlot->insertLegend(legend, QwtPlot::BottomLegend);
- ui.qwtPlot->setAxisTitle( QwtPlot::xBottom, "Time (in sec)");
+ ui.qwtPlot->setAxisTitle(QwtPlot::xBottom, "Time (in sec)");
// ui.qwtPlot->setAutoReplot();
dialog = new ArmarXPlotterDialog(getWidget(), NULL);
@@ -113,7 +112,7 @@ namespace armarx
void ArmarXPlotter::onConnectComponent()
{
- ARMARX_VERBOSE<< "ArmarXPlotter started" << flush;
+ ARMARX_VERBOSE << "ArmarXPlotter started" << flush;
dialog->setIceManager(getIceManager());
connect(dialog, SIGNAL(accepted()), this, SLOT(configDone()));
@@ -122,28 +121,33 @@ namespace armarx
connect(ui.BTNPlotterStatus, SIGNAL(toggled(bool)), this, SLOT(plottingPaused(bool)));
connect(ui.BTNAutoScale, SIGNAL(toggled(bool)), this, SLOT(autoScale(bool)));
- connect( ui.qwtPlot, SIGNAL( legendChecked( QwtPlotItem *, bool ) ),
- SLOT( showCurve( QwtPlotItem *, bool ) ) );
+ connect(ui.qwtPlot, SIGNAL(legendChecked(QwtPlotItem*, bool)),
+ SLOT(showCurve(QwtPlotItem*, bool)));
connect(ui.btnLogToFile, SIGNAL(toggled(bool)), this, SLOT(toggleLogging(bool)));
- if(!QMetaObject::invokeMethod(this, "setupCurves"))
+ if (!QMetaObject::invokeMethod(this, "setupCurves"))
+ {
ARMARX_WARNING << "Failed to invoke enable";
+ }
}
void ArmarXPlotter::onExitComponent()
{
- if(pollingTask)
+ if (pollingTask)
+ {
pollingTask->stop();
+ }
}
- void ArmarXPlotter::onCloseWidget(QCloseEvent *event)
+ void ArmarXPlotter::onCloseWidget(QCloseEvent* event)
{
ARMARX_VERBOSE << "closing" << flush;
timer->stop();
- if(logstream.is_open())
+
+ if (logstream.is_open())
{
logstream.close();
}
@@ -155,8 +159,11 @@ namespace armarx
void ArmarXPlotter::configDialog()
{
- if(!dialog)
+ if (!dialog)
+ {
return;
+ }
+
dialog->ui.spinBoxUpdateInterval->setValue(updateInterval);
dialog->ui.spinBoxShownInterval->setValue(shownInterval);
dialog->ui.listWidget->clear();
@@ -189,7 +196,7 @@ namespace armarx
void ArmarXPlotter::toggleLogging(bool toggled)
{
- if(toggled)
+ if (toggled)
{
std::string filename = "datalog-" + IceUtil::Time::now().toDateTime() + ".csv";
@@ -198,7 +205,8 @@ namespace armarx
ARMARX_INFO << "Logging to " << filename;
logstream.open(filename);
logStartTime = IceUtil::Time::now();
- if(!logstream.is_open())
+
+ if (!logstream.is_open())
{
ARMARX_ERROR << "Could not open file for logging: " << filename;
ui.btnLogToFile->setChecked(false);
@@ -206,10 +214,12 @@ namespace armarx
else
{
logstream << "Timestamp";
- for(auto& channel: selectedChannels)
+
+ for (auto& channel : selectedChannels)
{
logstream << "," << channel.toStdString();
}
+
logstream << std::endl;
}
}
@@ -223,7 +233,8 @@ namespace armarx
{
ScopedLock lock(dataMutex);
auto newData = getData(selectedChannels, dataMap);
- if(ui.btnLogToFile->isChecked())
+
+ if (ui.btnLogToFile->isChecked())
{
logToFile(IceUtil::Time::now(), newData);
}
@@ -236,94 +247,131 @@ namespace armarx
ScopedLock lock(dataMutex);
QPointF p;
-// int size = shownInterval*1000/updateInterval;
+ // int size = shownInterval*1000/updateInterval;
GraphDataMap::iterator it = dataMap.begin();
IceUtil::Time curTime = IceUtil::Time::now();
- for(; it != dataMap.end(); ++it)
+ for (; it != dataMap.end(); ++it)
{
QVector<QPointF> pointList;
pointList.clear();
std::vector<TimeData>& dataVec = it->second;
-// int newSize = min(size,(int)dataVec.size());
+ // int newSize = min(size,(int)dataVec.size());
pointList.resize(dataVec.size());
+
try
{
int j = 0;
- for (int i = dataVec.size()-1; i >=0 ; --i) {
+
+ for (int i = dataVec.size() - 1; i >= 0 ; --i)
+ {
TimeData& data = dataVec[i];
IceUtil::Time age = (data.time - curTime);
- if(age.toMilliSecondsDouble() <= shownInterval*1000)
+
+ if (age.toMilliSecondsDouble() <= shownInterval * 1000)
{
VariantPtr var = VariantPtr::dynamicCast(data.data);
- if(var->getInitialized())
+
+ if (var->getInitialized())
{
- if((signed int)j < pointList.size())
+ if ((signed int)j < pointList.size())
{
- if(var->getType() == VariantType::Float)
+ if (var->getType() == VariantType::Float)
+ {
pointList[j].setY(var->getFloat());
- else if(var->getType() == VariantType::Double)
+ }
+ else if (var->getType() == VariantType::Double)
+ {
pointList[j].setY(var->getDouble());
- else if(var->getType() == VariantType::Int)
+ }
+ else if (var->getType() == VariantType::Int)
+ {
pointList[j].setY(var->getInt());
- else continue;
- pointList[j].setX(0.001f*age.toMilliSecondsDouble());
- }else
+ }
+ else
+ {
+ continue;
+ }
+
+ pointList[j].setX(0.001f * age.toMilliSecondsDouble());
+ }
+ else
{
- if(var->getType() == VariantType::Float)
+ if (var->getType() == VariantType::Float)
+ {
p.setY(var->getFloat());
- else if(var->getType() == VariantType::Double)
+ }
+ else if (var->getType() == VariantType::Double)
+ {
p.setY(var->getDouble());
- else if(var->getType() == VariantType::Int)
+ }
+ else if (var->getType() == VariantType::Int)
+ {
p.setY(var->getInt());
- else continue;
- p.setX(0.001*age.toMilliSecondsDouble());
+ }
+ else
+ {
+ continue;
+ }
+
+ p.setX(0.001 * age.toMilliSecondsDouble());
pointList.push_back(p);
}
+
j++;
}
else
{
- ARMARX_WARNING<< "uninitialized field: " << it->first;
+ ARMARX_WARNING << "uninitialized field: " << it->first;
}
}
else
- break; // data too old from now
+ {
+ break; // data too old from now
+ }
}
}
- catch(...)
+ catch (...)
{
handleExceptions();
}
QwtSeriesData<QPointF>* pointSeries = new QwtPointSeriesData(pointList);
- if(curves.find(it->first) != curves.end()){
- QwtPlotCurve *curve = curves[it->first];
+
+ if (curves.find(it->first) != curves.end())
+ {
+ QwtPlotCurve* curve = curves[it->first];
curve->setData(pointSeries);
}
}
- ui.qwtPlot->setAxisScale( QwtPlot::xBottom, shownInterval*-1, 0.f);
- if(ui.BTNAutoScale->isChecked())
+ ui.qwtPlot->setAxisScale(QwtPlot::xBottom, shownInterval * -1, 0.f);
+
+ if (ui.BTNAutoScale->isChecked())
+ {
ui.qwtPlot->setAxisAutoScale(QwtPlot::yLeft, true);
+ }
+
// ui.qwtPlot->setAxisScale( QwtPlot::yLeft, -1, 1);
ui.qwtPlot->replot();
}
- void ArmarXPlotter::showCurve( QwtPlotItem *item, bool on )
+ void ArmarXPlotter::showCurve(QwtPlotItem* item, bool on)
{
- item->setVisible( on );
+ item->setVisible(on);
- QwtLegendItem *legendItem =
- qobject_cast<QwtLegendItem *>( ui.qwtPlot->legend()->find( item ) );
+ QwtLegendItem* legendItem =
+ qobject_cast<QwtLegendItem*>(ui.qwtPlot->legend()->find(item));
- if ( legendItem )
- legendItem->setChecked( on );
+ if (legendItem)
+ {
+ legendItem->setChecked(on);
+ }
ui.qwtPlot->replot();
}
@@ -342,9 +390,13 @@ namespace armarx
{
ScopedLock lock(dataMutex);
__plottingPaused = toggled;
- if(pollingTask)
+
+ if (pollingTask)
+ {
pollingTask->stop();
- if(__plottingPaused)
+ }
+
+ if (__plottingPaused)
{
timer->stop();
}
@@ -358,7 +410,7 @@ namespace armarx
- void ArmarXPlotter::saveSettings(QSettings * settings)
+ void ArmarXPlotter::saveSettings(QSettings* settings)
{
ScopedLock lock(dataMutex);
settings->setValue("updateInterval", updateInterval);
@@ -368,7 +420,7 @@ namespace armarx
settings->setValue("autoScaleActive", ui.BTNAutoScale->isChecked());
}
- void ArmarXPlotter::loadSettings(QSettings * settings)
+ void ArmarXPlotter::loadSettings(QSettings* settings)
{
ScopedLock lock(dataMutex);
updateInterval = settings->value("updateInterval", 100).toInt();
@@ -380,12 +432,12 @@ namespace armarx
ARMARX_VERBOSE << "Settings loaded" << flush;
}
- QwtPlotCurve * ArmarXPlotter::createCurve(const QString& label)
+ QwtPlotCurve* ArmarXPlotter::createCurve(const QString& label)
{
QwtPlotCurve* curve = new QwtPlotCurve(label);
- curve->setPen( QColor( Qt::GlobalColor((curves.size()+7)%15) ) );
- curve->setStyle( QwtPlotCurve::Lines );
+ curve->setPen(QColor(Qt::GlobalColor((curves.size() + 7) % 15)));
+ curve->setStyle(QwtPlotCurve::Lines);
curve->attach(ui.qwtPlot);
showCurve(curve, true);
@@ -397,112 +449,138 @@ namespace armarx
{
{
ScopedLock lock(dataMutex);
- for(int i = 0; i < selectedChannels.size(); i++){
+
+ for (int i = 0; i < selectedChannels.size(); i++)
+ {
ARMARX_VERBOSE << "Channel: " << selectedChannels.at(i).toStdString() << flush;
- DataFieldIdentifierPtr identifier = new DataFieldIdentifier( selectedChannels.at(i).toStdString());
+ DataFieldIdentifierPtr identifier = new DataFieldIdentifier(selectedChannels.at(i).toStdString());
auto prx = getProxy<ObserverInterfacePrx>(identifier->observerName);
VariantPtr var = VariantPtr::dynamicCast(prx->getDataField(identifier));
- if(VariantType::IsBasicType(var->getType()))
+
+ if (VariantType::IsBasicType(var->getType()))
{
QwtPlotCurve* curve = createCurve(selectedChannels.at(i));
- curves[selectedChannels.at(i).toStdString()]=curve;
+ curves[selectedChannels.at(i).toStdString()] = curve;
}
else
{
auto id = identifier->getIdentifierStr();
ARMARX_IMPORTANT << id;
auto dict = JSONObject::ConvertToBasicVariantMap(json, var);
- for(auto e : dict)
+
+ for (auto e : dict)
{
VariantTypeId type = e.second->getType();
- if(type == VariantType::Double
- || type == VariantType::Float
- || type == VariantType::Int)
+
+ if (type == VariantType::Double
+ || type == VariantType::Float
+ || type == VariantType::Int)
{
std::string key = id + "." + e.first;
ARMARX_INFO << key << ": " << *VariantPtr::dynamicCast(e.second);
QwtPlotCurve* curve = createCurve(QString::fromStdString(key));
- curves[key]=curve;
+ curves[key] = curve;
}
}
}
}
+
ui.qwtPlot->replot();
}
timer->start(updateInterval);
- if(pollingTask)
+ if (pollingTask)
+ {
pollingTask->stop();
+ }
+
pollingTask = new PeriodicTask<ArmarXPlotter>(this, & ArmarXPlotter::pollingExec, pollingInterval, false, "DataPollingTask");
pollingTask->start();
}
- std::map<string, VariantPtr> ArmarXPlotter::getData(const QStringList &channels, GraphDataMap &dataMaptoAppend)
+ std::map<string, VariantPtr> ArmarXPlotter::getData(const QStringList& channels, GraphDataMap& dataMaptoAppend)
{
map< std::string, DataFieldIdentifierBaseList > channelsSplittedByObserver;
foreach(QString channel, channels)
{
DataFieldIdentifierPtr identifier = new DataFieldIdentifier(channel.toStdString());
channelsSplittedByObserver[identifier->getObserverName()].push_back(identifier);
-// ARMARX_INFO << identifier;
+ // ARMARX_INFO << identifier;
}
std::map<std::string, VariantPtr> newData;
// first clear to old entries
auto now = IceUtil::Time::now();
GraphDataMap::iterator itmap = dataMaptoAppend.begin();
- for(; itmap != dataMaptoAppend.end(); ++itmap)
+
+ for (; itmap != dataMaptoAppend.end(); ++itmap)
{
std::vector<TimeData>& dataVec = itmap->second;
int stepSize = dataVec.size() * 0.01;
int thresholdIndex = -1;
- for(unsigned int i=0; dataVec.size(); i+=stepSize)
+
+ for (unsigned int i = 0; dataVec.size(); i += stepSize)
{
// only delete if entries are older than 2*showninterval
// and delete then all entries that are older than showninterval.
// otherwise it would delete items on every call, which would be very slow
- if((now - dataVec[i].time).toMilliSecondsDouble() > shownInterval*2*1000
- || (thresholdIndex != -1 && (now - dataVec[i].time ).toMilliSecondsDouble() > shownInterval*1000)
- )
+ if ((now - dataVec[i].time).toMilliSecondsDouble() > shownInterval * 2 * 1000
+ || (thresholdIndex != -1 && (now - dataVec[i].time).toMilliSecondsDouble() > shownInterval * 1000)
+ )
{
thresholdIndex = i;
- }else
+ }
+ else
+ {
break;
+ }
}
- if(thresholdIndex!=-1)
+
+ if (thresholdIndex != -1)
{
- unsigned int offset = std::min((int)dataVec.size(),thresholdIndex);
-// ARMARX_IMPORTANT << "Erasing " << offset << " fields";
- if(offset>dataVec.size())
+ unsigned int offset = std::min((int)dataVec.size(), thresholdIndex);
+
+ // ARMARX_IMPORTANT << "Erasing " << offset << " fields";
+ if (offset > dataVec.size())
+ {
dataVec.clear();
+ }
else
- dataVec.erase(dataVec.begin(), dataVec.begin()+offset);
+ {
+ dataVec.erase(dataVec.begin(), dataVec.begin() + offset);
+ }
}
-// ARMARX_IMPORTANT << deactivateSpam(5) << "size: " << dataVec.size();
+
+ // ARMARX_IMPORTANT << deactivateSpam(5) << "size: " << dataVec.size();
}
+
// now get new data
IceUtil::Time time = IceUtil::Time::now();
map<string, DataFieldIdentifierBaseList >::iterator it = channelsSplittedByObserver.begin();
+
try
{
- for(; it != channelsSplittedByObserver.end(); ++it)
+ for (; it != channelsSplittedByObserver.end(); ++it)
{
std::string observerName = it->first;
- if(proxyMap.find(observerName) == proxyMap.end())
+ if (proxyMap.find(observerName) == proxyMap.end())
{
proxyMap[observerName] = getProxy<ObserverInterfacePrx>(observerName);
}
+
// QDateTime time(QDateTime::currentDateTime());
VariantBaseList variants = proxyMap[observerName]->getDataFields(it->second);
-// ARMARX_IMPORTANT << "data from observer: " << observerName;
- for(unsigned int i = 0; i < variants.size(); ++i)
+
+ // ARMARX_IMPORTANT << "data from observer: " << observerName;
+ for (unsigned int i = 0; i < variants.size(); ++i)
{
-// ARMARX_IMPORTANT << "Variant: " << VariantPtr::dynamicCast(variants[i]);
+ // ARMARX_IMPORTANT << "Variant: " << VariantPtr::dynamicCast(variants[i]);
VariantPtr var = VariantPtr::dynamicCast(variants[i]);
- if(VariantType::IsBasicType(var->getType()))
+
+ if (VariantType::IsBasicType(var->getType()))
{
dataMaptoAppend[DataFieldIdentifierPtr::dynamicCast(it->second[i])->getIdentifierStr()].push_back(TimeData(time, var));
newData[DataFieldIdentifierPtr::dynamicCast(it->second[i])->getIdentifierStr()] = var;
@@ -510,13 +588,14 @@ namespace armarx
else
{
auto id = DataFieldIdentifierPtr::dynamicCast(it->second[i])->getIdentifierStr();
-// ARMARX_IMPORTANT << id;
+ // ARMARX_IMPORTANT << id;
auto dict = JSONObject::ConvertToBasicVariantMap(json, var);
- for(const auto &e : dict)
+
+ for (const auto& e : dict)
{
std::string key = id + "." + e.first;
-// ARMARX_INFO << key << ": " << *VariantPtr::dynamicCast(e.second);
- dataMaptoAppend[key].push_back(TimeData(time,VariantPtr::dynamicCast(e.second)));
+ // ARMARX_INFO << key << ": " << *VariantPtr::dynamicCast(e.second);
+ dataMaptoAppend[key].push_back(TimeData(time, VariantPtr::dynamicCast(e.second)));
newData[key] = VariantPtr::dynamicCast(e.second);
}
}
@@ -525,16 +604,19 @@ namespace armarx
}
}
- catch(Ice::NotRegisteredException &e){
+ catch (Ice::NotRegisteredException& e)
+ {
ARMARX_WARNING << deactivateSpam(3) << "Caught Ice::NotRegisteredException: " << e.what();
}
- catch(exceptions::local::InvalidDataFieldException &e){
+ catch (exceptions::local::InvalidDataFieldException& e)
+ {
ARMARX_WARNING << deactivateSpam(5) << "Caught InvalidDataFieldException: " << e.what();
}
- catch(exceptions::local::InvalidChannelException &e){
+ catch (exceptions::local::InvalidChannelException& e)
+ {
ARMARX_WARNING << deactivateSpam(5) << "Caught InvalidChannelException: " << e.what();
}
- catch(...)
+ catch (...)
{
handleExceptions();
}
@@ -542,16 +624,18 @@ namespace armarx
return newData;
}
- void ArmarXPlotter::logToFile(const IceUtil::Time &time, const std::map<std::string, VariantPtr> &dataMaptoAppend)
+ void ArmarXPlotter::logToFile(const IceUtil::Time& time, const std::map<std::string, VariantPtr>& dataMaptoAppend)
{
- if(logstream.is_open() && dataMaptoAppend.size() > 0)
+ if (logstream.is_open() && dataMaptoAppend.size() > 0)
{
- logstream << (time-logStartTime).toMilliSecondsDouble();
- for(const auto& elem : dataMaptoAppend)
+ logstream << (time - logStartTime).toMilliSecondsDouble();
+
+ for (const auto& elem : dataMaptoAppend)
{
logstream << "," /*<< elem.first << ","*/ << elem.second->getOutputValueOnly();
}
+
logstream << std::endl;
}
}
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
index 0feebafb9a3defdd6401acd3b16209fe3e97111e..3a816fa47a186af11a18b4235966c204ba412671 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Gui
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -27,17 +26,17 @@
#include "ui_ArmarXPlotter.h"
// ArmarX
-#include <Gui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
-#include <Gui/gui-plugins/ObserverPropertiesPlugin/ObserverItemModel.h>
-
-#include <Core/core/Component.h>
-#include <Core/core/system/ImportExportComponent.h>
-#include <Core/core/system/AbstractFactoryMethod.h>
-#include <Core/interface/observers/ConditionHandlerInterface.h>
-#include <Core/observers/variant/DataFieldIdentifier.h>
-#include <Core/observers/variant/Variant.h>
-#include <Core/util/json/JSONObject.h>
-#include <Core/core/services/tasks/PeriodicTask.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/gui-plugins/ObserverPropertiesPlugin/ObserverItemModel.h>
+
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+#include <ArmarXCore/core/system/AbstractFactoryMethod.h>
+#include <ArmarXCore/interface/observers/ConditionHandlerInterface.h>
+#include <ArmarXCore/observers/variant/DataFieldIdentifier.h>
+#include <ArmarXCore/observers/variant/Variant.h>
+#include <ArmarXCore/util/json/JSONObject.h>
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
// QT
#include <QWidget>
@@ -52,8 +51,9 @@ class QwtPlotCurve;
namespace armarx
{
- struct TimeData{
- TimeData(const IceUtil::Time &time, const VariantPtr &data): time(time), data(data){}
+ struct TimeData
+ {
+ TimeData(const IceUtil::Time& time, const VariantPtr& data): time(time), data(data) {}
IceUtil::Time time;
VariantPtr data;
@@ -64,24 +64,24 @@ namespace armarx
class ArmarXPlotterDialog;
/*!
- * \class ArmarXPlotter
+ * \page RobotAPI-GuiPlugins-ArmarXPlotter ArmarXPlotter
* \brief The plotter widget allows the user to plot any sensor channel.
* \image html PlotterGUI.png
* A sensor channel can be selected for plotting by clicking the wrench button at the bottom.
* \ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
*/
class ARMARXCOMPONENT_IMPORT_EXPORT
- ArmarXPlotter:
- public ArmarXComponentWidgetController
+ ArmarXPlotter:
+ public ArmarXComponentWidgetController
{
Q_OBJECT
public:
- std::map<std::string, QwtPlotCurve *> curves;
+ std::map<std::string, QwtPlotCurve*> curves;
Ui::ArmarXPlotter ui;
QPointer<ArmarXPlotterDialog> dialog;
- QTimer * timer;
+ QTimer* timer;
ConditionHandlerInterfacePrx handler;
// Configuration Parameters
@@ -93,9 +93,12 @@ namespace armarx
explicit ArmarXPlotter();
~ArmarXPlotter();
//inherited from ArmarXWidget
- virtual QString getWidgetName() const { return "Observers.Plotter";}
- void loadSettings(QSettings * settings);
- void saveSettings(QSettings * settings);
+ virtual QString getWidgetName() const
+ {
+ return "Observers.Plotter";
+ }
+ void loadSettings(QSettings* settings);
+ void saveSettings(QSettings* settings);
//for AbstractFactoryMethod class
@@ -109,15 +112,15 @@ namespace armarx
/**
* emits the closeRequest signal
*/
- void onCloseWidget(QCloseEvent *event);
- QwtPlotCurve * createCurve(const QString &label);
+ void onCloseWidget(QCloseEvent* event);
+ QwtPlotCurve* createCurve(const QString& label);
signals:
public slots:
void ButtonAddSensorChannelClicked();
void configDialog();
void updateGraph();
- void showCurve(QwtPlotItem *item, bool on);
+ void showCurve(QwtPlotItem* item, bool on);
void autoScale(bool toggled);
void plottingPaused(bool toggled);
void configDone();
@@ -137,8 +140,8 @@ namespace armarx
JSONObjectPtr json;
- std::map<std::string, VariantPtr> getData(const QStringList &channels, GraphDataMap &dataMaptoAppend);
- void logToFile(const IceUtil::Time &time,const std::map<std::string, VariantPtr> &dataMaptoAppend);
+ std::map<std::string, VariantPtr> getData(const QStringList& channels, GraphDataMap& dataMaptoAppend);
+ void logToFile(const IceUtil::Time& time, const std::map<std::string, VariantPtr>& dataMaptoAppend);
Mutex dataMutex;
PeriodicTask<ArmarXPlotter>::pointer_type pollingTask;
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp
index 9ec9e79858fa043994e6cd3a0c832f68a208d62a..30a7d58446425fd5044e3b6835a68f90cbe05380 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Gui
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -34,7 +33,7 @@ using namespace armarx;
using namespace std;
-ArmarXPlotterDialog::ArmarXPlotterDialog(QWidget *parent, IceManagerPtr iceManager) :
+ArmarXPlotterDialog::ArmarXPlotterDialog(QWidget* parent, IceManagerPtr iceManager) :
QDialog(parent),
uuid(IceUtil::generateUUID()),
iceManager(iceManager)
@@ -54,7 +53,7 @@ ArmarXPlotterDialog::ArmarXPlotterDialog(QWidget *parent, IceManagerPtr iceManag
ArmarXPlotterDialog::~ArmarXPlotterDialog()
{
-// ARMARX_INFO << "~ArmarXPlotterDialog" ;
+ // ARMARX_INFO << "~ArmarXPlotterDialog" ;
}
void ArmarXPlotterDialog::setIceManager(IceManagerPtr iceManager)
@@ -90,32 +89,32 @@ void ArmarXPlotterDialog::setIceManager(IceManagerPtr iceManager)
//}
-void ArmarXPlotterDialog::onCloseWidget(QCloseEvent *event)
+void ArmarXPlotterDialog::onCloseWidget(QCloseEvent* event)
{
}
void ArmarXPlotterDialog::updateObservers()
{
- if(!model)
+ if (!model)
{
model = new ObserverItemModel(iceManager);
ui.treeViewObservers->setModel(model);
}
- model->updateObservers();
+ model->updateObservers();
-// if(!iceManager)
-// return;
-// ObserverList observerList = iceManager->getIceGridSession()->getRegisteredObjectNames<ObserverInterfacePrx>("*Observer");
-// ObserverList::iterator iter = observerList.begin();
+ // if(!iceManager)
+ // return;
+ // ObserverList observerList = iceManager->getIceGridSession()->getRegisteredObjectNames<ObserverInterfacePrx>("*Observer");
+ // ObserverList::iterator iter = observerList.begin();
-// while(iter != observerList.end())
-// {
-// model->updateModel(*iter, iceManager->getProxy<ObserverInterfacePrx>(*iter)->getAvailableChannels(), StringConditionCheckMap());
-// iter++;
-// }
+ // while(iter != observerList.end())
+ // {
+ // model->updateModel(*iter, iceManager->getProxy<ObserverInterfacePrx>(*iter)->getAvailableChannels(), StringConditionCheckMap());
+ // iter++;
+ // }
}
@@ -125,20 +124,23 @@ void ArmarXPlotterDialog::updateObservers()
void ArmarXPlotterDialog::ButtonAddSelectedChannelClicked()
{
- QItemSelectionModel* selectionModel = ui.treeViewObservers->selectionModel();
- for(int i = 0; i < selectionModel->selectedIndexes().size(); ++i)
- {
- QModelIndex index = selectionModel->selectedIndexes().at(i);
- treeView_doubleClick(index);
- }
- ui.treeViewObservers->clearSelection();
+ QItemSelectionModel* selectionModel = ui.treeViewObservers->selectionModel();
+
+ for (int i = 0; i < selectionModel->selectedIndexes().size(); ++i)
+ {
+ QModelIndex index = selectionModel->selectedIndexes().at(i);
+ treeView_doubleClick(index);
+ }
+
+ ui.treeViewObservers->clearSelection();
}
void ArmarXPlotterDialog::ButtonRemoveChannelClicked()
{
QList<QListWidgetItem*> selectedItems = ui.listWidget->selectedItems();
- for(int i=0; i < selectedItems.size(); ++i)
+
+ for (int i = 0; i < selectedItems.size(); ++i)
{
delete selectedItems.at(i);
}
@@ -146,15 +148,15 @@ void ArmarXPlotterDialog::ButtonRemoveChannelClicked()
void ArmarXPlotterDialog::ButtonRemoveChannelClicked(QModelIndex index)
{
- delete ui.listWidget->item(index.row());
+ delete ui.listWidget->item(index.row());
}
QStringList ArmarXPlotterDialog::getSelectedChannels()
{
QStringList result;
QList <QListWidgetItem*> items = ui.listWidget->findItems(QString("*"), Qt::MatchWrap | Qt::MatchWildcard);
- foreach(QListWidgetItem *item, items)
- result.append(item->text());
+ foreach(QListWidgetItem * item, items)
+ result.append(item->text());
return result;
}
@@ -163,27 +165,31 @@ void ArmarXPlotterDialog::treeView_selected(const QItemSelection& selected, cons
{
}
-void ArmarXPlotterDialog::treeView_doubleClick(const QModelIndex &index)
+void ArmarXPlotterDialog::treeView_doubleClick(const QModelIndex& index)
{
- QStandardItem* item = model->itemFromIndex(index);
- QVariant id = item->data(OBSERVER_ITEM_ID);
- switch(item->data(OBSERVER_ITEM_TYPE).toInt())
- {
+ QStandardItem* item = model->itemFromIndex(index);
+ QVariant id = item->data(OBSERVER_ITEM_ID);
+
+ switch (item->data(OBSERVER_ITEM_TYPE).toInt())
+ {
case eDataFieldItem:
- if(ui.listWidget->findItems(id.toString(),Qt::MatchExactly).size() == 0)
+ if (ui.listWidget->findItems(id.toString(), Qt::MatchExactly).size() == 0)
+ {
ui.listWidget->addItem(id.toString());
+ }
+
break;
- }
+ }
}
-void ArmarXPlotterDialog::destroyed(QObject *)
+void ArmarXPlotterDialog::destroyed(QObject*)
{
setParent(0);
}
-void ArmarXPlotterDialog::showEvent(QShowEvent *)
+void ArmarXPlotterDialog::showEvent(QShowEvent*)
{
updateObservers();
}
@@ -192,8 +198,9 @@ void ArmarXPlotterDialog::showEvent(QShowEvent *)
void armarx::ArmarXPlotterDialog::on_btnSelectLoggingDir_clicked()
{
QString newLoggingDir = QFileDialog::getExistingDirectory(this, "Select a directory to which data should be logged",
- ui.editLoggingDirectory->text());
- if(!newLoggingDir.isEmpty())
+ ui.editLoggingDirectory->text());
+
+ if (!newLoggingDir.isEmpty())
{
ui.editLoggingDirectory->setText(newLoggingDir);
}
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h
index d00f727f7498525a0a46b646a1b80278626b94dc..b912d58f87489648f888fe40ee6e94a099536571 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Gui
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -28,10 +27,10 @@
// QT
#include "ui_ArmarXPlotterDialog.h"
-#include <Gui/gui-plugins/ObserverPropertiesPlugin/ObserverItemModel.h>
+#include <ArmarXGui/gui-plugins/ObserverPropertiesPlugin/ObserverItemModel.h>
-#include <Core/core/IceManager.h>
-#include <Core/interface/observers/ConditionHandlerInterface.h>
+#include <ArmarXCore/core/IceManager.h>
+#include <ArmarXCore/interface/observers/ConditionHandlerInterface.h>
#include <QDialog>
#include <QComboBox>
@@ -48,24 +47,25 @@ namespace armarx
{
class ArmarXPlotter;
class ArmarXPlotterDialog:
- public QDialog
+ public QDialog
{
Q_OBJECT
QStringList availableChannelsList;
- ObserverItemModel *model;
+ ObserverItemModel* model;
std::string uuid;
IceManagerPtr iceManager;
int mdiId;
public:
- ArmarXPlotterDialog(QWidget *parent, IceManagerPtr iceManager);
+ ArmarXPlotterDialog(QWidget* parent, IceManagerPtr iceManager);
~ArmarXPlotterDialog();
ConditionHandlerInterfacePrx handler;
- struct ChannelWidgetsEntry{
+ struct ChannelWidgetsEntry
+ {
QComboBox* comboBox;
- QLabel *label;
- QPushButton *deleteButton;
+ QLabel* label;
+ QPushButton* deleteButton;
};
void setIceManager(IceManagerPtr iceManager);
@@ -75,24 +75,24 @@ namespace armarx
QStringList getSelectedChannels();
-// // inherited from Component
-// std::string getDefaultName() const;
-// virtual void onInitComponent();
-// virtual void onConnectComponent();
-// void onExitComponent();
+ // // inherited from Component
+ // std::string getDefaultName() const;
+ // virtual void onInitComponent();
+ // virtual void onConnectComponent();
+ // void onExitComponent();
/**
* emits the closeRequest signal
*/
- void onCloseWidget(QCloseEvent *event);
+ void onCloseWidget(QCloseEvent* event);
public slots:
void ButtonAddSelectedChannelClicked();
void ButtonRemoveChannelClicked();
void ButtonRemoveChannelClicked(QModelIndex index);
void updateObservers();
void treeView_selected(const QItemSelection& selected, const QItemSelection& deselected);
- void treeView_doubleClick(const QModelIndex &index);
- void destroyed(QObject *);
- void showEvent(QShowEvent *);
+ void treeView_doubleClick(const QModelIndex& index);
+ void destroyed(QObject*);
+ void showEvent(QShowEvent*);
private slots:
void on_btnSelectLoggingDir_clicked();
};
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui
index 62c86008dda2fa7387acecb86720ed205d32444c..4a739efbff645b4943a9e3b245516f36c695245d 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui
@@ -254,7 +254,7 @@
<customwidget>
<class>FilterableTreeView</class>
<extends>QTreeView</extends>
- <header location="global">Gui/libraries/ArmarXGuiBase/widgets/FilterableTreeView.h</header>
+ <header location="global">ArmarXGui/libraries/ArmarXGuiBase/widgets/FilterableTreeView.h</header>
</customwidget>
</customwidgets>
<resources/>
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.cpp b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.cpp
index 44dcd92fdae74b5b70699cbfb595d0c08948aae9..80b861c28d248f67d375eb5b4e3860f354d660f5 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.cpp
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -47,8 +46,8 @@ TCPMover::TCPMover() :
{
-// handData[selectedTCP][0] = handData[selectedTCP][1] = handData[selectedTCP][2] = 0.0f;
-// handData[selectedTCP][3] = handData[selectedTCP][4] = handData[selectedTCP][5] = 0.0f;
+ // handData[selectedTCP][0] = handData[selectedTCP][1] = handData[selectedTCP][2] = 0.0f;
+ // handData[selectedTCP][3] = handData[selectedTCP][4] = handData[selectedTCP][5] = 0.0f;
ui.setupUi(getWidget());
ui.gridLayout->setEnabled(false);
// SIGNALS AND SLOTS CONNECTIONS
@@ -80,20 +79,23 @@ TCPMover::~TCPMover()
-void armarx::TCPMover::loadSettings(QSettings *settings)
+void armarx::TCPMover::loadSettings(QSettings* settings)
{
tcpMoverUnitName = settings->value("TCPControlUnitName", "TCPControlUnit").toString().toStdString();
}
-void armarx::TCPMover::saveSettings(QSettings *settings)
+void armarx::TCPMover::saveSettings(QSettings* settings)
{
settings->setValue("TCPControlUnitName", tcpMoverUnitName.c_str());
}
-QPointer<QDialog> TCPMover::getConfigDialog(QWidget *parent)
+QPointer<QDialog> TCPMover::getConfigDialog(QWidget* parent)
{
- if(!configDialog)
+ if (!configDialog)
+ {
configDialog = new TCPMoverConfigDialog(parent);
+ }
+
return qobject_cast<TCPMoverConfigDialog*>(configDialog);
}
@@ -107,19 +109,19 @@ void TCPMover::configured()
void armarx::TCPMover::onInitComponent()
{
-// kinematicUnitFile = getProperty<std::string>("RobotFileName", KINEMATIC_UNIT_FILE_DEFAULT).getValueOrDefault();
-// kinematicUnitName = getProperty<std::string>("RobotNodeSetName",KINEMATIC_UNIT_NAME_DEFAULT).getValueOrDefault();
+ // kinematicUnitFile = getProperty<std::string>("RobotFileName", KINEMATIC_UNIT_FILE_DEFAULT).getValueOrDefault();
+ // kinematicUnitName = getProperty<std::string>("RobotNodeSetName",KINEMATIC_UNIT_NAME_DEFAULT).getValueOrDefault();
-// // Load Robot
-// ARMARX_VERBOSE << ": Loading KinematicUnit " << kinematicUnitName << " from '" << kinematicUnitFile << "' ..." << flush;
-// robot = RobotIO::loadRobot(kinematicUnitFile);
-// if (!robot)
-// {
-// ARMARX_ERROR << "Could not find Robot XML file with name '" << kinematicUnitFile << "'" << flush;
-// }
+ // // Load Robot
+ // ARMARX_VERBOSE << ": Loading KinematicUnit " << kinematicUnitName << " from '" << kinematicUnitFile << "' ..." << flush;
+ // robot = RobotIO::loadRobot(kinematicUnitFile);
+ // if (!robot)
+ // {
+ // ARMARX_ERROR << "Could not find Robot XML file with name '" << kinematicUnitFile << "'" << flush;
+ // }
-// usingProxy(kinematicUnitName);
+ // usingProxy(kinematicUnitName);
usingProxy(tcpMoverUnitName);
usingProxy("RobotStateComponent");
@@ -134,53 +136,59 @@ void armarx::TCPMover::onConnectComponent()
robotPrx = robotStateComponentPrx->getSynchronizedRobot();
NameList nodeSets = robotPrx->getRobotNodeSets();
QStringList nodeSetsQStr;
- for(unsigned int i=0; i < nodeSets.size(); i++)
+
+ for (unsigned int i = 0; i < nodeSets.size(); i++)
{
- if(!robotPrx->getRobotNodeSet(nodeSets.at(i))->tcpName.empty())
+ if (!robotPrx->getRobotNodeSet(nodeSets.at(i))->tcpName.empty())
{
tcpData[nodeSets.at(i)].resize(6, 0.f);
nodeSetsQStr << QString::fromStdString(nodeSets.at(i));
}
}
+
QString selected = ui.cbselectedTCP->currentText();
ui.cbselectedTCP->clear();
ui.cbselectedTCP->addItems(nodeSetsQStr);
int index = ui.cbselectedTCP->findText(selected);
- if(index != -1)
+
+ if (index != -1)
+ {
ui.cbselectedTCP->setCurrentIndex(index);
+ }
+
refFrame = robotStateComponentPrx->getSynchronizedRobot()->getRootNode()->getName();
-// kinematicUnitPrx = getProxy<KinematicUnitInterfacePrx>(kinematicUnitName);
-
-// tcpNodeSetName = "LARM";
-// tcpNodeSet = robot->getRobotNodeSet(tcpNodeSetName);
-// NameControlModeMap modeMap;
-// for(unsigned int i = 0; i < tcpNodeSet->getSize(); i++)
-// {
-// modeMap[tcpNodeSet->getNode(i)->getName()] = eVelocityControl;
-// }
-// kinematicUnitPrx->switchControlMode(modeMap);
-// ik = DifferentialIKPtr(new DifferentialIK(tcpNodeSet));
+ // kinematicUnitPrx = getProxy<KinematicUnitInterfacePrx>(kinematicUnitName);
+
+ // tcpNodeSetName = "LARM";
+ // tcpNodeSet = robot->getRobotNodeSet(tcpNodeSetName);
+ // NameControlModeMap modeMap;
+ // for(unsigned int i = 0; i < tcpNodeSet->getSize(); i++)
+ // {
+ // modeMap[tcpNodeSet->getNode(i)->getName()] = eVelocityControl;
+ // }
+ // kinematicUnitPrx->switchControlMode(modeMap);
+ // ik = DifferentialIKPtr(new DifferentialIK(tcpNodeSet));
ui.gridLayout->setEnabled(false);
}
void TCPMover::onExitComponent()
{
-// if(robotRequested)
-// kinematicUnitPrx->release();
+ // if(robotRequested)
+ // kinematicUnitPrx->release();
}
void TCPMover::moveUp()
{
-// moveRelative(-1,0,0);
+ // moveRelative(-1,0,0);
tcpData[selectedTCP][0]++;
execMove();
}
void TCPMover::moveDown()
{
-// moveRelative(1,0,0);
+ // moveRelative(1,0,0);
tcpData[selectedTCP][0]--;
execMove();
}
@@ -199,7 +207,7 @@ void TCPMover::moveZDown()
void TCPMover::moveLeft()
{
-// moveRelative(0,1,0);
+ // moveRelative(0,1,0);
tcpData[selectedTCP][1] ++;
execMove();
@@ -258,35 +266,35 @@ void TCPMover::stopMoving()
void TCPMover::reset()
{
- tcpData[selectedTCP][0] = tcpData[selectedTCP][1] = tcpData[selectedTCP][2] = 0.0f;
- tcpData[selectedTCP].at(3) = tcpData[selectedTCP].at(4) = tcpData[selectedTCP].at(5) = 0.0f;
- execMove();
- tcpMoverUnitPrx->release();
-// tcpMoverUnitPrx->resetArmToHomePosition(eLeftHand);
+ tcpData[selectedTCP][0] = tcpData[selectedTCP][1] = tcpData[selectedTCP][2] = 0.0f;
+ tcpData[selectedTCP].at(3) = tcpData[selectedTCP].at(4) = tcpData[selectedTCP].at(5) = 0.0f;
+ execMove();
+ tcpMoverUnitPrx->release();
+ // tcpMoverUnitPrx->resetArmToHomePosition(eLeftHand);
}
void TCPMover::robotControl(bool request)
{
tcpMoverUnitPrx->request();
-// try{
-// if(request)
-// kinematicUnitPrx->request();
-// else
-// kinematicUnitPrx->release();
-// }catch(ResourceUnavailableException &e){
-// ui.BtnRequestControl->setChecked(false);
-
-// }catch(ResourceNotOwnedException &e){
-// ui.BtnRequestControl->setChecked(true);
-// }
-// robotRequested = ui.BtnRequestControl->isChecked();
+ // try{
+ // if(request)
+ // kinematicUnitPrx->request();
+ // else
+ // kinematicUnitPrx->release();
+ // }catch(ResourceUnavailableException &e){
+ // ui.BtnRequestControl->setChecked(false);
+
+ // }catch(ResourceNotOwnedException &e){
+ // ui.BtnRequestControl->setChecked(true);
+ // }
+ // robotRequested = ui.BtnRequestControl->isChecked();
}
void TCPMover::selectHand(int index)
{
- selectedTCP = ui.cbselectedTCP->itemText(index).toStdString();
+ selectedTCP = ui.cbselectedTCP->itemText(index).toStdString();
}
void TCPMover::execMove()
@@ -305,55 +313,61 @@ void TCPMover::execMove()
const auto agentName = robotPrx->getName();
FramedDirectionPtr tcpVel = new FramedDirection(vec, refFrame, agentName);
Eigen::Vector3f vecOri;
- vecOri << tcpData[selectedTCP].at(3)/180.f*3.145f, tcpData[selectedTCP].at(4)/180.f*3.145f, tcpData[selectedTCP].at(5)/180.f*3.145f;
+ vecOri << tcpData[selectedTCP].at(3) / 180.f * 3.145f, tcpData[selectedTCP].at(4) / 180.f * 3.145f, tcpData[selectedTCP].at(5) / 180.f * 3.145f;
vecOri *= ui.sbFactor->value();
FramedDirectionPtr tcpOri = new FramedDirection(vecOri, refFrame, agentName);
- if(!ui.cbTranslation->isChecked() )
+ if (!ui.cbTranslation->isChecked())
+ {
tcpVel = NULL;
- if(!ui.cbOrientation->isChecked() )
+ }
+
+ if (!ui.cbOrientation->isChecked())
+ {
tcpOri = NULL;
- tcpMoverUnitPrx->begin_setTCPVelocity(selectedTCP,ui.edtTCPName->text().toStdString(), tcpVel,tcpOri);
+ }
+
+ tcpMoverUnitPrx->begin_setTCPVelocity(selectedTCP, ui.edtTCPName->text().toStdString(), tcpVel, tcpOri);
-// tcpMoverUnitPrx->setCartesianTCPVelocity(selectedTCP, handData[selectedTCP][0], handData[selectedTCP][1], handData[selectedTCP][2], ui.sbFactor->value());
-// tcpMoverUnitPrx->setTCPOrientation(selectedTCP, handData[selectedTCP].at(3)/180.f*3.145f, handData[selectedTCP].at(4)/180.f*3.145f, handData[selectedTCP].at(5)/180.f*3.145f);
+ // tcpMoverUnitPrx->setCartesianTCPVelocity(selectedTCP, handData[selectedTCP][0], handData[selectedTCP][1], handData[selectedTCP][2], ui.sbFactor->value());
+ // tcpMoverUnitPrx->setTCPOrientation(selectedTCP, handData[selectedTCP].at(3)/180.f*3.145f, handData[selectedTCP].at(4)/180.f*3.145f, handData[selectedTCP].at(5)/180.f*3.145f);
}
void TCPMover::moveRelative(float x, float y, float z)
{
-// RobotNodePtr tcpNode = tcpNodeSet->getTCP();
-// // calculate cartesian error
-// Eigen::Matrix4f newPosRelative;
-// newPosRelative
-// << 1, 0, 0, 10*ui.sbFactor->value(),
-// 0, 1, 0, 0,
-// 0, 0, 1, 0,
-// 0, 0, 0, 1;
-// Eigen::VectorXf errorCartVec(3);
-// errorCartVec << x*ui.sbFactor->value(),y*ui.sbFactor->value(),z*ui.sbFactor->value();
-//// errorCartVec.segment(0,3) = newPosRelative.block(0,3,3,1);
-
-
-
-
-// Eigen::MatrixXf Ji = ik->getPseudoInverseJacobianMatrix(tcpNode, IKSolver::Position);
-// // calculat joint error
-// Eigen::VectorXf errorJoint(tcpNodeSet->getSize());
-// errorJoint = Ji * errorCartVec;
-// std::vector<float> angles = tcpNodeSet->getJointValues();
-// std::vector<float> targetAngles(tcpNodeSet->getSize());
-// NameValueMap targetAnglesMap;
-
-// for(unsigned int i = 0; i < tcpNodeSet->getSize(); i++)
-// {
-//// float newAngle = angles[i] + errorJoint(i);
-// float newAngle = errorJoint(i);
-// targetAngles[i] = newAngle;
-// targetAnglesMap[tcpNodeSet->getNode(i)->getName()] = newAngle;
-// //ARMARX_VERBOSE << tcpNodeSet->getNode(i)->getName() << ": " << newAngle;
-// }
-// tcpNodeSet->setJointValues(targetAngles);
-// kinematicUnitPrx->setJointVelocities(targetAnglesMap);
+ // RobotNodePtr tcpNode = tcpNodeSet->getTCP();
+ // // calculate cartesian error
+ // Eigen::Matrix4f newPosRelative;
+ // newPosRelative
+ // << 1, 0, 0, 10*ui.sbFactor->value(),
+ // 0, 1, 0, 0,
+ // 0, 0, 1, 0,
+ // 0, 0, 0, 1;
+ // Eigen::VectorXf errorCartVec(3);
+ // errorCartVec << x*ui.sbFactor->value(),y*ui.sbFactor->value(),z*ui.sbFactor->value();
+ //// errorCartVec.segment(0,3) = newPosRelative.block(0,3,3,1);
+
+
+
+
+ // Eigen::MatrixXf Ji = ik->getPseudoInverseJacobianMatrix(tcpNode, IKSolver::Position);
+ // // calculat joint error
+ // Eigen::VectorXf errorJoint(tcpNodeSet->getSize());
+ // errorJoint = Ji * errorCartVec;
+ // std::vector<float> angles = tcpNodeSet->getJointValues();
+ // std::vector<float> targetAngles(tcpNodeSet->getSize());
+ // NameValueMap targetAnglesMap;
+
+ // for(unsigned int i = 0; i < tcpNodeSet->getSize(); i++)
+ // {
+ //// float newAngle = angles[i] + errorJoint(i);
+ // float newAngle = errorJoint(i);
+ // targetAngles[i] = newAngle;
+ // targetAnglesMap[tcpNodeSet->getNode(i)->getName()] = newAngle;
+ // //ARMARX_VERBOSE << tcpNodeSet->getNode(i)->getName() << ": " << newAngle;
+ // }
+ // tcpNodeSet->setJointValues(targetAngles);
+ // kinematicUnitPrx->setJointVelocities(targetAnglesMap);
}
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
index ff30cecd4c941193dc758574dc3525b57d0ffa26..7acdeea5db1393b4f6b7add72aa4a49e4faf7ddc 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -36,9 +35,9 @@
#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/IK/DifferentialIK.h>
-#include <Gui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
-#include <Gui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
// Qt includes
#include <QDialog>
@@ -49,7 +48,8 @@
class QDialogButtonBox;
-namespace armarx {
+namespace armarx
+{
/*class TCPMoverConfigDialog : public QDialog
{
@@ -70,12 +70,14 @@ namespace armarx {
};*/
- /*
- * @brief The TCPMover widget...
- * @ingroup RobotAPI-ArmarXGuiPlugins ArmarXGuiPlugins
- */
+ /**
+ * \page RobotAPI-GuiPlugins-TCPMover TCPMoverPlugin
+ * @brief The TCPMover widget allows direct control of a TCP.
+ *
+ * \image html TCPMoverGUI.png
+ */
class TCPMover :
- public ArmarXComponentWidgetController
+ public ArmarXComponentWidgetController
{
Q_OBJECT
@@ -83,12 +85,21 @@ namespace armarx {
TCPMover();
~TCPMover();
//inherited from ArmarXMdiWidget
- void loadSettings(QSettings * settings);
- void saveSettings(QSettings * settings);
- virtual QString getWidgetName() const { return "RobotControl.TCPMover"; }
- virtual QIcon getWidgetIcon() const { return QIcon("://icons/games.ico"); }
- virtual QIcon getWidgetCategoryIcon() const { return QIcon("://icons/games.ico"); }
- QPointer<QDialog> getConfigDialog(QWidget *parent = 0);
+ void loadSettings(QSettings* settings);
+ void saveSettings(QSettings* settings);
+ virtual QString getWidgetName() const
+ {
+ return "RobotControl.TCPMover";
+ }
+ virtual QIcon getWidgetIcon() const
+ {
+ return QIcon("://icons/games.ico");
+ }
+ virtual QIcon getWidgetCategoryIcon() const
+ {
+ return QIcon("://icons/games.ico");
+ }
+ QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
void configured();
// inherited from Component
@@ -123,8 +134,8 @@ namespace armarx {
std::map<std::string, std::vector<float> > tcpData;
std::string selectedTCP;
std::string refFrame;
-// float velocities[2][3];
-// float orientation[2][3];
+ // float velocities[2][3];
+ // float orientation[2][3];
NameValueMap velocityMap;
bool robotRequested;
VirtualRobot::RobotNodeSetPtr tcpNodeSet;
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMoverConfigDialog.cpp b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMoverConfigDialog.cpp
index daee4b75e7d688de3711aa444dcbf4509be9fcdc..4ec8ad2b5b6d31bf2091cb013c5d1eadded6e607 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMoverConfigDialog.cpp
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMoverConfigDialog.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -28,7 +27,7 @@
#include <RobotAPI/interface/units/TCPControlUnit.h>
-armarx::TCPMoverConfigDialog::TCPMoverConfigDialog(QWidget *parent) :
+armarx::TCPMoverConfigDialog::TCPMoverConfigDialog(QWidget* parent) :
QDialog(parent),
ui(new Ui::TCPMoverConfigDialog),
uuid(IceUtil::generateUUID())
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMoverConfigDialog.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMoverConfigDialog.h
index 93ee533c9a575d7f3ec2fc9ee051f81b4f140538..c468ac34b4f979311ec5c6cb11d37dc3e70f3b78 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMoverConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMoverConfigDialog.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,11 +25,12 @@
#include <QDialog>
-#include <Core/core/IceManager.h>
+#include <ArmarXCore/core/IceManager.h>
-#include <Gui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
-namespace Ui {
+namespace Ui
+{
class TCPMoverConfigDialog;
}
@@ -43,17 +43,20 @@ namespace armarx
Q_OBJECT
public:
- explicit TCPMoverConfigDialog(QWidget *parent = 0);
+ explicit TCPMoverConfigDialog(QWidget* parent = 0);
~TCPMoverConfigDialog();
protected:
// ManagedIceObject interface
- std::string getDefaultName() const { return "TCPMoverConfigDialog" + uuid;}
+ std::string getDefaultName() const
+ {
+ return "TCPMoverConfigDialog" + uuid;
+ }
void onInitComponent();
void onConnectComponent();
private:
- Ui::TCPMoverConfigDialog *ui;
+ Ui::TCPMoverConfigDialog* ui;
IceProxyFinderBase* proxyFinder;
std::string uuid;
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/CMakeLists.txt
index 6af60797d179f1179299719dc1c973bee7c2e835..48671d0e8edda743e028eec78bfca31ce88660df 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/CMakeLists.txt
@@ -66,9 +66,9 @@ set(GUI_UIS
set(COMPONENT_LIBS RobotAPIUnits ArmarXCoreObservers ObserverPropertiesGuiPlugin RobotAPIInterfaces ${qwt_LIBRARIES} ${Simox_LIBRARIES} ${QT_LIBRARIES})
-set(LIB_VERSION 0.1.0)
-set(LIB_SOVERSION 0)
+
+
if (ArmarXGui_FOUND)
- armarx_gui_library(SensorActorWidgetsGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" "${LIB_VERSION}" "${LIB_SOVERSION}")
+ armarx_gui_library(SensorActorWidgetsGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" )
endif()
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp
index b0b046e1876a7258fdd121917c010da8e9fa7cb8..1845914fcfe5ede4e11b7794aafa219754d02c72 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Gui::SensorActorWidgetsPlugin
* @author ( at kit dot edu)
* @date
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -29,7 +28,8 @@
namespace armarx
{
- SensorActorPlugin::SensorActorPlugin(){
+ SensorActorPlugin::SensorActorPlugin()
+ {
addWidget<TCPMover>();
addWidget<ArmarXPlotter>();
}
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
index 6a1c3e58fba666f4208d54dab05e6ac8b7e1b1a9..08ed7b53946b5444e3f5c1ceaac8f940e9b88aa3 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,16 +16,16 @@
* @package ArmarX::Gui::SensorActorWidgetsPlugin
* @author ( at kit dot edu)
* @date
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#ifndef ARMARX_COMPONENT_MDIGUIPLUGIN_H
#define ARMARX_COMPONENT_MDIGUIPLUGIN_H
-#include <Gui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
-#include <Core/core/system/ImportExportComponent.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
namespace armarx
@@ -38,7 +37,7 @@ namespace armarx
* @see TCPMover
*/
class ARMARXCOMPONENT_IMPORT_EXPORT SensorActorPlugin :
- public ArmarXGuiPlugin
+ public ArmarXGuiPlugin
{
public:
SensorActorPlugin();
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/Backup/RobotViewerConfigDialog.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.cpp
similarity index 73%
rename from source/RobotAPI/gui-plugins/RobotIKPlugin/Backup/RobotViewerConfigDialog.cpp
rename to source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.cpp
index 1a55ec188de066156a7ac55027b9b3f3bda8313e..1b467821f4b5566dea6acd6bc0bc4b483aaf5105 100644
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/Backup/RobotViewerConfigDialog.cpp
+++ b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2012
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -37,7 +36,7 @@
using namespace armarx;
-RobotViewerConfigDialog::RobotViewerConfigDialog(QWidget *parent) :
+RobotViewerConfigDialog::RobotViewerConfigDialog(QWidget* parent) :
QDialog(parent),
ui(new Ui::RobotViewerConfigDialog),
uuid(IceUtil::generateUUID())
@@ -45,10 +44,10 @@ RobotViewerConfigDialog::RobotViewerConfigDialog(QWidget *parent) :
ui->setupUi(this);
connect(this->ui->buttonBox, SIGNAL(accepted()), this, SLOT(verifyConfig()));
- ui->buttonBox->button( QDialogButtonBox::Ok )->setDefault(true);
+ ui->buttonBox->button(QDialogButtonBox::Ok)->setDefault(true);
proxyFinder = new IceProxyFinder<RobotStateComponentInterfacePrx>(this);
proxyFinder->setSearchMask("RobotState*");
- ui->gridLayout->addWidget(proxyFinder, 2,1,1,2);
+ ui->gridLayout->addWidget(proxyFinder, 2, 1, 1, 2);
}
RobotViewerConfigDialog::~RobotViewerConfigDialog()
@@ -76,12 +75,14 @@ void RobotViewerConfigDialog::onExitComponent()
void RobotViewerConfigDialog::verifyConfig()
{
- if(proxyFinder->getSelectedProxyName().trimmed().length() == 0)
+ if (proxyFinder->getSelectedProxyName().trimmed().length() == 0)
{
QMessageBox::critical(this, "Invalid Configuration", "The proxy name must not be empty");
}
else
+ {
this->accept();
+ }
}
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/Backup/RobotViewerConfigDialog.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.h
similarity index 64%
rename from source/RobotAPI/gui-plugins/RobotIKPlugin/Backup/RobotViewerConfigDialog.h
rename to source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.h
index bb60ccb157b8a6f807530b0d12e5052f89a568b0..9c8237d106d6468d725b3304f59310e72ecc0aa1 100644
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/Backup/RobotViewerConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Nikolaus Vahrenkamp
* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -27,16 +26,18 @@
#include <QDialog>
#include <QFileDialog>
-#include <Core/core/services/tasks/RunningTask.h>
-#include <Core/core/IceManager.h>
-#include <Core/core/ManagedIceObject.h>
+#include <ArmarXCore/core/services/tasks/RunningTask.h>
+#include <ArmarXCore/core/IceManager.h>
+#include <ArmarXCore/core/ManagedIceObject.h>
#include <Gui/ArmarXGuiLib/utility/IceProxyFinder.h>
-namespace Ui {
+namespace Ui
+{
class RobotViewerConfigDialog;
}
-namespace armarx{
+namespace armarx
+{
class RobotViewerConfigDialog :
public QDialog,
virtual public ManagedIceObject
@@ -44,11 +45,14 @@ namespace armarx{
Q_OBJECT
public:
- explicit RobotViewerConfigDialog(QWidget *parent = 0);
+ explicit RobotViewerConfigDialog(QWidget* parent = 0);
~RobotViewerConfigDialog();
// inherited from ManagedIceObject
- std::string getDefaultName() const { return "RobotViewerConfigDialog" + uuid;}
+ std::string getDefaultName() const
+ {
+ return "RobotViewerConfigDialog" + uuid;
+ }
void onInitComponent();
void onConnectComponent();
void onExitComponent();
@@ -61,7 +65,7 @@ namespace armarx{
private:
IceProxyFinderBase* proxyFinder;
- Ui::RobotViewerConfigDialog *ui;
+ Ui::RobotViewerConfigDialog* ui;
std::string uuid;
friend class RobotViewerWidgetController;
};
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/Backup/RobotViewerConfigDialog.ui b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.ui
similarity index 100%
rename from source/RobotAPI/gui-plugins/RobotIKPlugin/Backup/RobotViewerConfigDialog.ui
rename to source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerConfigDialog.ui
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/Backup/RobotViewerGuiPlugin.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.cpp
similarity index 87%
rename from source/RobotAPI/gui-plugins/RobotIKPlugin/Backup/RobotViewerGuiPlugin.cpp
rename to source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.cpp
index bf65668d6f214f4a2c2b4971a057f639c14c5cbd..77a3673d5536e4b0073aaf4b854b6fca86e213a4 100644
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/Backup/RobotViewerGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.cpp
@@ -3,11 +3,11 @@
#include <RobotAPI/gui-plugins/RobotViewerPlugin/ui_RobotViewerConfigDialog.h>
-#include <Core/core/system/ArmarXDataPath.h>
-#include <Core/core/ArmarXObjectScheduler.h>
-#include <Core/core/ArmarXManager.h>
-#include <Core/core/system/cmake/CMakePackageFinder.h>
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/ArmarXObjectScheduler.h>
+#include <ArmarXCore/core/ArmarXManager.h>
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
+#include <ArmarXCore/core/application/Application.h>
#include <VirtualRobot/XML/RobotIO.h>
@@ -83,12 +83,17 @@ void RobotViewerWidgetController::onInitComponent()
{
std::string debugDrawerComponentName = "RobotViewerGUIDebugDrawer_" + getName();
ARMARX_INFO << "Creating component " << debugDrawerComponentName;
- debugDrawer = Component::create<DebugDrawerComponent>(properties,debugDrawerComponentName);
+ debugDrawer = Component::create<DebugDrawerComponent>(properties, debugDrawerComponentName);
+
if (mutex3D)
{
debugDrawer->setMutex(mutex3D);
- } else
+ }
+ else
+ {
ARMARX_ERROR << " No 3d mutex available...";
+ }
+
ArmarXManagerPtr m = getArmarXManager();
m->addObject(debugDrawer);
@@ -101,6 +106,7 @@ void RobotViewerWidgetController::onInitComponent()
rootVisu->addChild(debugLayerVisu);
}
}
+
showRoot(true);
}
@@ -112,22 +118,30 @@ void RobotViewerWidgetController::onConnectComponent()
if (robotVisu)
+ {
robotVisu->removeAllChildren();
+ }
+
robot.reset();
std::string rfile;
StringList includePaths;
// get robot filename
- try {
+ try
+ {
StringList packages = robotStateComponentPrx->getArmarXPackages();
packages.push_back(Application::GetProjectName());
ARMARX_VERBOSE << "ArmarX packages " << packages;
- for(const std::string &projectName : packages)
+
+ for (const std::string& projectName : packages)
{
- if(projectName.empty())
+ if (projectName.empty())
+ {
continue;
+ }
+
CMakePackageFinder project(projectName);
StringList projectIncludePaths;
auto pathsString = project.getDataDir();
@@ -138,28 +152,36 @@ void RobotViewerWidgetController::onConnectComponent()
includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
}
+
rfile = robotStateComponentPrx->getRobotFilename();
ARMARX_VERBOSE << "Relative robot file " << rfile;
ArmarXDataPath::getAbsolutePath(rfile, rfile, includePaths);
ARMARX_VERBOSE << "Absolute robot file " << rfile;
- } catch (...)
+ }
+ catch (...)
{
ARMARX_ERROR << "Unable to retrieve robot filename";
}
- try {
+ try
+ {
ARMARX_INFO << "Loading robot from file " << rfile;
robot = loadRobotFile(rfile);
- } catch (...)
+ }
+ catch (...)
{
ARMARX_ERROR << "Failed to init robot";
}
- if(!robot)
+ if (!robot)
{
getObjectScheduler()->terminate();
- if(getWidget()->parentWidget())
+
+ if (getWidget()->parentWidget())
+ {
getWidget()->parentWidget()->close();
+ }
+
std::cout << "returning" << std::endl;
return;
}
@@ -168,10 +190,12 @@ void RobotViewerWidgetController::onConnectComponent()
boost::recursive_mutex::scoped_lock lock(*mutex3D);
CoinVisualizationPtr robotViewerVisualization = robot->getVisualization<CoinVisualization>();
+
if (robotViewerVisualization)
{
robotVisu->addChild(robotViewerVisualization->getCoinVisualization());
- } else
+ }
+ else
{
ARMARX_WARNING << "no robot visu available...";
}
@@ -191,12 +215,14 @@ void RobotViewerWidgetController::onDisconnectComponent()
{
ARMARX_INFO << "Disconnecting component";
+
// stop update timer
if (timerSensor)
{
SoSensorManager* sensor_mgr = SoDB::getSensorManager();
sensor_mgr->removeTimerSensor(timerSensor);
}
+
ARMARX_INFO << "Disconnecting component: timer stopped";
robotStateComponentPrx = NULL;
@@ -208,6 +234,7 @@ void RobotViewerWidgetController::onDisconnectComponent()
ARMARX_INFO << "Disconnecting component: removing visu";
robotVisu->removeAllChildren();
}
+
robot.reset();
}
ARMARX_INFO << "Disconnecting component: finished";
@@ -250,17 +277,18 @@ void RobotViewerWidgetController::onExitComponent()
debugDrawer->getObjectScheduler()->terminate();
ARMARX_INFO << "Removing DebugDrawer component...done";
}
-*/
+ */
}
QPointer<QDialog> RobotViewerWidgetController::getConfigDialog(QWidget* parent)
{
- if(!dialog)
+ if (!dialog)
{
dialog = new RobotViewerConfigDialog(parent);
dialog->setName(dialog->getDefaultName());
}
+
return qobject_cast<RobotViewerConfigDialog*>(dialog);
}
@@ -278,12 +306,12 @@ void RobotViewerWidgetController::configured()
}
-void RobotViewerWidgetController::loadSettings(QSettings *settings)
+void RobotViewerWidgetController::loadSettings(QSettings* settings)
{
robotStateComponentName = settings->value("RobotStateComponent", QString::fromStdString(ROBOTSTATE_NAME_DEFAULT)).toString().toStdString();
}
-void RobotViewerWidgetController::saveSettings(QSettings *settings)
+void RobotViewerWidgetController::saveSettings(QSettings* settings)
{
settings->setValue("RobotStateComponent", QString::fromStdString(robotStateComponentName));
}
@@ -293,7 +321,7 @@ void RobotViewerWidgetController::showVisuLayers(bool show)
{
if (debugDrawer)
{
- if(show)
+ if (show)
{
debugDrawer->enableAllLayers();
}
@@ -307,14 +335,17 @@ void RobotViewerWidgetController::showVisuLayers(bool show)
void RobotViewerWidgetController::showRoot(bool show)
{
if (!debugDrawer)
+ {
return;
+ }
std::string poseName("root");
- if(show)
+
+ if (show)
{
Eigen::Matrix4f gp = Eigen::Matrix4f::Identity();
PosePtr gpP(new Pose(gp));
- debugDrawer->setPoseDebugLayerVisu(poseName,gpP);
+ debugDrawer->setPoseDebugLayerVisu(poseName, gpP);
}
else
{
@@ -325,19 +356,22 @@ void RobotViewerWidgetController::showRoot(bool show)
void RobotViewerWidgetController::showRobot(bool show)
{
if (!robotVisu)
+ {
return;
+ }
+
boost::recursive_mutex::scoped_lock lock(*mutex3D);
- if(show && rootVisu->findChild(robotVisu)<0)
+ if (show && rootVisu->findChild(robotVisu) < 0)
{
rootVisu->addChild(robotVisu);
}
- else if (!show && rootVisu->findChild(robotVisu)>=0)
+ else if (!show && rootVisu->findChild(robotVisu) >= 0)
{
rootVisu->removeChild(robotVisu);
}
}
-SoNode *RobotViewerWidgetController::getScene()
+SoNode* RobotViewerWidgetController::getScene()
{
return rootVisu;
}
@@ -345,8 +379,12 @@ SoNode *RobotViewerWidgetController::getScene()
void RobotViewerWidgetController::timerCB(void* data, SoSensor* sensor)
{
RobotViewerWidgetController* controller = static_cast<RobotViewerWidgetController*>(data);
+
if (!controller)
+ {
return;
+ }
+
controller->updateRobotVisu();
}
@@ -365,11 +403,13 @@ VirtualRobot::RobotPtr RobotViewerWidgetController::loadRobotFile(std::string fi
{
VirtualRobot::RobotPtr robot;
- if (!ArmarXDataPath::getAbsolutePath(fileName,fileName))
+ if (!ArmarXDataPath::getAbsolutePath(fileName, fileName))
{
ARMARX_INFO << "Could not find Robot XML file with name " << fileName;
}
+
robot = RobotIO::loadRobot(fileName);
+
if (!robot)
{
ARMARX_INFO << "Could not find Robot XML file with name " << fileName;
@@ -385,12 +425,15 @@ void RobotViewerWidgetController::updateRobotVisu()
boost::recursive_mutex::scoped_lock lock(*mutex3D);
if (!robotStateComponentPrx || !robot)
+ {
return;
+ }
try
{
- RemoteRobot::synchronizeLocalClone(robot,robotStateComponentPrx);
- } catch (...)
+ RemoteRobot::synchronizeLocalClone(robot, robotStateComponentPrx);
+ }
+ catch (...)
{
ARMARX_INFO << deactivateSpam(5) << "Robot synchronization failed";
return;
@@ -398,14 +441,14 @@ void RobotViewerWidgetController::updateRobotVisu()
Eigen::Matrix4f gp = robot->getGlobalPose();
QString roboInfo("Robot Pose (global): pos: ");
- roboInfo += QString::number(gp(0,3), 'f', 2);
+ roboInfo += QString::number(gp(0, 3), 'f', 2);
roboInfo += QString(", ");
- roboInfo += QString::number(gp(1,3), 'f', 2);
+ roboInfo += QString::number(gp(1, 3), 'f', 2);
roboInfo += QString(", ");
- roboInfo += QString::number(gp(2,3), 'f', 2);
+ roboInfo += QString::number(gp(2, 3), 'f', 2);
roboInfo += QString(", rot:");
Eigen::Vector3f rpy;
- VirtualRobot::MathTools::eigen4f2rpy(gp,rpy);
+ VirtualRobot::MathTools::eigen4f2rpy(gp, rpy);
roboInfo += QString::number(rpy(0), 'f', 2);
roboInfo += QString(", ");
roboInfo += QString::number(rpy(1), 'f', 2);
@@ -420,7 +463,7 @@ void RobotViewerWidgetController::solveIK()
::Ice::AsyncResultPtr asyncResult = robotIKPrx->begin_computeIKGlobalPose("LeftArm", new Pose(), eAll);
- while(!asyncResult->isCompleted())
+ while (!asyncResult->isCompleted())
{
qApp->processEvents();
}
@@ -435,8 +478,11 @@ void RobotViewerWidgetController::setMutex3D(boost::shared_ptr<boost::recursive_
{
//ARMARX_IMPORTANT << "set mutex3d :" << mutex3D.get();
this->mutex3D = mutex3D;
+
if (debugDrawer)
+ {
debugDrawer->setMutex(mutex3D);
+ }
}
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/Backup/RobotViewerGuiPlugin.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.h
similarity index 88%
rename from source/RobotAPI/gui-plugins/RobotIKPlugin/Backup/RobotViewerGuiPlugin.h
rename to source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.h
index e1d341d0136253b191ff3daef11289f33e78e021..dc38933e61f3cce7055117c04719a4a6d1ab7d00 100644
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/Backup/RobotViewerGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Component::RobotViewerGuiPlugin
* @author Nikolaus Vahrenkamp
* @copyright 2015 KIT
-* @license http://www.gnu.org/licenses/gpl.txt
+* @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -34,7 +33,7 @@
#include <Gui/ArmarXGuiLib/ArmarXGuiPlugin.h>
#include <Gui/ArmarXGuiLib/ArmarXComponentWidgetController.h>
-#include <Core/core/Component.h>
+#include <ArmarXCore/core/Component.h>
/* Qt headers */
#include <QtGui/QMainWindow>
@@ -64,7 +63,7 @@ namespace armarx
\see RobotViewerWidget
*/
class RobotViewerGuiPlugin :
- public ArmarXGuiPlugin
+ public ArmarXGuiPlugin
{
public:
RobotViewerGuiPlugin();
@@ -81,7 +80,7 @@ namespace armarx
Further, DebugDrawer methods are available.
\image html RobotViewerGUI.png
When you add the widget to the Gui, you need to specify the following parameters:
-
+
Parameter Name | Example Value | Required? | Description
:---------------- | :-------------: | :-------------- |:--------------------
Proxy | RobotStateComponent | Yes | The name of the robot state component.
@@ -90,7 +89,7 @@ namespace armarx
\see RobotViewerGuiPlugin
*/
class RobotViewerWidgetController :
- public ArmarXComponentWidgetController
+ public ArmarXComponentWidgetController
{
Q_OBJECT
public:
@@ -110,8 +109,8 @@ namespace armarx
return "RobotControl.RobotIK";
}
QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
- virtual void loadSettings(QSettings * settings);
- virtual void saveSettings(QSettings * settings);
+ virtual void loadSettings(QSettings* settings);
+ virtual void saveSettings(QSettings* settings);
void configured();
SoNode* getScene();
@@ -157,7 +156,7 @@ namespace armarx
SoSeparator* debugLayerVisu;
armarx::DebugDrawerComponentPtr debugDrawer;
- static void timerCB(void *data, SoSensor *sensor);
+ static void timerCB(void* data, SoSensor* sensor);
protected slots:
void showVisuLayers(bool show);
void showRoot(bool show);
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/Backup/RobotViewerGuiPlugin.ui b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.ui
similarity index 100%
rename from source/RobotAPI/gui-plugins/RobotIKPlugin/Backup/RobotViewerGuiPlugin.ui
rename to source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/Backup/RobotViewerGuiPlugin.ui
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/CMakeLists.txt
similarity index 90%
rename from source/RobotAPI/gui-plugins/RobotIKPlugin/CMakeLists.txt
rename to source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/CMakeLists.txt
index ec3aef199ee042079e54cced1e960b3db51e4f7a..bc97728d165777a835eb6c2c5aff0308e4e6b6d2 100644
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/CMakeLists.txt
@@ -48,9 +48,9 @@ set(GUI_UIS
set(COMPONENT_LIBS RobotAPIUnits DebugDrawer ${Simox_LIBRARIES})
-set(LIB_VERSION 0.1.0)
-set(LIB_SOVERSION 0)
+
+
if (ArmarXGui_FOUND)
- armarx_gui_library(RobotIKGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" "${LIB_VERSION}" "${LIB_SOVERSION}")
+ armarx_gui_library(RobotIKGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" )
endif()
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKConfigDialog.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.cpp
similarity index 74%
rename from source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKConfigDialog.cpp
rename to source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.cpp
index 847ace97c2597f3edf5a2b3493fc6bb0f7f4a1aa..54b438f34feec6310d704fce6d5179e34bd5cb76 100644
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKConfigDialog.cpp
+++ b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Philipp Schmidt
* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -36,7 +35,7 @@
//Ice includes
#include <IceUtil/UUID.h>
-armarx::RobotIKConfigDialog::RobotIKConfigDialog(QWidget *parent) :
+armarx::RobotIKConfigDialog::RobotIKConfigDialog(QWidget* parent) :
QDialog(parent),
ui(new Ui::RobotIKConfigDialog),
uuid(IceUtil::generateUUID())
@@ -47,20 +46,20 @@ armarx::RobotIKConfigDialog::RobotIKConfigDialog(QWidget *parent) :
connect(this->ui->buttonBox, SIGNAL(accepted()), this, SLOT(verifyConfiguration()));
//Set OK button as default for convenience
- ui->buttonBox->button( QDialogButtonBox::Ok )->setDefault(true);
+ ui->buttonBox->button(QDialogButtonBox::Ok)->setDefault(true);
//Initialize proxyFinders for every component
robotStateComponentProxyFinder = new IceProxyFinder<RobotStateComponentInterfacePrx>(this);
robotStateComponentProxyFinder->setSearchMask("RobotState*");
- ui->gridLayout->addWidget(robotStateComponentProxyFinder, 1,1);
+ ui->gridLayout->addWidget(robotStateComponentProxyFinder, 1, 1);
kinematicUnitComponentProxyFinder = new IceProxyFinder<KinematicUnitInterfacePrx>(this);
kinematicUnitComponentProxyFinder->setSearchMask("Armar3Kinematic*");
- ui->gridLayout->addWidget(kinematicUnitComponentProxyFinder, 2,1);
+ ui->gridLayout->addWidget(kinematicUnitComponentProxyFinder, 2, 1);
robotIKComponentProxyFinder = new IceProxyFinder<RobotIKInterfacePrx>(this);
robotIKComponentProxyFinder->setSearchMask("RobotIK*");
- ui->gridLayout->addWidget(robotIKComponentProxyFinder, 3,1);
+ ui->gridLayout->addWidget(robotIKComponentProxyFinder, 3, 1);
}
armarx::RobotIKConfigDialog::~RobotIKConfigDialog()
@@ -87,14 +86,14 @@ void armarx::RobotIKConfigDialog::onExitComponent()
void armarx::RobotIKConfigDialog::verifyConfiguration()
{
- if(robotStateComponentProxyFinder->getSelectedProxyName().trimmed().length() == 0
- || kinematicUnitComponentProxyFinder->getSelectedProxyName().trimmed().length() == 0
- || robotIKComponentProxyFinder->getSelectedProxyName().trimmed().length() == 0)
+ if (robotStateComponentProxyFinder->getSelectedProxyName().trimmed().length() == 0
+ || kinematicUnitComponentProxyFinder->getSelectedProxyName().trimmed().length() == 0
+ || robotIKComponentProxyFinder->getSelectedProxyName().trimmed().length() == 0)
{
QMessageBox::critical(this, "Invalid Configuration", "The proxy name must not be empty");
}
else
{
- this->accept();
+ this->accept();
}
}
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKConfigDialog.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.h
similarity index 64%
rename from source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKConfigDialog.h
rename to source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.h
index 5578118bcd0f0ebcd389037152dac855923c661f..3d34f2f6ceace807b0b9c7b85349113209c33765 100644
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Philipp Schmidt
* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -25,27 +24,32 @@
#define RobotIKCONFIGDIALOG_H
//ArmarX includes
-#include <Gui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/IceProxyFinder.h>
//Qt includes
#include <QDialog>
-namespace Ui {
+namespace Ui
+{
class RobotIKConfigDialog;
}
-namespace armarx {
+namespace armarx
+{
class RobotIKConfigDialog : public QDialog, virtual public ManagedIceObject
{
Q_OBJECT
friend class RobotIKWidgetController;
public:
- explicit RobotIKConfigDialog(QWidget *parent = 0);
- ~RobotIKConfigDialog();
+ explicit RobotIKConfigDialog(QWidget* parent = 0);
+ ~RobotIKConfigDialog();
// inherited from ManagedIceObject
- std::string getDefaultName() const { return "RobotIKConfigDialog" + uuid;}
+ std::string getDefaultName() const
+ {
+ return "RobotIKConfigDialog" + uuid;
+ }
void onInitComponent();
void onConnectComponent();
void onExitComponent();
@@ -58,7 +62,7 @@ namespace armarx {
IceProxyFinderBase* kinematicUnitComponentProxyFinder;
IceProxyFinderBase* robotIKComponentProxyFinder;
- Ui::RobotIKConfigDialog *ui;
+ Ui::RobotIKConfigDialog* ui;
std::string uuid;
};
}
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKConfigDialog.ui b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.ui
similarity index 100%
rename from source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKConfigDialog.ui
rename to source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKConfigDialog.ui
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.cpp
similarity index 82%
rename from source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp
rename to source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.cpp
index c79999aaaa41dbb5a71b06c9ad8da390a484c505..3e2badc6d74ac6c0b84bb804241a5c7b3711ac93 100644
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Philipp Schmidt
* @date 2015
-* @license http://www.gnu.org/licenses/gpl.txt
+* @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,10 +25,10 @@
#include "RobotViewer.h"
/* ArmarX includes */
-#include <Core/core/system/ArmarXDataPath.h>
-#include <Core/core/ArmarXObjectScheduler.h>
-#include <Core/core/system/cmake/CMakePackageFinder.h>
-#include <Core/core/application/Application.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/ArmarXObjectScheduler.h>
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
+#include <ArmarXCore/core/application/Application.h>
/* Virtual Robot includes */
#include <VirtualRobot/XML/RobotIO.h>
@@ -95,13 +94,16 @@ void armarx::RobotIKWidgetController::onConnectComponent()
//Load robot
robot = loadRobot(getIncludePaths());
- if(!robot)
+
+ if (!robot)
{
getObjectScheduler()->terminate();
- if(getWidget()->parentWidget())
+
+ if (getWidget()->parentWidget())
{
getWidget()->parentWidget()->close();
}
+
ARMARX_ERROR << "RobotIKPlugin: Unable to load robot file! Terminating." << std::endl;
return;
}
@@ -123,7 +125,9 @@ void armarx::RobotIKWidgetController::onConnectComponent()
//Get all kinematic chain descriptions and add them to the combo box
auto robotNodeSets = robot->getRobotNodeSets();
- for(VirtualRobot::RobotNodeSetPtr s : robotNodeSets) {
+
+ for (VirtualRobot::RobotNodeSetPtr s : robotNodeSets)
+ {
this->ui.comboBox->addItem(QString::fromStdString(s->getName()));
}
@@ -199,21 +203,22 @@ void armarx::RobotIKWidgetController::onExitComponent()
enableMainWidgetAsync(false);
}
-QPointer<QDialog> armarx::RobotIKWidgetController::getConfigDialog(QWidget *parent)
+QPointer<QDialog> armarx::RobotIKWidgetController::getConfigDialog(QWidget* parent)
{
- if(!dialog)
+ if (!dialog)
{
dialog = new RobotIKConfigDialog(parent);
}
+
return qobject_cast<RobotIKConfigDialog*>(dialog);
}
-void armarx::RobotIKWidgetController::loadSettings(QSettings *settings)
+void armarx::RobotIKWidgetController::loadSettings(QSettings* settings)
{
}
-void armarx::RobotIKWidgetController::saveSettings(QSettings *settings)
+void armarx::RobotIKWidgetController::saveSettings(QSettings* settings)
{
}
@@ -229,22 +234,25 @@ void armarx::RobotIKWidgetController::solveIK()
{
auto targetJointAngles = getIKSolution();
- if(targetJointAngles.isReachable) {
+ if (targetJointAngles.isReachable)
+ {
//Switch all control modes to ePositionControl
std::vector<VirtualRobot::RobotNodePtr> rn = robot->getRobotNodeSet(this->ui.comboBox->currentText().toStdString())->getAllRobotNodes();
NameControlModeMap jointModes;
NameValueMap jointAngles;
- for (unsigned int i=0;i<rn.size();i++)
+
+ for (unsigned int i = 0; i < rn.size(); i++)
{
jointModes[rn[i]->getName()] = ePositionControl;
- jointAngles[rn[i]->getName()]=0.0f;
+ jointAngles[rn[i]->getName()] = 0.0f;
}
+
kinematicUnitInterfacePrx->switchControlMode(jointModes);
kinematicUnitInterfacePrx->setJointAngles(targetJointAngles.jointAngles);
}
}
-void armarx::RobotIKWidgetController::kinematicChainChanged(const QString &arg1)
+void armarx::RobotIKWidgetController::kinematicChainChanged(const QString& arg1)
{
//An item has been selected, so we can allow the user to use the ui now
//The manipulator will be set to the position of the current tcp, so this pose
@@ -263,10 +271,13 @@ void armarx::RobotIKWidgetController::kinematicChainChanged(const QString &arg1)
this->ui.resetManip->setEnabled(true);
//Remove all current tcp and desired tcp pose visualization if present
- if(currentSeparator) {
+ if (currentSeparator)
+ {
this->ui.robotViewer->getRobotViewer()->getRootNode()->removeChild(currentSeparator);
}
- if(manipSeparator) {
+
+ if (manipSeparator)
+ {
this->ui.robotViewer->getRobotViewer()->getRootNode()->removeChild(manipSeparator);
}
@@ -331,10 +342,11 @@ void armarx::RobotIKWidgetController::kinematicChainChanged(const QString &arg1)
tcpManip->rotation.setValue(SbRotation(VirtualRobot::CoinVisualizationFactory::getSbMatrix(mat)));*/
}
-void armarx::RobotIKWidgetController::caertesianSelectionChanged(const QString &arg1)
+void armarx::RobotIKWidgetController::caertesianSelectionChanged(const QString& arg1)
{
//If there is a manip in the scene we pretend it just moved to update color etc.
- if(tcpManip) {
+ if (tcpManip)
+ {
manipFinishCallback(this, NULL);
}
}
@@ -342,7 +354,7 @@ void armarx::RobotIKWidgetController::caertesianSelectionChanged(const QString &
void armarx::RobotIKWidgetController::resetManip()
{
//Triggers reset of manipulator in kinematicChainChanged
- kinematicChainChanged(this->ui.comboBox->currentText());
+ kinematicChainChanged(this->ui.comboBox->currentText());
}
void armarx::RobotIKWidgetController::connectSlots()
@@ -357,13 +369,18 @@ armarx::StringList armarx::RobotIKWidgetController::getIncludePaths()
{
StringList includePaths;
- try {
+ try
+ {
StringList packages = robotStateComponentPrx->getArmarXPackages();
packages.push_back(Application::GetProjectName());
- for(const std::string &projectName : packages)
+
+ for (const std::string& projectName : packages)
{
- if(projectName.empty())
+ if (projectName.empty())
+ {
continue;
+ }
+
CMakePackageFinder project(projectName);
StringList projectIncludePaths;
auto pathsString = project.getDataDir();
@@ -373,7 +390,8 @@ armarx::StringList armarx::RobotIKWidgetController::getIncludePaths()
boost::token_compress_on);
includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
}
- } catch (...)
+ }
+ catch (...)
{
ARMARX_ERROR << "Unable to retrieve robot filename." << std::endl;
}
@@ -389,25 +407,28 @@ VirtualRobot::RobotPtr armarx::RobotIKWidgetController::loadRobot(StringList inc
ArmarXDataPath::getAbsolutePath(rfile, rfile, includePaths);
return VirtualRobot::RobotIO::loadRobot(rfile);
}
- catch(...)
+ catch (...)
{
ARMARX_ERROR << "Unable to load robot from file" << std::endl;
return VirtualRobot::RobotPtr();
}
}
-void armarx::RobotIKWidgetController::manipFinishCallback(void* data, SoDragger* dragger) {
+void armarx::RobotIKWidgetController::manipFinishCallback(void* data, SoDragger* dragger)
+{
RobotIKWidgetController* controller = static_cast<RobotIKWidgetController*>(data);
auto targetJointAngles = controller->getIKSolution();
- if(targetJointAngles.isReachable) {
+ if (targetJointAngles.isReachable)
+ {
//Green
controller->tcpManipColor->ambientColor.setValue(0, 1, 0);
controller->ui.reachableLabel->setText(QString::fromStdString("Pose reachable!"));
controller->ui.reachableLabel->setStyleSheet("QLabel { color : green; }");
}
- else {
+ else
+ {
//Red
controller->tcpManipColor->ambientColor.setValue(1, 0, 0);
controller->ui.reachableLabel->setText(QString::fromStdString("Pose unreachable!"));
@@ -418,16 +439,21 @@ void armarx::RobotIKWidgetController::manipFinishCallback(void* data, SoDragger*
controller->ui.errorValue->setText(QString::fromStdString("Calculated error: " + boost::lexical_cast<std::string>(targetJointAngles.error)));
}
-void armarx::RobotIKWidgetController::robotUpdateTimerCB(void *data, SoSensor *sensor)
+void armarx::RobotIKWidgetController::robotUpdateTimerCB(void* data, SoSensor* sensor)
{
RobotIKWidgetController* controller = static_cast<RobotIKWidgetController*>(data);
+
if (!controller || !controller->robotStateComponentPrx || !controller->robot)
+ {
return;
+ }
+
try
{
- armarx::RemoteRobot::synchronizeLocalClone(controller->robot,controller->robotStateComponentPrx);
+ armarx::RemoteRobot::synchronizeLocalClone(controller->robot, controller->robotStateComponentPrx);
- if(controller->currentSeparator) {
+ if (controller->currentSeparator)
+ {
Eigen::Matrix4f tcpMatrix = controller->robot->getRobotNodeSet(controller->ui.comboBox->currentText().toStdString())->getTCP()->getGlobalPose();
//Apply tcp position to indicator
tcpMatrix(0, 3) /= 1000;
@@ -436,20 +462,26 @@ void armarx::RobotIKWidgetController::robotUpdateTimerCB(void *data, SoSensor *s
controller->tcpCurrentTransform->setMatrix(VirtualRobot::CoinVisualizationFactory::getSbMatrix(tcpMatrix));
}
- if(controller->startUpCameraPositioningFlag) {
+ if (controller->startUpCameraPositioningFlag)
+ {
controller->ui.robotViewer->getRobotViewer()->cameraViewAll();
controller->startUpCameraPositioningFlag = false;
}
- } catch (...){};
+ }
+ catch (...) {};
}
-void armarx::RobotIKWidgetController::textFieldUpdateTimerCB(void *data, SoSensor *sensor)
+void armarx::RobotIKWidgetController::textFieldUpdateTimerCB(void* data, SoSensor* sensor)
{
RobotIKWidgetController* controller = static_cast<RobotIKWidgetController*>(data);
+
if (!controller)
+ {
return;
+ }
- if(controller->currentSeparator) {
+ if (controller->currentSeparator)
+ {
Eigen::Matrix4f tcpMatrix = controller->robot->getRobotNodeSet(controller->ui.comboBox->currentText().toStdString())->getTCP()->getGlobalPose();
//Set text label to tcp matrix
@@ -463,8 +495,8 @@ void armarx::RobotIKWidgetController::textFieldUpdateTimerCB(void *data, SoSenso
SoGetMatrixAction* action = new SoGetMatrixAction(SbViewportRegion());
SoSearchAction sa;
sa.setNode(controller->tcpManipSphere);
- sa.setSearchingAll( TRUE ); // Search all nodes
- SoBaseKit::setSearchingChildren( TRUE ); // Even inside nodekits
+ sa.setSearchingAll(TRUE); // Search all nodes
+ SoBaseKit::setSearchingChildren(TRUE); // Even inside nodekits
sa.apply(controller->ui.robotViewer->getRobotViewer()->getRootNode());
action->apply(sa.getPath());
@@ -472,25 +504,25 @@ void armarx::RobotIKWidgetController::textFieldUpdateTimerCB(void *data, SoSenso
SbMatrix matrix = action->getMatrix();
Eigen::Matrix4f mat = Eigen::Matrix4f::Identity();
- mat (0,0) = matrix[0][0];
- mat (0,1) = matrix[1][0];
- mat (0,2) = matrix[2][0];
- mat (0,3) = matrix[3][0] * 1000;
-
- mat (1,0) = matrix[0][1];
- mat (1,1) = matrix[1][1];
- mat (1,2) = matrix[2][1];
- mat (1,3) = matrix[3][1] * 1000;
-
- mat (2,0) = matrix[0][2];
- mat (2,1) = matrix[1][2];
- mat (2,2) = matrix[2][2];
- mat (2,3) = matrix[3][2] * 1000;
-
- mat (3,0) = matrix[0][3];
- mat (3,1) = matrix[1][3];
- mat (3,2) = matrix[2][3];
- mat (3,3) = matrix[3][3];
+ mat(0, 0) = matrix[0][0];
+ mat(0, 1) = matrix[1][0];
+ mat(0, 2) = matrix[2][0];
+ mat(0, 3) = matrix[3][0] * 1000;
+
+ mat(1, 0) = matrix[0][1];
+ mat(1, 1) = matrix[1][1];
+ mat(1, 2) = matrix[2][1];
+ mat(1, 3) = matrix[3][1] * 1000;
+
+ mat(2, 0) = matrix[0][2];
+ mat(2, 1) = matrix[1][2];
+ mat(2, 2) = matrix[2][2];
+ mat(2, 3) = matrix[3][2] * 1000;
+
+ mat(3, 0) = matrix[0][3];
+ mat(3, 1) = matrix[1][3];
+ mat(3, 2) = matrix[2][3];
+ mat(3, 3) = matrix[3][3];
//Set text label to manip matrix
std::stringstream buffer2;
@@ -507,8 +539,8 @@ armarx::ExtendedIKResult armarx::RobotIKWidgetController::getIKSolution()
SoGetMatrixAction* action = new SoGetMatrixAction(SbViewportRegion());
SoSearchAction sa;
sa.setNode(tcpManipSphere);
- sa.setSearchingAll( TRUE ); // Search all nodes
- SoBaseKit::setSearchingChildren( TRUE ); // Even inside nodekits
+ sa.setSearchingAll(TRUE); // Search all nodes
+ SoBaseKit::setSearchingChildren(TRUE); // Even inside nodekits
sa.apply(this->ui.robotViewer->getRobotViewer()->getRootNode());
action->apply(sa.getPath());
@@ -516,51 +548,58 @@ armarx::ExtendedIKResult armarx::RobotIKWidgetController::getIKSolution()
SbMatrix matrix = action->getMatrix();
Eigen::Matrix4f mat = Eigen::Matrix4f::Identity();
- mat (0,0) = matrix[0][0];
- mat (0,1) = matrix[1][0];
- mat (0,2) = matrix[2][0];
- mat (0,3) = matrix[3][0] * 1000;
-
- mat (1,0) = matrix[0][1];
- mat (1,1) = matrix[1][1];
- mat (1,2) = matrix[2][1];
- mat (1,3) = matrix[3][1] * 1000;
-
- mat (2,0) = matrix[0][2];
- mat (2,1) = matrix[1][2];
- mat (2,2) = matrix[2][2];
- mat (2,3) = matrix[3][2] * 1000;
-
- mat (3,0) = matrix[0][3];
- mat (3,1) = matrix[1][3];
- mat (3,2) = matrix[2][3];
- mat (3,3) = matrix[3][3];
-
-// mat = robot->getRootNode()->toLocalCoordinateSystem(mat);
- return(robotIKPrx->computeExtendedIKGlobalPose(this->ui.comboBox->currentText().toStdString(),new armarx::Pose(mat),
- convertOption(this->ui.cartesianselection->currentText().toStdString())));
+ mat(0, 0) = matrix[0][0];
+ mat(0, 1) = matrix[1][0];
+ mat(0, 2) = matrix[2][0];
+ mat(0, 3) = matrix[3][0] * 1000;
+
+ mat(1, 0) = matrix[0][1];
+ mat(1, 1) = matrix[1][1];
+ mat(1, 2) = matrix[2][1];
+ mat(1, 3) = matrix[3][1] * 1000;
+
+ mat(2, 0) = matrix[0][2];
+ mat(2, 1) = matrix[1][2];
+ mat(2, 2) = matrix[2][2];
+ mat(2, 3) = matrix[3][2] * 1000;
+
+ mat(3, 0) = matrix[0][3];
+ mat(3, 1) = matrix[1][3];
+ mat(3, 2) = matrix[2][3];
+ mat(3, 3) = matrix[3][3];
+
+ // mat = robot->getRootNode()->toLocalCoordinateSystem(mat);
+ return (robotIKPrx->computeExtendedIKGlobalPose(this->ui.comboBox->currentText().toStdString(), new armarx::Pose(mat),
+ convertOption(this->ui.cartesianselection->currentText().toStdString())));
}
armarx::CartesianSelection armarx::RobotIKWidgetController::convertOption(std::string option)
{
- if(option == "Orientation and Position") {
+ if (option == "Orientation and Position")
+ {
return eAll;
}
- else if(option == "Position") {
+ else if (option == "Position")
+ {
return ePosition;
}
- else if(option == "Orientation") {
+ else if (option == "Orientation")
+ {
return eOrientation;
}
- else if(option == "X position") {
+ else if (option == "X position")
+ {
return eX;
}
- else if(option == "Y position") {
+ else if (option == "Y position")
+ {
return eY;
}
- else if(option == "Z position") {
+ else if (option == "Z position")
+ {
return eZ;
}
+
return eAll;
}
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.h
new file mode 100644
index 0000000000000000000000000000000000000000..3dd135614b0630ccbcca55d254fc9da84c8e3291
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.h
@@ -0,0 +1,145 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* ArmarX is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program. If not, see <http://www.gnu.org/licenses/>.
+*
+* @package ArmarX::
+* @author Philipp Schmidt
+* @date 2015
+* @license http://www.gnu.org/licenses/gpl-2.0.txt
+* GNU General Public License
+
+*/
+
+#ifndef RobotIKGUIPLUGIN_H
+#define RobotIKGUIPLUGIN_H
+
+//Gui
+#include "RobotIKConfigDialog.h"
+#include "ui_RobotIKGuiPlugin.h"
+
+//ArmarX includes
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <RobotAPI/interface/core/RobotIK.h>
+#include <RobotAPI/interface/core/RobotState.h>
+#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
+
+//Qt includes
+#include <QObject>
+
+//VirtualRobot includes
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
+
+//Inventor includes
+#include <Inventor/sensors/SoTimerSensor.h>
+#include <Inventor/manips/SoTransformerManip.h>
+#include <Inventor/nodes/SoSphere.h>
+#include <Inventor/nodes/SoMaterial.h>
+
+namespace armarx
+{
+ class RobotIKConfigDialog;
+
+ class RobotIKGuiPlugin : public ArmarXGuiPlugin
+ {
+ public:
+ RobotIKGuiPlugin();
+
+ QString getPluginName()
+ {
+ return "RobotIKGuiPlugin";
+ }
+ };
+
+ class RobotIKWidgetController : public ArmarXComponentWidgetController
+ {
+ Q_OBJECT
+
+ public:
+ RobotIKWidgetController();
+ virtual ~RobotIKWidgetController() {}
+
+ // inherited from Component
+ virtual void onInitComponent();
+ virtual void onConnectComponent();
+ virtual void onDisconnectComponent();
+ virtual void onExitComponent();
+
+ // inherited of ArmarXWidget
+ virtual QString getWidgetName() const
+ {
+ return "RobotControl.RobotIK";
+ }
+ QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
+ virtual void loadSettings(QSettings* settings);
+ virtual void saveSettings(QSettings* settings);
+ void configured();
+
+ public slots:
+ void solveIK();
+ void kinematicChainChanged(const QString& arg1);
+ void caertesianSelectionChanged(const QString& arg1);
+ void resetManip();
+
+ protected:
+ RobotStateComponentInterfacePrx robotStateComponentPrx;
+ KinematicUnitInterfacePrx kinematicUnitInterfacePrx;
+ RobotIKInterfacePrx robotIKPrx;
+
+ Ui::RobotIKGuiPlugin ui;
+
+ private:
+ void connectSlots();
+ std::string robotStateComponentName;
+ std::string kinematicUnitComponentName;
+ std::string robotIKComponentName;
+
+ QPointer<RobotIKConfigDialog> dialog;
+
+ VirtualRobot::RobotPtr robot;
+ StringList getIncludePaths();
+ VirtualRobot::RobotPtr loadRobot(StringList includePaths);
+
+ SoSeparator* manipSeparator;
+ SoSeparator* currentSeparator;
+
+ SoTransformerManip* tcpManip;
+ static void manipFinishCallback(void* data, SoDragger* manip);
+ SoTransform* tcpManipTransform;
+ SoMaterial* tcpManipColor;
+ SoSphere* tcpManipSphere;
+
+ SoTransform* tcpCurrentTransform;
+ SoMaterial* tcpCurrentColor;
+ SoSphere* tcpCurrentSphere;
+
+ SoTimerSensor* robotUpdateSensor;
+ static void robotUpdateTimerCB(void* data, SoSensor* sensor);
+
+ SoTimerSensor* textFieldUpdateSensor;
+ static void textFieldUpdateTimerCB(void* data, SoSensor* sensor);
+
+ ExtendedIKResult getIKSolution();
+
+ CartesianSelection convertOption(std::string option);
+
+ bool startUpCameraPositioningFlag;
+
+ };
+ typedef boost::shared_ptr<RobotIKWidgetController> RobotIKGuiPluginPtr;
+ typedef boost::shared_ptr<VirtualRobot::CoinVisualization> CoinVisualizationPtr;
+}
+
+#endif
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.ui b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.ui
similarity index 100%
rename from source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.ui
rename to source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotIKGuiPlugin.ui
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewer.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.cpp
similarity index 99%
rename from source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewer.cpp
rename to source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.cpp
index 80f5806649d575bd3d2d26abe16d97ae78acafc8..51827017e3fffe8b6bd2d4016893c395e42c3d54 100644
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewer.cpp
+++ b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.cpp
@@ -17,11 +17,11 @@ armarx::RobotViewer::RobotViewer(QWidget* widget) : SoQtExaminerViewer(widget),
this->setHeadlight(true);
this->setViewing(false);
this->setDecoration(false);
- #ifdef WIN32
- #ifndef _DEBUG
+#ifdef WIN32
+#ifndef _DEBUG
this->setAntialiasing(true, 4);
- #endif
- #endif
+#endif
+#endif
this->setTransparencyType(SoGLRenderAction::SORTED_OBJECT_BLEND);
this->setFeedbackVisibility(true);
@@ -177,7 +177,7 @@ armarx::RobotViewer::~RobotViewer()
sceneRootNode->unref();
}
-SoSeparator *armarx::RobotViewer::getRootNode()
+SoSeparator* armarx::RobotViewer::getRootNode()
{
return this->contentRootNode;
}
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewer.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.h
similarity index 100%
rename from source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewer.h
rename to source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewer.h
diff --git a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewerWidget.cpp b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.cpp
similarity index 91%
rename from source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewerWidget.cpp
rename to source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.cpp
index 859263a87551708221b3fd479ed3d7df8525e157..dd925f98f4a0807895ab539909826f1806d43854 100644
--- a/source/RobotAPI/gui-plugins/RobotIKPlugin/RobotViewerWidget.cpp
+++ b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.cpp
@@ -2,7 +2,7 @@
#include <QGridLayout>
-armarx::RobotViewerWidget::RobotViewerWidget(QWidget *parent) : QWidget(parent)
+armarx::RobotViewerWidget::RobotViewerWidget(QWidget* parent) : QWidget(parent)
{
this->setContentsMargins(1, 1, 1, 1);
diff --git a/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.h b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..ccb8d99796aff9e4fb0d060244361d55b7f59152
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/moved_to_robotcomponents_RobotIKPlugin/RobotViewerWidget.h
@@ -0,0 +1,45 @@
+#ifndef RobotViewerWidget_h
+#define RobotViewerWidget_h
+
+/* Qt headers */
+#include <QWidget>
+
+/* boost headers */
+#include <boost/smart_ptr/shared_ptr.hpp>
+
+#include "RobotViewer.h"
+
+typedef boost::shared_ptr<armarx::RobotViewer> RobotViewerPtr;
+
+namespace armarx
+{
+ class RobotViewerWidget : public QWidget
+ {
+ Q_OBJECT
+
+ public:
+ /**
+ * Constructor.
+ * Constructs a robot viewer widget.
+ * Expects a controller::ControllerPtr.
+ *
+ * @param control shared pointer to controller::controller
+ * @param parent parent widget
+ *
+ */
+ explicit RobotViewerWidget(QWidget* parent = 0);
+
+ /**
+ * Destructor.
+ *
+ */
+ ~RobotViewerWidget();
+
+ RobotViewerPtr getRobotViewer();
+
+ private:
+ RobotViewerPtr viewer;
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index 8c1244c8632a6718f128fd6d46a33ecc6739859e..cbfa0be0f10dc4a6467ad8b2902f87b0ac5355ac 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -15,7 +15,6 @@ set(SLICE_FILES
core/LinkedPoseBase.ice
core/FramedPoseBase.ice
core/RobotState.ice
- core/RobotIK.ice
core/RobotStateObserverInterface.ice
selflocalisation/SelfLocalisationProcess.ice
@@ -33,9 +32,11 @@ set(SLICE_FILES
units/TCPControlUnit.ice
units/TCPMoverUnitInterface.ice
units/UnitInterface.ice
+ units/ATINetFTUnit.ice
visualization/DebugDrawerInterface.ice
)
+ #core/RobotIK.ice
# generate the interface library
-armarx_interfaces_generate_library(RobotAPI 0.1.0 0 "${ROBOTAPI_INTERFACE_DEPEND}")
+armarx_interfaces_generate_library(RobotAPI "${ROBOTAPI_INTERFACE_DEPEND}")
diff --git a/source/RobotAPI/interface/core/FramedPoseBase.ice b/source/RobotAPI/interface/core/FramedPoseBase.ice
index acc1f7b9d4d8330cb10e3efdc72ece0201c279f4..59d50d4c4905ad10da3b0160579a556ee21043a7 100644
--- a/source/RobotAPI/interface/core/FramedPoseBase.ice
+++ b/source/RobotAPI/interface/core/FramedPoseBase.ice
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -24,8 +23,8 @@
#ifndef _ARMARX_ROBOTAPI_ROBOTSTATE_FRAMED_POSE_SLICE_
#define _ARMARX_ROBOTAPI_ROBOTSTATE_FRAMED_POSE_SLICE_
-#include <Core/interface/observers/VariantBase.ice>
-#include <Core/interface/observers/Filters.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/observers/Filters.ice>
#include <RobotAPI/interface/core/PoseBase.ice>
module armarx
diff --git a/source/RobotAPI/interface/core/LinkedPoseBase.ice b/source/RobotAPI/interface/core/LinkedPoseBase.ice
index 3f465967c721200bd717266150797b14a5bb3125..b9801d6100b247bf15b8a37e8b9e36a3492cfdb1 100644
--- a/source/RobotAPI/interface/core/LinkedPoseBase.ice
+++ b/source/RobotAPI/interface/core/LinkedPoseBase.ice
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
diff --git a/source/RobotAPI/interface/core/PoseBase.ice b/source/RobotAPI/interface/core/PoseBase.ice
index 7cadb9e161d83712db74606c666e103adabae6a1..f89217ac84d72e6989c388f6a3ee1eb22ba721fc 100644
--- a/source/RobotAPI/interface/core/PoseBase.ice
+++ b/source/RobotAPI/interface/core/PoseBase.ice
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -24,8 +23,8 @@
#ifndef _ARMARX_ROBOTAPI_POSE_SLICE_
#define _ARMARX_ROBOTAPI_POSE_SLICE_
-#include <Core/interface/observers/VariantBase.ice>
-#include <Core/interface/observers/Filters.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/observers/Filters.ice>
module armarx
{
diff --git a/source/RobotAPI/interface/core/RobotState.ice b/source/RobotAPI/interface/core/RobotState.ice
index ad1053ae92200087e72817fd57638016bf51a8b7..d37226e2da5b00aedbfc040cc7f48e52a64708d8 100644
--- a/source/RobotAPI/interface/core/RobotState.ice
+++ b/source/RobotAPI/interface/core/RobotState.ice
@@ -4,7 +4,7 @@
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
#include <RobotAPI/interface/core/FramedPoseBase.ice>
-#include <Core/interface/observers/Timestamp.ice>
+#include <ArmarXCore/interface/observers/Timestamp.ice>
module armarx
{
diff --git a/source/RobotAPI/interface/core/RobotStateObserverInterface.ice b/source/RobotAPI/interface/core/RobotStateObserverInterface.ice
index 551ddeec6f50ff5b2b7f95787075cbe8463dfbe2..607f0812c9e0d9c175479306ddd5424725907fea 100644
--- a/source/RobotAPI/interface/core/RobotStateObserverInterface.ice
+++ b/source/RobotAPI/interface/core/RobotStateObserverInterface.ice
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -27,7 +26,7 @@
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
-#include <Core/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/observers/ObserverInterface.ice>
module armarx
{
diff --git a/source/RobotAPI/interface/core/RobotIK.ice b/source/RobotAPI/interface/core/moved_to_robotcomponents_RobotIK.ice
similarity index 100%
rename from source/RobotAPI/interface/core/RobotIK.ice
rename to source/RobotAPI/interface/core/moved_to_robotcomponents_RobotIK.ice
diff --git a/source/RobotAPI/interface/hardware/BusInspectionInterface.ice b/source/RobotAPI/interface/hardware/BusInspectionInterface.ice
index cc8b22c61b5ade3cc29ba4eb0e1b666c66287a46..321d3dfd7647c7cab4a9de29110c82e5f380ea04 100644
--- a/source/RobotAPI/interface/hardware/BusInspectionInterface.ice
+++ b/source/RobotAPI/interface/hardware/BusInspectionInterface.ice
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -18,7 +17,7 @@
* @author Peter Kaiser (peter dot kaiser at kit dot edu)
* @author Matthias Hadlich (matthias dot hadlich at student dot kit dot edu)
* @copyright 2014 Peter Kaiser
- * @license http://www.gnu.org/licenses/gpl.txt
+ * @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -27,8 +26,8 @@
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
-#include <Core/interface/core/UserException.ice>
-#include <Core/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+#include <ArmarXCore/interface/core/BasicTypes.ice>
module armarx
{
diff --git a/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice b/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice
index 681dfbac68f7b8bee247c5887b56febd8ebb605d..6dbefd25992f6b1b6b3c141a0a78443d63a0efb7 100644
--- a/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice
+++ b/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -26,7 +25,7 @@
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
-#include <Core/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/observers/ObserverInterface.ice>
module armarx
{
diff --git a/source/RobotAPI/interface/observers/ObserverFilters.ice b/source/RobotAPI/interface/observers/ObserverFilters.ice
index b668c374f15836a31a72c8120f7afde299913004..4ba2872954735fb187543b25a80ec028112dc8a1 100644
--- a/source/RobotAPI/interface/observers/ObserverFilters.ice
+++ b/source/RobotAPI/interface/observers/ObserverFilters.ice
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -24,8 +23,8 @@
#ifndef _ARMARX_ROBOTAPI_OBSERVER_FILTERS_SLICE_
#define _ARMARX_ROBOTAPI_OBSERVER_FILTERS_SLICE_
-#include <Core/interface/observers/VariantBase.ice>
-#include <Core/interface/observers/Filters.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/observers/Filters.ice>
module armarx
{
diff --git a/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice b/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
index ee1e69ba9bc7dd2190fbae7fde938b6961fcb6b4..73db196ecc19f00d2ac3b413310df5a2bf65304b 100644
--- a/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
+++ b/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -26,7 +25,7 @@
#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
-#include <Core/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/observers/ObserverInterface.ice>
module armarx
{
diff --git a/source/RobotAPI/interface/selflocalisation/SelfLocalisationProcess.ice b/source/RobotAPI/interface/selflocalisation/SelfLocalisationProcess.ice
index 0a7f47958914e87b86b4ef80040f7374b519064b..7fb058b50fead45e5a7d702e0365dd9cd722da85 100644
--- a/source/RobotAPI/interface/selflocalisation/SelfLocalisationProcess.ice
+++ b/source/RobotAPI/interface/selflocalisation/SelfLocalisationProcess.ice
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI
* @author Thomas von der Heyde <tvh242 at hotmail dot com>
* @copyright 2014
- * @license http://www.gnu.org/licenses/gpl.txt
+ * @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
diff --git a/source/RobotAPI/interface/speech/SpeechInterface.ice b/source/RobotAPI/interface/speech/SpeechInterface.ice
index 9f37056c7797535a5e47c9c871c59961923aba20..d9df885c189f5fae6c2ae7538248d3e5ece2694c 100644
--- a/source/RobotAPI/interface/speech/SpeechInterface.ice
+++ b/source/RobotAPI/interface/speech/SpeechInterface.ice
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
diff --git a/source/RobotAPI/interface/units/ATINetFTUnit.ice b/source/RobotAPI/interface/units/ATINetFTUnit.ice
new file mode 100644
index 0000000000000000000000000000000000000000..6fdcce5c60de26dd79e45f62d0586748bfcdc359
--- /dev/null
+++ b/source/RobotAPI/interface/units/ATINetFTUnit.ice
@@ -0,0 +1,57 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI
+ * @author Martin Do ( martin dot do at kit dot edu )
+ * @date 2015
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_ROBOTAPI_UNITS_ATINetFTUnitInterface_SLICE_
+#define _ARMARX_ROBOTAPI_UNITS_ATINetFTUnitInterface_SLICE_
+
+#include <RobotAPI/interface/core/PoseBase.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+
+module armarx
+{
+ /**
+ * Will be thrown, if a ATINetFT error occurs.
+ */
+ exception ATINetFTException extends UserException
+ {
+ /**
+ * The ATINetFT error code as defined in the ATINetFTDataStreamSDK.
+ * Note that "no error" or "success" is represented with the
+ * result code 2. The other result codes are error codes.
+ */
+ int errorCode;
+ };
+
+
+ interface ATINetFTUnitInterface extends SensorActorUnitInterface
+ {
+
+ void startRecording(string customName);
+
+ void stopRecording();
+
+ bool isComponentOnline();
+ };
+};
+
+#endif
diff --git a/source/RobotAPI/interface/units/ForceTorqueUnit.ice b/source/RobotAPI/interface/units/ForceTorqueUnit.ice
index 5e09c93abec1ddb3256c0dceb62bee6e80f65f5c..b9924aca5a68932fa40685fe5260ece392f5cff0 100644
--- a/source/RobotAPI/interface/units/ForceTorqueUnit.ice
+++ b/source/RobotAPI/interface/units/ForceTorqueUnit.ice
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI
* @author Mirko Waechter <waechter at kit dot edu>
* @copyright 2013 Mirko Waechter
- * @license http://www.gnu.org/licenses/gpl.txt
+ * @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
**/
@@ -28,10 +27,10 @@
#include <RobotAPI/interface/core/RobotState.ice>
#include <RobotAPI/interface/core/FramedPoseBase.ice>
-#include <Core/interface/core/UserException.ice>
-#include <Core/interface/core/BasicTypes.ice>
-#include <Core/interface/observers/VariantBase.ice>
-#include <Core/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/observers/ObserverInterface.ice>
module armarx
{
diff --git a/source/RobotAPI/interface/units/HandUnitInterface.ice b/source/RobotAPI/interface/units/HandUnitInterface.ice
index 0f6d1a861cd015ecaf0d8064ef9e493530a5ec36..f3df38d6289ac39d3d8a93f5f63da3f0a8be4ab9 100644
--- a/source/RobotAPI/interface/units/HandUnitInterface.ice
+++ b/source/RobotAPI/interface/units/HandUnitInterface.ice
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Core
* @author Manfred Kroehnert (manfred dot kroehnert at kit dot edu)
* @copyright 2013 Manfred Kroehnert
- * @license http://www.gnu.org/licenses/gpl.txt
+ * @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -27,10 +26,10 @@
#include <RobotAPI/interface/units/UnitInterface.ice>
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
-#include <Core/interface/core/UserException.ice>
-#include <Core/interface/core/BasicTypes.ice>
-#include <Core/interface/observers/VariantContainers.ice>
-#include <Core/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/observers/VariantContainers.ice>
+#include <ArmarXCore/interface/observers/ObserverInterface.ice>
module armarx
diff --git a/source/RobotAPI/interface/units/HapticUnit.ice b/source/RobotAPI/interface/units/HapticUnit.ice
index 8afe57f9e7f90be40b84be195245216b8b3c800c..d24d5a5c30b171fd0b1b0d309f6a13056d0e9973 100644
--- a/source/RobotAPI/interface/units/HapticUnit.ice
+++ b/source/RobotAPI/interface/units/HapticUnit.ice
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -27,12 +26,12 @@
#include <RobotAPI/interface/units/UnitInterface.ice>
#include <RobotAPI/interface/core/RobotState.ice>
-#include <Core/interface/core/UserException.ice>
-#include <Core/interface/core/BasicTypes.ice>
-#include <Core/interface/observers/VariantBase.ice>
-#include <Core/interface/observers/Matrix.ice>
-#include <Core/interface/observers/Timestamp.ice>
-#include <Core/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/observers/Matrix.ice>
+#include <ArmarXCore/interface/observers/Timestamp.ice>
+#include <ArmarXCore/interface/observers/ObserverInterface.ice>
module armarx
{
diff --git a/source/RobotAPI/interface/units/HeadIKUnit.ice b/source/RobotAPI/interface/units/HeadIKUnit.ice
index 48ebc04eb7fe43c6cc1a6229b294a8c8a5a17d75..fec56ec4aaef6f80a1d40f0970550e49a87d5899 100644
--- a/source/RobotAPI/interface/units/HeadIKUnit.ice
+++ b/source/RobotAPI/interface/units/HeadIKUnit.ice
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI
* @author David Schiebener <schiebener at kit dot edu>
* @copyright 2014 David Schiebener
- * @license http://www.gnu.org/licenses/gpl.txt
+ * @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -28,10 +27,10 @@
#include <RobotAPI/interface/core/RobotState.ice>
#include <RobotAPI/interface/core/FramedPoseBase.ice>
-#include <Core/interface/core/UserException.ice>
-#include <Core/interface/core/BasicTypes.ice>
-#include <Core/interface/observers/VariantBase.ice>
-#include <Core/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/observers/ObserverInterface.ice>
module armarx
{
diff --git a/source/RobotAPI/interface/units/InertialMeasurementUnit.ice b/source/RobotAPI/interface/units/InertialMeasurementUnit.ice
index 834e077298ff469edd84ec284070b2dbe86e2242..642f1b1ea2188209974b52ec700579bf625afa56 100644
--- a/source/RobotAPI/interface/units/InertialMeasurementUnit.ice
+++ b/source/RobotAPI/interface/units/InertialMeasurementUnit.ice
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -28,12 +27,12 @@
#include <RobotAPI/interface/units/UnitInterface.ice>
#include <RobotAPI/interface/core/RobotState.ice>
-#include <Core/interface/core/UserException.ice>
-#include <Core/interface/core/BasicTypes.ice>
-#include <Core/interface/observers/VariantBase.ice>
-#include <Core/interface/observers/Matrix.ice>
-#include <Core/interface/observers/Timestamp.ice>
-#include <Core/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/observers/Matrix.ice>
+#include <ArmarXCore/interface/observers/Timestamp.ice>
+#include <ArmarXCore/interface/observers/ObserverInterface.ice>
diff --git a/source/RobotAPI/interface/units/KinematicUnitInterface.ice b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
index c1700c113728826bea9d7ae1be259528b0673cde..ff0f432537e411f343463a6de9b61aed9a93bedd 100644
--- a/source/RobotAPI/interface/units/KinematicUnitInterface.ice
+++ b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Core
* @author Christian Boege (boege at kit dot edu)
* @copyright 2011 Christian Boege
- * @license http://www.gnu.org/licenses/gpl.txt
+ * @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,8 +25,8 @@
#include <RobotAPI/interface/units/UnitInterface.ice>
-#include <Core/interface/core/UserException.ice>
-#include <Core/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+#include <ArmarXCore/interface/core/BasicTypes.ice>
module armarx
{
diff --git a/source/RobotAPI/interface/units/PlatformUnitInterface.ice b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
index b7bde4e0880519b4011cd88ab3b3766899f94d5a..4c275ee00424da8c82467c206ccf8f596eca38cb 100644
--- a/source/RobotAPI/interface/units/PlatformUnitInterface.ice
+++ b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Core
* @author Manfred Kroehnert (manfred dot kroehnert at kit dot edu)
* @copyright 2013 Manfred Kroehnert
- * @license http://www.gnu.org/licenses/gpl.txt
+ * @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,8 +25,8 @@
#include <RobotAPI/interface/units/UnitInterface.ice>
-#include <Core/interface/core/UserException.ice>
-#include <Core/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+#include <ArmarXCore/interface/core/BasicTypes.ice>
module armarx
{
diff --git a/source/RobotAPI/interface/units/TCPControlUnit.ice b/source/RobotAPI/interface/units/TCPControlUnit.ice
index a8adef62e2774e6880cf3e8063383fd745be8896..33117e380a73d620f0ba9755b5709881bc8d1993 100644
--- a/source/RobotAPI/interface/units/TCPControlUnit.ice
+++ b/source/RobotAPI/interface/units/TCPControlUnit.ice
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI
* @author Mirko Waechter <waechter at kit dot edu>
* @copyright 2013 Mirko Waechter
- * @license http://www.gnu.org/licenses/gpl.txt
+ * @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -28,10 +27,10 @@
#include <RobotAPI/interface/core/RobotState.ice>
#include <RobotAPI/interface/core/FramedPoseBase.ice>
-#include <Core/interface/core/UserException.ice>
-#include <Core/interface/core/BasicTypes.ice>
-#include <Core/interface/observers/VariantBase.ice>
-#include <Core/interface/observers/ObserverInterface.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/observers/ObserverInterface.ice>
module armarx
{
diff --git a/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice b/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice
index 727676476cfebe1e1bb980cb2611b0a6cf9fb3e0..11d93b2ea51ae59b23a7ec31f4b81043a0bc82d5 100644
--- a/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice
+++ b/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Core
* @author Christian Boege (boege at kit dot edu)
* @copyright 2011 Christian Boege
- * @license http://www.gnu.org/licenses/gpl.txt
+ * @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -26,7 +25,7 @@
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
-#include <Core/interface/core/UserException.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
module armarx
{
diff --git a/source/RobotAPI/interface/units/UnitInterface.ice b/source/RobotAPI/interface/units/UnitInterface.ice
index 5cc9073ae4ba23476177d5604b08420ebf6862bc..916c31d58a2d8e149bd4bba4602b0e31587d816a 100644
--- a/source/RobotAPI/interface/units/UnitInterface.ice
+++ b/source/RobotAPI/interface/units/UnitInterface.ice
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -24,7 +23,7 @@
#ifndef _ARMARX_CORE_UNITS_UNITINTERFACE_SLICE_
#define _ARMARX_CORE_UNITS_UNITINTERFACE_SLICE_
-#include <Core/interface/core/UserException.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
module armarx
{
diff --git a/source/RobotAPI/interface/units/WeissHapticUnit.ice b/source/RobotAPI/interface/units/WeissHapticUnit.ice
index 414a1aae8cead59d120307ccdc336d12928232b9..bc43d8da8b44fc9285bdaac74ca5546c9fdf9e70 100644
--- a/source/RobotAPI/interface/units/WeissHapticUnit.ice
+++ b/source/RobotAPI/interface/units/WeissHapticUnit.ice
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
diff --git a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
index 41db91bd7cdf32a5725d40601e64051c1b08de5c..9f025f5239a831a8958babd77a354a53dee82237 100644
--- a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
+++ b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,15 +16,15 @@
* @package ArmarX::RobotAPI
* @author Nikolaus Vahrenkamp
* @copyright 2014
- * @license http://www.gnu.org/licenses/gpl.txt
+ * @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#ifndef _ARMARX_API_DEBUGDRAWERLAYER_SLICE_
#define _ARMARX_API_DEBUGDRAWERLAYER_SLICE_
-#include <Core/interface/core/UserException.ice>
-#include <Core/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+#include <ArmarXCore/interface/core/BasicTypes.ice>
#include <RobotAPI/interface/core/PoseBase.ice>
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
diff --git a/source/RobotAPI/libraries/CMakeLists.txt b/source/RobotAPI/libraries/CMakeLists.txt
index 3be572965d724b6b91e0af11d7266aa5b78afbfb..c3d725373ed3d4a44f2cc629f1775fe3e7be8e43 100644
--- a/source/RobotAPI/libraries/CMakeLists.txt
+++ b/source/RobotAPI/libraries/CMakeLists.txt
@@ -1,2 +1,4 @@
add_subdirectory(drivers)
add_subdirectory(core)
+add_subdirectory(widgets)
+
diff --git a/source/RobotAPI/libraries/core/CMakeLists.txt b/source/RobotAPI/libraries/core/CMakeLists.txt
index 53a0b23239a54fb90016c8d0786afd331f3df2a9..cb77eb2914b2d3e9fa4a9cec9f7de08c673e0101 100644
--- a/source/RobotAPI/libraries/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/core/CMakeLists.txt
@@ -14,8 +14,8 @@ if (Eigen3_FOUND AND Simox_FOUND)
endif()
set(LIB_NAME RobotAPICore)
-set(LIB_VERSION 0.1.0)
-set(LIB_SOVERSION 0)
+
+
set(LIBS RobotAPIInterfaces ArmarXCoreObservers ArmarXCoreStatechart ArmarXCoreEigen3Variants ${Simox_LIBRARIES})
@@ -57,4 +57,4 @@ set(LIB_HEADERS
)
-armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/libraries/core/FramedPose.cpp b/source/RobotAPI/libraries/core/FramedPose.cpp
index 1f972824fa2c71ce7f87b1e97357c2bf4cd00725..de30cd40ab4a64109dd778e54447236f3ebf1137 100644
--- a/source/RobotAPI/libraries/core/FramedPose.cpp
+++ b/source/RobotAPI/libraries/core/FramedPose.cpp
@@ -23,7 +23,7 @@ namespace armarx
{
}
- FramedDirection::FramedDirection(const FramedDirection &source) :
+ FramedDirection::FramedDirection(const FramedDirection& source) :
IceUtil::Shared(source),
Vector3Base(source),
FramedDirectionBase(source),
@@ -31,7 +31,7 @@ namespace armarx
{
}
- FramedDirection::FramedDirection(const Eigen::Vector3f &vec, const string &frame, const string &agent) :
+ FramedDirection::FramedDirection(const Eigen::Vector3f& vec, const string& frame, const string& agent) :
Vector3(vec)
{
this->frame = frame;
@@ -39,7 +39,7 @@ namespace armarx
}
- FramedDirection::FramedDirection(Ice::Float x, ::Ice::Float y, ::Ice::Float z, const std::string &frame) :
+ FramedDirection::FramedDirection(Ice::Float x, ::Ice::Float y, ::Ice::Float z, const std::string& frame) :
Vector3(x, y, z)
{
this->frame = frame;
@@ -50,18 +50,23 @@ namespace armarx
return frame;
}
- FramedDirectionPtr FramedDirection::ChangeFrame(const VirtualRobot::RobotPtr robot, const FramedDirection &framedVec, const string &newFrame)
+ FramedDirectionPtr FramedDirection::ChangeFrame(const VirtualRobot::RobotPtr robot, const FramedDirection& framedVec, const string& newFrame)
{
- if(framedVec.getFrame() == newFrame)
+ if (framedVec.getFrame() == newFrame)
+ {
return FramedDirectionPtr::dynamicCast(framedVec.clone());
- if(!robot->hasRobotNode(newFrame))
+ }
+
+ if (!robot->hasRobotNode(newFrame))
+ {
throw LocalException() << "The requested frame '" << newFrame << "' does not exists in the robot " << robot->getName();
+ }
Eigen::Matrix4f rotToNewFrame = __GetRotationBetweenFrames(framedVec.frame, newFrame, robot);
Eigen::Vector3f vecOldFrame = framedVec.Vector3::toEigen();
- Eigen::Vector3f newVec = rotToNewFrame.block(0,0,3,3).inverse() * vecOldFrame;
+ Eigen::Vector3f newVec = rotToNewFrame.block(0, 0, 3, 3).inverse() * vecOldFrame;
FramedDirectionPtr result = new FramedDirection();
result->x = newVec(0);
@@ -71,22 +76,29 @@ namespace armarx
return result;
}
- void FramedDirection::changeFrame(const VirtualRobot::RobotPtr robot, const string &newFrame)
+ void FramedDirection::changeFrame(const VirtualRobot::RobotPtr robot, const string& newFrame)
{
- if(getFrame() == newFrame)
+ if (getFrame() == newFrame)
+ {
return;
- if(newFrame == GlobalFrame)
+ }
+
+ if (newFrame == GlobalFrame)
{
changeToGlobal(robot);
return;
}
- if(!robot->hasRobotNode(newFrame))
+
+ if (!robot->hasRobotNode(newFrame))
+ {
throw LocalException() << "The requested frame '" << newFrame << "' does not exists in the robot " << robot->getName();
+ }
+
Eigen::Matrix4f rotToNewFrame = __GetRotationBetweenFrames(frame, newFrame, robot);
Eigen::Vector3f vecOldFrame = Vector3::toEigen();
- Eigen::Vector3f newVec = rotToNewFrame.block(0,0,3,3).inverse() * vecOldFrame;
+ Eigen::Vector3f newVec = rotToNewFrame.block(0, 0, 3, 3).inverse() * vecOldFrame;
x = newVec(0);
@@ -95,18 +107,21 @@ namespace armarx
frame = newFrame;
}
- void FramedDirection::changeToGlobal(const SharedRobotInterfacePrx &referenceRobot)
+ void FramedDirection::changeToGlobal(const SharedRobotInterfacePrx& referenceRobot)
{
VirtualRobot::RobotPtr sharedRobot(new RemoteRobot(referenceRobot));
changeToGlobal(sharedRobot);
}
- void FramedDirection::changeToGlobal(const VirtualRobot::RobotPtr &referenceRobot)
+ void FramedDirection::changeToGlobal(const VirtualRobot::RobotPtr& referenceRobot)
{
- if(frame == GlobalFrame)
+ if (frame == GlobalFrame)
+ {
return;
+ }
+
changeFrame(referenceRobot, referenceRobot->getRootNode()->getName());
- Eigen::Vector3f pos = referenceRobot->getRootNode()->getGlobalPose().block<3,3>(0,0) * toEigen();
+ Eigen::Vector3f pos = referenceRobot->getRootNode()->getGlobalPose().block<3, 3>(0, 0) * toEigen();
x = pos[0];
y = pos[1];
z = pos[2];
@@ -114,41 +129,47 @@ namespace armarx
agent = "";
}
- FramedDirectionPtr FramedDirection::toGlobal(const SharedRobotInterfacePrx &referenceRobot) const
+ FramedDirectionPtr FramedDirection::toGlobal(const SharedRobotInterfacePrx& referenceRobot) const
{
VirtualRobot::RobotPtr sharedRobot(new RemoteRobot(referenceRobot));
return toGlobal(sharedRobot);
}
- FramedDirectionPtr FramedDirection::toGlobal(const VirtualRobot::RobotPtr &referenceRobot) const
+ FramedDirectionPtr FramedDirection::toGlobal(const VirtualRobot::RobotPtr& referenceRobot) const
{
FramedDirectionPtr newPos = FramedDirectionPtr::dynamicCast(this->clone());
newPos->changeToGlobal(referenceRobot);
return newPos;
}
- string FramedDirection::output(const Ice::Current &c) const
+ string FramedDirection::output(const Ice::Current& c) const
{
std::stringstream s;
- s << toEigen() << std::endl << "frame: " << getFrame() << (agent.empty()?"": (" agent: " + agent));
+ s << toEigen() << std::endl << "frame: " << getFrame() << (agent.empty() ? "" : (" agent: " + agent));
return s.str();
}
- Eigen::Matrix4f FramedDirection::__GetRotationBetweenFrames(const std::string &oldFrame, const std::string &newFrame, VirtualRobot::RobotPtr robotState)
+ Eigen::Matrix4f FramedDirection::__GetRotationBetweenFrames(const std::string& oldFrame, const std::string& newFrame, VirtualRobot::RobotPtr robotState)
{
Eigen::Matrix4f toNewFrame;
+
if (oldFrame.compare(GlobalFrame) == 0)
+ {
toNewFrame = robotState->getRobotNode(newFrame)->getGlobalPose();
+ }
else
+ {
toNewFrame = robotState->getRobotNode(oldFrame)->getTransformationTo(robotState->getRobotNode(newFrame));
- toNewFrame(0,3) = 0;
- toNewFrame(1,3) = 0;
- toNewFrame(2,3) = 0;
+ }
+
+ toNewFrame(0, 3) = 0;
+ toNewFrame(1, 3) = 0;
+ toNewFrame(2, 3) = 0;
return toNewFrame;
}
- int FramedDirection::readFromXML(const string &xmlData, const Ice::Current &c)
+ int FramedDirection::readFromXML(const string& xmlData, const Ice::Current& c)
{
int result = Vector3::readFromXML(xmlData);
@@ -159,17 +180,17 @@ namespace armarx
return result;
}
- string FramedDirection::writeAsXML(const Ice::Current &c)
+ string FramedDirection::writeAsXML(const Ice::Current& c)
{
using namespace boost::property_tree;
ptree pt = Variant::GetPropertyTree(Vector3::writeAsXML());
pt.add("frame", frame);
- #if BOOST_VERSION >= 105600
- boost::property_tree::xml_parser::xml_writer_settings<std::string> settings('\t', 1);
- #else
- boost::property_tree::xml_parser::xml_writer_settings<char> settings('\t', 1);
- #endif
+#if BOOST_VERSION >= 105600
+ boost::property_tree::xml_parser::xml_writer_settings<std::string> settings('\t', 1);
+#else
+ boost::property_tree::xml_parser::xml_writer_settings<char> settings('\t', 1);
+#endif
std::stringstream stream;
xml_parser::write_xml(stream, pt, settings);
@@ -177,7 +198,7 @@ namespace armarx
return stream.str();
}
- void FramedDirection::serialize(const ObjectSerializerBasePtr &serializer, const Ice::Current &) const
+ void FramedDirection::serialize(const ObjectSerializerBasePtr& serializer, const Ice::Current&) const
{
AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
Vector3::serialize(serializer);
@@ -186,13 +207,16 @@ namespace armarx
}
- void FramedDirection::deserialize(const ObjectSerializerBasePtr &serializer, const Ice::Current &)
+ void FramedDirection::deserialize(const ObjectSerializerBasePtr& serializer, const Ice::Current&)
{
AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
Vector3::deserialize(serializer);
frame = obj->getString("frame");
- if(obj->hasElement("agent"))
+
+ if (obj->hasElement("agent"))
+ {
agent = obj->getString("agent");
+ }
}
@@ -203,7 +227,7 @@ namespace armarx
frame = "";
}
- FramedPose::FramedPose(const FramedPose &pose) :
+ FramedPose::FramedPose(const FramedPose& pose) :
IceUtil::Shared(pose),
PoseBase(pose),
FramedPoseBase(pose),
@@ -212,21 +236,21 @@ namespace armarx
}
- FramedPose::FramedPose(const Eigen::Matrix3f& m, const Eigen::Vector3f& v, const std::string& s, const string &agent) :
+ FramedPose::FramedPose(const Eigen::Matrix3f& m, const Eigen::Vector3f& v, const std::string& s, const string& agent) :
Pose(m, v)
{
frame = s;
this->agent = agent;
}
- FramedPose::FramedPose(const Eigen::Matrix4f& m, const std::string& s, const string &agent) :
+ FramedPose::FramedPose(const Eigen::Matrix4f& m, const std::string& s, const string& agent) :
Pose(m)
{
frame = s;
this->agent = agent;
}
- FramedPose::FramedPose(const armarx::Vector3BasePtr pos, const armarx::QuaternionBasePtr ori, const std::string& frame, const string &agent) :
+ FramedPose::FramedPose(const armarx::Vector3BasePtr pos, const armarx::QuaternionBasePtr ori, const std::string& frame, const string& agent) :
Pose(pos, ori)
{
this->frame = frame;
@@ -238,34 +262,44 @@ namespace armarx
return frame;
}
- string FramedPose::output(const Ice::Current &c) const
+ string FramedPose::output(const Ice::Current& c) const
{
std::stringstream s;
- s << toEigen() << std::endl << "frame: " << getFrame() << (agent.empty()?"": (" agent: " + agent));
+ s << toEigen() << std::endl << "frame: " << getFrame() << (agent.empty() ? "" : (" agent: " + agent));
return s.str();
}
- void FramedPose::changeFrame(const SharedRobotInterfacePrx &referenceRobot, const string &newFrame)
+ void FramedPose::changeFrame(const SharedRobotInterfacePrx& referenceRobot, const string& newFrame)
{
- if(newFrame == frame)
+ if (newFrame == frame)
+ {
return;
+ }
VirtualRobot::RobotPtr sharedRobot(new RemoteRobot(referenceRobot));
changeFrame(sharedRobot, newFrame);
- }
+ }
- void FramedPose::changeFrame(const VirtualRobot::RobotPtr &referenceRobot, const string &newFrame)
+ void FramedPose::changeFrame(const VirtualRobot::RobotPtr& referenceRobot, const string& newFrame)
{
- if(newFrame == frame)
+ if (newFrame == frame)
+ {
return;
- if(newFrame == GlobalFrame)
+ }
+
+ if (newFrame == GlobalFrame)
{
changeToGlobal(referenceRobot);
return;
}
+
Eigen::Matrix4f oldFrameTransformation = Eigen::Matrix4f::Identity();
- if(!referenceRobot->hasRobotNode(newFrame))
+
+ if (!referenceRobot->hasRobotNode(newFrame))
+ {
throw LocalException() << "The requested frame '" << newFrame << "' does not exists in the robot " << referenceRobot->getName();
+ }
+
if (frame != GlobalFrame)
{
oldFrameTransformation = referenceRobot->getRobotNode(frame)->getPoseInRootFrame();
@@ -274,34 +308,38 @@ namespace armarx
{
oldFrameTransformation = referenceRobot->getRootNode()->getGlobalPose().inverse();
}
+
Eigen::Matrix4f newPose =
- (referenceRobot->getRobotNode(newFrame)->getPoseInRootFrame().inverse() * oldFrameTransformation) * toEigen();
+ (referenceRobot->getRobotNode(newFrame)->getPoseInRootFrame().inverse() * oldFrameTransformation) * toEigen();
orientation = new Quaternion(newPose);
- Eigen::Vector3f pos = newPose.block<3,1>(0,3);
+ Eigen::Vector3f pos = newPose.block<3, 1>(0, 3);
position = new Vector3(pos);
frame = newFrame;
init();
}
- void FramedPose::changeToGlobal(const SharedRobotInterfacePrx &referenceRobot)
+ void FramedPose::changeToGlobal(const SharedRobotInterfacePrx& referenceRobot)
{
VirtualRobot::RobotPtr sharedRobot(new RemoteRobot(referenceRobot));
changeToGlobal(sharedRobot);
}
- void FramedPose::changeToGlobal(const VirtualRobot::RobotPtr &referenceRobot)
+ void FramedPose::changeToGlobal(const VirtualRobot::RobotPtr& referenceRobot)
{
- if(frame == GlobalFrame)
+ if (frame == GlobalFrame)
+ {
return;
+ }
+
changeFrame(referenceRobot, referenceRobot->getRootNode()->getName());
Eigen::Matrix4f global = referenceRobot->getRootNode()->getGlobalPose();
const Eigen::Matrix4f pose = global * toEigen();
- position->x = pose(0,3);
- position->y = pose(1,3);
- position->z = pose(2,3);
- Eigen::Quaternionf q(pose.block<3,3>(0,0));
+ position->x = pose(0, 3);
+ position->y = pose(1, 3);
+ position->z = pose(2, 3);
+ Eigen::Quaternionf q(pose.block<3, 3>(0, 0));
orientation->qw = q.w();
orientation->qx = q.x();
orientation->qy = q.y();
@@ -310,20 +348,21 @@ namespace armarx
agent = "";
}
- FramedPosePtr FramedPose::toGlobal(const SharedRobotInterfacePrx &referenceRobot) const
+ FramedPosePtr FramedPose::toGlobal(const SharedRobotInterfacePrx& referenceRobot) const
{
VirtualRobot::RobotPtr sharedRobot(new RemoteRobot(referenceRobot));
return toGlobal(sharedRobot);
}
- FramedPosePtr FramedPose::toGlobal(const VirtualRobot::RobotPtr &referenceRobot) const
+ FramedPosePtr FramedPose::toGlobal(const VirtualRobot::RobotPtr& referenceRobot) const
{
FramedPosePtr newPose = FramedPosePtr::dynamicCast(this->clone());
newPose->changeToGlobal(referenceRobot);
return newPose;
}
- int FramedPose::readFromXML(const string &xmlData, const Ice::Current &c){
+ int FramedPose::readFromXML(const string& xmlData, const Ice::Current& c)
+ {
boost::property_tree::ptree pt = Variant::GetPropertyTree(xmlData);
@@ -333,12 +372,12 @@ namespace armarx
return 1;
}
- string FramedPose::writeAsXML(const Ice::Current &)
+ string FramedPose::writeAsXML(const Ice::Current&)
{
using namespace boost::property_tree;
std::stringstream stream;
stream << Pose::writeAsXML()
- << "<frame>"<<frame<<"</frame>";
+ << "<frame>" << frame << "</frame>";
return stream.str();
}
@@ -369,8 +408,11 @@ namespace armarx
Pose::deserialize(obj);
frame = obj->getString("frame");
- if(obj->hasElement("agent"))
+
+ if (obj->hasElement("agent"))
+ {
agent = obj->getString("agent");
+ }
}
FramedPosition::FramedPosition() :
@@ -379,14 +421,14 @@ namespace armarx
frame = "";
}
- FramedPosition::FramedPosition(const Eigen::Vector3f &v, const std::string &s, const string &agent) :
+ FramedPosition::FramedPosition(const Eigen::Vector3f& v, const std::string& s, const string& agent) :
Vector3(v)
{
frame = s;
this->agent = agent;
}
- FramedPosition::FramedPosition(const Eigen::Matrix4f &m, const std::string &s, const string &agent) :
+ FramedPosition::FramedPosition(const Eigen::Matrix4f& m, const std::string& s, const string& agent) :
Vector3(m)
{
frame = s;
@@ -394,44 +436,55 @@ namespace armarx
}
// this doesnt work for unknown reasons
-// FramedPosition::FramedPosition(const Vector3BasePtr pos, const std::string &frame )
-// {
-// this->x = pos->x;
-// this->y = pos->y;
-// this->z = pos->z;
-// this->frame = frame;
-// }
+ // FramedPosition::FramedPosition(const Vector3BasePtr pos, const std::string &frame )
+ // {
+ // this->x = pos->x;
+ // this->y = pos->y;
+ // this->z = pos->z;
+ // this->frame = frame;
+ // }
std::string FramedPosition::getFrame() const
{
return this->frame;
}
- void FramedPosition::changeFrame(const SharedRobotInterfacePrx &referenceRobot, const string &newFrame)
+ void FramedPosition::changeFrame(const SharedRobotInterfacePrx& referenceRobot, const string& newFrame)
{
- if(newFrame == frame)
+ if (newFrame == frame)
+ {
return;
+ }
- if(!referenceRobot->hasRobotNode(newFrame))
+ if (!referenceRobot->hasRobotNode(newFrame))
+ {
throw LocalException() << "The requested frame '" << newFrame << "' does not exists in the robot " << referenceRobot->getName();
+ }
+
VirtualRobot::RobotPtr sharedRobot(new RemoteRobot(referenceRobot));
changeFrame(sharedRobot, newFrame);
}
- void FramedPosition::changeFrame(const VirtualRobot::RobotPtr &referenceRobot, const string &newFrame)
+ void FramedPosition::changeFrame(const VirtualRobot::RobotPtr& referenceRobot, const string& newFrame)
{
- if(newFrame == frame)
+ if (newFrame == frame)
+ {
return;
+ }
- if(newFrame == GlobalFrame)
+ if (newFrame == GlobalFrame)
{
changeToGlobal(referenceRobot);
return;
}
Eigen::Matrix4f oldFrameTransformation = Eigen::Matrix4f::Identity();
- if(!referenceRobot->hasRobotNode(newFrame))
+
+ if (!referenceRobot->hasRobotNode(newFrame))
+ {
throw LocalException() << "The requested frame '" << newFrame << "' does not exists in the robot " << referenceRobot->getName();
+ }
+
if (frame != GlobalFrame)
{
oldFrameTransformation = referenceRobot->getRobotNode(frame)->getPoseInRootFrame();
@@ -440,31 +493,35 @@ namespace armarx
{
oldFrameTransformation = referenceRobot->getRootNode()->getGlobalPose().inverse();
}
+
Eigen::Matrix4f oldPose = Eigen::Matrix4f::Identity();
- oldPose.block<3,1>(0,3) = toEigen();
+ oldPose.block<3, 1>(0, 3) = toEigen();
Eigen::Matrix4f newPose =
- (referenceRobot->getRobotNode(newFrame)->getPoseInRootFrame().inverse() * oldFrameTransformation) * oldPose;
+ (referenceRobot->getRobotNode(newFrame)->getPoseInRootFrame().inverse() * oldFrameTransformation) * oldPose;
- Eigen::Vector3f pos = newPose.block<3,1>(0,3);
+ Eigen::Vector3f pos = newPose.block<3, 1>(0, 3);
x = pos[0];
y = pos[1];
z = pos[2];
frame = newFrame;
}
- void FramedPosition::changeToGlobal(const SharedRobotInterfacePrx &referenceRobot)
+ void FramedPosition::changeToGlobal(const SharedRobotInterfacePrx& referenceRobot)
{
VirtualRobot::RobotPtr sharedRobot(new RemoteRobot(referenceRobot));
changeToGlobal(sharedRobot);
}
- void FramedPosition::changeToGlobal(const VirtualRobot::RobotPtr &referenceRobot)
+ void FramedPosition::changeToGlobal(const VirtualRobot::RobotPtr& referenceRobot)
{
- if(frame == GlobalFrame)
+ if (frame == GlobalFrame)
+ {
return;
+ }
+
changeFrame(referenceRobot, referenceRobot->getRootNode()->getName());
- Eigen::Vector3f pos = referenceRobot->getRootNode()->getGlobalPose().block<3,3>(0,0) * toEigen()
- + referenceRobot->getRootNode()->getGlobalPose().block<3,1>(0,3);
+ Eigen::Vector3f pos = referenceRobot->getRootNode()->getGlobalPose().block<3, 3>(0, 0) * toEigen()
+ + referenceRobot->getRootNode()->getGlobalPose().block<3, 1>(0, 3);
x = pos[0];
y = pos[1];
z = pos[2];
@@ -472,27 +529,28 @@ namespace armarx
agent = "";
}
- FramedPositionPtr FramedPosition::toGlobal(const SharedRobotInterfacePrx &referenceRobot) const
+ FramedPositionPtr FramedPosition::toGlobal(const SharedRobotInterfacePrx& referenceRobot) const
{
VirtualRobot::RobotPtr sharedRobot(new RemoteRobot(referenceRobot));
return toGlobal(sharedRobot);
}
- FramedPositionPtr FramedPosition::toGlobal(const VirtualRobot::RobotPtr &referenceRobot) const
+ FramedPositionPtr FramedPosition::toGlobal(const VirtualRobot::RobotPtr& referenceRobot) const
{
FramedPositionPtr newPos = FramedPositionPtr::dynamicCast(this->clone());
newPos->changeToGlobal(referenceRobot);
return newPos;
}
- string FramedPosition::output(const Ice::Current &c) const
+ string FramedPosition::output(const Ice::Current& c) const
{
std::stringstream s;
- s << toEigen() << std::endl << "frame: " << getFrame() << (agent.empty()?"": (" agent: " + agent));
+ s << toEigen() << std::endl << "frame: " << getFrame() << (agent.empty() ? "" : (" agent: " + agent));
return s.str();
}
- int FramedPosition::readFromXML(const string &xmlData, const Ice::Current &c){
+ int FramedPosition::readFromXML(const string& xmlData, const Ice::Current& c)
+ {
using namespace boost::property_tree;
ptree pt;
std::stringstream stream;
@@ -506,13 +564,13 @@ namespace armarx
return 1;
}
- string FramedPosition::writeAsXML(const Ice::Current &)
+ string FramedPosition::writeAsXML(const Ice::Current&)
{
using namespace boost::property_tree;
std::stringstream stream;
stream << Vector3::writeAsXML() <<
- "<frame>"<<frame<<"</frame>"<<
- "<agent>"<<agent<<"</agent>";
+ "<frame>" << frame << "</frame>" <<
+ "<agent>" << agent << "</agent>";
return stream.str();
}
@@ -531,8 +589,11 @@ namespace armarx
Vector3::deserialize(obj);
frame = obj->getString("frame");
- if(obj->hasElement("agent"))
+
+ if (obj->hasElement("agent"))
+ {
agent = obj->getString("agent");
+ }
}
@@ -542,14 +603,14 @@ namespace armarx
frame = "";
}
- FramedOrientation::FramedOrientation(const Eigen::Matrix3f &m, const std::string &s, const string &agent) :
+ FramedOrientation::FramedOrientation(const Eigen::Matrix3f& m, const std::string& s, const string& agent) :
Quaternion(m)
{
frame = s;
this->agent = agent;
}
- FramedOrientation::FramedOrientation(const Eigen::Matrix4f &m, const std::string &s, const std::string &agent) :
+ FramedOrientation::FramedOrientation(const Eigen::Matrix4f& m, const std::string& s, const std::string& agent) :
Quaternion(m)
{
frame = s;
@@ -557,48 +618,57 @@ namespace armarx
}
// this doesnt work for an unknown reason
-// FramedOrientation::FramedOrientation(const QuaternionBasePtr ori, const std::string &frame )
-// {
-// Matrix3f rot;
-// rot = Quaternionf(ori->qw, ori->qx, ori->qy, ori->qz);
-// FramedOrientation(rot, frame);
-// }
+ // FramedOrientation::FramedOrientation(const QuaternionBasePtr ori, const std::string &frame )
+ // {
+ // Matrix3f rot;
+ // rot = Quaternionf(ori->qw, ori->qx, ori->qy, ori->qz);
+ // FramedOrientation(rot, frame);
+ // }
std::string FramedOrientation::getFrame() const
{
return this->frame;
}
- string FramedOrientation::output(const Ice::Current &c) const
+ string FramedOrientation::output(const Ice::Current& c) const
{
std::stringstream s;
- s << toEigen() << std::endl << "frame: " << getFrame() << (agent.empty()?"": (" agent: " + agent));
+ s << toEigen() << std::endl << "frame: " << getFrame() << (agent.empty() ? "" : (" agent: " + agent));
return s.str();
}
- void FramedOrientation::changeFrame(const SharedRobotInterfacePrx &referenceRobot, const string &newFrame)
+ void FramedOrientation::changeFrame(const SharedRobotInterfacePrx& referenceRobot, const string& newFrame)
{
- if(newFrame == frame)
+ if (newFrame == frame)
+ {
return;
+ }
VirtualRobot::RobotPtr sharedRobot(new RemoteRobot(referenceRobot));
changeFrame(sharedRobot, newFrame);
}
- void FramedOrientation::changeFrame(const VirtualRobot::RobotPtr &referenceRobot, const string &newFrame)
+ void FramedOrientation::changeFrame(const VirtualRobot::RobotPtr& referenceRobot, const string& newFrame)
{
- if(newFrame == frame)
+ if (newFrame == frame)
+ {
return;
- if(newFrame == GlobalFrame)
+ }
+
+ if (newFrame == GlobalFrame)
{
changeToGlobal(referenceRobot);
return;
}
Eigen::Matrix4f oldFrameTransformation = Eigen::Matrix4f::Identity();
- if(!referenceRobot->hasRobotNode(newFrame))
+
+ if (!referenceRobot->hasRobotNode(newFrame))
+ {
throw LocalException() << "The requested frame '" << newFrame << "' does not exists in the robot " << referenceRobot->getName();
+ }
+
if (frame != GlobalFrame)
{
oldFrameTransformation = referenceRobot->getRobotNode(frame)->getPoseInRootFrame();
@@ -609,12 +679,12 @@ namespace armarx
}
Eigen::Matrix4f oldPose = Eigen::Matrix4f::Identity();
- oldPose.block<3,3>(0,0) = toEigen();
+ oldPose.block<3, 3>(0, 0) = toEigen();
Eigen::Matrix4f newPose =
- (referenceRobot->getRobotNode(newFrame)->getPoseInRootFrame().inverse() * oldFrameTransformation) * oldPose;
+ (referenceRobot->getRobotNode(newFrame)->getPoseInRootFrame().inverse() * oldFrameTransformation) * oldPose;
- Eigen::Quaternionf quat(newPose.block<3,3>(0,0));
+ Eigen::Quaternionf quat(newPose.block<3, 3>(0, 0));
qw = quat.w();
qx = quat.x();
qy = quat.y();
@@ -622,18 +692,21 @@ namespace armarx
frame = newFrame;
}
- void FramedOrientation::changeToGlobal(const SharedRobotInterfacePrx &referenceRobot)
+ void FramedOrientation::changeToGlobal(const SharedRobotInterfacePrx& referenceRobot)
{
VirtualRobot::RobotPtr sharedRobot(new RemoteRobot(referenceRobot));
changeToGlobal(sharedRobot);
}
- void FramedOrientation::changeToGlobal(const VirtualRobot::RobotPtr &referenceRobot)
+ void FramedOrientation::changeToGlobal(const VirtualRobot::RobotPtr& referenceRobot)
{
- if(frame == GlobalFrame)
+ if (frame == GlobalFrame)
+ {
return;
+ }
+
changeFrame(referenceRobot, referenceRobot->getRootNode()->getName());
- Eigen::Matrix3f rot = referenceRobot->getRootNode()->getGlobalPose().block<3,3>(0,0) * toEigen();
+ Eigen::Matrix3f rot = referenceRobot->getRootNode()->getGlobalPose().block<3, 3>(0, 0) * toEigen();
Eigen::Quaternionf quat(rot);
qw = quat.w();
qx = quat.x();
@@ -643,20 +716,20 @@ namespace armarx
agent = "";
}
- FramedOrientationPtr FramedOrientation::toGlobal(const SharedRobotInterfacePrx &referenceRobot) const
+ FramedOrientationPtr FramedOrientation::toGlobal(const SharedRobotInterfacePrx& referenceRobot) const
{
VirtualRobot::RobotPtr sharedRobot(new RemoteRobot(referenceRobot));
return toGlobal(sharedRobot);
}
- FramedOrientationPtr FramedOrientation::toGlobal(const VirtualRobot::RobotPtr &referenceRobot) const
+ FramedOrientationPtr FramedOrientation::toGlobal(const VirtualRobot::RobotPtr& referenceRobot) const
{
FramedOrientationPtr newPos = FramedOrientationPtr::dynamicCast(this->clone());
newPos->changeToGlobal(referenceRobot);
return newPos;
}
- int FramedOrientation::readFromXML(const string &xmlData, const Ice::Current &c)
+ int FramedOrientation::readFromXML(const string& xmlData, const Ice::Current& c)
{
using namespace boost::property_tree;
ptree pt;
@@ -671,13 +744,13 @@ namespace armarx
return 1;
}
- string FramedOrientation::writeAsXML(const Ice::Current &)
+ string FramedOrientation::writeAsXML(const Ice::Current&)
{
using namespace boost::property_tree;
std::stringstream stream;
stream << Quaternion::writeAsXML() <<
- "<frame>" << frame << "</frame>" <<
- "<agent>" << agent << "</agent>";
+ "<frame>" << frame << "</frame>" <<
+ "<agent>" << agent << "</agent>";
return stream.str();
}
@@ -696,22 +769,26 @@ namespace armarx
Quaternion::deserialize(obj);
frame = obj->getString("frame");
- if(obj->hasElement("agent"))
+
+ if (obj->hasElement("agent"))
+ {
agent = obj->getString("agent");
+ }
}
- VirtualRobot::LinkedCoordinate FramedPose::createLinkedCoordinate(const VirtualRobot::RobotPtr &virtualRobot, const FramedPositionPtr& position, const FramedOrientationPtr& orientation)
+ VirtualRobot::LinkedCoordinate FramedPose::createLinkedCoordinate(const VirtualRobot::RobotPtr& virtualRobot, const FramedPositionPtr& position, const FramedOrientationPtr& orientation)
{
VirtualRobot::LinkedCoordinate c(virtualRobot);
std::string frame;
+
if (position)
{
frame = position->getFrame();
if (orientation)
{
- if(!frame.empty() && frame != orientation->getFrame())
+ if (!frame.empty() && frame != orientation->getFrame())
{
throw armarx::UserException("Error: frames mismatch");
}
@@ -720,17 +797,26 @@ namespace armarx
else
{
if (!orientation)
+ {
armarx::UserException("createLinkedCoordinate: orientation and position are both NULL");
+ }
else
+ {
frame = orientation->getFrame();
+ }
}
Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();
- if(orientation)
- pose.block<3,3>(0,0) = orientation->toEigen();
- if(position)
- pose.block<3,1>(0,3) = position->toEigen();
+ if (orientation)
+ {
+ pose.block<3, 3>(0, 0) = orientation->toEigen();
+ }
+
+ if (position)
+ {
+ pose.block<3, 1>(0, 3) = position->toEigen();
+ }
c.set(frame, pose);
diff --git a/source/RobotAPI/libraries/core/FramedPose.h b/source/RobotAPI/libraries/core/FramedPose.h
index 423a50c322fba6b0578e10297534a8558370ff0e..b247d8aaa8534175a05f089bfc9a55bdfaf6e443 100644
--- a/source/RobotAPI/libraries/core/FramedPose.h
+++ b/source/RobotAPI/libraries/core/FramedPose.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI::RobotStateComponent::
* @author ( stefan dot ulbrich at kit dot edu)
* @date
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -30,10 +29,10 @@
#include <RobotAPI/interface/core/FramedPoseBase.h>
#include <RobotAPI/interface/core/RobotState.h>
-#include <Core/observers/variant/Variant.h>
-#include <Core/observers/AbstractObjectSerializer.h>
+#include <ArmarXCore/observers/variant/Variant.h>
+#include <ArmarXCore/observers/AbstractObjectSerializer.h>
-#include <Core/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <RobotAPI/libraries/core/Pose.h>
@@ -63,7 +62,7 @@ namespace armarx
/**
* @class FramedDirection
* @ingroup RobotAPI-FramedPose
- * @ingroup Variants
+ * @ingroup VariantsGrp
* @brief FramedDirection is a 3 dimensional @b direction vector with a reference frame.
* The reference frame can be used to change the coordinate system to which
* the vector relates. The difference to a FramedPosition is, that on frame
@@ -77,18 +76,18 @@ namespace armarx
typedef IceInternal::Handle<FramedDirection> FramedDirectionPtr;
class FramedDirection :
- virtual public FramedDirectionBase,
- virtual public Vector3
+ virtual public FramedDirectionBase,
+ virtual public Vector3
{
public:
FramedDirection();
FramedDirection(const FramedDirection& source);
- FramedDirection(const Eigen::Vector3f & vec, const std::string &frame, const std::string& agent );
- FramedDirection(Ice::Float x, ::Ice::Float y, ::Ice::Float z, const std::string &frame);
+ FramedDirection(const Eigen::Vector3f& vec, const std::string& frame, const std::string& agent);
+ FramedDirection(Ice::Float x, ::Ice::Float y, ::Ice::Float z, const std::string& frame);
std::string getFrame() const;
- static FramedDirectionPtr ChangeFrame(const VirtualRobot::RobotPtr robot, const FramedDirection& framedVec, const std::string &newFrame);
- void changeFrame(const VirtualRobot::RobotPtr robot, const std::string &newFrame);
+ static FramedDirectionPtr ChangeFrame(const VirtualRobot::RobotPtr robot, const FramedDirection& framedVec, const std::string& newFrame);
+ void changeFrame(const VirtualRobot::RobotPtr robot, const std::string& newFrame);
void changeToGlobal(const SharedRobotInterfacePrx& referenceRobot);
void changeToGlobal(const VirtualRobot::RobotPtr& referenceRobot);
@@ -128,10 +127,10 @@ namespace armarx
* @return ErrorCode, 1 on Success
* @deprecated
*/
- int readFromXML(const std::string &xmlData, const Ice::Current &c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current &c = ::Ice::Current());
+ int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
+ std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
- friend std::ostream &operator<<(std::ostream &stream, const FramedDirection& rhs)
+ friend std::ostream& operator<<(std::ostream& stream, const FramedDirection& rhs)
{
stream << "FramedDirection: " << std::endl << rhs.output() << std::endl;
return stream;
@@ -142,7 +141,7 @@ namespace armarx
virtual void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current());
private:
- static Eigen::Matrix4f __GetRotationBetweenFrames(const std::string &oldFrame, const std::string &newFrame, VirtualRobot::RobotPtr robotState);
+ static Eigen::Matrix4f __GetRotationBetweenFrames(const std::string& oldFrame, const std::string& newFrame, VirtualRobot::RobotPtr robotState);
};
class FramedPosition;
@@ -150,23 +149,23 @@ namespace armarx
/**
* @class FramedPosition
- * @ingroup Variants
+ * @ingroup VariantsGrp
* @ingroup RobotAPI-FramedPose
* @brief The FramedPosition class
*/
class FramedPosition :
- virtual public FramedPositionBase,
- virtual public Vector3
+ virtual public FramedPositionBase,
+ virtual public Vector3
{
public:
- FramedPosition( );
- FramedPosition(const Eigen::Vector3f &, const std::string &frame, const std::string &agent);
- FramedPosition(const Eigen::Matrix4f &, const std::string &frame, const std::string &agent);
+ FramedPosition();
+ FramedPosition(const Eigen::Vector3f&, const std::string& frame, const std::string& agent);
+ FramedPosition(const Eigen::Matrix4f&, const std::string& frame, const std::string& agent);
//FramedPosition(const Vector3BasePtr pos, const std::string &frame ); // this doesnt work for unknown reasons
std::string getFrame() const;
- void changeFrame(const SharedRobotInterfacePrx& referenceRobot, const std::string &newFrame);
- void changeFrame(const VirtualRobot::RobotPtr& referenceRobot, const std::string &newFrame);
+ void changeFrame(const SharedRobotInterfacePrx& referenceRobot, const std::string& newFrame);
+ void changeFrame(const VirtualRobot::RobotPtr& referenceRobot, const std::string& newFrame);
void changeToGlobal(const SharedRobotInterfacePrx& referenceRobot);
void changeToGlobal(const VirtualRobot::RobotPtr& referenceRobot);
FramedPositionPtr toGlobal(const SharedRobotInterfacePrx& referenceRobot) const;
@@ -206,10 +205,10 @@ namespace armarx
* @return ErrorCode, 1 on Success
* @deprecated
*/
- int readFromXML(const std::string &xmlData, const Ice::Current &c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current &c = ::Ice::Current());
+ int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
+ std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
- friend std::ostream &operator<<(std::ostream &stream, const FramedPosition& rhs)
+ friend std::ostream& operator<<(std::ostream& stream, const FramedPosition& rhs)
{
stream << "FramedPosition: " << std::endl << rhs.output() << std::endl;
return stream;
@@ -225,18 +224,18 @@ namespace armarx
/**
* @class FramedOrientation
- * @ingroup Variants
+ * @ingroup VariantsGrp
* @ingroup RobotAPI-FramedPose
* @brief The FramedOrientation class
*/
class FramedOrientation :
- virtual public FramedOrientationBase,
- virtual public Quaternion
+ virtual public FramedOrientationBase,
+ virtual public Quaternion
{
public:
FramedOrientation();
- FramedOrientation(const Eigen::Matrix4f &, const std::string &frame, const std::string &agent );
- FramedOrientation(const Eigen::Matrix3f &, const std::string &frame, const std::string &agent );
+ FramedOrientation(const Eigen::Matrix4f&, const std::string& frame, const std::string& agent);
+ FramedOrientation(const Eigen::Matrix3f&, const std::string& frame, const std::string& agent);
// this doesnt work for an unknown reason
//FramedOrientation(const QuaternionBasePtr ori, const std::string &frame );
std::string getFrame()const ;
@@ -260,8 +259,8 @@ namespace armarx
return true;
}
- void changeFrame(const SharedRobotInterfacePrx& referenceRobot, const std::string &newFrame);
- void changeFrame(const VirtualRobot::RobotPtr& referenceRobot, const std::string &newFrame);
+ void changeFrame(const SharedRobotInterfacePrx& referenceRobot, const std::string& newFrame);
+ void changeFrame(const VirtualRobot::RobotPtr& referenceRobot, const std::string& newFrame);
void changeToGlobal(const SharedRobotInterfacePrx& referenceRobot);
void changeToGlobal(const VirtualRobot::RobotPtr& referenceRobot);
FramedOrientationPtr toGlobal(const SharedRobotInterfacePrx& referenceRobot) const;
@@ -282,10 +281,10 @@ namespace armarx
* @return ErrorCode, 1 on Success
* @deprecated
*/
- int readFromXML(const std::string &xmlData, const Ice::Current &c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current &c = ::Ice::Current());
+ int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
+ std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
- friend std::ostream &operator<<(std::ostream &stream, const FramedOrientation& rhs)
+ friend std::ostream& operator<<(std::ostream& stream, const FramedOrientation& rhs)
{
stream << "FramedOrientation: " << std::endl << rhs.output() << std::endl;
return stream;
@@ -303,13 +302,13 @@ namespace armarx
/**
* @class FramedPose
- * @ingroup Variants
+ * @ingroup VariantsGrp
* @ingroup RobotAPI-FramedPose
* @brief The FramedPose class
*/
class FramedPose :
- virtual public FramedPoseBase,
- virtual public Pose
+ virtual public FramedPoseBase,
+ virtual public Pose
{
public:
FramedPose();
@@ -343,8 +342,8 @@ namespace armarx
return true;
}
- void changeFrame(const SharedRobotInterfacePrx& referenceRobot, const std::string &newFrame);
- void changeFrame(const VirtualRobot::RobotPtr &referenceRobot, const std::string &newFrame);
+ void changeFrame(const SharedRobotInterfacePrx& referenceRobot, const std::string& newFrame);
+ void changeFrame(const VirtualRobot::RobotPtr& referenceRobot, const std::string& newFrame);
void changeToGlobal(const SharedRobotInterfacePrx& referenceRobot);
void changeToGlobal(const VirtualRobot::RobotPtr& referenceRobot);
FramedPosePtr toGlobal(const SharedRobotInterfacePrx& referenceRobot) const;
@@ -366,10 +365,10 @@ namespace armarx
* @return ErrorCode, 1 on Success
* @deprecated
*/
- int readFromXML(const std::string &xmlData, const Ice::Current &c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current &c = ::Ice::Current());
+ int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
+ std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
- friend std::ostream &operator<<(std::ostream &stream, const FramedPose& rhs)
+ friend std::ostream& operator<<(std::ostream& stream, const FramedPose& rhs)
{
stream << "FramedPose: " << std::endl << rhs.output() << std::endl;
return stream;
@@ -377,7 +376,7 @@ namespace armarx
FramedPositionPtr getPosition() const;
FramedOrientationPtr getOrientation() const;
- static VirtualRobot::LinkedCoordinate createLinkedCoordinate(const VirtualRobot::RobotPtr &virtualRobot, const FramedPositionPtr& position, const FramedOrientationPtr& orientation);
+ static VirtualRobot::LinkedCoordinate createLinkedCoordinate(const VirtualRobot::RobotPtr& virtualRobot, const FramedPositionPtr& position, const FramedOrientationPtr& orientation);
public:
virtual void serialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current()) const;
diff --git a/source/RobotAPI/libraries/core/LinkedPose.cpp b/source/RobotAPI/libraries/core/LinkedPose.cpp
index d7089a5691008e10abe32cfa14f7657db5e2d0e1..ea4ebcb674a323ed0c2dd1083608ec9f1d0e462f 100644
--- a/source/RobotAPI/libraries/core/LinkedPose.cpp
+++ b/source/RobotAPI/libraries/core/LinkedPose.cpp
@@ -3,7 +3,7 @@
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
//#include "SharedRobotServants.h"
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
#include <boost/property_tree/ptree.hpp>
#include <boost/property_tree/xml_parser.hpp>
@@ -16,7 +16,8 @@
#include <Ice/ObjectAdapter.h>
-namespace armarx {
+namespace armarx
+{
LinkedPose::LinkedPose() :
Pose(),
@@ -25,7 +26,7 @@ namespace armarx {
this->referenceRobot = NULL;
}
- LinkedPose::LinkedPose(const LinkedPose &other) :
+ LinkedPose::LinkedPose(const LinkedPose& other) :
IceUtil::Shared(other),
PoseBase(other),
FramedPoseBase(other),
@@ -33,14 +34,14 @@ namespace armarx {
Pose(other),
FramedPose(other)
{
- if(referenceRobot)
+ if (referenceRobot)
{
//ARMARX_WARNING_S << "Calling referenceRobot->ref() in cctor of LinkedPose";
referenceRobot->ref();
}
}
- LinkedPose::LinkedPose(const FramedPose &other, const SharedRobotInterfacePrx &referenceRobot) :
+ LinkedPose::LinkedPose(const FramedPose& other, const SharedRobotInterfacePrx& referenceRobot) :
IceUtil::Shared(other),
PoseBase(other),
FramedPoseBase(other),
@@ -49,7 +50,8 @@ namespace armarx {
{
ARMARX_CHECK_EXPRESSION_W_HINT(referenceRobot, "The robot proxy must not be zero");
this->referenceRobot = referenceRobot;
- if(referenceRobot)
+
+ if (referenceRobot)
{
//ARMARX_WARNING_S << "Calling referenceRobot->ref() in cctor of LinkedPose";
referenceRobot->ref();
@@ -63,7 +65,7 @@ namespace armarx {
{
ARMARX_CHECK_EXPRESSION_W_HINT(referenceRobot, "The robot proxy must not be zero");
referenceRobot->ref();
- this->referenceRobot = referenceRobot;
+ this->referenceRobot = referenceRobot;
}
LinkedPose::LinkedPose(const Eigen::Matrix4f& m, const std::string& s, const SharedRobotInterfacePrx& referenceRobot) :
@@ -77,13 +79,14 @@ namespace armarx {
LinkedPose::~LinkedPose()
{
- try{
- if(referenceRobot)
+ try
+ {
+ if (referenceRobot)
{
referenceRobot->unref();
}
}
- catch(...)
+ catch (...)
{
handleExceptions();
}
@@ -98,8 +101,8 @@ namespace armarx {
Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();
- pose.block<3,3>(0,0) = QuaternionPtr::dynamicCast(orientation)->toEigen();
- pose.block<3,1>(0,3) = Vector3Ptr::dynamicCast(position)->toEigen();
+ pose.block<3, 3>(0, 0) = QuaternionPtr::dynamicCast(orientation)->toEigen();
+ pose.block<3, 1>(0, 3) = Vector3Ptr::dynamicCast(position)->toEigen();
c.set(frame, pose);
@@ -111,29 +114,29 @@ namespace armarx {
return this->clone();
}
- VariantDataClassPtr LinkedPose::clone(const Ice::Current &c) const
+ VariantDataClassPtr LinkedPose::clone(const Ice::Current& c) const
{
return new LinkedPose(*this);
}
- std::string LinkedPose::output(const Ice::Current &c) const
+ std::string LinkedPose::output(const Ice::Current& c) const
{
std::stringstream s;
s << FramedPose::output() << std::endl << "reference robot: " << referenceRobot->ice_toString();
return s.str();
}
- VariantTypeId LinkedPose::getType(const Ice::Current &c) const
+ VariantTypeId LinkedPose::getType(const Ice::Current& c) const
{
return VariantType::LinkedPose;
}
- bool LinkedPose::validate(const Ice::Current &c)
+ bool LinkedPose::validate(const Ice::Current& c)
{
return true;
}
- void LinkedPose::changeFrame(const std::string &newFrame, const Ice::Current &c)
+ void LinkedPose::changeFrame(const std::string& newFrame, const Ice::Current& c)
{
FramedPose::changeFrame(referenceRobot, newFrame);
}
@@ -151,7 +154,8 @@ namespace armarx {
}
- int LinkedPose::readFromXML(const std::string &xmlData, const Ice::Current &c){
+ int LinkedPose::readFromXML(const std::string& xmlData, const Ice::Current& c)
+ {
using namespace boost::property_tree;
ptree pt;
std::stringstream stream;
@@ -163,7 +167,8 @@ namespace armarx {
std::string remoteRobotId = pt.get<std::string>("referenceRobot");
referenceRobot = SharedRobotInterfacePrx::uncheckedCast(c.adapter->getCommunicator()->stringToProxy(remoteRobotId));
- if(!referenceRobot)
+
+ if (!referenceRobot)
{
ARMARX_ERROR_S << "ReferenceRobot for LinkedPose not registered: " << remoteRobotId << flush;
return 0;
@@ -177,7 +182,7 @@ namespace armarx {
using namespace boost::property_tree;
std::stringstream stream;
stream << FramedPose::writeAsXML()
- << "<referenceRobot>" << "Not serializable" <<"</referenceRobot>";
+ << "<referenceRobot>" << "Not serializable" << "</referenceRobot>";
return stream.str();
}
@@ -197,7 +202,8 @@ namespace armarx {
std::string remoteRobotId = obj->getString("referenceRobot");
referenceRobot = SharedRobotInterfacePrx::uncheckedCast(c.adapter->getCommunicator()->stringToProxy(remoteRobotId));
- if(!referenceRobot)
+
+ if (!referenceRobot)
{
ARMARX_ERROR_S << "ReferenceRobot for LinkedPose not registered: " << remoteRobotId << flush;
}
@@ -205,11 +211,12 @@ namespace armarx {
void LinkedPose::ice_postUnmarshal()
{
- if(referenceRobot)
+ if (referenceRobot)
{
//ARMARX_WARNING_S << "Calling referenceRobot->ref() in __read(IceInternal::BasicStream *__is, bool __rid) of LinkedPose";
referenceRobot->ref();
}
+
FramedPose::ice_postUnmarshal();
}
@@ -218,7 +225,7 @@ namespace armarx {
{
}
- LinkedDirection::LinkedDirection(const LinkedDirection &source) :
+ LinkedDirection::LinkedDirection(const LinkedDirection& source) :
IceUtil::Shared(source),
Vector3Base(source),
FramedDirectionBase(source),
@@ -227,14 +234,15 @@ namespace armarx {
FramedDirection(source)
{
referenceRobot = source.referenceRobot;
- if(referenceRobot)
+
+ if (referenceRobot)
{
//ARMARX_WARNING_S << "Calling referenceRobot->ref() in cctor of LinkedPose";
referenceRobot->ref();
}
}
- LinkedDirection::LinkedDirection(const Eigen::Vector3f &v, const std::string &frame, const SharedRobotInterfacePrx &referenceRobot) :
+ LinkedDirection::LinkedDirection(const Eigen::Vector3f& v, const std::string& frame, const SharedRobotInterfacePrx& referenceRobot) :
FramedDirection(v, frame, referenceRobot->getName())
{
referenceRobot->ref();
@@ -243,22 +251,25 @@ namespace armarx {
LinkedDirection::~LinkedDirection()
{
- try{
- if(referenceRobot)
+ try
+ {
+ if (referenceRobot)
{
referenceRobot->unref();
}
}
- catch(...)
+ catch (...)
{
handleExceptions();
}
}
- void LinkedDirection::changeFrame(const std::string &newFrame, const Ice::Current &c)
+ void LinkedDirection::changeFrame(const std::string& newFrame, const Ice::Current& c)
{
- if(newFrame == frame)
+ if (newFrame == frame)
+ {
return;
+ }
VirtualRobot::RobotPtr sharedRobot(new RemoteRobot(referenceRobot));
@@ -269,35 +280,36 @@ namespace armarx {
frame = frVec->frame;
}
- int LinkedDirection::readFromXML(const std::string &xmlData, const Ice::Current &c)
+ int LinkedDirection::readFromXML(const std::string& xmlData, const Ice::Current& c)
{
throw LocalException("LinkedDirection cannot be serialized! Serialize FramedDirection");
}
- std::string LinkedDirection::writeAsXML(const Ice::Current &c)
+ std::string LinkedDirection::writeAsXML(const Ice::Current& c)
{
throw LocalException("LinkedDirection cannot be deserialized! Serialize FramedDirection");
}
- void LinkedDirection::serialize(const ObjectSerializerBasePtr &serializer, const Ice::Current &) const
+ void LinkedDirection::serialize(const ObjectSerializerBasePtr& serializer, const Ice::Current&) const
{
throw LocalException("LinkedDirection cannot be serialized! Serialize FramedDirection");
}
- void LinkedDirection::deserialize(const ObjectSerializerBasePtr &serializer, const Ice::Current &)
+ void LinkedDirection::deserialize(const ObjectSerializerBasePtr& serializer, const Ice::Current&)
{
throw LocalException("LinkedDirection cannot be deserialized! Deserialize FramedDirection");
}
void LinkedDirection::ice_postUnmarshal()
{
- if(referenceRobot)
+ if (referenceRobot)
{
-// ARMARX_WARNING_S << "Calling referenceRobot->ref() in __read(IceInternal::BasicStream *__is, bool __rid) of LinkedPose";
+ // ARMARX_WARNING_S << "Calling referenceRobot->ref() in __read(IceInternal::BasicStream *__is, bool __rid) of LinkedPose";
referenceRobot->ref();
}
+
FramedDirection::ice_postUnmarshal();
}
diff --git a/source/RobotAPI/libraries/core/LinkedPose.h b/source/RobotAPI/libraries/core/LinkedPose.h
index 58a2ef675ae520ef52703a7452eeaae49c284509..0ccf2b21043908ad6969065f4a53823adec6741a 100644
--- a/source/RobotAPI/libraries/core/LinkedPose.h
+++ b/source/RobotAPI/libraries/core/LinkedPose.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotStateComponent::
* @author ( stefan dot ulbrich at kit dot edu)
* @date
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -29,8 +28,8 @@
#include <RobotAPI/interface/core/LinkedPoseBase.h>
#include <RobotAPI/interface/core/RobotState.h>
-#include <Core/observers/AbstractObjectSerializer.h>
-#include <Core/observers/variant/Variant.h>
+#include <ArmarXCore/observers/AbstractObjectSerializer.h>
+#include <ArmarXCore/observers/variant/Variant.h>
#include <Eigen/Core>
#include <Eigen/Geometry>
@@ -55,18 +54,18 @@ namespace armarx
/**
* @class LinkedPose
- * @ingroup Variants
+ * @ingroup VariantsGrp
* @ingroup RobotAPI-FramedPose
* @brief The LinkedPose class
*/
class LinkedPose :
- virtual public LinkedPoseBase,
- virtual public FramedPose
+ virtual public LinkedPoseBase,
+ virtual public FramedPose
{
public:
LinkedPose();
- LinkedPose(const LinkedPose &other);
- LinkedPose(const FramedPose &other, const SharedRobotInterfacePrx& referenceRobot);
+ LinkedPose(const LinkedPose& other);
+ LinkedPose(const FramedPose& other, const SharedRobotInterfacePrx& referenceRobot);
LinkedPose(const Eigen::Matrix3f& m, const Eigen::Vector3f& v, const std::string& frame, const SharedRobotInterfacePrx& referenceRobot);
LinkedPose(const Eigen::Matrix4f& m, const std::string& frame, const SharedRobotInterfacePrx& referenceRobot);
@@ -104,10 +103,10 @@ namespace armarx
* @param xmlData Strinconst SharedRobotInterfacePrx& referenceRobotg with xml-data. NOT a file path!
* @return ErrorCode, 1 on Success
*/
- int readFromXML(const std::string &xmlData, const Ice::Current &c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current &c = ::Ice::Current());
+ int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
+ std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
- friend std::ostream &operator<<(std::ostream &stream, const LinkedPose& rhs)
+ friend std::ostream& operator<<(std::ostream& stream, const LinkedPose& rhs)
{
stream << "LinkedPose: " << std::endl << rhs.output() << std::endl;
return stream;
@@ -125,13 +124,13 @@ namespace armarx
/**
* @class LinkedDirection is a direction vector (NOT a position vector) with an attached robotstate proxy
* for frame changes.
- * @ingroup Variants
+ * @ingroup VariantsGrp
* @ingroup RobotAPI-FramedPose
* @brief The LinkedDirection class
*/
class LinkedDirection :
- virtual public LinkedDirectionBase,
- virtual public FramedDirection
+ virtual public LinkedDirectionBase,
+ virtual public FramedDirection
{
public:
LinkedDirection();
@@ -140,7 +139,7 @@ namespace armarx
virtual ~LinkedDirection();
- void changeFrame(const std::string &newFrame, const Ice::Current &c = Ice::Current());
+ void changeFrame(const std::string& newFrame, const Ice::Current& c = Ice::Current());
// inherited from VariantDataClass
Ice::ObjectPtr ice_clone() const
@@ -171,10 +170,10 @@ namespace armarx
}
- int readFromXML(const std::string &xmlData, const Ice::Current &c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current &c = ::Ice::Current());
+ int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
+ std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
- friend std::ostream &operator<<(std::ostream &stream, const LinkedDirection& rhs)
+ friend std::ostream& operator<<(std::ostream& stream, const LinkedDirection& rhs)
{
stream << "LinkedDirection: " << std::endl << rhs.output() << std::endl;
return stream;
diff --git a/source/RobotAPI/libraries/core/PIDController.cpp b/source/RobotAPI/libraries/core/PIDController.cpp
index c323138a775fd9a6c35380570a869809ff5c2aa9..efaf566195c99e83ea0c25d5629218d4c2a32a74 100644
--- a/source/RobotAPI/libraries/core/PIDController.cpp
+++ b/source/RobotAPI/libraries/core/PIDController.cpp
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI::core::PIDController
* @author Mirko Waechter ( mirko dot waechter at kit dot edu )
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -54,12 +53,14 @@ void PIDController::update(double measuredValue, double targetValue)
{
ScopedRecursiveLock lock(mutex);
IceUtil::Time now = IceUtil::Time::now();
- if(firstRun)
+
+ if (firstRun)
{
lastUpdateTime = IceUtil::Time::now();
}
+
double dt = (now - lastUpdateTime).toSecondsDouble();
- update(dt,measuredValue,targetValue);
+ update(dt, measuredValue, targetValue);
lastUpdateTime = now;
}
@@ -70,17 +71,22 @@ void PIDController::update(double deltaSec, double measuredValue, double targetV
target = targetValue;
double error = target - processValue;
+
//double dt = (now - lastUpdateTime).toSecondsDouble();
-// ARMARX_INFO << deactivateSpam() << VAROUT(dt);
- if(!firstRun)
+ // ARMARX_INFO << deactivateSpam() << VAROUT(dt);
+ if (!firstRun)
{
integral += error * deltaSec;
- if(deltaSec > 0.0)
+
+ if (deltaSec > 0.0)
+ {
derivative = (error - previousError) / deltaSec;
+ }
}
+
firstRun = false;
controlValue = Kp * error + Ki * integral + Kd * derivative;
- ARMARX_DEBUG << deactivateSpam(0.5) << " error: " << error << " cV: " << (controlValue) << " i: " << (Ki*integral) << " d: " << (Kd * derivative) << " dt: " << deltaSec;
+ ARMARX_DEBUG << deactivateSpam(0.5) << " error: " << error << " cV: " << (controlValue) << " i: " << (Ki * integral) << " d: " << (Kd * derivative) << " dt: " << deltaSec;
previousError = error;
lastUpdateTime += IceUtil::Time::seconds(deltaSec);
@@ -112,38 +118,51 @@ void MultiDimPIDController::update(const double deltaSec, const Eigen::VectorXf&
target = targetValue;
double error = (target - processValue).norm();
+
//double dt = (now - lastUpdateTime).toSecondsDouble();
-// ARMARX_INFO << deactivateSpam() << VAROUT(dt);
- if(!firstRun)
+ // ARMARX_INFO << deactivateSpam() << VAROUT(dt);
+ if (!firstRun)
{
integral += error * deltaSec;
- if(deltaSec > 0.0)
+
+ if (deltaSec > 0.0)
+ {
derivative = (error - previousError) / deltaSec;
+ }
}
+
firstRun = false;
Eigen::VectorXf direction = targetValue; // copy size
- if((target - processValue).norm() > 0)
+
+ if ((target - processValue).norm() > 0)
+ {
direction = (target - processValue).normalized();
+ }
else
+ {
direction.setZero();
+ }
+
controlValue = direction * (Kp * error + Ki * integral + Kd * derivative);
- ARMARX_DEBUG << deactivateSpam(0.5) << " error: " << error << " cV: " << (controlValue) << " i: " << (Ki*integral) << " d: " << (Kd * derivative) << " dt: " << deltaSec;
+ ARMARX_DEBUG << deactivateSpam(0.5) << " error: " << error << " cV: " << (controlValue) << " i: " << (Ki * integral) << " d: " << (Kd * derivative) << " dt: " << deltaSec;
previousError = error;
lastUpdateTime += IceUtil::Time::seconds(deltaSec);
}
-void MultiDimPIDController::update(const Eigen::VectorXf &measuredValue, const Eigen::VectorXf &targetValue)
+void MultiDimPIDController::update(const Eigen::VectorXf& measuredValue, const Eigen::VectorXf& targetValue)
{
ScopedRecursiveLock lock(mutex);
IceUtil::Time now = IceUtil::Time::now();
- if(firstRun)
+
+ if (firstRun)
{
lastUpdateTime = IceUtil::Time::now();
}
+
double dt = (now - lastUpdateTime).toSecondsDouble();
- update(dt,measuredValue,targetValue);
+ update(dt, measuredValue, targetValue);
lastUpdateTime = now;
}
@@ -159,7 +178,7 @@ void MultiDimPIDController::reset()
previousError = 0;
integral = 0;
lastUpdateTime = IceUtil::Time::now();
-// controlValue.setZero();
-// processValue.setZero();
-// target.setZero();
+ // controlValue.setZero();
+ // processValue.setZero();
+ // target.setZero();
}
diff --git a/source/RobotAPI/libraries/core/PIDController.h b/source/RobotAPI/libraries/core/PIDController.h
index d7e411e4400c6d2fb4b3055c7fcaa72e3963892c..624a4709536db9cde49a501209f7b39024c8caa1 100644
--- a/source/RobotAPI/libraries/core/PIDController.h
+++ b/source/RobotAPI/libraries/core/PIDController.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,21 +16,21 @@
* @package RobotAPI::core::PIDController
* @author Mirko Waechter ( mirko dot waechter at kit dot edu )
* @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#ifndef _ARMARX_COMPONENT_RobotAPI_PIDController_H
#define _ARMARX_COMPONENT_RobotAPI_PIDController_H
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
#include <Eigen/Core>
namespace armarx
{
class PIDController :
- public Logging
+ public Logging
{
public:
PIDController(float Kp, float Ki, float Kd);
@@ -40,7 +39,7 @@ namespace armarx
double getControlValue() const;
void reset();
-// protected:
+ // protected:
float Kp, Ki, Kd;
double integral;
double derivative;
@@ -55,16 +54,16 @@ namespace armarx
typedef boost::shared_ptr<PIDController> PIDControllerPtr;
class MultiDimPIDController :
- public Logging
+ public Logging
{
public:
MultiDimPIDController(float Kp, float Ki, float Kd);
- void update(const double deltaSec, const Eigen::VectorXf &measuredValue, const Eigen::VectorXf &targetValue);
- void update(const Eigen::VectorXf &measuredValue, const Eigen::VectorXf &targetValue);
- const Eigen::VectorXf &getControlValue() const;
+ void update(const double deltaSec, const Eigen::VectorXf& measuredValue, const Eigen::VectorXf& targetValue);
+ void update(const Eigen::VectorXf& measuredValue, const Eigen::VectorXf& targetValue);
+ const Eigen::VectorXf& getControlValue() const;
void reset();
-// protected:
+ // protected:
float Kp, Ki, Kd;
double integral;
double derivative;
diff --git a/source/RobotAPI/libraries/core/Pose.cpp b/source/RobotAPI/libraries/core/Pose.cpp
index cc4ba42ef370383cea0a30867de28ff9f3c6a7e0..5ee4cbed2688553a928cd4191b84286935df9d3d 100644
--- a/source/RobotAPI/libraries/core/Pose.cpp
+++ b/source/RobotAPI/libraries/core/Pose.cpp
@@ -23,7 +23,7 @@ namespace armarx
y = 0;
}
- Vector2::Vector2(const Vector2f & v)
+ Vector2::Vector2(const Vector2f& v)
{
x = v(0);
y = v(1);
@@ -38,7 +38,7 @@ namespace armarx
Vector2f Vector2::toEigen() const
{
Vector2f v;
- v << this->x,this->y;
+ v << this->x, this->y;
return v;
}
@@ -48,14 +48,14 @@ namespace armarx
y = vec[1];
}
- string Vector2::output(const Ice::Current &c) const
+ string Vector2::output(const Ice::Current& c) const
{
std::stringstream s;
s << toEigen();
return s.str();
}
- int Vector2::readFromXML(const string &xmlData, const Ice::Current &c)
+ int Vector2::readFromXML(const string& xmlData, const Ice::Current& c)
{
boost::property_tree::ptree pt = Variant::GetPropertyTree(xmlData);
@@ -64,7 +64,7 @@ namespace armarx
return 1;
}
- string Vector2::writeAsXML(const Ice::Current &)
+ string Vector2::writeAsXML(const Ice::Current&)
{
using namespace boost::property_tree;
ptree pt;
@@ -99,18 +99,18 @@ namespace armarx
z = 0;
}
- Vector3::Vector3(const Vector3f & v)
+ Vector3::Vector3(const Vector3f& v)
{
x = v(0);
y = v(1);
z = v(2);
}
- Vector3::Vector3(const Matrix4f & m)
+ Vector3::Vector3(const Matrix4f& m)
{
- x = m(0,3);
- y = m(1,3);
- z = m(2,3);
+ x = m(0, 3);
+ y = m(1, 3);
+ z = m(2, 3);
}
Vector3::Vector3(::Ice::Float x, ::Ice::Float y, ::Ice::Float z)
@@ -123,7 +123,7 @@ namespace armarx
Vector3f Vector3::toEigen() const
{
Vector3f v;
- v << this->x,this->y,this->z;
+ v << this->x, this->y, this->z;
return v;
}
@@ -134,14 +134,14 @@ namespace armarx
z = vec[2];
}
- string Vector3::output(const Ice::Current &c) const
+ string Vector3::output(const Ice::Current& c) const
{
std::stringstream s;
s << toEigen();
return s.str();
}
- int Vector3::readFromXML(const string &xmlData, const Ice::Current &c)
+ int Vector3::readFromXML(const string& xmlData, const Ice::Current& c)
{
boost::property_tree::ptree pt = Variant::GetPropertyTree(xmlData);
@@ -151,7 +151,7 @@ namespace armarx
return 1;
}
- string Vector3::writeAsXML(const Ice::Current &)
+ string Vector3::writeAsXML(const Ice::Current&)
{
using namespace boost::property_tree;
ptree pt;
@@ -187,18 +187,18 @@ namespace armarx
{
}
- Quaternion::Quaternion(const Matrix4f &m4)
+ Quaternion::Quaternion(const Matrix4f& m4)
{
- Matrix3f m3=m4.block<3,3>(0,0);
+ Matrix3f m3 = m4.block<3, 3>(0, 0);
this->init(m3);
}
- Quaternion::Quaternion(const Matrix3f &m3)
+ Quaternion::Quaternion(const Matrix3f& m3)
{
this->init(m3);
}
- Quaternion::Quaternion(const Eigen::Quaternionf &q)
+ Quaternion::Quaternion(const Eigen::Quaternionf& q)
{
this->init(q);
}
@@ -215,10 +215,10 @@ namespace armarx
{
Matrix3f rot;
rot = Quaternionf(
- this->qw,
- this->qx,
- this->qy,
- this->qz);
+ this->qw,
+ this->qx,
+ this->qy,
+ this->qz);
return rot;
}
@@ -227,52 +227,54 @@ namespace armarx
return Quaternionf(this->qw, this->qx, this->qy, this->qz);
}
- void Quaternion::init(const Matrix3f &m3)
+ void Quaternion::init(const Matrix3f& m3)
{
Quaternionf q;
q = m3;
init(q);
}
- void Quaternion::init(const Eigen::Quaternionf &q)
+ void Quaternion::init(const Eigen::Quaternionf& q)
{
- this->qw=q.w();
- this->qx=q.x();
- this->qy=q.y();
- this->qz=q.z();
+ this->qw = q.w();
+ this->qx = q.x();
+ this->qy = q.y();
+ this->qz = q.z();
}
- Matrix3f Quaternion::slerp(float alpha, const Eigen::Matrix3f &m)
+ Matrix3f Quaternion::slerp(float alpha, const Eigen::Matrix3f& m)
{
- return Quaternion::slerp(alpha,this->toEigen(),m);
+ return Quaternion::slerp(alpha, this->toEigen(), m);
}
- Matrix3f Quaternion::slerp(float alpha, const Eigen::Matrix3f &m1, const Eigen::Matrix3f &m2)
+ Matrix3f Quaternion::slerp(float alpha, const Eigen::Matrix3f& m1, const Eigen::Matrix3f& m2)
{
Matrix3f result;
- Quaternionf q1,q2;
+ Quaternionf q1, q2;
q1 = m1;
- q2=m2;
- result= q1.slerp(alpha,q2);
+ q2 = m2;
+ result = q1.slerp(alpha, q2);
return result;
}
- string Quaternion::output(const Ice::Current &c) const
+ string Quaternion::output(const Ice::Current& c) const
{
std::stringstream s;
s << toEigen();
return s.str();
}
- int Quaternion::readFromXML(const string &xmlData, const Ice::Current &c)
+ int Quaternion::readFromXML(const string& xmlData, const Ice::Current& c)
{
boost::property_tree::ptree pt = Variant::GetPropertyTree(xmlData);
using namespace Eigen;
Quaternionf q;
- if(pt.get_optional<float>("angle"))
- {// AxisAngle-Notation
+
+ if (pt.get_optional<float>("angle"))
+ {
+ // AxisAngle-Notation
float angle = pt.get<float>("angle");
Vector3f axis;
@@ -296,7 +298,7 @@ namespace armarx
return 1;
}
- string Quaternion::writeAsXML(const Ice::Current &)
+ string Quaternion::writeAsXML(const Ice::Current&)
{
using namespace boost::property_tree;
ptree pt;
@@ -330,7 +332,7 @@ namespace armarx
qw = obj->getFloat("qw");
}
- Pose::Pose(const Eigen::Matrix3f &m, const Eigen::Vector3f &v)
+ Pose::Pose(const Eigen::Matrix3f& m, const Eigen::Vector3f& v)
{
this->orientation = new Quaternion(m);
this->position = new Vector3(v);
@@ -351,7 +353,7 @@ namespace armarx
init();
}
- Pose::Pose(const Pose &source) :
+ Pose::Pose(const Pose& source) :
IceUtil::Shared(source),
PoseBase(source)
{
@@ -360,14 +362,14 @@ namespace armarx
init();
}
- Pose::Pose(const Matrix4f &m)
+ Pose::Pose(const Matrix4f& m)
{
this->orientation = new Quaternion(m);
this->position = new Vector3(m);
init();
}
- void Pose::operator=(const Matrix4f &matrix)
+ void Pose::operator=(const Matrix4f& matrix)
{
this->orientation = new Quaternion(matrix);
this->position = new Vector3(matrix);
@@ -379,19 +381,19 @@ namespace armarx
Matrix4f m = Matrix4f::Identity();
ARMARX_CHECK_EXPRESSION(c_orientation);
ARMARX_CHECK_EXPRESSION(c_position);
- m.block<3,3>(0,0) = c_orientation->toEigen();
- m.block<3,1>(0,3) = c_position->toEigen();
+ m.block<3, 3>(0, 0) = c_orientation->toEigen();
+ m.block<3, 1>(0, 3) = c_position->toEigen();
return m;
}
- string Pose::output(const Ice::Current &c) const
+ string Pose::output(const Ice::Current& c) const
{
std::stringstream s;
s << toEigen();
return s.str();
}
- int Pose::readFromXML(const string &xmlData, const Ice::Current &c)
+ int Pose::readFromXML(const string& xmlData, const Ice::Current& c)
{
position->readFromXML(xmlData);
orientation->readFromXML(xmlData);
@@ -399,13 +401,13 @@ namespace armarx
return 1;
}
- string Pose::writeAsXML(const Ice::Current &)
+ string Pose::writeAsXML(const Ice::Current&)
{
using namespace boost::property_tree;
std::stringstream stream;
stream <<
- position->writeAsXML() <<
- orientation->writeAsXML();
+ position->writeAsXML() <<
+ orientation->writeAsXML();
return stream.str();
}
diff --git a/source/RobotAPI/libraries/core/Pose.h b/source/RobotAPI/libraries/core/Pose.h
index 727cac0e2e328f3e04d89030c5c6cbb763655bd2..b5566e1d13eaedd204965369a7423348cfaf7af4 100644
--- a/source/RobotAPI/libraries/core/Pose.h
+++ b/source/RobotAPI/libraries/core/Pose.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI::Core
* @author ( stefan dot ulbrich at kit dot edu)
* @date
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -28,9 +27,9 @@
#include <Eigen/Core>
#include <Eigen/Geometry>
-#include <Core/observers/variant/Variant.h>
-#include <Core/observers/AbstractObjectSerializer.h>
-#include <Core/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/observers/variant/Variant.h>
+#include <ArmarXCore/observers/AbstractObjectSerializer.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <RobotAPI/interface/core/PoseBase.h>
@@ -46,11 +45,15 @@ namespace armarx
const VariantTypeId Pose = Variant::addTypeName("::armarx::PoseBase");
}
+ /**
+ * @brief The Vector2 class
+ * @ingroup VariantsGrp
+ */
class Vector2 : virtual public Vector2Base
{
public:
Vector2();
- Vector2(const Eigen::Vector2f &);
+ Vector2(const Eigen::Vector2f&);
Vector2(::Ice::Float x, ::Ice::Float y);
void operator=(const Eigen::Vector2f& ves);
@@ -87,10 +90,10 @@ namespace armarx
* @param xmlData String with xml-data. NOT a file path!
* @return ErrorCode, 1 on Success
*/
- int readFromXML(const std::string &xmlData, const Ice::Current &c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current &c = ::Ice::Current());
+ int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
+ std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
- friend std::ostream &operator<<(std::ostream &stream, const Vector2& rhs)
+ friend std::ostream& operator<<(std::ostream& stream, const Vector2& rhs)
{
stream << "Vector2: " << std::endl << rhs.output() << std::endl;
return stream;
@@ -106,17 +109,17 @@ namespace armarx
/**
* @class Vector3
- * @ingroup Variants
+ * @ingroup VariantsGrp
* @ingroup RobotAPI-FramedPose
* @brief The Vector3 class
*/
class Vector3 :
- virtual public Vector3Base
+ virtual public Vector3Base
{
public:
Vector3();
- Vector3(const Eigen::Vector3f &);
- Vector3(const Eigen::Matrix4f &);
+ Vector3(const Eigen::Vector3f&);
+ Vector3(const Eigen::Matrix4f&);
Vector3(::Ice::Float x, ::Ice::Float y, ::Ice::Float z);
void operator=(const Eigen::Vector3f& vec);
@@ -154,10 +157,10 @@ namespace armarx
* @param xmlData String with xml-data. NOT a file path!
* @return ErrorCode, 1 on Success
*/
- int readFromXML(const std::string &xmlData, const Ice::Current &c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current &c = ::Ice::Current());
+ int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
+ std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
- friend std::ostream &operator<<(std::ostream &stream, const Vector3& rhs)
+ friend std::ostream& operator<<(std::ostream& stream, const Vector3& rhs)
{
stream << "Vector3: " << std::endl << rhs.output() << std::endl;
return stream;
@@ -173,25 +176,25 @@ namespace armarx
/**
* @class Quaternion
- * @ingroup Variants
+ * @ingroup VariantsGrp
* @ingroup RobotAPI-FramedPose
* @brief The Quaternion class
*/
class Quaternion :
- virtual public QuaternionBase
+ virtual public QuaternionBase
{
public:
Quaternion();
- Quaternion(const Eigen::Matrix4f &);
- Quaternion(const Eigen::Matrix3f &);
- Quaternion(const Eigen::Quaternionf &);
+ Quaternion(const Eigen::Matrix4f&);
+ Quaternion(const Eigen::Matrix3f&);
+ Quaternion(const Eigen::Quaternionf&);
Quaternion(::Ice::Float qw, ::Ice::Float qx, ::Ice::Float qy, ::Ice::Float qz);
Eigen::Matrix3f toEigen() const;
Eigen::Quaternionf toEigenQuaternion() const;
- Eigen::Matrix3f slerp(float, const Eigen::Matrix3f &);
+ Eigen::Matrix3f slerp(float, const Eigen::Matrix3f&);
- static Eigen::Matrix3f slerp(float, const Eigen::Matrix3f &, const Eigen::Matrix3f &);
+ static Eigen::Matrix3f slerp(float, const Eigen::Matrix3f&, const Eigen::Matrix3f&);
// inherited from VariantDataClass
Ice::ObjectPtr ice_clone() const
@@ -235,10 +238,10 @@ namespace armarx
* @param c
* @return ErrorCode, 1 on Success
*/
- int readFromXML(const std::string &xmlData, const Ice::Current &c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current &c = ::Ice::Current());
+ int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
+ std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
- friend std::ostream &operator<<(std::ostream &stream, const Quaternion& rhs)
+ friend std::ostream& operator<<(std::ostream& stream, const Quaternion& rhs)
{
stream << "Quaternion: " << std::endl << rhs.output() << std::endl;
return stream;
@@ -249,8 +252,8 @@ namespace armarx
virtual void deserialize(const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = ::Ice::Current());
private:
- void init(const Eigen::Matrix3f &);
- void init(const Eigen::Quaternionf &);
+ void init(const Eigen::Matrix3f&);
+ void init(const Eigen::Quaternionf&);
};
typedef IceInternal::Handle<Quaternion> QuaternionPtr;
@@ -258,21 +261,21 @@ namespace armarx
/**
* @class Pose
- * @ingroup Variants
+ * @ingroup VariantsGrp
* @ingroup RobotAPI-FramedPose
* @brief The Pose class
*/
class Pose :
- virtual public PoseBase
+ virtual public PoseBase
{
public:
Pose();
- Pose(const Pose&source);
- Pose(const Eigen::Matrix4f &);
- Pose(const Eigen::Matrix3f &, const Eigen::Vector3f &);
+ Pose(const Pose& source);
+ Pose(const Eigen::Matrix4f&);
+ Pose(const Eigen::Matrix3f&, const Eigen::Vector3f&);
Pose(const armarx::Vector3BasePtr pos, const armarx::QuaternionBasePtr ori);
- void operator=(const Eigen::Matrix4f &matrix);
+ void operator=(const Eigen::Matrix4f& matrix);
virtual Eigen::Matrix4f toEigen() const;
// inherited from VariantDataClass
@@ -313,10 +316,10 @@ namespace armarx
* @return ErrorCode, 1 on Success
* @see Quaternion::readFromXml() for AxisAngle-Notation
*/
- int readFromXML(const std::string &xmlData, const Ice::Current &c = ::Ice::Current());
- std::string writeAsXML(const Ice::Current &c = ::Ice::Current());
+ int readFromXML(const std::string& xmlData, const Ice::Current& c = ::Ice::Current());
+ std::string writeAsXML(const Ice::Current& c = ::Ice::Current());
- friend std::ostream &operator<<(std::ostream &stream, const Pose& rhs)
+ friend std::ostream& operator<<(std::ostream& stream, const Pose& rhs)
{
stream << "Pose: " << std::endl << rhs.output() << std::endl;
return stream;
diff --git a/source/RobotAPI/libraries/core/RobotAPIObjectFactories.cpp b/source/RobotAPI/libraries/core/RobotAPIObjectFactories.cpp
index 2de2300b9c11e3685dcd85f27dffe33422109fd7..3ccdd28bc41ecffe6fc6a3e284fcecdeaad19535 100644
--- a/source/RobotAPI/libraries/core/RobotAPIObjectFactories.cpp
+++ b/source/RobotAPI/libraries/core/RobotAPIObjectFactories.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2014
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
diff --git a/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h b/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h
index f4ded6efc6da2fe1b827fac66fe5d645fefa4fd2..199bfb0d05e6ab2b051c843ba7b999a8b3e05530 100644
--- a/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h
+++ b/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -24,7 +23,7 @@
#ifndef _ARMARX_ROBOTAPI_OBJECT_FACTORIES_H
#define _ARMARX_ROBOTAPI_OBJECT_FACTORIES_H
-#include <Core/core/system/FactoryCollectionBase.h>
+#include <ArmarXCore/core/system/FactoryCollectionBase.h>
#include <RobotAPI/interface/core/PoseBase.h>
#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/libraries/core/FramedPose.h>
diff --git a/source/RobotAPI/libraries/core/RobotStatechartContext.cpp b/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
index 9cfc7e123bfeb4d8808e66a94364e28d1f546e0a..7713be5cda5ee55e4f0a6153efe54d3f66116950 100644
--- a/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
+++ b/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package Armar4::api
* @author Nikolaus Vahrenkamp
* @date 2012 Nikolaus Vahrenkamp
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -25,9 +24,9 @@
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
-#include <Core/core/Component.h>
-#include <Core/core/system/ImportExportComponent.h>
-#include <Core/statechart/Statechart.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+#include <ArmarXCore/statechart/Statechart.h>
namespace armarx
{
@@ -36,7 +35,7 @@ namespace armarx
// ****************************************************************
void RobotStatechartContext::onInitStatechartContext()
{
-// StatechartContext::onInitStatechart();
+ // StatechartContext::onInitStatechart();
ARMARX_LOG << eINFO << "Init RobotStatechartContext" << flush;
kinematicUnitObserverName = getProperty<std::string>("KinematicUnitObserverName").getValue();
@@ -45,12 +44,13 @@ namespace armarx
usingProxy("RobotStateComponent");
usingProxy(kinematicUnitObserverName);
- if(!getProperty<std::string>("HandUnits").getValue().empty())
+ if (!getProperty<std::string>("HandUnits").getValue().empty())
{
std::string handUnitsProp = getProperty<std::string>("HandUnits").getValue();
std::vector<std::string> handUnitList;
boost::split(handUnitList, handUnitsProp, boost::is_any_of(","));
- for(size_t i = 0; i < handUnitList.size(); i++)
+
+ for (size_t i = 0; i < handUnitList.size(); i++)
{
boost::algorithm::trim(handUnitList.at(i));
usingProxy(handUnitList.at(i));
@@ -60,14 +60,17 @@ namespace armarx
// headIKUnit
headIKUnitName = getProperty<std::string>("HeadIKUnitName").getValue();
headIKKinematicChainName = getProperty<std::string>("HeadIKKinematicChainName").getValue();
+
if (!headIKUnitName.empty())
+ {
usingProxy(headIKUnitName);
+ }
}
void RobotStatechartContext::onConnectStatechartContext()
{
-// StatechartContext::onConnectStatechart();
+ // StatechartContext::onConnectStatechart();
ARMARX_LOG << eINFO << "Starting RobotStatechartContext" << flush;
// retrieve proxies
@@ -86,12 +89,13 @@ namespace armarx
}
- if( !getProperty<std::string>("HandUnits").getValue().empty())
+ if (!getProperty<std::string>("HandUnits").getValue().empty())
{
std::string handUnitsProp = getProperty<std::string>("HandUnits").getValue();
std::vector<std::string> handUnitList;
boost::split(handUnitList, handUnitsProp, boost::is_any_of(","));
- for(size_t i = 0; i < handUnitList.size(); i++)
+
+ for (size_t i = 0; i < handUnitList.size(); i++)
{
boost::algorithm::trim(handUnitList.at(i));
HandUnitInterfacePrx handPrx = getProxy<HandUnitInterfacePrx>(handUnitList.at(i));
@@ -99,6 +103,7 @@ namespace armarx
ARMARX_LOG << eINFO << "Fetched handUnit proxy " << handUnitList.at(i) << ": " << handPrx << flush;
}
}
+
// initialize remote robot
remoteRobot.reset(new RemoteRobot(robotStateComponent->getSynchronizedRobot()));
ARMARX_LOG << eINFO << "Created remote robot" << flush;
@@ -110,27 +115,30 @@ namespace armarx
getConfigIdentifier()));
}
- HandUnitInterfacePrx RobotStatechartContext::getHandUnit(const std::string &handUnitName)
+ HandUnitInterfacePrx RobotStatechartContext::getHandUnit(const std::string& handUnitName)
{
- if (handUnits.find(handUnitName)!=handUnits.end())
+ if (handUnits.find(handUnitName) != handUnits.end())
{
ARMARX_LOG << eINFO << "Found proxy of hand unit with name " << handUnitName << flush;
return handUnits[handUnitName];
}
+
ARMARX_LOG << eINFO << "Do not know proxy of hand unit with name " << handUnitName << flush;
std::map<std::string, HandUnitInterfacePrx>::iterator it = handUnits.begin();
- while (it!=handUnits.end())
+
+ while (it != handUnits.end())
{
ARMARX_LOG << eINFO << "************ Known hand units: " << it->first << ":" << it->second << flush;
it++;
}
+
return HandUnitInterfacePrx();
}
- /* const VirtualRobot::RobotPtr armarx::Armar4Context::getRobot()
- {
- return remoteRobot;
- }*/
+ /* const VirtualRobot::RobotPtr armarx::Armar4Context::getRobot()
+ {
+ return remoteRobot;
+ }*/
}
diff --git a/source/RobotAPI/libraries/core/RobotStatechartContext.h b/source/RobotAPI/libraries/core/RobotStatechartContext.h
index 8a817dcb30101275236fdc49e4aa8ef3163f47df..81cbdf2529b1d6ee3c5ef7e3c5acb0240c855c38 100644
--- a/source/RobotAPI/libraries/core/RobotStatechartContext.h
+++ b/source/RobotAPI/libraries/core/RobotStatechartContext.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package Armar4::api
* @author Nikolaus Vahrenkamp
* @date 2012 Nikolaus Vahrenkamp
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -32,9 +31,9 @@
#include <RobotAPI/interface/units/HeadIKUnit.h>
#include <RobotAPI/interface/observers/KinematicUnitObserverInterface.h>
-#include <Core/core/Component.h>
-#include <Core/core/system/ImportExportComponent.h>
-#include <Core/statechart/StatechartContext.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+#include <ArmarXCore/statechart/StatechartContext.h>
#include <IceUtil/Time.h>
@@ -68,13 +67,16 @@ namespace armarx
{
public:
// inherited from Component
- virtual std::string getDefaultName() { return "RobotStatechartContext"; }
+ virtual std::string getDefaultName()
+ {
+ return "RobotStatechartContext";
+ }
virtual void onInitStatechartContext();
virtual void onConnectStatechartContext();
// todo:read access should only be allowed via const getters ?!
//const VirtualRobot::RobotPtr getRobot();
- //private:
+ //private:
/**
@@ -82,9 +84,12 @@ namespace armarx
*/
virtual PropertyDefinitionsPtr createPropertyDefinitions();
- std::string getKinematicUnitObserverName() { return kinematicUnitObserverName; }
+ std::string getKinematicUnitObserverName()
+ {
+ return kinematicUnitObserverName;
+ }
- HandUnitInterfacePrx getHandUnit(const std::string &handUnitName);
+ HandUnitInterfacePrx getHandUnit(const std::string& handUnitName);
//! Prx for the RobotState
RobotStateComponentInterfacePrx robotStateComponent;
@@ -100,7 +105,7 @@ namespace armarx
private:
std::string kinematicUnitObserverName;
std::string headIKUnitName;
- };
+ };
}
#endif
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h b/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h
index fec76fafd8aff7ac61532ba3eb04f3f116989111..30e6279ff01253fb967b8b8749f1f5a9141257ad 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h
@@ -1,9 +1,9 @@
#ifndef _ARMARX_ROBOTAPI_CONDITIONCHECKEQUALSPOSE_H
#define _ARMARX_ROBOTAPI_CONDITIONCHECKEQUALSPOSE_H
-#include <Core/core/system/ImportExport.h>
-#include <Core/observers/ConditionCheck.h>
-#include <Core/core/FramedPose.h>
+#include <ArmarXCore/core/system/ImportExport.h>
+#include <ArmarXCore/observers/ConditionCheck.h>
+#include <ArmarXCore/core/FramedPose.h>
namespace armarx
{
@@ -15,20 +15,20 @@ namespace armarx
{
setNumberParameters(1);
addSupportedType(VariantType::FramedPosition, createParameterTypeList(1, VariantType::FramedPosition);
- addSupportedType(VariantType::FramedOrientation, createParameterTypeList(1, VariantType::FramedOrientation);
- addSupportedType(VariantType::Vector3, createParameterTypeList(1, VariantType::Vector3);
- addSupportedType(VariantType::Quaternion, createParameterTypeList(1, VariantType::Quaternion);
- addSupportedType(VariantType::Pose, createParameterTypeList(1, VariantType::Pose);
+ addSupportedType(VariantType::FramedOrientation, createParameterTypeList(1, VariantType::FramedOrientation);
+ addSupportedType(VariantType::Vector3, createParameterTypeList(1, VariantType::Vector3);
+ addSupportedType(VariantType::Quaternion, createParameterTypeList(1, VariantType::Quaternion);
+ addSupportedType(VariantType::Pose, createParameterTypeList(1, VariantType::Pose);
}
- ConditionCheck* clone()
+ ConditionCheck* clone()
{
return new ConditionCheckEqualsPose(*this);
}
- bool evaluate(const StringVariantMap &dataFields)
+ bool evaluate(const StringVariantMap& dataFields)
{
- if(dataFields.size() != 1)
+ if (dataFields.size() != 1)
{
printf("Size of dataFields: %d\n", (int)dataFields.size());
throw InvalidConditionException("Wrong number of datafields for condition equals ");
@@ -37,36 +37,36 @@ namespace armarx
Variant& value = dataFields.begin()->second;
VariantTypeId type = value.getType();
- if(type == VariantType::Vector3)
- return (sqrt(((value.x-getParameter(0).getClass<Vector3>().x)*(value.x-getParameter(0).getClass<Vector3>().x))+
- ((value.y-getParameter(0).getClass<Vector3>().y)*(value.y-getParameter(0).getClass<Vector3>().y))+
- ((value.z-getParameter(0).getClass<Vector3>().x)*(value.x-getParameter(0).getClass<Vector3>().z))) == 0);
+ if (type == VariantType::Vector3)
+ return (sqrt(((value.x - getParameter(0).getClass<Vector3>().x) * (value.x - getParameter(0).getClass<Vector3>().x)) +
+ ((value.y - getParameter(0).getClass<Vector3>().y) * (value.y - getParameter(0).getClass<Vector3>().y)) +
+ ((value.z - getParameter(0).getClass<Vector3>().x) * (value.x - getParameter(0).getClass<Vector3>().z))) == 0);
- if(type == VariantType::FramedPosition)
- return (sqrt(((value.x-getParameter(0).getClass<FramedPosition>().x)*(value.x-getParameter(0).getClass<FramedPosition>().x))+
- ((value.y-getParameter(0).getClass<FramedPosition>().y)*(value.y-getParameter(0).getClass<FramedPosition>().y))+
- ((value.z-getParameter(0).getClass<FramedPosition>().x)*(value.x-getParameter(0).getClass<FramedPosition>().z))) == 0);
+ if (type == VariantType::FramedPosition)
+ return (sqrt(((value.x - getParameter(0).getClass<FramedPosition>().x) * (value.x - getParameter(0).getClass<FramedPosition>().x)) +
+ ((value.y - getParameter(0).getClass<FramedPosition>().y) * (value.y - getParameter(0).getClass<FramedPosition>().y)) +
+ ((value.z - getParameter(0).getClass<FramedPosition>().x) * (value.x - getParameter(0).getClass<FramedPosition>().z))) == 0);
- if(type == VariantType::Quaternion)
- return (sqrt(((value.qw-getParameter(0).getClass<Quaternion>().qw)*(value.qw-getParameter(0).getClass<Quaternion>().qw))+
- ((value.qx-getParameter(0).getClass<Quaternion>().qx)*(value.qx-getParameter(0).getClass<Quaternion>().qx))+
- ((value.qy-getParameter(0).getClass<Quaternion>().qy)*(value.qy-getParameter(0).getClass<Quaternion>().qy))+
- ((value.qz-getParameter(0).getClass<Quaternion>().qx)*(value.qx-getParameter(0).getClass<Quaternion>().qz))) == 0);
+ if (type == VariantType::Quaternion)
+ return (sqrt(((value.qw - getParameter(0).getClass<Quaternion>().qw) * (value.qw - getParameter(0).getClass<Quaternion>().qw)) +
+ ((value.qx - getParameter(0).getClass<Quaternion>().qx) * (value.qx - getParameter(0).getClass<Quaternion>().qx)) +
+ ((value.qy - getParameter(0).getClass<Quaternion>().qy) * (value.qy - getParameter(0).getClass<Quaternion>().qy)) +
+ ((value.qz - getParameter(0).getClass<Quaternion>().qx) * (value.qx - getParameter(0).getClass<Quaternion>().qz))) == 0);
- if(type == VariantType::FramedOrientation)
- return (sqrt(((value.qw-getParameter(0).getClass<FramedOrientation>().qw)*(value.qw-getParameter(0).getClass<FramedOrientation>().qw))+
- ((value.qx-getParameter(0).getClass<FramedOrientation>().qx)*(value.qx-getParameter(0).getClass<FramedOrientation>().qx))+
- ((value.qy-getParameter(0).getClass<FramedOrientation>().qy)*(value.qy-getParameter(0).getClass<FramedOrientation>().qy))+
- ((value.qz-getParameter(0).getClass<FramedOrientation>().qx)*(value.qx-getParameter(0).getClass<FramedOrientation>().qz))) == 0);
+ if (type == VariantType::FramedOrientation)
+ return (sqrt(((value.qw - getParameter(0).getClass<FramedOrientation>().qw) * (value.qw - getParameter(0).getClass<FramedOrientation>().qw)) +
+ ((value.qx - getParameter(0).getClass<FramedOrientation>().qx) * (value.qx - getParameter(0).getClass<FramedOrientation>().qx)) +
+ ((value.qy - getParameter(0).getClass<FramedOrientation>().qy) * (value.qy - getParameter(0).getClass<FramedOrientation>().qy)) +
+ ((value.qz - getParameter(0).getClass<FramedOrientation>().qx) * (value.qx - getParameter(0).getClass<FramedOrientation>().qz))) == 0);
- if(type == VariantType::Pose)
- return (sqrt(((value.x-getParameter(0).getClass<Pose>().x)*(value.x-getParameter(0).getClass<Pose>().x))+
- ((value.y-getParameter(0).getClass<Pose>().y)*(value.y-getParameter(0).getClass<Pose>().y))+
- ((value.z-getParameter(0).getClass<Pose>().x)*(value.x-getParameter(0).getClass<Pose>().z)))+
- sqrt(((value.qw-getParameter(0).getClass<Pose>().qw)*(value.qw-getParameter(0).getClass<Pose>().qw))+
- ((value.qx-getParameter(0).getClass<Pose>().qx)*(value.qx-getParameter(0).getClass<Pose>().qx))+
- ((value.qy-getParameter(0).getClass<Pose>().qy)*(value.qy-getParameter(0).getClass<Pose>().qy))+
- ((value.qz-getParameter(0).getClass<Pose>().qx)*(value.qx-getParameter(0).getClass<Pose>().qz))) == 0);
+ if (type == VariantType::Pose)
+ return (sqrt(((value.x - getParameter(0).getClass<Pose>().x) * (value.x - getParameter(0).getClass<Pose>().x)) +
+ ((value.y - getParameter(0).getClass<Pose>().y) * (value.y - getParameter(0).getClass<Pose>().y)) +
+ ((value.z - getParameter(0).getClass<Pose>().x) * (value.x - getParameter(0).getClass<Pose>().z))) +
+ sqrt(((value.qw - getParameter(0).getClass<Pose>().qw) * (value.qw - getParameter(0).getClass<Pose>().qw)) +
+ ((value.qx - getParameter(0).getClass<Pose>().qx) * (value.qx - getParameter(0).getClass<Pose>().qx)) +
+ ((value.qy - getParameter(0).getClass<Pose>().qy) * (value.qy - getParameter(0).getClass<Pose>().qy)) +
+ ((value.qz - getParameter(0).getClass<Pose>().qx) * (value.qx - getParameter(0).getClass<Pose>().qz))) == 0);
return false;
}
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h b/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h
index 6d888801d6387861879afe7e56704c3ad85fbc09..a31803d6bc3a045cca19510c41030cd5fe941baf 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h
@@ -1,8 +1,8 @@
#ifndef ARMARX_ROBOTAPI_CONDITIONCHECKEQUALSPOSITIONWITHTOLERANCE_H
#define ARMARX_ROBOTAPI_CONDITIONCHECKEQUALSPOSITIONWITHTOLERANCE_H
-#include <Core/core/system/ImportExport.h>
-#include <Core/observers/ConditionCheck.h>
+#include <ArmarXCore/core/system/ImportExport.h>
+#include <ArmarXCore/observers/ConditionCheck.h>
#include <RobotAPI/libraries/core/FramedPose.h>
namespace armarx
@@ -26,9 +26,9 @@ namespace armarx
return new ConditionCheckApproxPose(*this);
}
- bool evaluate(const StringVariantMap &dataFields)
+ bool evaluate(const StringVariantMap& dataFields)
{
- if(dataFields.size() != 1)
+ if (dataFields.size() != 1)
{
printf("Size of dataFields: %d\n", (int)dataFields.size());
throw InvalidConditionException("Wrong number of datafields for condition equals ");
@@ -37,63 +37,63 @@ namespace armarx
const Variant& value = dataFields.begin()->second;
VariantTypeId type = value.getType();
- if(type == VariantType::Vector3)
+ if (type == VariantType::Vector3)
{
- const Vector3Ptr & typedValue = value.getClass<Vector3>();
- const Vector3Ptr & param = getParameter(0).getClass<Vector3>();
- return (sqrt(((typedValue->x-param->x)*(typedValue->x-param->x))+
- ((typedValue->y-param->y)*(typedValue->y-param->y))+
- ((typedValue->z-param->x)*(typedValue->x-param->z))) < getParameter(1).getFloat());
+ const Vector3Ptr& typedValue = value.getClass<Vector3>();
+ const Vector3Ptr& param = getParameter(0).getClass<Vector3>();
+ return (sqrt(((typedValue->x - param->x) * (typedValue->x - param->x)) +
+ ((typedValue->y - param->y) * (typedValue->y - param->y)) +
+ ((typedValue->z - param->x) * (typedValue->x - param->z))) < getParameter(1).getFloat());
}
- if(type == VariantType::Quaternion)
+ if (type == VariantType::Quaternion)
{
- const QuaternionPtr & typedValue = value.getClass<Quaternion>();
- const QuaternionPtr & param = getParameter(0).getClass<Quaternion>();
- Eigen::Matrix3f diffRot = typedValue->toEigen()*param->toEigen().transpose();
+ const QuaternionPtr& typedValue = value.getClass<Quaternion>();
+ const QuaternionPtr& param = getParameter(0).getClass<Quaternion>();
+ Eigen::Matrix3f diffRot = typedValue->toEigen() * param->toEigen().transpose();
Eigen::AngleAxisf aa(diffRot);
return fabs(aa.angle()) < getParameter(1).getFloat();
}
- if(type == VariantType::FramedPosition)
+ if (type == VariantType::FramedPosition)
{
- const FramedPositionPtr & typedValue = value.getClass<FramedPosition>();
- const FramedPositionPtr & param = getParameter(0).getClass<FramedPosition>();
+ const FramedPositionPtr& typedValue = value.getClass<FramedPosition>();
+ const FramedPositionPtr& param = getParameter(0).getClass<FramedPosition>();
return param->getFrame() == typedValue->getFrame()
- && (sqrt(((typedValue->x-param->x)*(typedValue->x-param->x))+
- ((typedValue->y-param->y)*(typedValue->y-param->y))+
- ((typedValue->z-param->x)*(typedValue->x-param->z))) < getParameter(1).getFloat());
+ && (sqrt(((typedValue->x - param->x) * (typedValue->x - param->x)) +
+ ((typedValue->y - param->y) * (typedValue->y - param->y)) +
+ ((typedValue->z - param->x) * (typedValue->x - param->z))) < getParameter(1).getFloat());
}
- if(type == VariantType::FramedOrientation)
+ if (type == VariantType::FramedOrientation)
{
- const FramedOrientationPtr & typedValue = value.getClass<FramedOrientation>();
- const FramedOrientationPtr & param = getParameter(0).getClass<FramedOrientation>();
- Eigen::Matrix3f diffRot = typedValue->toEigen()*param->toEigen().transpose();
+ const FramedOrientationPtr& typedValue = value.getClass<FramedOrientation>();
+ const FramedOrientationPtr& param = getParameter(0).getClass<FramedOrientation>();
+ Eigen::Matrix3f diffRot = typedValue->toEigen() * param->toEigen().transpose();
Eigen::AngleAxisf aa(diffRot);
return fabs(aa.angle()) < getParameter(1).getFloat();
}
- if(type == VariantType::FramedPose)
+ if (type == VariantType::FramedPose)
{
- const PosePtr & typedValue = value.getClass<FramedPose>();
- const PosePtr & param = getParameter(0).getClass<FramedPose>();
- bool positionOk = (sqrt(((typedValue->position->x-param->position->x)*(typedValue->position->x-param->position->x))+
- ((typedValue->position->y-param->position->y)*(typedValue->position->y-param->position->y))+
- ((typedValue->position->z-param->position->x)*(typedValue->position->x-param->position->z)))
- < getParameter(1).getFloat());
-
- Eigen::Matrix3f diffRot = typedValue->toEigen().block<3,3>(0,0)*param->toEigen().block<3,3>(0,0).transpose();
+ const PosePtr& typedValue = value.getClass<FramedPose>();
+ const PosePtr& param = getParameter(0).getClass<FramedPose>();
+ bool positionOk = (sqrt(((typedValue->position->x - param->position->x) * (typedValue->position->x - param->position->x)) +
+ ((typedValue->position->y - param->position->y) * (typedValue->position->y - param->position->y)) +
+ ((typedValue->position->z - param->position->x) * (typedValue->position->x - param->position->z)))
+ < getParameter(1).getFloat());
+
+ Eigen::Matrix3f diffRot = typedValue->toEigen().block<3, 3>(0, 0) * param->toEigen().block<3, 3>(0, 0).transpose();
Eigen::AngleAxisf aa(diffRot);
bool orientationOk =
- fabs(aa.angle()) < getParameter(2).getFloat();
+ fabs(aa.angle()) < getParameter(2).getFloat();
return positionOk && orientationOk;
}
- return false;
+ return false;
}
};
}
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.cpp b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.cpp
index dccad8f961ce255f0704c382be2dcc97881cdef5..5b5ea5cddf872017db681e37b8126619e6f1d815 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.cpp
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.cpp
@@ -1,7 +1,10 @@
#include "ConditionCheckMagnitudeChecks.h"
-namespace armarx {
-
+#include <ArmarXCore/core/util/StringHelpers.h>
+
+namespace armarx
+{
+
ConditionCheckMagnitudeLarger::ConditionCheckMagnitudeLarger()
{
setNumberParameters(1);
@@ -16,31 +19,31 @@ namespace armarx {
return new ConditionCheckMagnitudeLarger(*this);
}
- bool ConditionCheckMagnitudeLarger::evaluate(const StringVariantMap &dataFields)
+ bool ConditionCheckMagnitudeLarger::evaluate(const StringVariantMap& dataFields)
{
- if(dataFields.size() != 1)
+ if (dataFields.size() != 1)
{
- printf("Size of dataFields: %d\n", (int)dataFields.size());
- throw InvalidConditionException("Wrong number of datafields for condition equals ");
+ throw InvalidConditionException("Wrong number of datafields for condition magnitude larger: expected 1 actual: " + ValueToString(dataFields.size()));
}
const Variant& value = dataFields.begin()->second;
VariantTypeId type = value.getType();
- if(type == VariantType::Vector3)
+ if (type == VariantType::Vector3)
{
Eigen::Vector3f vec = value.getClass<Vector3>()->toEigen();
return (vec).norm() > getParameter(0).getFloat();
}
- if(type == VariantType::FramedDirection)
+ if (type == VariantType::FramedDirection)
{
FramedDirectionPtr fV1 = value.getClass<FramedDirection>();
Eigen::Vector3f vec = value.getClass<FramedDirection>()->toEigen();
return (vec).norm() > getParameter(0).getFloat();
}
- if(type == VariantType::LinkedDirection)
+
+ if (type == VariantType::LinkedDirection)
{
LinkedDirectionPtr lV1 = value.getClass<LinkedDirection>();
@@ -66,10 +69,10 @@ namespace armarx {
return new ConditionCheckMagnitudeSmaller(*this);
}
- bool ConditionCheckMagnitudeSmaller::evaluate(const StringVariantMap &dataFields)
+ bool ConditionCheckMagnitudeSmaller::evaluate(const StringVariantMap& dataFields)
{
- if(dataFields.size() != 1)
+ if (dataFields.size() != 1)
{
ARMARX_WARNING_S << "Size of dataFields: %d\n" << dataFields.size();
throw InvalidConditionException("Wrong number of datafields for condition equals ");
@@ -78,21 +81,22 @@ namespace armarx {
const Variant& value = dataFields.begin()->second;
VariantTypeId type = value.getType();
- if(type == VariantType::Vector3)
+ if (type == VariantType::Vector3)
{
Eigen::Vector3f vec = value.getClass<Vector3>()->toEigen();
return (vec).norm() < getParameter(0).getFloat();
}
- if(type == VariantType::FramedDirection)
+ if (type == VariantType::FramedDirection)
{
-// FramedDirectionPtr fV1 = value.getClass<FramedDirection>();
+ // FramedDirectionPtr fV1 = value.getClass<FramedDirection>();
Eigen::Vector3f vec = value.getClass<FramedDirection>()->toEigen();
return (vec).norm() < getParameter(0).getFloat();
}
- if(type == VariantType::LinkedDirection)
+
+ if (type == VariantType::LinkedDirection)
{
-// LinkedDirectionPtr lV1 = value.getClass<LinkedDirection>();
+ // LinkedDirectionPtr lV1 = value.getClass<LinkedDirection>();
Eigen::Vector3f vec = value.getClass<LinkedDirection>()->toEigen();
return (vec).norm() < getParameter(0).getFloat();
}
@@ -114,9 +118,9 @@ namespace armarx {
return new ConditionCheckMagnitudeInRange(*this);
}
- bool ConditionCheckMagnitudeInRange::evaluate(const StringVariantMap &dataFields)
+ bool ConditionCheckMagnitudeInRange::evaluate(const StringVariantMap& dataFields)
{
- if(dataFields.size() != 1)
+ if (dataFields.size() != 1)
{
ARMARX_WARNING_S << "Size of dataFields: " << dataFields.size();
throw InvalidConditionException("Wrong number of datafields for condition InRange ");
@@ -125,22 +129,22 @@ namespace armarx {
const Variant& value = dataFields.begin()->second;
VariantTypeId type = value.getType();
- if(type == VariantType::Vector3)
+ if (type == VariantType::Vector3)
{
Eigen::Vector3f vec = value.getClass<Vector3>()->toEigen();
return ((vec).norm() > getParameter(0).getFloat()) && ((vec).norm() < getParameter(1).getFloat());
}
- if(type == VariantType::FramedDirection)
+ if (type == VariantType::FramedDirection)
{
-// FramedDirectionPtr fV1 = value.getClass<FramedDirection>();
+ // FramedDirectionPtr fV1 = value.getClass<FramedDirection>();
Eigen::Vector3f vec = value.getClass<FramedDirection>()->toEigen();
return ((vec).norm() > getParameter(0).getFloat()) && ((vec).norm() < getParameter(1).getFloat());
}
- if(type == VariantType::LinkedDirection)
+ if (type == VariantType::LinkedDirection)
{
-// LinkedDirectionPtr lV1 = value.getClass<LinkedDirection>();
+ // LinkedDirectionPtr lV1 = value.getClass<LinkedDirection>();
Eigen::Vector3f vec = value.getClass<LinkedDirection>()->toEigen();
return ((vec).norm() > getParameter(0).getFloat()) && ((vec).norm() < getParameter(1).getFloat());
}
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
index 0ad27d90581528c947db40d46f0e2cc2260d0a6e..2c91a36fc0755fd5a8446586be472fb461dde936 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
@@ -1,20 +1,21 @@
#ifndef ARMARX_CONDITIONCHECKMAGNITUDECHECKS_H
#define ARMARX_CONDITIONCHECKMAGNITUDECHECKS_H
-#include <Core/core/system/ImportExport.h>
-#include <Core/observers/ConditionCheck.h>
+#include <ArmarXCore/core/system/ImportExport.h>
+#include <ArmarXCore/observers/ConditionCheck.h>
#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/libraries/core/LinkedPose.h>
-namespace armarx {
-
+namespace armarx
+{
+
class ConditionCheckMagnitudeLarger : public ConditionCheck, Logging
{
public:
ConditionCheckMagnitudeLarger();
- ConditionCheck *clone();
- bool evaluate(const StringVariantMap &dataFields);
+ ConditionCheck* clone();
+ bool evaluate(const StringVariantMap& dataFields);
};
class ConditionCheckMagnitudeSmaller : public ConditionCheck, Logging
@@ -22,8 +23,8 @@ namespace armarx {
public:
ConditionCheckMagnitudeSmaller();
- ConditionCheck *clone();
- bool evaluate(const StringVariantMap &dataFields);
+ ConditionCheck* clone();
+ bool evaluate(const StringVariantMap& dataFields);
};
class ConditionCheckMagnitudeInRange : public ConditionCheck, Logging
@@ -31,8 +32,8 @@ namespace armarx {
public:
ConditionCheckMagnitudeInRange();
- ConditionCheck *clone();
- bool evaluate(const StringVariantMap &dataFields);
+ ConditionCheck* clone();
+ bool evaluate(const StringVariantMap& dataFields);
};
}
diff --git a/source/RobotAPI/libraries/core/math/MathUtils.h b/source/RobotAPI/libraries/core/math/MathUtils.h
index 1a56170a8d6e123a940c39f82ccd3f89ef7d2a5c..22b5ea0e22d3c2ef0cecc94c8aa62b4f221aec49 100644
--- a/source/RobotAPI/libraries/core/math/MathUtils.h
+++ b/source/RobotAPI/libraries/core/math/MathUtils.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Core
* @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -47,7 +46,7 @@ namespace armarx
{
return value < min ? min : (value > max ? max : value);
}
- static Eigen::Vector3f LimitMinMax(const Eigen::Vector3f &min, const Eigen::Vector3f &max, const Eigen::Vector3f &value)
+ static Eigen::Vector3f LimitMinMax(const Eigen::Vector3f& min, const Eigen::Vector3f& max, const Eigen::Vector3f& value)
{
return Eigen::Vector3f(LimitMinMax(min(0), max(0), value(0)), LimitMinMax(min(1), max(1), value(1)), LimitMinMax(min(2), max(2), value(2)));
}
@@ -64,37 +63,43 @@ namespace armarx
{
return value >= min && value <= max;
}
- static bool CheckMinMax(const Eigen::Vector3f &min, const Eigen::Vector3f &max, const Eigen::Vector3f &value)
+ static bool CheckMinMax(const Eigen::Vector3f& min, const Eigen::Vector3f& max, const Eigen::Vector3f& value)
{
return CheckMinMax(min(0), max(0), value(0)) && CheckMinMax(min(1), max(1), value(1)) && CheckMinMax(min(2), max(2), value(2));
}
- static std::vector<float> VectorSubtract(const std::vector<float> &v1, const std::vector<float> &v2)
+ static std::vector<float> VectorSubtract(const std::vector<float>& v1, const std::vector<float>& v2)
{
std::vector<float> result;
- for(size_t i = 0; i < v1.size() && i < v2.size(); i++)
+
+ for (size_t i = 0; i < v1.size() && i < v2.size(); i++)
{
result.push_back(v1.at(i) - v2.at(i));
}
+
return result;
}
- static std::vector<float> VectorAbsDiff(const std::vector<float> &v1, const std::vector<float> &v2)
+ static std::vector<float> VectorAbsDiff(const std::vector<float>& v1, const std::vector<float>& v2)
{
std::vector<float> result;
- for(size_t i = 0; i < v1.size() && i < v2.size(); i++)
+
+ for (size_t i = 0; i < v1.size() && i < v2.size(); i++)
{
result.push_back(std::fabs(v1.at(i) - v2.at(i)));
}
+
return result;
}
- static float VectorMax(const std::vector<float> &vec)
+ static float VectorMax(const std::vector<float>& vec)
{
float max = vec.at(0);
- for(size_t i = 1; i < vec.size(); i++)
+
+ for (size_t i = 1; i < vec.size(); i++)
{
max = std::max(max, vec.at(i));
}
+
return max;
}
diff --git a/source/RobotAPI/libraries/core/math/MatrixHelpers.h b/source/RobotAPI/libraries/core/math/MatrixHelpers.h
index 258a16600462eb0be51dc1acc1c8c96507987ccb..859be8dd2923c67ba10d0a80d80cc9f28e3b9733 100644
--- a/source/RobotAPI/libraries/core/math/MatrixHelpers.h
+++ b/source/RobotAPI/libraries/core/math/MatrixHelpers.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Core
* @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -34,31 +33,35 @@ namespace armarx
class MatrixHelpers
{
public:
- static void SetRowToValue(Eigen::MatrixXf &matrix, int rowNr, float value)
+ static void SetRowToValue(Eigen::MatrixXf& matrix, int rowNr, float value)
{
- for(int i = 0; i < matrix.cols(); i++)
+ for (int i = 0; i < matrix.cols(); i++)
{
matrix(rowNr, i) = value;
}
}
- static Eigen::Vector3f CalculateCog3D(const Eigen::MatrixXf &points)
+ static Eigen::Vector3f CalculateCog3D(const Eigen::MatrixXf& points)
{
Eigen::Vector3f sum(0, 0, 0);
- for(int i = 0; i < points.cols(); i++)
+
+ for (int i = 0; i < points.cols(); i++)
{
- sum += points.block<3,1>(0,i);
+ sum += points.block<3, 1>(0, i);
}
+
return sum / points.cols();
}
- static Eigen::MatrixXf SubtractVectorFromAllColumns3D(const Eigen::MatrixXf &points, const Eigen::Vector3f &vec)
+ static Eigen::MatrixXf SubtractVectorFromAllColumns3D(const Eigen::MatrixXf& points, const Eigen::Vector3f& vec)
{
Eigen::MatrixXf matrix(3, points.cols());
- for(int i = 0; i < points.cols(); i++)
+
+ for (int i = 0; i < points.cols(); i++)
{
- matrix.block<3,1>(0,i) = points.block<3,1>(0,i) - vec;
+ matrix.block<3, 1>(0, i) = points.block<3, 1>(0, i) - vec;
}
+
return matrix;
}
diff --git a/source/RobotAPI/libraries/core/math/SVD.h b/source/RobotAPI/libraries/core/math/SVD.h
index 09f6ad0ffa4557d4647d20b28bda1a508010f23a..91fc384b12eeb5caef8b2f0775fd397e188851fb 100644
--- a/source/RobotAPI/libraries/core/math/SVD.h
+++ b/source/RobotAPI/libraries/core/math/SVD.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Core
* @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -49,7 +48,7 @@ namespace armarx
Eigen::Vector3f getLeftSingularVector3D(int nr)
{
- return matrixU.block<3,1>(0,nr);
+ return matrixU.block<3, 1>(0, nr);
}
};
diff --git a/source/RobotAPI/libraries/core/math/SlidingWindowVectorMedian.h b/source/RobotAPI/libraries/core/math/SlidingWindowVectorMedian.h
index dd0caa836098a446d3b9c0b181453e7fc064cf50..defc3a5780f5e77a73c8618c8d346a9b1d95a087 100644
--- a/source/RobotAPI/libraries/core/math/SlidingWindowVectorMedian.h
+++ b/source/RobotAPI/libraries/core/math/SlidingWindowVectorMedian.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Core
* @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -29,7 +28,7 @@
#include <math.h>
#include <vector>
-#include <Core/core/exceptions/Exception.h>
+#include <ArmarXCore/core/exceptions/Exception.h>
#include <boost/shared_ptr.hpp>
namespace armarx
@@ -52,20 +51,20 @@ namespace armarx
SlidingWindowVectorMedian(size_t vectorSize, size_t windowSize)
: windowSize(windowSize),
vectorSize(vectorSize),
- data(vectorSize * windowSize, 0), // initialize all data to 0
+ data(vectorSize* windowSize, 0), // initialize all data to 0
currentIndex(0),
fullCycle(false)
{
}
- void addEntry(const std::vector<float> &entry)
+ void addEntry(const std::vector<float>& entry)
{
- if(entry.size() != vectorSize)
+ if (entry.size() != vectorSize)
{
throw LocalException("Vector of wrong size added. Execting: ") << vectorSize << "; Actual: " << entry.size();
}
- for(size_t i = 0; i < entry.size(); i++)
+ for (size_t i = 0; i < entry.size(); i++)
{
data.at(i + currentIndex * vectorSize) = entry.at(i);
}
@@ -77,16 +76,20 @@ namespace armarx
std::vector<float> getMedian()
{
std::vector<float> median;
- for(size_t i = 0; i < vectorSize; i++)
+
+ for (size_t i = 0; i < vectorSize; i++)
{
std::vector<float> samples;
- for(size_t n = 0; n < windowSize; n++)
+
+ for (size_t n = 0; n < windowSize; n++)
{
samples.push_back(data.at(i + n * vectorSize));
}
+
std::sort(samples.begin(), samples.end());
median.push_back(StatUtils::GetMedian(samples));
}
+
return median;
}
diff --git a/source/RobotAPI/libraries/core/math/StatUtils.h b/source/RobotAPI/libraries/core/math/StatUtils.h
index f63f00ad86b3088b0f6146154fcfcf32f865c565..709997af13f0c0a1167978c631379b8f5dc6b4d5 100644
--- a/source/RobotAPI/libraries/core/math/StatUtils.h
+++ b/source/RobotAPI/libraries/core/math/StatUtils.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Core
* @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -34,34 +33,39 @@ namespace armarx
class StatUtils
{
public:
- static float GetPercentile(const std::vector<float> &sortedData, float percentile)
+ static float GetPercentile(const std::vector<float>& sortedData, float percentile)
{
- if(sortedData.size() == 0)
+ if (sortedData.size() == 0)
{
throw LocalException("GetPercentile not possible for empty vector");
}
+
float indexf = (sortedData.size() - 1) * percentile;
indexf = std::max(0.f, std::min(sortedData.size() - 1.f, indexf));
int index = (int)indexf;
float f = indexf - index;
- if(index == (int)sortedData.size() - 1)
+
+ if (index == (int)sortedData.size() - 1)
{
return sortedData.at(sortedData.size() - 1);
}
+
return sortedData.at(index) * (1 - f) + sortedData.at(index + 1) * f;
}
- static std::vector<float> GetPercentiles(const std::vector<float> &sortedData, int percentiles)
+ static std::vector<float> GetPercentiles(const std::vector<float>& sortedData, int percentiles)
{
std::vector<float> result;
result.push_back(sortedData.at(0));
- for(int i = 1; i < percentiles; i++)
+
+ for (int i = 1; i < percentiles; i++)
{
result.push_back(GetPercentile(sortedData, 1.f / percentiles * i));
}
+
result.push_back(sortedData.at(sortedData.size() - 1));
return result;
}
- static float GetMedian(const std::vector<float> &sortedData)
+ static float GetMedian(const std::vector<float>& sortedData)
{
return GetPercentile(sortedData, 0.5f);
}
diff --git a/source/RobotAPI/libraries/core/math/Trigonometry.h b/source/RobotAPI/libraries/core/math/Trigonometry.h
index 4520e674d438992d4f770fad0bcc23455066f08c..e3abce2577e76102633b216ea6777bba47716ef5 100644
--- a/source/RobotAPI/libraries/core/math/Trigonometry.h
+++ b/source/RobotAPI/libraries/core/math/Trigonometry.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::Core
* @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -50,7 +49,7 @@ namespace armarx
return rad / M_PI * 180.0d;
}
- static double GetAngleFromVectorXY(const Eigen::Vector3f &vector)
+ static double GetAngleFromVectorXY(const Eigen::Vector3f& vector)
{
return atan2(vector(1), vector(0));
}
diff --git a/source/RobotAPI/libraries/core/observerfilters/MatrixFilters.h b/source/RobotAPI/libraries/core/observerfilters/MatrixFilters.h
index 801e0c24b90a3a914369e90b9cd7de180ef6a6f5..3fbb1ea0cbc3f92c6f113279ae83e11e61973c8a 100644
--- a/source/RobotAPI/libraries/core/observerfilters/MatrixFilters.h
+++ b/source/RobotAPI/libraries/core/observerfilters/MatrixFilters.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,16 +16,16 @@
* @package ArmarX::
* @author Simon Ottenhaus ( simon.ottenhaus at kit dot edu)
* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#ifndef _ARMARX_ROBOTAPI_MATRIXFILTERS_H
#define _ARMARX_ROBOTAPI_MATRIXFILTERS_H
-#include <Core/observers/filters/DatafieldFilter.h>
+#include <ArmarXCore/observers/filters/DatafieldFilter.h>
#include <RobotAPI/interface/observers/ObserverFilters.h>
-#include <Core/util/variants/eigen3/MatrixVariant.h>
+#include <ArmarXCore/util/variants/eigen3/MatrixVariant.h>
#include <algorithm>
namespace armarx
@@ -35,8 +34,8 @@ namespace armarx
{
class MatrixMaxFilter :
- public MatrixMaxFilterBase,
- public DatafieldFilter
+ public MatrixMaxFilterBase,
+ public DatafieldFilter
{
public:
MatrixMaxFilter()
@@ -44,17 +43,18 @@ namespace armarx
this->windowFilterSize = 1;
}
- VariantBasePtr calculate(const Ice::Current &) const
+ VariantBasePtr calculate(const Ice::Current&) const
{
- if(dataHistory.size() == 0)
+ if (dataHistory.size() == 0)
{
return new Variant(new MatrixFloat(1, 1));
}
+
VariantPtr currentValue = VariantPtr::dynamicCast(dataHistory.rbegin()->second);
MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(currentValue->get<MatrixFloat>());
return new Variant(matrix->toEigen().maxCoeff());
}
- ParameterTypeList getSupportedTypes(const Ice::Current &) const
+ ParameterTypeList getSupportedTypes(const Ice::Current&) const
{
ParameterTypeList result;
result.push_back(VariantType::MatrixFloat);
@@ -63,8 +63,8 @@ namespace armarx
};
class MatrixMinFilter :
- public MatrixMinFilterBase,
- public DatafieldFilter
+ public MatrixMinFilterBase,
+ public DatafieldFilter
{
public:
MatrixMinFilter()
@@ -72,17 +72,18 @@ namespace armarx
this->windowFilterSize = 1;
}
- VariantBasePtr calculate(const Ice::Current &) const
+ VariantBasePtr calculate(const Ice::Current&) const
{
- if(dataHistory.size() == 0)
+ if (dataHistory.size() == 0)
{
return new Variant(new MatrixFloat(1, 1));
}
+
VariantPtr currentValue = VariantPtr::dynamicCast(dataHistory.rbegin()->second);
MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(currentValue->get<MatrixFloat>());
return new Variant(matrix->toEigen().minCoeff());
}
- ParameterTypeList getSupportedTypes(const Ice::Current &) const
+ ParameterTypeList getSupportedTypes(const Ice::Current&) const
{
ParameterTypeList result;
result.push_back(VariantType::MatrixFloat);
@@ -91,8 +92,8 @@ namespace armarx
};
class MatrixAvgFilter :
- public MatrixAvgFilterBase,
- public DatafieldFilter
+ public MatrixAvgFilterBase,
+ public DatafieldFilter
{
public:
MatrixAvgFilter()
@@ -100,17 +101,18 @@ namespace armarx
this->windowFilterSize = 1;
}
- VariantBasePtr calculate(const Ice::Current &) const
+ VariantBasePtr calculate(const Ice::Current&) const
{
- if(dataHistory.size() == 0)
+ if (dataHistory.size() == 0)
{
return new Variant(new MatrixFloat(1, 1));
}
+
VariantPtr currentValue = VariantPtr::dynamicCast(dataHistory.rbegin()->second);
MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(currentValue->get<MatrixFloat>());
return new Variant(matrix->toEigen().mean());
}
- ParameterTypeList getSupportedTypes(const Ice::Current &) const
+ ParameterTypeList getSupportedTypes(const Ice::Current&) const
{
ParameterTypeList result;
result.push_back(VariantType::MatrixFloat);
@@ -119,8 +121,8 @@ namespace armarx
};
class MatrixPercentileFilter :
- public MatrixPercentileFilterBase,
- public DatafieldFilter
+ public MatrixPercentileFilterBase,
+ public DatafieldFilter
{
public:
MatrixPercentileFilter()
@@ -133,46 +135,50 @@ namespace armarx
this->windowFilterSize = 1;
}
- VariantBasePtr calculate(const Ice::Current &) const
+ VariantBasePtr calculate(const Ice::Current&) const
{
- if(dataHistory.size() == 0)
+ if (dataHistory.size() == 0)
{
return new Variant(new MatrixFloat(1, 1));
}
+
VariantPtr currentValue = VariantPtr::dynamicCast(dataHistory.rbegin()->second);
MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(currentValue->get<MatrixFloat>());
std::vector<float> vector = matrix->toVector();
std::sort(vector.begin(), vector.end());
return new Variant(GetPercentile(vector, percentile));
}
- ParameterTypeList getSupportedTypes(const Ice::Current &) const
+ ParameterTypeList getSupportedTypes(const Ice::Current&) const
{
ParameterTypeList result;
result.push_back(VariantType::MatrixFloat);
return result;
}
- static float GetPercentile(const std::vector<float> &sortedData, float percentile)
+ static float GetPercentile(const std::vector<float>& sortedData, float percentile)
{
- if(sortedData.size() == 0)
+ if (sortedData.size() == 0)
{
throw LocalException("GetPercentile not possible for empty vector");
}
+
float indexf = (sortedData.size() - 1) * percentile;
indexf = std::max(0.f, std::min(sortedData.size() - 1.f, indexf));
int index = (int)indexf;
float f = indexf - index;
- if(index == (int)sortedData.size() - 1)
+
+ if (index == (int)sortedData.size() - 1)
{
return sortedData.at(sortedData.size() - 1);
}
+
return sortedData.at(index) * (1 - f) + sortedData.at(index + 1) * f;
}
};
class MatrixPercentilesFilter :
- public MatrixPercentilesFilterBase,
- public DatafieldFilter
+ public MatrixPercentilesFilterBase,
+ public DatafieldFilter
{
public:
MatrixPercentilesFilter()
@@ -186,27 +192,30 @@ namespace armarx
this->windowFilterSize = 1;
}
- VariantBasePtr calculate(const Ice::Current &) const
+ VariantBasePtr calculate(const Ice::Current&) const
{
- if(dataHistory.size() == 0)
+ if (dataHistory.size() == 0)
{
ARMARX_IMPORTANT_S << "no data";
return new Variant(new MatrixFloat(1, 1));
}
+
VariantPtr currentValue = VariantPtr::dynamicCast(dataHistory.rbegin()->second);
MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(currentValue->get<MatrixFloat>());
std::vector<float> vector = matrix->toVector();
std::sort(vector.begin(), vector.end());
std::vector<float> result;
result.push_back(vector.at(0));
- for(int i = 1; i < percentiles; i++)
+
+ for (int i = 1; i < percentiles; i++)
{
result.push_back(MatrixPercentileFilter::GetPercentile(vector, 1.f / percentiles * i));
}
+
result.push_back(vector.at(vector.size() - 1));
return new Variant(new MatrixFloat(1, result.size(), result));
}
- ParameterTypeList getSupportedTypes(const Ice::Current &) const
+ ParameterTypeList getSupportedTypes(const Ice::Current&) const
{
ParameterTypeList result;
result.push_back(VariantType::MatrixFloat);
@@ -215,8 +224,8 @@ namespace armarx
};
class MatrixCumulativeFrequencyFilter :
- public MatrixCumulativeFrequencyFilterBase,
- public DatafieldFilter
+ public MatrixCumulativeFrequencyFilterBase,
+ public DatafieldFilter
{
public:
MatrixCumulativeFrequencyFilter()
@@ -230,40 +239,43 @@ namespace armarx
this->bins = bins;
this->windowFilterSize = 1;
}
- VariantBasePtr calculate(const Ice::Current &) const
+ VariantBasePtr calculate(const Ice::Current&) const
{
- if(dataHistory.size() == 0)
+ if (dataHistory.size() == 0)
{
return new Variant(new MatrixFloat(1, 1));
}
+
VariantPtr currentValue = VariantPtr::dynamicCast(dataHistory.rbegin()->second);
MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(currentValue->get<MatrixFloat>());
std::vector<float> vector = matrix->toVector();
std::sort(vector.begin(), vector.end());
std::vector<int> result = Calculate(vector, min, max, bins);
std::vector<float> resultF;
- for(int v : result)
+
+ for (int v : result)
{
resultF.push_back(v);
}
return new Variant(new MatrixFloat(1, resultF.size(), resultF));
}
- ParameterTypeList getSupportedTypes(const Ice::Current &) const
+ ParameterTypeList getSupportedTypes(const Ice::Current&) const
{
ParameterTypeList result;
result.push_back(VariantType::MatrixFloat);
return result;
}
- static std::vector<int> Calculate(const std::vector<float> &sortedData, float min, float max, int bins)
+ static std::vector<int> Calculate(const std::vector<float>& sortedData, float min, float max, int bins)
{
std::vector<int> result;
float val = min;
int nr = 0;
int lastCount = 0;
- for(size_t i = 0; i < sortedData.size(); i++)
+
+ for (size_t i = 0; i < sortedData.size(); i++)
{
- if(sortedData.at(i) > val && nr < bins)
+ if (sortedData.at(i) > val && nr < bins)
{
result.push_back(i);
nr++;
@@ -271,10 +283,12 @@ namespace armarx
lastCount = i;
}
}
- while((int)result.size() < bins)
+
+ while ((int)result.size() < bins)
{
result.push_back(lastCount);
}
+
return result;
}
diff --git a/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
index db05fc81189a37286d23b2e758f8295cdc0f8fc5..076e77c1874b176472602c335a6e8942d6720aa9 100644
--- a/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
+++ b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
@@ -2,14 +2,13 @@
* 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.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package ArmarX::
* @author Mirko Waechter ( mirko.waechter at kit dot edu)
* @date 2014
-* @copyright http://www.gnu.org/licenses/gpl.txt
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -25,12 +24,14 @@
#define _ARMARX_ROBOTAPI_OFFSETFILTER_H
#include <RobotAPI/interface/observers/ObserverFilters.h>
-#include <Core/observers/filters/DatafieldFilter.h>
+#include <ArmarXCore/observers/filters/DatafieldFilter.h>
#include <RobotAPI/libraries/core/FramedPose.h>
-#include <Core/util/variants/eigen3/MatrixVariant.h>
+#include <ArmarXCore/util/variants/eigen3/MatrixVariant.h>
-namespace armarx {
- namespace filters {
+namespace armarx
+{
+ namespace filters
+ {
/**
* @class OffsetFilter
@@ -41,8 +42,8 @@ namespace armarx {
* at a specific moment.
*/
class OffsetFilter :
- public ::armarx::OffsetFilterBase,
- public DatafieldFilter
+ public ::armarx::OffsetFilterBase,
+ public DatafieldFilter
{
public:
OffsetFilter()
@@ -54,35 +55,38 @@ namespace armarx {
// DatafieldFilterBase interface
public:
- VariantBasePtr calculate(const Ice::Current &c = Ice::Current()) const
+ VariantBasePtr calculate(const Ice::Current& c = Ice::Current()) const
{
VariantPtr newVariant;
- if(initialValue && dataHistory.size() > 0)
+
+ if (initialValue && dataHistory.size() > 0)
{
VariantTypeId type = dataHistory.begin()->second->getType();
VariantPtr currentValue = VariantPtr::dynamicCast(dataHistory.rbegin()->second);
- if(currentValue->getType() != initialValue->getType())
+
+ if (currentValue->getType() != initialValue->getType())
{
ARMARX_ERROR_S << "Types in OffsetFilter are different: " << Variant::typeToString(currentValue->getType()) << " and " << Variant::typeToString(initialValue->getType());
return NULL;
}
- if(type == VariantType::Int)
+
+ if (type == VariantType::Int)
{
int newValue = dataHistory.rbegin()->second->getInt() - initialValue->getInt();
newVariant = new Variant(newValue);
}
- else if(type == VariantType::Float)
+ else if (type == VariantType::Float)
{
float newValue = dataHistory.rbegin()->second->getFloat() - initialValue->getFloat();
newVariant = new Variant(newValue);
}
- else if(type == VariantType::Double)
+ else if (type == VariantType::Double)
{
double newValue = dataHistory.rbegin()->second->getDouble() - initialValue->getDouble();
newVariant = new Variant(newValue);
}
- else if(type == VariantType::FramedDirection)
+ else if (type == VariantType::FramedDirection)
{
FramedDirectionPtr vec = FramedDirectionPtr::dynamicCast(currentValue->get<FramedDirection>());
FramedDirectionPtr intialVec = FramedDirectionPtr::dynamicCast(initialValue->get<FramedDirection>());
@@ -90,14 +94,14 @@ namespace armarx {
newVariant = new Variant(new FramedDirection(newValue, vec->frame, vec->agent));
}
- else if(type == VariantType::FramedPosition)
+ else if (type == VariantType::FramedPosition)
{
FramedPositionPtr pos = FramedPositionPtr::dynamicCast(currentValue->get<FramedPosition>());
FramedPositionPtr intialPos = FramedPositionPtr::dynamicCast(initialValue->get<FramedPosition>());
Eigen::Vector3f newValue = pos->toEigen() - intialPos->toEigen();
newVariant = new Variant(new FramedPosition(newValue, pos->frame, pos->agent));
}
- else if(type == VariantType::MatrixFloat)
+ else if (type == VariantType::MatrixFloat)
{
MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(currentValue->get<MatrixFloat>());
MatrixFloatPtr initialMatrix = MatrixFloatPtr::dynamicCast(initialValue->get<MatrixFloat>());
@@ -105,10 +109,11 @@ namespace armarx {
newVariant = new Variant(new MatrixFloat(newMatrix));
}
}
+
return newVariant;
}
- ParameterTypeList getSupportedTypes(const Ice::Current &) const
+ ParameterTypeList getSupportedTypes(const Ice::Current&) const
{
ParameterTypeList result;
result.push_back(VariantType::Int);
@@ -125,13 +130,17 @@ namespace armarx {
// DatafieldFilterBase interface
public:
- void update(Ice::Long timestamp, const VariantBasePtr &value, const Ice::Current &c)
+ void update(Ice::Long timestamp, const VariantBasePtr& value, const Ice::Current& c)
{
DatafieldFilter::update(timestamp, value, c);
- if(firstRun)
+
+ if (firstRun)
{
- if( dataHistory.size() == 0 )
+ if (dataHistory.size() == 0)
+ {
return;
+ }
+
initialValue = VariantPtr::dynamicCast(dataHistory.begin()->second);
firstRun = false;
}
diff --git a/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
index 7a6c80fa884edf6256b29879349af50a534c8f8e..64e558129a5b284b3a8cd157b7cd5ac953e936ae 100644
--- a/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
+++ b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
@@ -1,12 +1,14 @@
#ifndef _ARMARX_ROBOTAPI_MEDIANFILTER_H
#define _ARMARX_ROBOTAPI_MEDIANFILTER_H
-#include <Core/observers/filters/MedianFilter.h>
+#include <ArmarXCore/observers/filters/MedianFilter.h>
#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/interface/core/PoseBase.h>
-namespace armarx {
- namespace filters {
+namespace armarx
+{
+ namespace filters
+ {
/**
* @class PoseMedianFilter
@@ -15,8 +17,8 @@ namespace armarx {
* for a median for datafields of type float, int and double.
*/
class PoseMedianFilter :
- public ::armarx::PoseMedianFilterBase,
- public MedianFilter
+ public ::armarx::PoseMedianFilterBase,
+ public MedianFilter
{
public:
PoseMedianFilter(int windowSize = 11)
@@ -26,10 +28,12 @@ namespace armarx {
// DatafieldFilterBase interface
public:
- VariantBasePtr calculate(const Ice::Current &c) const
+ VariantBasePtr calculate(const Ice::Current& c) const
{
- if(dataHistory.size() == 0)
+ if (dataHistory.size() == 0)
+ {
return NULL;
+ }
VariantTypeId type = dataHistory.begin()->second->getType();
@@ -41,6 +45,7 @@ namespace armarx {
std::string frame = "";
std::string agent = "";
VariantPtr var = VariantPtr::dynamicCast(dataHistory.begin()->second);
+
if (type == VariantType::FramedDirection)
{
FramedDirectionPtr p = var->get<FramedDirection>();
@@ -54,15 +59,18 @@ namespace armarx {
agent = p->agent;
}
- for (int i = 0; i < 3; ++i) {
+ for (int i = 0; i < 3; ++i)
+ {
std::vector<double> values;
- for(auto v : dataHistory)
+
+ for (auto v : dataHistory)
{
VariantPtr v2 = VariantPtr::dynamicCast(v.second);
values.push_back(v2->get<Vector3>()->toEigen()[i]);
}
+
std::sort(values.begin(), values.end());
- vec[i] = values.at(values.size()/2);
+ vec[i] = values.at(values.size() / 2);
}
if (type == VariantType::Vector3)
@@ -87,16 +95,17 @@ namespace armarx {
return NULL;
}
}
- else if(type == VariantType::Double)
+ else if (type == VariantType::Double)
{
-// auto values = SortVariants<double>(dataHistory);
-// return new Variant(values.at(values.size()/2));
+ // auto values = SortVariants<double>(dataHistory);
+ // return new Variant(values.at(values.size()/2));
}
- else if(type == VariantType::Int)
+ else if (type == VariantType::Int)
{
-// auto values = SortVariants<int>(dataHistory);
-// return new Variant(values.at(values.size()/2));
+ // auto values = SortVariants<int>(dataHistory);
+ // return new Variant(values.at(values.size()/2));
}
+
return MedianFilter::calculate(c);
}
@@ -104,7 +113,7 @@ namespace armarx {
* @brief This filter supports: Vector3, FramedDirection, FramedPosition
* @return List of VariantTypes
*/
- ParameterTypeList getSupportedTypes(const Ice::Current &c) const
+ ParameterTypeList getSupportedTypes(const Ice::Current& c) const
{
ParameterTypeList result = MedianFilter::getSupportedTypes(c);
result.push_back(VariantType::Vector3);
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
index a9754e47255936831ae22d95229c2cea78b3a5d3..a9007094e5e4430de94625917a1c60cbff1c7d08 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.cpp
@@ -17,375 +17,413 @@ using namespace boost;
using namespace VirtualRobot;
using namespace Eigen;
-namespace armarx{
-
-boost::recursive_mutex RemoteRobot::m;
-
-RemoteRobot::RemoteRobot(SharedRobotInterfacePrx robot) :
- Robot(),
- _robot(robot)
+namespace armarx
{
- _robot->ref();
-}
-RemoteRobot::~RemoteRobot()
-{
- try
+ boost::recursive_mutex RemoteRobot::m;
+
+ RemoteRobot::RemoteRobot(SharedRobotInterfacePrx robot) :
+ Robot(),
+ _robot(robot)
{
- _robot->unref();
+ _robot->ref();
}
- catch(std::exception &e)
+
+ RemoteRobot::~RemoteRobot()
{
- ARMARX_DEBUG_S << "Unref of SharedRobot failed: " << e.what();
+ try
+ {
+ _robot->unref();
+ }
+ catch (std::exception& e)
+ {
+ ARMARX_DEBUG_S << "Unref of SharedRobot failed: " << e.what();
+ }
+ catch (...)
+ {
+ ARMARX_DEBUG_S << "Unref of SharedRobot failed: reason unknown";
+ }
+
}
- catch(...)
+
+ RobotNodePtr RemoteRobot::getRootNode()
{
- ARMARX_DEBUG_S << "Unref of SharedRobot failed: reason unknown";
- }
+ if (!_root)
+ {
+ _root = RemoteRobot::createRemoteRobotNode(_robot->getRootNode(), shared_from_this());
+ }
-}
+ return _root;
+ }
-RobotNodePtr RemoteRobot::getRootNode()
-{
- if (!_root)
- _root = RemoteRobot::createRemoteRobotNode(_robot->getRootNode(),shared_from_this());
- return _root;
-}
+ bool RemoteRobot::hasRobotNode(const string& robotNodeName)
+ {
+ if (_cachedNodes.find(name) == _cachedNodes.end())
+ {
+ return _robot->hasRobotNode(robotNodeName);
+ }
+ else
+ {
+ return true;
+ }
+ }
-bool RemoteRobot::hasRobotNode( const string &robotNodeName )
-{
- if (_cachedNodes.find(name)==_cachedNodes.end())
- return _robot->hasRobotNode(robotNodeName);
- else
- return true;
-}
+ bool RemoteRobot::hasRobotNode(RobotNodePtr robotNode)
+ {
+ return this->hasRobotNode(robotNode->getName());
+
+ /*
+ * This just does not work. because you cannot tell wheter RemoteRobotNode<RobotNodeRevolute> or another type is used
+ * perhaps you can infer the actual RobotNodeType somehow. Until now we just check for names which is
+ * much faster!
+ *
+ if ( (_cachedNodes.find(name)==_cachedNodes.end()) || _robot->hasRobotNode(robotNode->getName())) {
+ shared_ptr<RemoteRobotNode> remoteNode(dynamic_pointer_cast<RemoteRobotNode>(robotNode));
+ if (! remoteNode) return false;
+
+ SharedRobotNodeInterfacePrx sharedNode = remoteNode->getSharedNode();
+ SharedRobotNodeInterfacePrx otherSharedNode = dynamic_pointer_cast<RemoteRobotNode>(this->getRobotNode(robotNodeName))->getSharedNode();
+ if (sharedNode == otherSharedNode)
+ return true;
+ }
-bool RemoteRobot::hasRobotNode( RobotNodePtr robotNode )
-{
- return this->hasRobotNode(robotNode->getName());
-
- /*
- * This just does not work. because you cannot tell wheter RemoteRobotNode<RobotNodeRevolute> or another type is used
- * perhaps you can infer the actual RobotNodeType somehow. Until now we just check for names which is
- * much faster!
- *
- if ( (_cachedNodes.find(name)==_cachedNodes.end()) || _robot->hasRobotNode(robotNode->getName())) {
- shared_ptr<RemoteRobotNode> remoteNode(dynamic_pointer_cast<RemoteRobotNode>(robotNode));
- if (! remoteNode) return false;
-
- SharedRobotNodeInterfacePrx sharedNode = remoteNode->getSharedNode();
- SharedRobotNodeInterfacePrx otherSharedNode = dynamic_pointer_cast<RemoteRobotNode>(this->getRobotNode(robotNodeName))->getSharedNode();
- if (sharedNode == otherSharedNode)
- return true;
+ return false;
+ */
}
- return false;
- */
-}
+ RobotNodePtr RemoteRobot::getRobotNode(const string& robotNodeName)
+ {
+ DMES((format("Node: %1%") % robotNodeName));
-RobotNodePtr RemoteRobot::getRobotNode(const string &robotNodeName)
-{
- DMES((format("Node: %1%") % robotNodeName));
+ if (_cachedNodes.find(robotNodeName) == _cachedNodes.end())
+ {
+ DMES("No cache hit");
+ _cachedNodes[robotNodeName] = RemoteRobot::createRemoteRobotNode(_robot->getRobotNode(robotNodeName),
+ shared_from_this());
+ }
+ else
+ {
+ DMES("Cache hit");
+ }
- if (_cachedNodes.find(robotNodeName)==_cachedNodes.end())
- {
- DMES("No cache hit");
- _cachedNodes[robotNodeName]=RemoteRobot::createRemoteRobotNode(_robot->getRobotNode(robotNodeName),
- shared_from_this());
+ return _cachedNodes[robotNodeName];
}
- else
+
+ void RemoteRobot::getRobotNodes(vector< RobotNodePtr >& storeNodes, bool clearVector)
{
- DMES("Cache hit");
- }
- return _cachedNodes[robotNodeName];
-}
+ if (clearVector)
+ {
+ storeNodes.clear();
+ }
-void RemoteRobot::getRobotNodes(vector< RobotNodePtr > &storeNodes, bool clearVector)
-{
- if (clearVector) storeNodes.clear();
- NameList nodes = _robot->getRobotNodes();
- BOOST_FOREACH(string name, nodes){
- storeNodes.push_back(this->getRobotNode(name));
+ NameList nodes = _robot->getRobotNodes();
+ BOOST_FOREACH(string name, nodes)
+ {
+ storeNodes.push_back(this->getRobotNode(name));
+ }
}
-}
-bool RemoteRobot::hasRobotNodeSet( const string &name )
-{
- return _robot->hasRobotNodeSet(name);
-}
+ bool RemoteRobot::hasRobotNodeSet(const string& name)
+ {
+ return _robot->hasRobotNodeSet(name);
+ }
-RobotNodeSetPtr RemoteRobot::getRobotNodeSet(const string &nodeSetName)
-{
- vector<RobotNodePtr> storeNodes;
- RobotNodeSetInfoPtr info = _robot->getRobotNodeSet(nodeSetName);
- return RobotNodeSet::createRobotNodeSet(
- shared_from_this(),nodeSetName, info->names, info->rootName, info->tcpName);
-}
+ RobotNodeSetPtr RemoteRobot::getRobotNodeSet(const string& nodeSetName)
+ {
+ vector<RobotNodePtr> storeNodes;
+ RobotNodeSetInfoPtr info = _robot->getRobotNodeSet(nodeSetName);
+ return RobotNodeSet::createRobotNodeSet(
+ shared_from_this(), nodeSetName, info->names, info->rootName, info->tcpName);
+ }
-void RemoteRobot::getRobotNodeSets(vector<RobotNodeSetPtr> &storeNodeSet)
-{
- NameList sets= _robot->getRobotNodeSets();
+ void RemoteRobot::getRobotNodeSets(vector<RobotNodeSetPtr>& storeNodeSet)
+ {
+ NameList sets = _robot->getRobotNodeSets();
- BOOST_FOREACH(string name, sets){
- storeNodeSet.push_back(this->getRobotNodeSet(name));
+ BOOST_FOREACH(string name, sets)
+ {
+ storeNodeSet.push_back(this->getRobotNodeSet(name));
+ }
}
-}
-
-Matrix4f RemoteRobot::getGlobalPose() const
-{
- PosePtr p = PosePtr::dynamicCast(_robot->getGlobalPose());
- return p->toEigen(); // convert to eigen first
-}
-
-string RemoteRobot::getName()
-{
- return _robot->getName();
-}
-VirtualRobot::RobotNodePtr RemoteRobot::createLocalNode(SharedRobotNodeInterfacePrx remoteNode, std::vector<VirtualRobot::RobotNodePtr>& allNodes, std::map< VirtualRobot::RobotNodePtr, std::vector<std::string> > &childrenMap, RobotPtr robo)
-{
- boost::recursive_mutex::scoped_lock cloneLock(m);
- static int nonameCounter = 0;
- if (!remoteNode || !robo)
+ Matrix4f RemoteRobot::getGlobalPose() const
{
- ARMARX_ERROR_S << " NULL data " << endl;
- return VirtualRobot::RobotNodePtr();
+ PosePtr p = PosePtr::dynamicCast(_robot->getGlobalPose());
+ return p->toEigen(); // convert to eigen first
}
- VirtualRobot::RobotNodeFactoryPtr revoluteNodeFactory = VirtualRobot::RobotNodeFactory::fromName(VirtualRobot::RobotNodeRevoluteFactory::getName(), NULL);
- VirtualRobot::RobotNodeFactoryPtr fixedNodeFactory = VirtualRobot::RobotNodeFactory::fromName(VirtualRobot::RobotNodeFixedFactory::getName(), NULL);
- VirtualRobot::RobotNodeFactoryPtr prismaticNodeFactory = VirtualRobot::RobotNodeFactory::fromName(VirtualRobot::RobotNodePrismaticFactory::getName(), NULL);
-
- Eigen::Matrix4f idMatrix = Eigen::Matrix4f::Identity();
- Eigen::Vector3f idVec3 = Eigen::Vector3f::Zero();
- std::string name = remoteNode->getName();
- if (name.empty())
+
+ string RemoteRobot::getName()
{
- ARMARX_LOG_S << "Node without name!!!" << endl;
- std::stringstream ss;
- ss << "robot_node_" << nonameCounter;
- nonameCounter++;
- name = ss.str();
+ return _robot->getName();
}
- VirtualRobot::RobotNodePtr result;
- PosePtr lTbase = PosePtr::dynamicCast(remoteNode->getLocalTransformation());
- Eigen::Matrix4f localTransform = lTbase->toEigen();
-
- //float jv = remoteNode->getJointValue();
- float jvLo = remoteNode->getJointLimitLow();
- float jvHi = remoteNode->getJointLimitHigh();
- float jointOffset = 0;//remoteNode->getJointOffset();
-
- JointType jt = remoteNode->getType();
- switch (jt)
+ VirtualRobot::RobotNodePtr RemoteRobot::createLocalNode(SharedRobotNodeInterfacePrx remoteNode, std::vector<VirtualRobot::RobotNodePtr>& allNodes, std::map< VirtualRobot::RobotNodePtr, std::vector<std::string> >& childrenMap, RobotPtr robo)
{
- case ePrismatic:
+ boost::recursive_mutex::scoped_lock cloneLock(m);
+ static int nonameCounter = 0;
+
+ if (!remoteNode || !robo)
{
- Vector3Ptr axisBase = Vector3Ptr::dynamicCast(remoteNode->getJointTranslationDirection());
- Eigen::Vector3f axis = axisBase->toEigen();
- // convert axis to local coord system
- Eigen::Vector4f result4f = Eigen::Vector4f::Zero();
- result4f.segment(0,3) = axis;
- PosePtr gp = PosePtr::dynamicCast(remoteNode->getGlobalPose());
- result4f = gp->toEigen().inverse() * result4f;
- axis = result4f.block(0,0,3,1);
-
- result = prismaticNodeFactory->createRobotNode(robo, name, VirtualRobot::VisualizationNodePtr(), VirtualRobot::CollisionModelPtr(),
- jvLo, jvHi, jointOffset, idMatrix, idVec3, axis);
+ ARMARX_ERROR_S << " NULL data " << endl;
+ return VirtualRobot::RobotNodePtr();
}
- break;
- case eFixed:
- result = fixedNodeFactory->createRobotNode(robo, name, VirtualRobot::VisualizationNodePtr(), VirtualRobot::CollisionModelPtr(), 0,
- 0, 0, localTransform, idVec3, idVec3);
- break;
- case eRevolute:
+
+ VirtualRobot::RobotNodeFactoryPtr revoluteNodeFactory = VirtualRobot::RobotNodeFactory::fromName(VirtualRobot::RobotNodeRevoluteFactory::getName(), NULL);
+ VirtualRobot::RobotNodeFactoryPtr fixedNodeFactory = VirtualRobot::RobotNodeFactory::fromName(VirtualRobot::RobotNodeFixedFactory::getName(), NULL);
+ VirtualRobot::RobotNodeFactoryPtr prismaticNodeFactory = VirtualRobot::RobotNodeFactory::fromName(VirtualRobot::RobotNodePrismaticFactory::getName(), NULL);
+
+ Eigen::Matrix4f idMatrix = Eigen::Matrix4f::Identity();
+ Eigen::Vector3f idVec3 = Eigen::Vector3f::Zero();
+ std::string name = remoteNode->getName();
+
+ if (name.empty())
{
- Vector3Ptr axisBase = Vector3Ptr::dynamicCast(remoteNode->getJointRotationAxis());
- Eigen::Vector3f axis = axisBase->toEigen();
- // convert axis to local coord system
- Eigen::Vector4f result4f = Eigen::Vector4f::Zero();
- result4f.segment(0,3) = axis;
- PosePtr gp = PosePtr::dynamicCast(remoteNode->getGlobalPose());
- result4f = gp->toEigen().inverse() * result4f;
- axis = result4f.block(0,0,3,1);
-
- result = revoluteNodeFactory->createRobotNode(robo, name, VirtualRobot::VisualizationNodePtr(), VirtualRobot::CollisionModelPtr(),
- jvLo, jvHi, jointOffset, localTransform, axis, idVec3);
+ ARMARX_LOG_S << "Node without name!!!" << endl;
+ std::stringstream ss;
+ ss << "robot_node_" << nonameCounter;
+ nonameCounter++;
+ name = ss.str();
}
- break;
- default:
- ARMARX_ERROR_S << "JointType nyi..." << endl;
- return VirtualRobot::RobotNodePtr();
- break;
- }
- robo->registerRobotNode(result);
- allNodes.push_back(result);
+ VirtualRobot::RobotNodePtr result;
+ PosePtr lTbase = PosePtr::dynamicCast(remoteNode->getLocalTransformation());
+ Eigen::Matrix4f localTransform = lTbase->toEigen();
- // setup joint->nextNodes children
- std::vector<std::string> childrenBase = remoteNode->getChildren();
- std::vector<std::string> children;
+ //float jv = remoteNode->getJointValue();
+ float jvLo = remoteNode->getJointLimitLow();
+ float jvHi = remoteNode->getJointLimitHigh();
+ float jointOffset = 0;//remoteNode->getJointOffset();
- // check for RobotNodes (sensors do also register as children!)
- for (size_t i=0;i<childrenBase.size();i++)
- {
- if (_robot->hasRobotNode(childrenBase[i]))
+ JointType jt = remoteNode->getType();
+
+ switch (jt)
{
- SharedRobotNodeInterfacePrx rnRemote = _robot->getRobotNode(childrenBase[i]);
- VirtualRobot::RobotNodePtr localNode = createLocalNode(rnRemote, allNodes, childrenMap, robo);
- /* boost::shared_ptr< RemoteRobotNode<VirtualRobotNodeType> > rnRemote = boost::dynamic_pointer_cast<RemoteRobotNode>(rnRemoteBase);
- if (!rnRemote)
+ case ePrismatic:
{
- ARMARX_ERROR_S << "RemoteRobot does not know robot node with name " << children[i] << endl;
- continue;
- }*/
+ Vector3Ptr axisBase = Vector3Ptr::dynamicCast(remoteNode->getJointTranslationDirection());
+ Eigen::Vector3f axis = axisBase->toEigen();
+ // convert axis to local coord system
+ Eigen::Vector4f result4f = Eigen::Vector4f::Zero();
+ result4f.segment(0, 3) = axis;
+ PosePtr gp = PosePtr::dynamicCast(remoteNode->getGlobalPose());
+ result4f = gp->toEigen().inverse() * result4f;
+ axis = result4f.block(0, 0, 3, 1);
+
+ result = prismaticNodeFactory->createRobotNode(robo, name, VirtualRobot::VisualizationNodePtr(), VirtualRobot::CollisionModelPtr(),
+ jvLo, jvHi, jointOffset, idMatrix, idVec3, axis);
+ }
+ break;
+ case eFixed:
+ result = fixedNodeFactory->createRobotNode(robo, name, VirtualRobot::VisualizationNodePtr(), VirtualRobot::CollisionModelPtr(), 0,
+ 0, 0, localTransform, idVec3, idVec3);
+ break;
- if (!localNode)
+ case eRevolute:
{
- ARMARX_ERROR_S << "Could not create local node: " << children[i] << endl;
- continue;
+ Vector3Ptr axisBase = Vector3Ptr::dynamicCast(remoteNode->getJointRotationAxis());
+ Eigen::Vector3f axis = axisBase->toEigen();
+ // convert axis to local coord system
+ Eigen::Vector4f result4f = Eigen::Vector4f::Zero();
+ result4f.segment(0, 3) = axis;
+ PosePtr gp = PosePtr::dynamicCast(remoteNode->getGlobalPose());
+ result4f = gp->toEigen().inverse() * result4f;
+ axis = result4f.block(0, 0, 3, 1);
+
+ result = revoluteNodeFactory->createRobotNode(robo, name, VirtualRobot::VisualizationNodePtr(), VirtualRobot::CollisionModelPtr(),
+ jvLo, jvHi, jointOffset, localTransform, axis, idVec3);
}
- children.push_back(childrenBase[i]);
+ break;
+
+ default:
+ ARMARX_ERROR_S << "JointType nyi..." << endl;
+ return VirtualRobot::RobotNodePtr();
+ break;
}
- }
- childrenMap[result] = children;
- return result;
-}
-VirtualRobot::RobotPtr RemoteRobot::createLocalClone()
-{
- //ARMARX_IMPORTANT_S << "RemoteRobot local clone" << flush;
- boost::recursive_mutex::scoped_lock cloneLock(m);
- std::string robotType = getName();
- std::string robotName = getName();
- VirtualRobot::RobotPtr robo(new VirtualRobot::LocalRobot(robotName,robotType));
+ robo->registerRobotNode(result);
+ allNodes.push_back(result);
- //RobotNodePtr
- SharedRobotNodeInterfacePrx root = _robot->getRootNode();
- std::vector<VirtualRobot::RobotNodePtr> allNodes;
- std::map< VirtualRobot::RobotNodePtr, std::vector<std::string> > childrenMap;
+ // setup joint->nextNodes children
+ std::vector<std::string> childrenBase = remoteNode->getChildren();
+ std::vector<std::string> children;
- VirtualRobot::RobotNodePtr rootLocal = createLocalNode(root, allNodes, childrenMap, robo);
+ // check for RobotNodes (sensors do also register as children!)
+ for (size_t i = 0; i < childrenBase.size(); i++)
+ {
+ if (_robot->hasRobotNode(childrenBase[i]))
+ {
+ SharedRobotNodeInterfacePrx rnRemote = _robot->getRobotNode(childrenBase[i]);
+ VirtualRobot::RobotNodePtr localNode = createLocalNode(rnRemote, allNodes, childrenMap, robo);
+ /* boost::shared_ptr< RemoteRobotNode<VirtualRobotNodeType> > rnRemote = boost::dynamic_pointer_cast<RemoteRobotNode>(rnRemoteBase);
+ if (!rnRemote)
+ {
+ ARMARX_ERROR_S << "RemoteRobot does not know robot node with name " << children[i] << endl;
+ continue;
+ }*/
+
+
+ if (!localNode)
+ {
+ ARMARX_ERROR_S << "Could not create local node: " << children[i] << endl;
+ continue;
+ }
+
+ children.push_back(childrenBase[i]);
+ }
+ }
- bool res = VirtualRobot::RobotFactory::initializeRobot(robo, allNodes, childrenMap, rootLocal);
- if (!res)
- {
- ARMARX_ERROR_S << "Failed to initialize local robot..." << endl;
- return VirtualRobot::RobotPtr();
+ childrenMap[result] = children;
+ return result;
}
- // clone rns
- std::vector<std::string> rns = _robot->getRobotNodeSets();
- for (size_t i=0;i<rns.size();i++)
+ VirtualRobot::RobotPtr RemoteRobot::createLocalClone()
{
- RobotNodeSetInfoPtr rnsInfo = _robot->getRobotNodeSet(rns[i]);
- RobotNodeSet::createRobotNodeSet(robo,rnsInfo->name,rnsInfo->names,rnsInfo->rootName,rnsInfo->tcpName,true);
- }
- //ARMARX_IMPORTANT_S << "RemoteRobot local clone end" << flush;
- auto pose = PosePtr::dynamicCast(_robot->getGlobalPose());
- robo->setGlobalPose(pose->toEigen());
- return robo;
-}
+ //ARMARX_IMPORTANT_S << "RemoteRobot local clone" << flush;
+ boost::recursive_mutex::scoped_lock cloneLock(m);
+ std::string robotType = getName();
+ std::string robotName = getName();
+ VirtualRobot::RobotPtr robo(new VirtualRobot::LocalRobot(robotName, robotType));
-VirtualRobot::RobotPtr RemoteRobot::createLocalClone(RobotStateComponentInterfacePrx robotStatePrx, const string &filename)
-{
- return createLocalClone(robotStatePrx->getSynchronizedRobot(), filename);
-}
+ //RobotNodePtr
+ SharedRobotNodeInterfacePrx root = _robot->getRootNode();
-RobotPtr RemoteRobot::createLocalClone(SharedRobotInterfacePrx sharedRobotPrx, const string &filename)
-{
- boost::recursive_mutex::scoped_lock cloneLock(m);
- ARMARX_VERBOSE_S << "Creating local clone of remote robot (filename:" << filename << ")" << endl;
- VirtualRobot::RobotPtr result;
+ std::vector<VirtualRobot::RobotNodePtr> allNodes;
+ std::map< VirtualRobot::RobotNodePtr, std::vector<std::string> > childrenMap;
+
+ VirtualRobot::RobotNodePtr rootLocal = createLocalNode(root, allNodes, childrenMap, robo);
+
+ bool res = VirtualRobot::RobotFactory::initializeRobot(robo, allNodes, childrenMap, rootLocal);
+
+ if (!res)
+ {
+ ARMARX_ERROR_S << "Failed to initialize local robot..." << endl;
+ return VirtualRobot::RobotPtr();
+ }
+
+ // clone rns
+ std::vector<std::string> rns = _robot->getRobotNodeSets();
+
+ for (size_t i = 0; i < rns.size(); i++)
+ {
+ RobotNodeSetInfoPtr rnsInfo = _robot->getRobotNodeSet(rns[i]);
+ RobotNodeSet::createRobotNodeSet(robo, rnsInfo->name, rnsInfo->names, rnsInfo->rootName, rnsInfo->tcpName, true);
+ }
+
+ //ARMARX_IMPORTANT_S << "RemoteRobot local clone end" << flush;
+ auto pose = PosePtr::dynamicCast(_robot->getGlobalPose());
+ robo->setGlobalPose(pose->toEigen());
+ return robo;
+ }
- if (!sharedRobotPrx)
+ VirtualRobot::RobotPtr RemoteRobot::createLocalClone(RobotStateComponentInterfacePrx robotStatePrx, const string& filename)
{
- ARMARX_ERROR_S << "NULL sharedRobotPrx. Aborting..." << endl;
- return result;
+ return createLocalClone(robotStatePrx->getSynchronizedRobot(), filename);
}
- if (filename.empty())
+ RobotPtr RemoteRobot::createLocalClone(SharedRobotInterfacePrx sharedRobotPrx, const string& filename)
{
- RemoteRobotPtr rob(new RemoteRobot(sharedRobotPrx));
- result = rob->createLocalClone();
- if (!result)
+ boost::recursive_mutex::scoped_lock cloneLock(m);
+ ARMARX_VERBOSE_S << "Creating local clone of remote robot (filename:" << filename << ")" << endl;
+ VirtualRobot::RobotPtr result;
+
+ if (!sharedRobotPrx)
{
- ARMARX_ERROR_S << "Could not create local clone. Aborting..." << endl;
+ ARMARX_ERROR_S << "NULL sharedRobotPrx. Aborting..." << endl;
return result;
}
- } else
- {
- result = RobotIO::loadRobot(filename);
- if (!result)
+
+ if (filename.empty())
{
- ARMARX_ERROR_S << "Could not load robot file " << filename << ". Aborting..." << endl;
- return result;
+ RemoteRobotPtr rob(new RemoteRobot(sharedRobotPrx));
+ result = rob->createLocalClone();
+
+ if (!result)
+ {
+ ARMARX_ERROR_S << "Could not create local clone. Aborting..." << endl;
+ return result;
+ }
}
- }
- synchronizeLocalClone(result,sharedRobotPrx);
- return result;
-}
+ else
+ {
+ result = RobotIO::loadRobot(filename);
-bool RemoteRobot::synchronizeLocalClone(VirtualRobot::RobotPtr robot, RobotStateComponentInterfacePrx robotStatePrx)
-{
- return synchronizeLocalClone(robot, robotStatePrx->getSynchronizedRobot());
-}
+ if (!result)
+ {
+ ARMARX_ERROR_S << "Could not load robot file " << filename << ". Aborting..." << endl;
+ return result;
+ }
+ }
-bool RemoteRobot::synchronizeLocalClone(VirtualRobot::RobotPtr robot, SharedRobotInterfacePrx sharedRobotPrx)
-{
- if (!sharedRobotPrx || !robot)
+ synchronizeLocalClone(result, sharedRobotPrx);
+ return result;
+ }
+
+ bool RemoteRobot::synchronizeLocalClone(VirtualRobot::RobotPtr robot, RobotStateComponentInterfacePrx robotStatePrx)
{
- ARMARX_ERROR_S << "NULL data. Aborting..." << endl;
- return false;
+ return synchronizeLocalClone(robot, robotStatePrx->getSynchronizedRobot());
}
- RobotConfigPtr c(new RobotConfig(robot,"synchronizeLocalClone"));
- NameValueMap jv = sharedRobotPrx->getConfig();
- for ( NameValueMap::const_iterator it = jv.begin(); it!=jv.end(); it++ )
+
+ bool RemoteRobot::synchronizeLocalClone(VirtualRobot::RobotPtr robot, SharedRobotInterfacePrx sharedRobotPrx)
{
- // joint values
- const std::string& jointName = it->first;
- float jointAngle = it->second;
- if (!c->setConfig(jointName,jointAngle))
+ if (!sharedRobotPrx || !robot)
{
- ARMARX_WARNING_S << "Joint not known in local copy:" << jointName << ". Skipping..." << endl;
+ ARMARX_ERROR_S << "NULL data. Aborting..." << endl;
+ return false;
+ }
+
+ RobotConfigPtr c(new RobotConfig(robot, "synchronizeLocalClone"));
+ NameValueMap jv = sharedRobotPrx->getConfig();
+
+ for (NameValueMap::const_iterator it = jv.begin(); it != jv.end(); it++)
+ {
+ // joint values
+ const std::string& jointName = it->first;
+ float jointAngle = it->second;
+
+ if (!c->setConfig(jointName, jointAngle))
+ {
+ ARMARX_WARNING_S << "Joint not known in local copy:" << jointName << ". Skipping..." << endl;
+ }
}
+
+ robot->setConfig(c);
+ auto pose = PosePtr::dynamicCast(sharedRobotPrx->getGlobalPose());
+ robot->setGlobalPose(pose->toEigen());
+ return true;
}
- robot->setConfig(c);
- auto pose = PosePtr::dynamicCast(sharedRobotPrx->getGlobalPose());
- robot->setGlobalPose(pose->toEigen());
- return true;
-}
-// Private (unused methods)
+ // Private (unused methods)
-bool RemoteRobot::hasEndEffector(const string& endEffectorName)
-{
- return false;
-}
+ bool RemoteRobot::hasEndEffector(const string& endEffectorName)
+ {
+ return false;
+ }
-EndEffectorPtr RemoteRobot::getEndEffector(const string& endEffectorName)
-{
- return EndEffectorPtr();
-}
+ EndEffectorPtr RemoteRobot::getEndEffector(const string& endEffectorName)
+ {
+ return EndEffectorPtr();
+ }
-void RemoteRobot::getEndEffectors(vector<EndEffectorPtr> &storeEEF){}
-void RemoteRobot::setRootNode(RobotNodePtr node){}
-void RemoteRobot::registerRobotNode(RobotNodePtr node){}
-void RemoteRobot::deregisterRobotNode(RobotNodePtr node){}
-void RemoteRobot::registerRobotNodeSet(RobotNodeSetPtr nodeSet){}
-void RemoteRobot::deregisterRobotNodeSet(RobotNodeSetPtr nodeSet){}
-void RemoteRobot::registerEndEffector(EndEffectorPtr endEffector){}
+ void RemoteRobot::getEndEffectors(vector<EndEffectorPtr>& storeEEF) {}
+ void RemoteRobot::setRootNode(RobotNodePtr node) {}
+ void RemoteRobot::registerRobotNode(RobotNodePtr node) {}
+ void RemoteRobot::deregisterRobotNode(RobotNodePtr node) {}
+ void RemoteRobot::registerRobotNodeSet(RobotNodeSetPtr nodeSet) {}
+ void RemoteRobot::deregisterRobotNodeSet(RobotNodeSetPtr nodeSet) {}
+ void RemoteRobot::registerEndEffector(EndEffectorPtr endEffector) {}
-void RemoteRobot::setGlobalPose(const Eigen::Matrix4f &globalPose, bool applyValues)
-{
- if(_robot)
- _robot->setGlobalPose(new Pose(globalPose));
-}
+ void RemoteRobot::setGlobalPose(const Eigen::Matrix4f& globalPose, bool applyValues)
+ {
+ if (_robot)
+ {
+ _robot->setGlobalPose(new Pose(globalPose));
+ }
+ }
}
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
index e251f861237890be99ebedf9890c638a0a466813..64bca72366ea03d0c8f6399d93352f1433f63888 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobot.h
@@ -2,14 +2,13 @@
* 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.
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -17,7 +16,7 @@
* @package RobotAPI::
* @author (stefan dot ulbrich at kit dot edu)
* @date
- * @copyright http://www.gnu.org/licenses/gpl.txt
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -73,7 +72,7 @@ namespace armarx
*/
template<class VirtualRobotNodeType>
class RemoteRobotNode :
- public VirtualRobotNodeType
+ public VirtualRobotNodeType
{
friend struct RemoteRobotNodeInitializer<VirtualRobotNodeType>;
@@ -82,7 +81,7 @@ namespace armarx
_node(node)
{
_node->ref();
- this->name=_node->getName();
+ this->name = _node->getName();
this->robot = vr;
_node->getJointValueOffest();
setJointLimits(_node->getJointLimitLow(), _node->getJointLimitHigh());
@@ -103,9 +102,9 @@ namespace armarx
virtual Eigen::Matrix4f getGlobalPose() const;
virtual Eigen::Matrix4f getPoseInRootFrame() const;
virtual Eigen::Vector3f getPositionInRootFrame() const;
- virtual bool hasChildNode(const std::string &child, bool recursive = false) const;
+ virtual bool hasChildNode(const std::string& child, bool recursive = false) const;
- virtual std::vector<VirtualRobot::RobotNodePtr> getAllParents( VirtualRobot::RobotNodeSetPtr rns );
+ virtual std::vector<VirtualRobot::RobotNodePtr> getAllParents(VirtualRobot::RobotNodeSetPtr rns);
virtual VirtualRobot::RobotNodePtr getParent();
inline SharedRobotNodeInterfacePrx getSharedRobotNode()
{
@@ -118,20 +117,20 @@ namespace armarx
///////////////////////// SETUP ////////////////////////////////////
virtual void setJointLimits(float lo, float hi);
//virtual void setPostJointTransformation(const Eigen::Matrix4f &trafo);
- virtual void setLocalTransformation(const Eigen::Matrix4f &trafo);
+ virtual void setLocalTransformation(const Eigen::Matrix4f& trafo);
virtual std::string getParentName() const;
virtual std::vector< VirtualRobot::SceneObjectPtr> getChildren() const;
virtual void updateTransformationMatrices();
- virtual void updateTransformationMatrices(const Eigen::Matrix4f &globalPose);
+ virtual void updateTransformationMatrices(const Eigen::Matrix4f& globalPose);
virtual bool hasChildNode(const VirtualRobot::RobotNodePtr child, bool recursive = false) const;
virtual void addChildNode(VirtualRobot::RobotNodePtr child);
virtual bool initialize(VirtualRobot::RobotNodePtr parent, bool initializeChildren = false);
virtual void reset();
- virtual void setGlobalPose( const Eigen::Matrix4f &pose );
+ virtual void setGlobalPose(const Eigen::Matrix4f& pose);
virtual void setJointValue(float q, bool updateTransformations = true, bool clampToLimits = true);
SharedRobotNodeInterfacePrx _node;
@@ -144,24 +143,24 @@ namespace armarx
class RemoteRobot : public VirtualRobot::Robot
{
template<class T>
- friend void boost::checked_delete(T *);
+ friend void boost::checked_delete(T*);
protected:
~RemoteRobot();
public:
- RemoteRobot (SharedRobotInterfacePrx robot);
+ RemoteRobot(SharedRobotInterfacePrx robot);
virtual VirtualRobot::RobotNodePtr getRootNode();
- virtual bool hasRobotNode( const std::string &robotNodeName );
- virtual bool hasRobotNode( VirtualRobot::RobotNodePtr );
+ virtual bool hasRobotNode(const std::string& robotNodeName);
+ virtual bool hasRobotNode(VirtualRobot::RobotNodePtr);
- virtual VirtualRobot::RobotNodePtr getRobotNode(const std::string &robotNodeName);
- virtual void getRobotNodes(std::vector< VirtualRobot::RobotNodePtr > &storeNodes, bool clearVector=true);
+ virtual VirtualRobot::RobotNodePtr getRobotNode(const std::string& robotNodeName);
+ virtual void getRobotNodes(std::vector< VirtualRobot::RobotNodePtr >& storeNodes, bool clearVector = true);
- virtual bool hasRobotNodeSet( const std::string &name );
- virtual VirtualRobot::RobotNodeSetPtr getRobotNodeSet(const std::string &nodeSetName);
- virtual void getRobotNodeSets(std::vector<VirtualRobot::RobotNodeSetPtr> &storeNodeSet);
+ virtual bool hasRobotNodeSet(const std::string& name);
+ virtual VirtualRobot::RobotNodeSetPtr getRobotNodeSet(const std::string& nodeSetName);
+ virtual void getRobotNodeSets(std::vector<VirtualRobot::RobotNodeSetPtr>& storeNodeSet);
/**
*
@@ -186,9 +185,9 @@ namespace armarx
In order to get a fully featured robot model you can pass a filename to VirtualRobot::Robot,
but then you need to make sure that the loaded model is identical to the model of the remote robot (otherwise errors will occur).
*/
- static VirtualRobot::RobotPtr createLocalClone(RobotStateComponentInterfacePrx robotStatePrx, const std::string &filename=std::string());
+ static VirtualRobot::RobotPtr createLocalClone(RobotStateComponentInterfacePrx robotStatePrx, const std::string& filename = std::string());
- static VirtualRobot::RobotPtr createLocalClone(SharedRobotInterfacePrx sharedRobotPrx, const std::string &filename=std::string());
+ static VirtualRobot::RobotPtr createLocalClone(SharedRobotInterfacePrx sharedRobotPrx, const std::string& filename = std::string());
/*!
Use this method to synchronize (i.e. copy the joint values) from the remote robot to the local clone.
@@ -210,7 +209,7 @@ namespace armarx
/// Not implemented yet
virtual VirtualRobot::EndEffectorPtr getEndEffector(const std::string& endEffectorName);
/// Not implemented yet
- virtual void getEndEffectors(std::vector<VirtualRobot::EndEffectorPtr> &storeEEF);
+ virtual void getEndEffectors(std::vector<VirtualRobot::EndEffectorPtr>& storeEEF);
/// Not implemented yet
virtual void setRootNode(VirtualRobot::RobotNodePtr node);
@@ -229,9 +228,9 @@ namespace armarx
* @param globalPose new global pose
* @param applyValues No effect. Will be always applied.
*/
- virtual void setGlobalPose(const Eigen::Matrix4f &globalPose, bool applyValues = true);
+ virtual void setGlobalPose(const Eigen::Matrix4f& globalPose, bool applyValues = true);
- VirtualRobot::RobotNodePtr createLocalNode(SharedRobotNodeInterfacePrx remoteNode, std::vector<VirtualRobot::RobotNodePtr> &allNodes, std::map<VirtualRobot::RobotNodePtr, std::vector<std::string> > &childrenMap, VirtualRobot::RobotPtr robo);
+ VirtualRobot::RobotNodePtr createLocalNode(SharedRobotNodeInterfacePrx remoteNode, std::vector<VirtualRobot::RobotNodePtr>& allNodes, std::map<VirtualRobot::RobotNodePtr, std::vector<std::string> >& childrenMap, VirtualRobot::RobotPtr robo);
protected:
SharedRobotInterfacePrx _robot;
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp b/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
index ad62ae99d68c0cfbdaa0151255568783af9086b9..0e08d9dfe215b65a413f7e6303b7c8e044bfb348 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
@@ -4,191 +4,218 @@
#include <VirtualRobot/VirtualRobot.h>
-#include <Core/interface/core/BasicTypes.h>
+#include <ArmarXCore/interface/core/BasicTypes.h>
namespace armarx
{
-using namespace std;
-using namespace boost;
-using namespace VirtualRobot;
-using namespace Eigen;
+ using namespace std;
+ using namespace boost;
+ using namespace VirtualRobot;
+ using namespace Eigen;
-RobotNodePtr RemoteRobot::createRemoteRobotNode(SharedRobotNodeInterfacePrx node, RobotPtr robot)
-{
- switch (node->getType()) {
- case ePrismatic:
- return RobotNodePtr(new RemoteRobotNode<RobotNodePrismatic>(node,robot));
- case eRevolute:
- return RobotNodePtr(new RemoteRobotNode<RobotNodeRevolute>(node,robot));
- case eFixed:
- return RobotNodePtr(new RemoteRobotNode<RobotNodeFixed>(node,robot));
- default:
- break; // thow an exception
- }
- return RobotNodePtr();
-}
+ RobotNodePtr RemoteRobot::createRemoteRobotNode(SharedRobotNodeInterfacePrx node, RobotPtr robot)
+ {
+ switch (node->getType())
+ {
+ case ePrismatic:
+ return RobotNodePtr(new RemoteRobotNode<RobotNodePrismatic>(node, robot));
+ case eRevolute:
+ return RobotNodePtr(new RemoteRobotNode<RobotNodeRevolute>(node, robot));
-template<>
-void RemoteRobotNodeInitializer<VirtualRobot::RobotNodeRevolute>::initialize(RemoteRobotNode<VirtualRobot::RobotNodeRevolute>* remoteNode)
-{
- // set rotation axis
- remoteNode->jointRotationAxis = remoteNode->getGlobalPose().block<3,3>(0,0).inverse() * Vector3Ptr::dynamicCast(remoteNode->_node->getJointRotationAxis())->toEigen();
-}
+ case eFixed:
+ return RobotNodePtr(new RemoteRobotNode<RobotNodeFixed>(node, robot));
-template<>
-void RemoteRobotNodeInitializer<VirtualRobot::RobotNodePrismatic>::initialize(RemoteRobotNode<VirtualRobot::RobotNodePrismatic>* remoteNode)
-{
- // set translation direction
- remoteNode->jointTranslationDirection = remoteNode->getGlobalPose().block<3,3>(0,0).inverse() * Vector3Ptr::dynamicCast(remoteNode->_node->getJointTranslationDirection())->toEigen();
-}
+ default:
+ break; // thow an exception
+ }
-template<>
-void RemoteRobotNodeInitializer<VirtualRobot::RobotNodeFixed>::initialize(RemoteRobotNode<VirtualRobot::RobotNodeFixed>* remoteNode)
-{
- // nothing to do for fixed joints
-}
+ return RobotNodePtr();
+ }
-template<class RobotNodeType>
-RemoteRobotNode<RobotNodeType>::~RemoteRobotNode(){
- try
+ template<>
+ void RemoteRobotNodeInitializer<VirtualRobot::RobotNodeRevolute>::initialize(RemoteRobotNode<VirtualRobot::RobotNodeRevolute>* remoteNode)
{
- _node->unref();
+ // set rotation axis
+ remoteNode->jointRotationAxis = remoteNode->getGlobalPose().block<3, 3>(0, 0).inverse() * Vector3Ptr::dynamicCast(remoteNode->_node->getJointRotationAxis())->toEigen();
}
- catch(std::exception &e)
+
+ template<>
+ void RemoteRobotNodeInitializer<VirtualRobot::RobotNodePrismatic>::initialize(RemoteRobotNode<VirtualRobot::RobotNodePrismatic>* remoteNode)
{
- ARMARX_DEBUG_S << "Unref of SharedRobotNode failed: " << e.what();
+ // set translation direction
+ remoteNode->jointTranslationDirection = remoteNode->getGlobalPose().block<3, 3>(0, 0).inverse() * Vector3Ptr::dynamicCast(remoteNode->_node->getJointTranslationDirection())->toEigen();
}
- catch(...)
+
+ template<>
+ void RemoteRobotNodeInitializer<VirtualRobot::RobotNodeFixed>::initialize(RemoteRobotNode<VirtualRobot::RobotNodeFixed>* remoteNode)
{
- ARMARX_DEBUG_S << "Unref of SharedRobotNode failed: reason unknown";
+ // nothing to do for fixed joints
}
-}
-template<class RobotNodeType>
-float RemoteRobotNode<RobotNodeType>::getJointValue() const{
- return _node->getJointValue();
-}
-template<class RobotNodeType>
-float RemoteRobotNode<RobotNodeType>::getJointLimitHi() const
-{
- return _node->getJointLimitHigh();
-}
-template<class RobotNodeType>
-float RemoteRobotNode<RobotNodeType>::getJointLimitLo() const
-{
- return _node->getJointLimitLow();
-}
-/*
-template<class RobotNodeType>
-Eigen::Matrix4f RemoteRobotNode<RobotNodeType>::getPostJointTransformation(){
- return PosePtr::dynamicCast(_node->getPostJointTransformation())->toEigen();
-}*/
-
-template<class RobotNodeType>
-Eigen::Matrix4f RemoteRobotNode<RobotNodeType>::getLocalTransformation(){
- return PosePtr::dynamicCast(_node->getLocalTransformation())->toEigen();
-}
+ template<class RobotNodeType>
+ RemoteRobotNode<RobotNodeType>::~RemoteRobotNode()
+ {
+ try
+ {
+ _node->unref();
+ }
+ catch (std::exception& e)
+ {
+ ARMARX_DEBUG_S << "Unref of SharedRobotNode failed: " << e.what();
+ }
+ catch (...)
+ {
+ ARMARX_DEBUG_S << "Unref of SharedRobotNode failed: reason unknown";
+ }
+ }
-template<class RobotNodeType>
-Eigen::Matrix4f RemoteRobotNode<RobotNodeType>::getGlobalPose() const {
- return FramedPosePtr::dynamicCast(_node->getGlobalPose())->toEigen();
-}
-template<class RobotNodeType>
-Eigen::Matrix4f RemoteRobotNode<RobotNodeType>::getPoseInRootFrame() const
-{
- return FramedPosePtr::dynamicCast(_node->getPoseInRootFrame())->toEigen();
-}
+ template<class RobotNodeType>
+ float RemoteRobotNode<RobotNodeType>::getJointValue() const
+ {
+ return _node->getJointValue();
+ }
-template<class RobotNodeType>
-Eigen::Vector3f RemoteRobotNode<RobotNodeType>::getPositionInRootFrame() const
-{
- Vector3Ptr pos = Vector3Ptr::dynamicCast(_node->getPoseInRootFrame()->position);
- ARMARX_CHECK_EXPRESSION(pos);
- return pos->toEigen();
-}
+ template<class RobotNodeType>
+ float RemoteRobotNode<RobotNodeType>::getJointLimitHi() const
+ {
+ return _node->getJointLimitHigh();
+ }
+ template<class RobotNodeType>
+ float RemoteRobotNode<RobotNodeType>::getJointLimitLo() const
+ {
+ return _node->getJointLimitLow();
+ }
+ /*
+ template<class RobotNodeType>
+ Eigen::Matrix4f RemoteRobotNode<RobotNodeType>::getPostJointTransformation(){
+ return PosePtr::dynamicCast(_node->getPostJointTransformation())->toEigen();
+ }*/
+
+ template<class RobotNodeType>
+ Eigen::Matrix4f RemoteRobotNode<RobotNodeType>::getLocalTransformation()
+ {
+ return PosePtr::dynamicCast(_node->getLocalTransformation())->toEigen();
+ }
-template<class RobotNodeType>
-bool RemoteRobotNode<RobotNodeType>::hasChildNode(const RobotNodePtr child, bool recursive) const{
- return false;
-}
-template<class RobotNodeType>
-bool RemoteRobotNode<RobotNodeType>::hasChildNode(const std::string &child, bool recursive) const{
- return _node->hasChild(child,recursive);
-}
+ template<class RobotNodeType>
+ Eigen::Matrix4f RemoteRobotNode<RobotNodeType>::getGlobalPose() const
+ {
+ return FramedPosePtr::dynamicCast(_node->getGlobalPose())->toEigen();
+ }
+ template<class RobotNodeType>
+ Eigen::Matrix4f RemoteRobotNode<RobotNodeType>::getPoseInRootFrame() const
+ {
+ return FramedPosePtr::dynamicCast(_node->getPoseInRootFrame())->toEigen();
+ }
-template<class RobotNodeType>
-void RemoteRobotNode<RobotNodeType>::setJointLimits(float lo, float hi){
-}
+ template<class RobotNodeType>
+ Eigen::Vector3f RemoteRobotNode<RobotNodeType>::getPositionInRootFrame() const
+ {
+ Vector3Ptr pos = Vector3Ptr::dynamicCast(_node->getPoseInRootFrame()->position);
+ ARMARX_CHECK_EXPRESSION(pos);
+ return pos->toEigen();
+ }
-template<class RobotNodeType>
-vector<RobotNodePtr> RemoteRobotNode<RobotNodeType>::getAllParents( RobotNodeSetPtr rns ){
- NameList nodes = _node->getAllParents(rns->getName());
- vector<RobotNodePtr> result;
- RobotPtr robot = this->robot.lock();
+ template<class RobotNodeType>
+ bool RemoteRobotNode<RobotNodeType>::hasChildNode(const RobotNodePtr child, bool recursive) const
+ {
+ return false;
+ }
+ template<class RobotNodeType>
+ bool RemoteRobotNode<RobotNodeType>::hasChildNode(const std::string& child, bool recursive) const
+ {
+ return _node->hasChild(child, recursive);
+ }
- BOOST_FOREACH(string name, nodes){
- result.push_back(robot->getRobotNode(name));
- }
- return result;
-}
+ template<class RobotNodeType>
+ void RemoteRobotNode<RobotNodeType>::setJointLimits(float lo, float hi)
+ {
+ }
-template<class RobotNodeType>
-RobotNodePtr RemoteRobotNode<RobotNodeType>::getParent(){
- return this->robot.lock()->getRobotNode(_node->getParent());
-}
-/*
-template<class RobotNodeType>
-void RemoteRobotNode<RobotNodeType>::setPostJointTransformation(const Eigen::Matrix4f &trafo){
-}*/
-template<class RobotNodeType>
-void RemoteRobotNode<RobotNodeType>::setLocalTransformation(const Eigen::Matrix4f &trafo){
-}
-template<class RobotNodeType>
-std::vector<std::string> RemoteRobotNode<RobotNodeType>::getChildrenNames() const{
- return _node->getChildren();
-}
-template<class RobotNodeType>
-std::string RemoteRobotNode<RobotNodeType>::getParentName() const{
- return _node->getParent();
-}
-template<class RobotNodeType>
-std::vector<SceneObjectPtr> RemoteRobotNode<RobotNodeType>::getChildren() const{
- NameList nodes = _node->getChildren();
- vector<SceneObjectPtr> result;
- BOOST_FOREACH(string name, nodes){
- result.push_back(this->robot.lock()->getRobotNode(name));
- }
- return result;
-}
+ template<class RobotNodeType>
+ vector<RobotNodePtr> RemoteRobotNode<RobotNodeType>::getAllParents(RobotNodeSetPtr rns)
+ {
+ NameList nodes = _node->getAllParents(rns->getName());
+ vector<RobotNodePtr> result;
+ RobotPtr robot = this->robot.lock();
+
+ BOOST_FOREACH(string name, nodes)
+ {
+ result.push_back(robot->getRobotNode(name));
+ }
+ return result;
+ }
+
+ template<class RobotNodeType>
+ RobotNodePtr RemoteRobotNode<RobotNodeType>::getParent()
+ {
+ return this->robot.lock()->getRobotNode(_node->getParent());
+ }
+ /*
+ template<class RobotNodeType>
+ void RemoteRobotNode<RobotNodeType>::setPostJointTransformation(const Eigen::Matrix4f &trafo){
+ }*/
+ template<class RobotNodeType>
+ void RemoteRobotNode<RobotNodeType>::setLocalTransformation(const Eigen::Matrix4f& trafo)
+ {
+ }
+ template<class RobotNodeType>
+ std::vector<std::string> RemoteRobotNode<RobotNodeType>::getChildrenNames() const
+ {
+ return _node->getChildren();
+ }
+ template<class RobotNodeType>
+ std::string RemoteRobotNode<RobotNodeType>::getParentName() const
+ {
+ return _node->getParent();
+ }
+ template<class RobotNodeType>
+ std::vector<SceneObjectPtr> RemoteRobotNode<RobotNodeType>::getChildren() const
+ {
+ NameList nodes = _node->getChildren();
+ vector<SceneObjectPtr> result;
+ BOOST_FOREACH(string name, nodes)
+ {
+ result.push_back(this->robot.lock()->getRobotNode(name));
+ }
+ return result;
+ }
-template<class RobotNodeType>
-void RemoteRobotNode<RobotNodeType>::updateTransformationMatrices(){
-}
-template<class RobotNodeType>
-void RemoteRobotNode<RobotNodeType>::updateTransformationMatrices(const Eigen::Matrix4f &globalPose){
-}
+ template<class RobotNodeType>
+ void RemoteRobotNode<RobotNodeType>::updateTransformationMatrices()
+ {
+ }
+ template<class RobotNodeType>
+ void RemoteRobotNode<RobotNodeType>::updateTransformationMatrices(const Eigen::Matrix4f& globalPose)
+ {
+ }
-template<class RobotNodeType>
-void RemoteRobotNode<RobotNodeType>::addChildNode(RobotNodePtr child){
-}
-template<class RobotNodeType>
-bool RemoteRobotNode<RobotNodeType>::initialize(RobotNodePtr parent, bool initializeChildren){
- return false;
-}
-template<class RobotNodeType>
-void RemoteRobotNode<RobotNodeType>::reset(){
-}
-template<class RobotNodeType>
-void RemoteRobotNode<RobotNodeType>::setGlobalPose( const Eigen::Matrix4f &pose ){
-}
-template<class RobotNodeType>
-void RemoteRobotNode<RobotNodeType>::setJointValue(float q, bool updateTransformations, bool clampToLimits){
-}
+ template<class RobotNodeType>
+ void RemoteRobotNode<RobotNodeType>::addChildNode(RobotNodePtr child)
+ {
+ }
+ template<class RobotNodeType>
+ bool RemoteRobotNode<RobotNodeType>::initialize(RobotNodePtr parent, bool initializeChildren)
+ {
+ return false;
+ }
+ template<class RobotNodeType>
+ void RemoteRobotNode<RobotNodeType>::reset()
+ {
+ }
+ template<class RobotNodeType>
+ void RemoteRobotNode<RobotNodeType>::setGlobalPose(const Eigen::Matrix4f& pose)
+ {
+ }
+ template<class RobotNodeType>
+ void RemoteRobotNode<RobotNodeType>::setJointValue(float q, bool updateTransformations, bool clampToLimits)
+ {
+ }
}
diff --git a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.cpp b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.cpp
index d0ffd0c3373f94bfa84d30c07ada5dbbc22b4c35..36713d9ad74c379c9ee248f1aac33964fdb4e913 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.cpp
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -23,10 +22,10 @@
#include "RobotStateObserver.h"
#include <RobotAPI/interface/core/RobotState.h>
-#include <Core/observers/checks/ConditionCheckEquals.h>
-#include <Core/observers/checks/ConditionCheckInRange.h>
-#include <Core/observers/checks/ConditionCheckLarger.h>
-#include <Core/observers/checks/ConditionCheckSmaller.h>
+#include <ArmarXCore/observers/checks/ConditionCheckEquals.h>
+#include <ArmarXCore/observers/checks/ConditionCheckInRange.h>
+#include <ArmarXCore/observers/checks/ConditionCheckLarger.h>
+#include <ArmarXCore/observers/checks/ConditionCheckSmaller.h>
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
@@ -35,7 +34,7 @@
#include <VirtualRobot/Nodes/RobotNode.h>
#include <VirtualRobot/RobotConfig.h>
#include <VirtualRobot/VirtualRobot.h>
-#include <Core/observers/variant/DatafieldRef.h>
+#include <ArmarXCore/observers/variant/DatafieldRef.h>
#include <boost/algorithm/string/trim.hpp>
@@ -57,11 +56,11 @@ RobotStateObserver::RobotStateObserver()
void RobotStateObserver::onInitObserver()
{
- // register all checks
- offerConditionCheck("equals", new ConditionCheckEquals());
- offerConditionCheck("inrange", new ConditionCheckInRange());
- offerConditionCheck("larger", new ConditionCheckLarger());
- offerConditionCheck("smaller", new ConditionCheckSmaller());
+ // register all checks
+ offerConditionCheck("equals", new ConditionCheckEquals());
+ offerConditionCheck("inrange", new ConditionCheckInRange());
+ offerConditionCheck("larger", new ConditionCheckLarger());
+ offerConditionCheck("smaller", new ConditionCheckSmaller());
}
void RobotStateObserver::onConnectObserver()
@@ -81,52 +80,68 @@ void RobotStateObserver::onConnectObserver()
void RobotStateObserver::updatePoses()
{
- if(getState() < eManagedIceObjectStarting)
+ if (getState() < eManagedIceObjectStarting)
+ {
return;
- if(!robot)
+ }
+
+ if (!robot)
+ {
return;
+ }
+
ScopedRecursiveLock lock(dataMutex);
ReadLockPtr lock2 = robot->getReadLock();
FramedPoseBaseMap tcpPoses;
std::string rootFrame = robot->getRootNode()->getName();
+
//IceUtil::Time start = IceUtil::Time::now();
- for(unsigned int i=0; i < nodesToReport.size(); i++)
+ for (unsigned int i = 0; i < nodesToReport.size(); i++)
{
VirtualRobot::RobotNodePtr& node = nodesToReport.at(i);
- const std::string &tcpName = node->getName();
- const Eigen::Matrix4f ¤tPose = node->getPoseInRootFrame();
+ const std::string& tcpName = node->getName();
+ const Eigen::Matrix4f& currentPose = node->getPoseInRootFrame();
tcpPoses[tcpName] = new FramedPose(currentPose, rootFrame, robot->getName());
}
+
udpatePoseDatafields(tcpPoses);
}
-void RobotStateObserver::udpatePoseDatafields(const FramedPoseBaseMap &poseMap)
+void RobotStateObserver::udpatePoseDatafields(const FramedPoseBaseMap& poseMap)
{
-// ARMARX_INFO << deactivateSpam() << "new tcp poses reported";
+ // ARMARX_INFO << deactivateSpam() << "new tcp poses reported";
FramedPoseBaseMap::const_iterator it = poseMap.begin();
- for(; it != poseMap.end(); it++)
+
+ for (; it != poseMap.end(); it++)
{
FramedPosePtr vec = FramedPosePtr::dynamicCast(it->second);
- const std::string &tcpName = it->first;
- if(!existsDataField(TCP_POSE_CHANNEL, tcpName))
+ const std::string& tcpName = it->first;
+
+ if (!existsDataField(TCP_POSE_CHANNEL, tcpName))
+ {
offerDataFieldWithDefault(TCP_POSE_CHANNEL, tcpName, Variant(it->second), "Pose of " + tcpName);
+ }
else
+ {
setDataField(TCP_POSE_CHANNEL, tcpName, Variant(it->second));
+ }
+
updateChannel(TCP_POSE_CHANNEL);
- if(!existsChannel(tcpName))
+
+ if (!existsChannel(tcpName))
{
offerChannel(tcpName, "pose components of " + tcpName);
- offerDataFieldWithDefault(tcpName,"x", Variant(vec->position->x), "X axis");
- offerDataFieldWithDefault(tcpName,"y", Variant(vec->position->y), "Y axis");
- offerDataFieldWithDefault(tcpName,"z", Variant(vec->position->z), "Z axis");
- offerDataFieldWithDefault(tcpName,"qx", Variant(vec->orientation->qx), "Quaternion part x");
- offerDataFieldWithDefault(tcpName,"qy", Variant(vec->orientation->qy), "Quaternion part y");
- offerDataFieldWithDefault(tcpName,"qz", Variant(vec->orientation->qz), "Quaternion part z");
- offerDataFieldWithDefault(tcpName,"qw", Variant(vec->orientation->qw), "Quaternion part w");
- offerDataFieldWithDefault(tcpName,"frame", Variant(vec->frame), "Reference Frame");
+ offerDataFieldWithDefault(tcpName, "x", Variant(vec->position->x), "X axis");
+ offerDataFieldWithDefault(tcpName, "y", Variant(vec->position->y), "Y axis");
+ offerDataFieldWithDefault(tcpName, "z", Variant(vec->position->z), "Z axis");
+ offerDataFieldWithDefault(tcpName, "qx", Variant(vec->orientation->qx), "Quaternion part x");
+ offerDataFieldWithDefault(tcpName, "qy", Variant(vec->orientation->qy), "Quaternion part y");
+ offerDataFieldWithDefault(tcpName, "qz", Variant(vec->orientation->qz), "Quaternion part z");
+ offerDataFieldWithDefault(tcpName, "qw", Variant(vec->orientation->qw), "Quaternion part w");
+ offerDataFieldWithDefault(tcpName, "frame", Variant(vec->frame), "Reference Frame");
}
else
{
@@ -141,111 +156,141 @@ void RobotStateObserver::udpatePoseDatafields(const FramedPoseBaseMap &poseMap)
newValues["frame"] = new Variant(vec->frame);
setDataFieldsFlatCopy(tcpName, newValues);
}
+
updateChannel(tcpName);
}
}
-DatafieldRefBasePtr RobotStateObserver::getPoseDatafield(const std::string &nodeName, const Ice::Current &) const
+DatafieldRefBasePtr RobotStateObserver::getPoseDatafield(const std::string& nodeName, const Ice::Current&) const
{
return getDataFieldRef(new DataFieldIdentifier(getName(), TCP_POSE_CHANNEL, nodeName));
}
-void RobotStateObserver::updateNodeVelocities(const NameValueMap &jointVel)
+void RobotStateObserver::updateNodeVelocities(const NameValueMap& jointVel)
{
- if(getState() < eManagedIceObjectStarting)
+ if (getState() < eManagedIceObjectStarting)
+ {
return;
+ }
+
ScopedRecursiveLock lock(dataMutex);
- if(!robot)
+
+ if (!robot)
+ {
return;
+ }
+
ReadLockPtr lock2 = robot->getReadLock();
- if(!velocityReportRobot)
+
+ if (!velocityReportRobot)
+ {
velocityReportRobot = robot->clone(robot->getName());
-// IceUtil::Time start = IceUtil::Time::now();
-// ARMARX_INFO << jointVel; FramedPoseBaseMap tcpPoses;
+ }
+
+ // IceUtil::Time start = IceUtil::Time::now();
+ // ARMARX_INFO << jointVel; FramedPoseBaseMap tcpPoses;
FramedDirectionMap tcpTranslationVelocities;
FramedDirectionMap tcpOrientationVelocities;
std::string rootFrame = robot->getRootNode()->getName();
NameValueMap tempJointAngles = robot->getConfig()->getRobotNodeJointValueMap();
FramedPoseBaseMap tcpPoses;
- for(unsigned int i=0; i < nodesToReport.size(); i++)
+
+ for (unsigned int i = 0; i < nodesToReport.size(); i++)
{
RobotNodePtr node = nodesToReport.at(i);
- const std::string &tcpName = node->getName();
- const Eigen::Matrix4f ¤tPose = node->getPoseInRootFrame();
+ const std::string& tcpName = node->getName();
+ const Eigen::Matrix4f& currentPose = node->getPoseInRootFrame();
tcpPoses[tcpName] = new FramedPose(currentPose, rootFrame, robot->getName());
}
double tDelta = 0.001;
- for(NameValueMap::iterator it = tempJointAngles.begin(); it != tempJointAngles.end(); it++)
+
+ for (NameValueMap::iterator it = tempJointAngles.begin(); it != tempJointAngles.end(); it++)
{
NameValueMap::const_iterator itSrc = jointVel.find(it->first);
- if(itSrc != jointVel.end())
+
+ if (itSrc != jointVel.end())
+ {
it->second += itSrc->second * tDelta;
+ }
}
velocityReportRobot->setJointValues(tempJointAngles);
-// ARMARX_INFO << deactivateSpam(1) << "duration: " << (IceUtil::Time::now()-start).toMicroSecondsDouble();
-// start = IceUtil::Time::now();
+ // ARMARX_INFO << deactivateSpam(1) << "duration: " << (IceUtil::Time::now()-start).toMicroSecondsDouble();
+ // start = IceUtil::Time::now();
Eigen::Matrix4f mat;
Eigen::Vector3f rpy;
- for(unsigned int i=0; i < nodesToReport.size(); i++)
+
+ for (unsigned int i = 0; i < nodesToReport.size(); i++)
{
RobotNodePtr node = velocityReportRobot->getRobotNode(nodesToReport.at(i)->getName());
- const std::string &tcpName = node->getName();
- const Eigen::Matrix4f ¤tPose = node->getPoseInRootFrame();
+ const std::string& tcpName = node->getName();
+ const Eigen::Matrix4f& currentPose = node->getPoseInRootFrame();
FramedPosePtr lastPose = FramedPosePtr::dynamicCast(tcpPoses[tcpName]);
- tcpTranslationVelocities[tcpName] = new FramedDirection((currentPose.block(0,3,3,1) - lastPose->toEigen().block(0,3,3,1))/tDelta, rootFrame, robot->getName());
+ tcpTranslationVelocities[tcpName] = new FramedDirection((currentPose.block(0, 3, 3, 1) - lastPose->toEigen().block(0, 3, 3, 1)) / tDelta, rootFrame, robot->getName());
mat = currentPose * lastPose->toEigen().inverse();
VirtualRobot::MathTools::eigen4f2rpy(mat, rpy);
- tcpOrientationVelocities[tcpName] = new FramedDirection(rpy/tDelta, rootFrame, robot->getName());
+ tcpOrientationVelocities[tcpName] = new FramedDirection(rpy / tDelta, rootFrame, robot->getName());
}
-// ARMARX_INFO << deactivateSpam(1) << "duration2: " << (IceUtil::Time::now()-start).toMicroSecondsDouble();
-// ARMARX_INFO << deactivateSpam(5) << "TCP Pose Vel Calc took: " << ( IceUtil::Time::now() - start).toMilliSecondsDouble();
+
+ // ARMARX_INFO << deactivateSpam(1) << "duration2: " << (IceUtil::Time::now()-start).toMicroSecondsDouble();
+ // ARMARX_INFO << deactivateSpam(5) << "TCP Pose Vel Calc took: " << ( IceUtil::Time::now() - start).toMilliSecondsDouble();
updateVelocityDatafields(tcpTranslationVelocities, tcpOrientationVelocities);
}
-void RobotStateObserver::updateVelocityDatafields(const FramedDirectionMap &tcpTranslationVelocities, const FramedDirectionMap &tcpOrientationVelocities)
+void RobotStateObserver::updateVelocityDatafields(const FramedDirectionMap& tcpTranslationVelocities, const FramedDirectionMap& tcpOrientationVelocities)
{
FramedDirectionMap::const_iterator it = tcpTranslationVelocities.begin();
- for(; it != tcpTranslationVelocities.end(); it++)
+
+ for (; it != tcpTranslationVelocities.end(); it++)
{
FramedDirectionPtr vec = FramedDirectionPtr::dynamicCast(it->second);
FramedDirectionPtr vecOri;
FramedDirectionMap::const_iterator itOri = tcpOrientationVelocities.find(it->first);
- if(itOri != tcpOrientationVelocities.end())
+
+ if (itOri != tcpOrientationVelocities.end())
+ {
vecOri = FramedDirectionPtr::dynamicCast(itOri->second);
- const std::string &tcpName = it->first;
+ }
+
+ const std::string& tcpName = it->first;
ARMARX_CHECK_EXPRESSION(vec->frame == vecOri->frame);
- if(!existsDataField(TCP_TRANS_VELOCITIES_CHANNEL, tcpName))
+ if (!existsDataField(TCP_TRANS_VELOCITIES_CHANNEL, tcpName))
+ {
offerDataFieldWithDefault(TCP_TRANS_VELOCITIES_CHANNEL, tcpName, Variant(it->second), "Pose of " + tcpName);
+ }
else
+ {
setDataField(TCP_TRANS_VELOCITIES_CHANNEL, tcpName, Variant(it->second));
+ }
+
updateChannel(TCP_TRANS_VELOCITIES_CHANNEL);
- const std::string channelName = tcpName+"Velocities";
- if(!existsChannel(channelName))
+ const std::string channelName = tcpName + "Velocities";
+
+ if (!existsChannel(channelName))
{
offerChannel(channelName, "pose components of " + tcpName);
- offerDataFieldWithDefault(channelName,"x", Variant(vec->x), "X axis");
- offerDataFieldWithDefault(channelName,"y", Variant(vec->y), "Y axis");
- offerDataFieldWithDefault(channelName,"z", Variant(vec->z), "Z axis");
- offerDataFieldWithDefault(channelName,"roll", Variant(vecOri->x), "Roll");
- offerDataFieldWithDefault(channelName,"pitch", Variant(vecOri->y), "Pitch");
- offerDataFieldWithDefault(channelName,"yaw", Variant(vecOri->z), "Yaw");
- offerDataFieldWithDefault(channelName,"frame", Variant(vecOri->frame), "Reference Frame");
+ offerDataFieldWithDefault(channelName, "x", Variant(vec->x), "X axis");
+ offerDataFieldWithDefault(channelName, "y", Variant(vec->y), "Y axis");
+ offerDataFieldWithDefault(channelName, "z", Variant(vec->z), "Z axis");
+ offerDataFieldWithDefault(channelName, "roll", Variant(vecOri->x), "Roll");
+ offerDataFieldWithDefault(channelName, "pitch", Variant(vecOri->y), "Pitch");
+ offerDataFieldWithDefault(channelName, "yaw", Variant(vecOri->z), "Yaw");
+ offerDataFieldWithDefault(channelName, "frame", Variant(vecOri->frame), "Reference Frame");
}
else
{
@@ -259,6 +304,7 @@ void RobotStateObserver::updateVelocityDatafields(const FramedDirectionMap &tcpT
newValues["frame"] = new Variant(vec->frame);
setDataFieldsFlatCopy(channelName, newValues);
}
+
updateChannel(channelName);
}
@@ -280,15 +326,19 @@ void RobotStateObserver::setRobot(RobotPtr robot)
robotNodes = robot->getRobotNodeSets();
std::string nodesetsString = getProperty<std::string>("TCPsToReport").getValue();
- if(!nodesetsString.empty())
+
+ if (!nodesetsString.empty())
{
- if(nodesetsString=="*")
+ if (nodesetsString == "*")
{
auto nodesets = robot->getRobotNodeSets();
- for(RobotNodeSetPtr& set : nodesets)
+
+ for (RobotNodeSetPtr& set : nodesets)
{
- if(set->getTCP())
+ if (set->getTCP())
+ {
nodesToReport.push_back(set->getTCP());
+ }
}
}
else
@@ -298,15 +348,20 @@ void RobotStateObserver::setRobot(RobotPtr robot)
nodesetsString,
boost::is_any_of(","),
boost::token_compress_on);
- for(auto name : nodesetNames)
+
+ for (auto name : nodesetNames)
{
boost::trim(name);
auto node = robot->getRobotNode(name);
- if(node)
+ if (node)
+ {
nodesToReport.push_back(node);
+ }
else
+ {
ARMARX_ERROR << "Could not find node set with name: " << name;
+ }
}
}
}
diff --git a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
index a4f230e585434bbfdad585291e99d2a0fa4d1ccf..2c4eae0066b81b1f61ca99cb9c2777254fb4a47d 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
+++ b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -24,14 +23,14 @@
#ifndef _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_H
#define _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_H
-#include <Core/core/system/ImportExport.h>
-#include <Core/core/Component.h>
-#include <Core/interface/observers/VariantBase.h>
+#include <ArmarXCore/core/system/ImportExport.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/interface/observers/VariantBase.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
#include <RobotAPI/interface/core/RobotStateObserverInterface.h>
#include <RobotAPI/interface/core/RobotState.h>
-#include <Core/observers/ConditionCheck.h>
-#include <Core/observers/Observer.h>
+#include <ArmarXCore/observers/ConditionCheck.h>
+#include <ArmarXCore/observers/Observer.h>
#include <string>
@@ -50,10 +49,10 @@ namespace armarx
* RobotStatePropertyDefinition Property Definitions
*/
class RobotStateObserverPropertyDefinitions:
- public ComponentPropertyDefinitions
+ public ComponentPropertyDefinitions
{
public:
- RobotStateObserverPropertyDefinitions(std::string prefix):
+ RobotStateObserverPropertyDefinitions(std::string prefix):
ComponentPropertyDefinitions(prefix)
{
defineOptionalProperty<std::string>("TCPsToReport", "", "comma seperated list of nodesets' endeffectors, which poses and velocities that should be reported. * for all, empty for none");
@@ -62,48 +61,51 @@ namespace armarx
typedef ::std::map< ::std::string, ::armarx::FramedPoseBasePtr> FramedPoseBaseMap;
- /**
- * ArmarX RobotStateObserver.
- *
- * The RobotStateObserver allows to install conditions on all channel reported by the KinematicUnit.
- * These include joint angles, velocities, torques and motor temperatures
- *
- * The RobotStateObserver retrieves its configuration from a VirtualRobot robot model. Within the model, the joints
- * which are observer by the unit are define by a robotnodeset
- */
+ /**
+ * ArmarX RobotStateObserver.
+ *
+ * The RobotStateObserver allows to install conditions on all channel reported by the KinematicUnit.
+ * These include joint angles, velocities, torques and motor temperatures
+ *
+ * The RobotStateObserver retrieves its configuration from a VirtualRobot robot model. Within the model, the joints
+ * which are observer by the unit are define by a robotnodeset
+ */
class ARMARXCORE_IMPORT_EXPORT RobotStateObserver :
virtual public Observer,
virtual public RobotStateObserverInterface
{
public:
RobotStateObserver();
- // framework hooks
- void onInitObserver();
- void onConnectObserver();
+ // framework hooks
+ void onInitObserver();
+ void onConnectObserver();
virtual PropertyDefinitionsPtr createPropertyDefinitions();
void setRobot(VirtualRobot::RobotPtr robot);
- virtual std::string getDefaultName() const { return "RobotStateObserver"; }
+ virtual std::string getDefaultName() const
+ {
+ return "RobotStateObserver";
+ }
void updatePoses();
- void updateNodeVelocities(const NameValueMap &jointVel);
+ void updateNodeVelocities(const NameValueMap& jointVel);
protected:
- void updateVelocityDatafields(const FramedDirectionMap &tcpTranslationVelocities, const FramedDirectionMap &tcpOrientationVelocities);
+ void updateVelocityDatafields(const FramedDirectionMap& tcpTranslationVelocities, const FramedDirectionMap& tcpOrientationVelocities);
- void udpatePoseDatafields(const FramedPoseBaseMap &poseMap);
+ void udpatePoseDatafields(const FramedPoseBaseMap& poseMap);
private:
- std::string robotNodeSetName;
- RobotStateComponentInterfacePrx server;
+ std::string robotNodeSetName;
+ RobotStateComponentInterfacePrx server;
VirtualRobot::RobotPtr robot, velocityReportRobot;
std::vector<VirtualRobot::RobotNodePtr > nodesToReport;
RecursiveMutex dataMutex;
// RobotStateObserverInterface interface
public:
- DatafieldRefBasePtr getPoseDatafield(const std::string &nodeName, const Ice::Current &) const;
+ DatafieldRefBasePtr getPoseDatafield(const std::string& nodeName, const Ice::Current&) const;
};
typedef IceInternal::Handle<RobotStateObserver> RobotStateObserverPtr;
diff --git a/source/RobotAPI/libraries/core/remoterobot/test/ArmarPoseTest.cpp b/source/RobotAPI/libraries/core/remoterobot/test/ArmarPoseTest.cpp
index 553f2ff8a458cb2331fa81bbc3f64f7344210acd..0c7f49a96a80e183ac3c9c84c3614e8b003b15a1 100644
--- a/source/RobotAPI/libraries/core/remoterobot/test/ArmarPoseTest.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/test/ArmarPoseTest.cpp
@@ -2,14 +2,13 @@
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as
-* published by the Free Software Foundation; either version 2 of
-* the License, or (at your option) any later version.
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU Lesser General Public License for more details.
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
@@ -24,7 +23,7 @@
#define BOOST_TEST_MODULE RobotAPI::FramedPose::Test
#define ARMARX_BOOST_TEST
#include <RobotAPI/Test.h>
-#include <Core/util/json/JSONObject.h>
+#include <ArmarXCore/util/json/JSONObject.h>
#include <RobotAPI/libraries/core/FramedPose.h>
@@ -41,8 +40,9 @@ BOOST_AUTO_TEST_CASE(complexVariantToDict)
pos->z = 3;
pos->frame = "Base";
VariantPtr var = new Variant(pos);
- auto dict = json->ConvertToBasicVariantMap(json,var);
- for(auto e : dict)
+ auto dict = json->ConvertToBasicVariantMap(json, var);
+
+ for (auto e : dict)
{
ARMARX_INFO_S << e.first << ": " << *VariantPtr::dynamicCast(e.second);
}
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/AbstractInterface.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/AbstractInterface.cpp
index b450fb668f81c4bc9bc73986211bb46d92ef2733..d043c16bb07af22398afd2a338be706ed3b557c0 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/AbstractInterface.cpp
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/AbstractInterface.cpp
@@ -19,11 +19,11 @@ AbstractInterface::~AbstractInterface()
{
}
-int AbstractInterface::read(unsigned char *buf, unsigned int len)
+int AbstractInterface::read(unsigned char* buf, unsigned int len)
{
int res = readInternal(buf, len);
- if(log != NULL)
+ if (log != NULL)
{
log->logRead(buf, res);
}
@@ -31,9 +31,9 @@ int AbstractInterface::read(unsigned char *buf, unsigned int len)
return res;
}
-int AbstractInterface::write(unsigned char *buf, unsigned int len)
+int AbstractInterface::write(unsigned char* buf, unsigned int len)
{
- if(log != NULL)
+ if (log != NULL)
{
log->logWrite(buf, len);
}
@@ -42,26 +42,27 @@ int AbstractInterface::write(unsigned char *buf, unsigned int len)
}
-Response AbstractInterface::submitCmd( unsigned char id, unsigned char *payload, unsigned int len, bool pending )
+Response AbstractInterface::submitCmd(unsigned char id, unsigned char* payload, unsigned int len, bool pending)
{
fireAndForgetCmd(id, payload, len, pending);
return receive(pending, id);
}
-void AbstractInterface::fireAndForgetCmd( unsigned char id, unsigned char *payload, unsigned int len, bool pending )
+void AbstractInterface::fireAndForgetCmd(unsigned char id, unsigned char* payload, unsigned int len, bool pending)
{
int res;
// Check if we're connected
- if ( !connected )
+ if (!connected)
{
throw TransmissionException("Interface not connected");
}
// Send command
- res = send( id, len, payload );
- if ( res < 0 )
+ res = send(id, len, payload);
+
+ if (res < 0)
{
throw TransmissionException("Message send failed");
}
@@ -74,7 +75,7 @@ void AbstractInterface::startLogging(std::string file)
void AbstractInterface::logText(std::string message)
{
- if(log != NULL)
+ if (log != NULL)
{
log->logText(message);
}
@@ -87,13 +88,14 @@ Response AbstractInterface::receiveWithoutChecks()
msg_t msg;
// Receive response data
- res = receive( &msg );
- if ( res < 0 )
+ res = receive(&msg);
+
+ if (res < 0)
{
throw TransmissionException("Message receive failed");
}
- status = (status_t) make_short( msg.data[0], msg.data[1] );
+ status = (status_t) make_short(msg.data[0], msg.data[1]);
return Response(res, msg.id, status, msg.data, msg.len);
}
@@ -108,14 +110,15 @@ Response AbstractInterface::receive(bool pending, unsigned char expectedId)
do
{
// Receive response data
- res = receive( &msg );
- if ( res < 0 )
+ res = receive(&msg);
+
+ if (res < 0)
{
throw TransmissionException("Message receive failed");
}
// Check response ID
- if ( msg.id != expectedId )
+ if (msg.id != expectedId)
{
//std::strstream strStream;
//strStream << "Response ID ()" << msg.id << ") does not match submitted command ID (" << id << ")";
@@ -123,37 +126,39 @@ Response AbstractInterface::receive(bool pending, unsigned char expectedId)
throw TransmissionException(str(boost::format("Response ID (%02X) does not match submitted command ID (%02X)") % (int)msg.id % (int)expectedId));
}
- if ( pending )
+ if (pending)
{
- if ( msg.len < 2 )
+ if (msg.len < 2)
{
throw TransmissionException("No status code received");
}
- status = (status_t) make_short( msg.data[0], msg.data[1] );
+ status = (status_t) make_short(msg.data[0], msg.data[1]);
}
}
- while( pending && status == E_CMD_PENDING );
+ while (pending && status == E_CMD_PENDING);
- status = (status_t) make_short( msg.data[0], msg.data[1] );
+ status = (status_t) make_short(msg.data[0], msg.data[1]);
return Response(res, msg.id, status, msg.data, msg.len);
}
-int AbstractInterface::receive( msg_t *msg )
+int AbstractInterface::receive(msg_t* msg)
{
int res;
- unsigned char header[3]; // 1 byte command, 2 bytes payload length
- unsigned short checksum = 0x50f5; // Checksum over preamble (0xaa 0xaa 0xaa)
+ unsigned char header[3]; // 1 byte command, 2 bytes payload length
+ unsigned short checksum = 0x50f5; // Checksum over preamble (0xaa 0xaa 0xaa)
unsigned int sync;
logText("read preamble");
// Syncing - necessary for compatibility with serial interface
sync = 0;
- while( sync != MSG_PREAMBLE_LEN )
+
+ while (sync != MSG_PREAMBLE_LEN)
{
- res = read( header, 1 );
- if ( res > 0 && header[0] == MSG_PREAMBLE_BYTE )
+ res = read(header, 1);
+
+ if (res > 0 && header[0] == MSG_PREAMBLE_BYTE)
{
sync++;
}
@@ -164,20 +169,21 @@ int AbstractInterface::receive( msg_t *msg )
}
// Read header
- res = read( header, 3 );
- if ( res < 3 )
+ res = read(header, 3);
+
+ if (res < 3)
{
throw TransmissionException(str(boost::format("Failed to receive header data (%d bytes read)") % res));
}
// Calculate checksum over header
- checksum = Checksum::Update_crc16( header, 3, checksum );
+ checksum = Checksum::Update_crc16(header, 3, checksum);
// Get message id of received
msg->id = header[0];
// Get payload size of received message
- msg->len = make_short( header[1], header[2] );
+ msg->len = make_short(header[1], header[2]);
// Allocate space for payload and checksum
//msg->data.resize( msg->len + 2u );
@@ -210,7 +216,8 @@ int AbstractInterface::receive( msg_t *msg )
// Read payload and checksum:
// payload: msg->len
// checksum: 2 byte
- int read = this->read( data, msg->len + 2 );
+ int read = this->read(data, msg->len + 2);
+
if (read != (int)msg->len + 2)
{
delete[] data;
@@ -227,8 +234,9 @@ int AbstractInterface::receive( msg_t *msg )
}*/
// Check checksum
- checksum = Checksum::Update_crc16( data, msg->len + 2, checksum );
- if ( checksum != 0 )
+ checksum = Checksum::Update_crc16(data, msg->len + 2, checksum);
+
+ if (checksum != 0)
{
delete[] data;
logText("CHECKSUM ERROR");
@@ -241,7 +249,7 @@ int AbstractInterface::receive( msg_t *msg )
return msg->len + 8;
}
-int AbstractInterface::send(unsigned char id, unsigned int len, unsigned char *data)
+int AbstractInterface::send(unsigned char id, unsigned int len, unsigned char* data)
{
unsigned char header[MSG_PREAMBLE_LEN + 3];
unsigned short crc;
@@ -250,29 +258,33 @@ int AbstractInterface::send(unsigned char id, unsigned int len, unsigned char *d
logText("write preamble");
// Preamble
- for ( i = 0; i < MSG_PREAMBLE_LEN; i++ ) header[i] = MSG_PREAMBLE_BYTE;
+ for (i = 0; i < MSG_PREAMBLE_LEN; i++)
+ {
+ header[i] = MSG_PREAMBLE_BYTE;
+ }
// Command ID
header[MSG_PREAMBLE_LEN] = id;
// Length
- header[MSG_PREAMBLE_LEN + 1] = lo( len );
- header[MSG_PREAMBLE_LEN + 2] = hi( len );
+ header[MSG_PREAMBLE_LEN + 1] = lo(len);
+ header[MSG_PREAMBLE_LEN + 2] = hi(len);
// Checksum
- crc = Checksum::Crc16( header, 6 );
- crc = Checksum::Update_crc16( data, len, crc );
+ crc = Checksum::Crc16(header, 6);
+ crc = Checksum::Update_crc16(data, len, crc);
+
+ unsigned char* buf = new unsigned char[ 6 + len + 2 ];
+ memcpy(buf, header, 6);
+ memcpy(buf + 6, data, len);
+ memcpy(buf + 6 + len, (unsigned char*) &crc, 2);
- unsigned char *buf = new unsigned char[ 6 + len + 2 ];
- memcpy( buf, header, 6 );
- memcpy( buf + 6, data, len );
- memcpy( buf + 6 + len, (unsigned char *) &crc, 2 );
+ res = write(buf, 6 + len + 2);
- res = write( buf, 6 + len + 2 );
- if ( res < 6 + (int)len + 2 )
+ if (res < 6 + (int)len + 2)
{
- delete[] buf;
+ delete[] buf;
close();
throw TransmissionException("Failed to submit message checksum");
//cerr << "Failed to submit message checksum" << endl;
@@ -288,6 +300,7 @@ int AbstractInterface::send(unsigned char id, unsigned int len, unsigned char *d
-std::ostream& operator<<(std::ostream &strm, const AbstractInterface &a) {
- return strm << a.toString();
+std::ostream& operator<<(std::ostream& strm, const AbstractInterface& a)
+{
+ return strm << a.toString();
}
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/AbstractInterface.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/AbstractInterface.h
index 19e45a9cc1821573cd222cd4f1c53b2894c640af..b148061e0c0701d48d080bf3ba192c27fb33f0a3 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/AbstractInterface.h
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/AbstractInterface.h
@@ -7,18 +7,18 @@
#include <boost/shared_ptr.hpp>
-#define MSG_PREAMBLE_BYTE 0xaa
-#define MSG_PREAMBLE_LEN 3
+#define MSG_PREAMBLE_BYTE 0xaa
+#define MSG_PREAMBLE_LEN 3
// Combine bytes to different types
-#define make_short( lowbyte, highbyte ) ( (unsigned short)lowbyte | ( (unsigned short)highbyte << 8 ) )
-#define make_signed_short( lowbyte, highbyte ) ( (signed short) ( (unsigned short) lowbyte | ( (unsigned short) highbyte << 8 ) ) )
-#define make_int( lowbyte, mid1, mid2, highbyte ) ( (unsigned int) lowbyte | ( (unsigned int) mid1 << 8 ) | ( (unsigned int) mid2 << 16 ) | ( (unsigned int) highbyte << 24 ) )
-#define make_float( result, byteptr ) memcpy( &result, byteptr, sizeof( float ) )
+#define make_short( lowbyte, highbyte ) ( (unsigned short)lowbyte | ( (unsigned short)highbyte << 8 ) )
+#define make_signed_short( lowbyte, highbyte ) ( (signed short) ( (unsigned short) lowbyte | ( (unsigned short) highbyte << 8 ) ) )
+#define make_int( lowbyte, mid1, mid2, highbyte ) ( (unsigned int) lowbyte | ( (unsigned int) mid1 << 8 ) | ( (unsigned int) mid2 << 16 ) | ( (unsigned int) highbyte << 24 ) )
+#define make_float( result, byteptr ) memcpy( &result, byteptr, sizeof( float ) )
// Byte access
-#define hi( x ) (unsigned char) ( ((x) >> 8) & 0xff ) // Returns the upper byte of the passed short
-#define lo( x ) (unsigned char) ( (x) & 0xff ) // Returns the lower byte of the passed short
+#define hi( x ) (unsigned char) ( ((x) >> 8) & 0xff ) // Returns the upper byte of the passed short
+#define lo( x ) (unsigned char) ( (x) & 0xff ) // Returns the lower byte of the passed short
@@ -31,19 +31,22 @@ public:
virtual ~AbstractInterface();
virtual int open() = 0;
virtual void close() = 0;
- int read( unsigned char *buf, unsigned int len);
- int write( unsigned char *buf, unsigned int len);
+ int read(unsigned char* buf, unsigned int len);
+ int write(unsigned char* buf, unsigned int len);
- bool IsConnected() const { return connected; }
+ bool IsConnected() const
+ {
+ return connected;
+ }
virtual std::string toString() const = 0;
- int send(unsigned char id, unsigned int len, unsigned char *data);
- int receive( msg_t *msg );
- Response submitCmd( unsigned char id, unsigned char *payload, unsigned int len, bool pending );
+ int send(unsigned char id, unsigned int len, unsigned char* data);
+ int receive(msg_t* msg);
+ Response submitCmd(unsigned char id, unsigned char* payload, unsigned int len, bool pending);
Response receive(bool pending, unsigned char expectedId);
Response receiveWithoutChecks();
- void fireAndForgetCmd( unsigned char id, unsigned char *payload, unsigned int len, bool pending );
+ void fireAndForgetCmd(unsigned char id, unsigned char* payload, unsigned int len, bool pending);
void startLogging(std::string file);
void logText(std::string message);
@@ -51,15 +54,15 @@ public:
protected:
bool connected;
- virtual int readInternal( unsigned char *buf, unsigned int len) = 0;
- virtual int writeInternal( unsigned char *buf, unsigned int len) = 0;
+ virtual int readInternal(unsigned char* buf, unsigned int len) = 0;
+ virtual int writeInternal(unsigned char* buf, unsigned int len) = 0;
private:
friend std::ostream& operator<<(std::ostream&, const AbstractInterface&);
boost::shared_ptr<BinaryLogger> log;
};
-std::ostream& operator<<(std::ostream &strm, const AbstractInterface &a);
+std::ostream& operator<<(std::ostream& strm, const AbstractInterface& a);
#endif // ABSTRACTINTERFACE_H
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/BinaryLogger.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/BinaryLogger.cpp
index 40c39409735c5b9fefd71983e83294bc19d6c9ca..9142b7349a5bcb8b8260d101d4e3baed9568d50f 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/BinaryLogger.cpp
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/BinaryLogger.cpp
@@ -11,24 +11,28 @@ BinaryLogger::~BinaryLogger()
log.close();
}
-void BinaryLogger::logRead(unsigned char *buf, unsigned int len)
+void BinaryLogger::logRead(unsigned char* buf, unsigned int len)
{
log << "READ";
- for(unsigned int i = 0; i < len; i++)
+
+ for (unsigned int i = 0; i < len; i++)
{
log << boost::format(" %02X") % (int)buf[i];
}
+
log << std::endl;
log.flush();
}
-void BinaryLogger::logWrite(unsigned char *buf, unsigned int len)
+void BinaryLogger::logWrite(unsigned char* buf, unsigned int len)
{
log << "WRITE";
- for(unsigned int i = 0; i < len; i++)
+
+ for (unsigned int i = 0; i < len; i++)
{
log << boost::format(" %02X") % (int)buf[i];
}
+
log << std::endl;
log.flush();
}
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/BinaryLogger.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/BinaryLogger.h
index 535786e85c1b1f02e3fd12dc3fda398cdd239654..e48ce78dc925f224852fce4002aa8089a45af474 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/BinaryLogger.h
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/BinaryLogger.h
@@ -9,8 +9,8 @@ public:
BinaryLogger(std::string filename);
~BinaryLogger();
- void logRead(unsigned char *buf, unsigned int len);
- void logWrite(unsigned char *buf, unsigned int len);
+ void logRead(unsigned char* buf, unsigned int len);
+ void logWrite(unsigned char* buf, unsigned int len);
void logText(std::string message);
private:
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/CMakeLists.txt b/source/RobotAPI/libraries/drivers/WeissHapticSensor/CMakeLists.txt
index 69c5f8a2b3968cf42865d9755d9ee15c585dd829..0097fc9571d1b23b2794821be4ee36f038405082 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/CMakeLists.txt
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/CMakeLists.txt
@@ -10,8 +10,8 @@ if (Eigen3_FOUND)
endif()
set(LIB_NAME WeissHapticSensor)
-set(LIB_VERSION 0.1.0)
-set(LIB_SOVERSION 0)
+
+
set(LIBS RobotAPIUnits ArmarXCoreObservers ArmarXCoreEigen3Variants)
@@ -43,4 +43,4 @@ set(LIB_HEADERS
CalibrationHelper.h
)
-armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/CalibrationHelper.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/CalibrationHelper.cpp
index 244edebedae87da6a36d37eff64a6bd955d0c682..0497f62321d65cb6b724e257ff3fd466fb15acc2 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/CalibrationHelper.cpp
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/CalibrationHelper.cpp
@@ -17,7 +17,7 @@ void CalibrationHelper::addNoiseSample(Eigen::MatrixXf data)
bool CalibrationHelper::addMaxValueSample(Eigen::MatrixXf data)
{
- if(data.maxCoeff() <= noiseThreshold)
+ if (data.maxCoeff() <= noiseThreshold)
{
this->maximumValues = this->maximumValues.cwiseMax(data);
return true;
@@ -50,15 +50,17 @@ int CalibrationHelper::getNoiseSampleCount()
Eigen::MatrixXf CalibrationHelper::getMatrixAverage(std::vector<Eigen::MatrixXf> samples)
{
- if(samples.size() == 0)
+ if (samples.size() == 0)
{
throw std::runtime_error("Average of zero samples not possible");
}
Eigen::MatrixXf sum = samples.at(0);
- for(std::vector<Eigen::MatrixXf>::iterator it = samples.begin() + 1; it != samples.end(); ++it)
+
+ for (std::vector<Eigen::MatrixXf>::iterator it = samples.begin() + 1; it != samples.end(); ++it)
{
sum += *it;
}
+
return sum / (float)samples.size();
}
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/Checksum.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/Checksum.cpp
index 15b3cecfff3a5073d476ce5c544f6ad617696859..44ebd21ff0fa2cbfd03f22e32d4c5670349c4f3c 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/Checksum.cpp
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/Checksum.cpp
@@ -8,7 +8,8 @@
* corresponding to x^16 + x^12 + x^5 + 1
*/
-const unsigned short Checksum::CRC_TABLE_CCITT16[256] = {
+const unsigned short Checksum::CRC_TABLE_CCITT16[256] =
+{
0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
@@ -59,15 +60,16 @@ const unsigned short Checksum::CRC_TABLE_CCITT16[256] = {
* @return CRC16 checksum
*/
-unsigned short Checksum::Update_crc16( unsigned char *data, unsigned int size, unsigned short crc )
+unsigned short Checksum::Update_crc16(unsigned char* data, unsigned int size, unsigned short crc)
{
unsigned long c;
/* process each byte prior to checksum field */
- for ( c=0; c < size; c++ )
+ for (c = 0; c < size; c++)
{
- crc = CRC_TABLE_CCITT16[ ( crc ^ *( data ++ )) & 0x00FF ] ^ ( crc >> 8 );
+ crc = CRC_TABLE_CCITT16[(crc ^ * (data ++)) & 0x00FF ] ^ (crc >> 8);
}
+
return crc;
}
@@ -80,15 +82,15 @@ unsigned short Checksum::Update_crc16( unsigned char *data, unsigned int size, u
* Note: The checksum generated by this function is NOT according
* to CCITT standard!
*
- * @param *data Points to the byte array from which checksum should
- * be calculated
- * @param size Size of the byte array
+ * @param *data Points to the byte array from which checksum should
+ * be calculated
+ * @param size Size of the byte array
*
* @return CRC16 checksum
*/
-unsigned short Checksum::Crc16( unsigned char *data, unsigned int size )
+unsigned short Checksum::Crc16(unsigned char* data, unsigned int size)
{
- return( Update_crc16( data, size, 0xffff ) );
+ return (Update_crc16(data, size, 0xffff));
}
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/Checksum.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/Checksum.h
index 7603e1b69f4a71856b801a716c2454e18024ffca..2561f727b247456d73eef711a053220f96b3ecf6 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/Checksum.h
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/Checksum.h
@@ -4,8 +4,8 @@
class Checksum
{
public:
- static unsigned short Crc16( unsigned char *data, unsigned int size );
- static unsigned short Update_crc16( unsigned char *data, unsigned int size, unsigned short crc );
+ static unsigned short Crc16(unsigned char* data, unsigned int size);
+ static unsigned short Update_crc16(unsigned char* data, unsigned int size, unsigned short crc);
private:
static const unsigned short CRC_TABLE_CCITT16[256];
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/Response.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/Response.h
index 933f45af0cc5372578274f6a21316fddd13c7691..a6ea680edea82f600fa4e52349343ecb215869ba 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/Response.h
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/Response.h
@@ -7,21 +7,22 @@
#include <stdexcept>
#include <boost/format.hpp>
#include <vector>
-#include <Core/core/logging/Logging.h>
+#include <ArmarXCore/core/logging/Logging.h>
-struct Response {
+struct Response
+{
public:
- Response(int res, unsigned char cmdId, status_t status, const std::vector<unsigned char> &data, unsigned int len)
+ Response(int res, unsigned char cmdId, status_t status, const std::vector<unsigned char>& data, unsigned int len)
: res(res), cmdId(cmdId), status(status), data(data), len(len) {}
unsigned int getUInt(int index)
{
- return (unsigned int)data[index] | ( (unsigned int)data[index + 1] << 8) | ( (unsigned int)data[index + 2] << 16) | ( (unsigned int)data[index + 3] << 24);
+ return (unsigned int)data[index] | ((unsigned int)data[index + 1] << 8) | ((unsigned int)data[index + 2] << 16) | ((unsigned int)data[index + 3] << 24);
}
unsigned short getShort(int index)
{
- return (unsigned short)data[index] | ( (unsigned short)data[index + 1] << 8);
+ return (unsigned short)data[index] | ((unsigned short)data[index + 1] << 8);
}
unsigned char getByte(int index)
{
@@ -30,7 +31,8 @@ public:
void ensureMinLength(int len)
{
- if ( res < len ) {
+ if (res < len)
+ {
//std::strstream strStream;
//strStream << "Response length is too short, should be = " << len << " (is " << res << ")";
//throw std::runtime_error(strStream.str());
@@ -40,18 +42,21 @@ public:
void ensureSuccess()
{
- if ( status != E_SUCCESS )
+ if (status != E_SUCCESS)
{
//std::strstream strStream;
//strStream << "Command not successful: " << status_to_str( status );
//throw std::runtime_error(strStream.str());
std::stringstream ss;
ss << " status != E_SUCCESS";
- for(int i=0; i<(int)len; i++){
+
+ for (int i = 0; i < (int)len; i++)
+ {
ss << boost::format("%02X ") % (int)data[i];
}
+
ARMARX_ERROR_S << ss.str();
- throw TransmissionException(str(boost::format("Command not successful: %1% (0x%2$02X)") % status_to_str( status ) % status));
+ throw TransmissionException(str(boost::format("Command not successful: %1% (0x%2$02X)") % status_to_str(status) % status));
}
}
@@ -61,42 +66,105 @@ public:
std::vector<unsigned char> data;
unsigned int len;
- static const char* status_to_str( status_t status )
+ static const char* status_to_str(status_t status)
{
- switch( status )
+ switch (status)
{
- case E_SUCCESS: return( "No error" );
- case E_NOT_AVAILABLE: return( "Service or data is not available" );
- case E_NO_SENSOR: return( "No sensor connected" );
- case E_NOT_INITIALIZED: return( "The device is not initialized" );
- case E_ALREADY_RUNNING: return( "Service is already running" );
- case E_FEATURE_NOT_SUPPORTED: return( "The requested feature is not supported" );
- case E_INCONSISTENT_DATA: return( "One or more dependent parameters mismatch" );
- case E_TIMEOUT: return( "Timeout error" );
- case E_READ_ERROR: return( "Error while reading from a device" );
- case E_WRITE_ERROR: return( "Error while writing to a device" );
- case E_INSUFFICIENT_RESOURCES: return( "No memory available" );
- case E_CHECKSUM_ERROR: return( "Checksum error" );
- case E_NO_PARAM_EXPECTED: return( "No parameters expected" );
- case E_NOT_ENOUGH_PARAMS: return( "Not enough parameters" );
- case E_CMD_UNKNOWN: return( "Unknown command" );
- case E_CMD_FORMAT_ERROR: return( "Command format error" );
- case E_ACCESS_DENIED: return( "Access denied" );
- case E_ALREADY_OPEN: return( "Interface already open" );
- case E_CMD_FAILED: return( "Command failed" );
- case E_CMD_ABORTED: return( "Command aborted" );
- case E_INVALID_HANDLE: return( "Invalid handle" );
- case E_NOT_FOUND: return( "Device not found" );
- case E_NOT_OPEN: return( "Device not open" );
- case E_IO_ERROR: return( "General I/O-Error" );
- case E_INVALID_PARAMETER: return( "Invalid parameter" );
- case E_INDEX_OUT_OF_BOUNDS: return( "Index out of bounds" );
- case E_CMD_PENDING: return( "Command is pending..." );
- case E_OVERRUN: return( "Data overrun" );
- case E_RANGE_ERROR: return( "Value out of range" );
- case E_AXIS_BLOCKED: return( "Axis is blocked" );
- case E_FILE_EXISTS: return( "File already exists" );
- default: return( "Internal error. Unknown error code." );
+ case E_SUCCESS:
+ return ("No error");
+
+ case E_NOT_AVAILABLE:
+ return ("Service or data is not available");
+
+ case E_NO_SENSOR:
+ return ("No sensor connected");
+
+ case E_NOT_INITIALIZED:
+ return ("The device is not initialized");
+
+ case E_ALREADY_RUNNING:
+ return ("Service is already running");
+
+ case E_FEATURE_NOT_SUPPORTED:
+ return ("The requested feature is not supported");
+
+ case E_INCONSISTENT_DATA:
+ return ("One or more dependent parameters mismatch");
+
+ case E_TIMEOUT:
+ return ("Timeout error");
+
+ case E_READ_ERROR:
+ return ("Error while reading from a device");
+
+ case E_WRITE_ERROR:
+ return ("Error while writing to a device");
+
+ case E_INSUFFICIENT_RESOURCES:
+ return ("No memory available");
+
+ case E_CHECKSUM_ERROR:
+ return ("Checksum error");
+
+ case E_NO_PARAM_EXPECTED:
+ return ("No parameters expected");
+
+ case E_NOT_ENOUGH_PARAMS:
+ return ("Not enough parameters");
+
+ case E_CMD_UNKNOWN:
+ return ("Unknown command");
+
+ case E_CMD_FORMAT_ERROR:
+ return ("Command format error");
+
+ case E_ACCESS_DENIED:
+ return ("Access denied");
+
+ case E_ALREADY_OPEN:
+ return ("Interface already open");
+
+ case E_CMD_FAILED:
+ return ("Command failed");
+
+ case E_CMD_ABORTED:
+ return ("Command aborted");
+
+ case E_INVALID_HANDLE:
+ return ("Invalid handle");
+
+ case E_NOT_FOUND:
+ return ("Device not found");
+
+ case E_NOT_OPEN:
+ return ("Device not open");
+
+ case E_IO_ERROR:
+ return ("General I/O-Error");
+
+ case E_INVALID_PARAMETER:
+ return ("Invalid parameter");
+
+ case E_INDEX_OUT_OF_BOUNDS:
+ return ("Index out of bounds");
+
+ case E_CMD_PENDING:
+ return ("Command is pending...");
+
+ case E_OVERRUN:
+ return ("Data overrun");
+
+ case E_RANGE_ERROR:
+ return ("Value out of range");
+
+ case E_AXIS_BLOCKED:
+ return ("Axis is blocked");
+
+ case E_FILE_EXISTS:
+ return ("File already exists");
+
+ default:
+ return ("Internal error. Unknown error code.");
}
}
};
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/SerialInterface.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/SerialInterface.cpp
index 387d2f5236177c7f4583460325209259bad95993..bdf17ddceb516bbe65fa07311767601770876f5b 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/SerialInterface.cpp
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/SerialInterface.cpp
@@ -15,98 +15,127 @@
#include <boost/lexical_cast.hpp>
#include <boost/format.hpp>
-static inline tcflag_t __bitrate_to_flag( unsigned int bitrate )
+static inline tcflag_t __bitrate_to_flag(unsigned int bitrate)
{
- switch( bitrate )
+ switch (bitrate)
{
- case 1200: return B1200;
- case 2400: return B2400;
- case 4800: return B4800;
- case 9600: return B9600;
- case 19200: return B19200;
- case 38400: return B38400;
- case 57600: return B57600;
- case 115200: return B115200;
- case 230400: return B230400;
- case 460800: return B460800;
- default: return 0;
+ case 1200:
+ return B1200;
+
+ case 2400:
+ return B2400;
+
+ case 4800:
+ return B4800;
+
+ case 9600:
+ return B9600;
+
+ case 19200:
+ return B19200;
+
+ case 38400:
+ return B38400;
+
+ case 57600:
+ return B57600;
+
+ case 115200:
+ return B115200;
+
+ case 230400:
+ return B230400;
+
+ case 460800:
+ return B460800;
+
+ default:
+ return 0;
}
}
-SerialInterface::SerialInterface(const char *device, unsigned int bitrate)
+SerialInterface::SerialInterface(const char* device, unsigned int bitrate)
{
this->device = device;
this->bitrate = bitrate;
- this->fd = -1;
+ this->fd = -1;
}
-SerialInterface::~SerialInterface() {
+SerialInterface::~SerialInterface()
+{
}
-int SerialInterface::open() {
+int SerialInterface::open()
+{
// Convert bitrate to flag
tcflag_t bitrate = __bitrate_to_flag(this->bitrate);
- if ( bitrate == 0 )
+
+ if (bitrate == 0)
{
- fprintf( stderr, "Invalid bitrate '%d' for serial device\n", this->bitrate );
+ fprintf(stderr, "Invalid bitrate '%d' for serial device\n", this->bitrate);
return -1;
}
// Open serial device
- fd = ::open( device, O_RDWR | O_NOCTTY );
- if ( fd < 0 )
+ fd = ::open(device, O_RDWR | O_NOCTTY);
+
+ if (fd < 0)
{
- fprintf( stderr, "Failed to open serial device '%s' (errno: %s)\n", device, strerror(errno) );
+ fprintf(stderr, "Failed to open serial device '%s' (errno: %s)\n", device, strerror(errno));
return -1;
}
+
if (::ioctl(fd, TIOCEXCL))
{
- fprintf( stderr, "Failed to lock serial device '%s' (errno: %s)\n", device, strerror(errno) );
+ fprintf(stderr, "Failed to lock serial device '%s' (errno: %s)\n", device, strerror(errno));
return -1;
}
// Check if device is a terminal device
- if ( !isatty( fd ) )
+ if (!isatty(fd))
{
- fprintf( stderr, "Device '%s' is not a terminal device (errno: %s)!\n", device, strerror(errno) );
- ::close( fd );
+ fprintf(stderr, "Device '%s' is not a terminal device (errno: %s)!\n", device, strerror(errno));
+ ::close(fd);
return -1;
}
struct termios settings;
+
// Set input flags
settings.c_iflag = IGNBRK // Ignore BREAKS on Input
- | IGNPAR; // No Parity
- // ICRNL: map CR to NL (otherwise a CR input on the other computer will not terminate input)
+ | IGNPAR; // No Parity
+
+ // ICRNL: map CR to NL (otherwise a CR input on the other computer will not terminate input)
// Set output flags
- settings.c_oflag = 0; // Raw output
+ settings.c_oflag = 0; // Raw output
// Set controlflags
settings.c_cflag = bitrate
- | CS8 // 8 bits per byte
- | CSTOPB // Stop bit
- | CREAD // characters may be read
- | CLOCAL; // ignore modem state, local connection
+ | CS8 // 8 bits per byte
+ | CSTOPB // Stop bit
+ | CREAD // characters may be read
+ | CLOCAL; // ignore modem state, local connection
// Set local flags
- settings.c_lflag = 0; // Other option: ICANON = enable canonical input
+ settings.c_lflag = 0; // Other option: ICANON = enable canonical input
// Set maximum wait time on input - cf. Linux Serial Programming HowTo, non-canonical mode
// http://tldp.org/HOWTO/Serial-Programming-HOWTO/x115.html
- settings.c_cc[VTIME] = 10; // 0 means timer is not uses
+ settings.c_cc[VTIME] = 10; // 0 means timer is not uses
// Set minimum bytes to read
- settings.c_cc[VMIN] = 0; // 1 means wait until at least 1 character is received
+ settings.c_cc[VMIN] = 0; // 1 means wait until at least 1 character is received
// Now clean the modem line and activate the settings for the port
- tcflush( fd, TCIFLUSH );
- tcsetattr( fd, TCSANOW, &settings );
+ tcflush(fd, TCIFLUSH);
+
+ tcsetattr(fd, TCSANOW, &settings);
connected = true;
@@ -115,16 +144,21 @@ int SerialInterface::open() {
void SerialInterface::close()
{
- if(connected) ::close(fd);
+ if (connected)
+ {
+ ::close(fd);
+ }
+
connected = false;
}
-int SerialInterface::readInternal( unsigned char *buf, unsigned int len)
+int SerialInterface::readInternal(unsigned char* buf, unsigned int len)
{
int res;
- res = blockingReadAll( buf, len );
- if ( res < 0 )
+ res = blockingReadAll(buf, len);
+
+ if (res < 0)
{
std::cerr << "Failed to read from serial device" << std::endl;
}
@@ -133,38 +167,44 @@ int SerialInterface::readInternal( unsigned char *buf, unsigned int len)
}
-int SerialInterface::blockingReadAll(unsigned char *buf, unsigned int len)
+int SerialInterface::blockingReadAll(unsigned char* buf, unsigned int len)
{
int dataToRead = len;
+
while (1)
{
- int res = ::read( fd, buf, dataToRead );
+ int res = ::read(fd, buf, dataToRead);
+
if (res < 0)
{
return res;
}
+
dataToRead -= res;
buf += res;
+
if (dataToRead == 0)
{
return len;
}
+
if (dataToRead < 0)
{
throw new std::runtime_error("Internal error: dataToRead < 0");
}
+
usleep(1);
}
}
-int SerialInterface::writeInternal( unsigned char *buf, unsigned int len)
+int SerialInterface::writeInternal(unsigned char* buf, unsigned int len)
{
- return( ::write( fd, (void *) buf, len ) );
+ return (::write(fd, (void*) buf, len));
}
std::string SerialInterface::toString() const
{
return str(boost::format("SerialInterface(connected=%1%, device=%2%, bitrate=%3%, fd=%4%)")
- % connected % device % bitrate % fd);
+ % connected % device % bitrate % fd);
}
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/SerialInterface.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/SerialInterface.h
index c64e501d085f0e752ec1ea8bd3f1e7bd018d3d01..33770d3b817c42b325e85b81e719c7bf68e6a005 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/SerialInterface.h
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/SerialInterface.h
@@ -5,9 +5,10 @@
#include <iostream>
-class SerialInterface : public AbstractInterface {
+class SerialInterface : public AbstractInterface
+{
public:
- SerialInterface(const char *device, const unsigned int bitrate);
+ SerialInterface(const char* device, const unsigned int bitrate);
virtual ~SerialInterface();
virtual int open();
@@ -16,15 +17,15 @@ public:
virtual std::string toString() const;
protected:
- virtual int readInternal( unsigned char *, unsigned int );
- virtual int writeInternal( unsigned char *, unsigned int );
+ virtual int readInternal(unsigned char*, unsigned int);
+ virtual int writeInternal(unsigned char*, unsigned int);
private:
- const char *device;
+ const char* device;
unsigned int bitrate;
int fd;
- int blockingReadAll(unsigned char *buf, unsigned int len);
+ int blockingReadAll(unsigned char* buf, unsigned int len);
};
#endif // SERIALINTERFACE_H
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/TactileSensor.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/TactileSensor.cpp
index 639beb12b73aa2fba7b15b67e2b587804afad679..da246c4414726ac488c386e8266b4e4ab2997206 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/TactileSensor.cpp
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/TactileSensor.cpp
@@ -10,15 +10,16 @@ TactileSensor::TactileSensor(boost::shared_ptr<AbstractInterface> interface)
this->interface = interface;
}
-TactileSensor::~TactileSensor() {
+TactileSensor::~TactileSensor()
+{
// TODO Auto-generated destructor stub
}
-tac_matrix_info_t TactileSensor::getMatrixInformation( )
+tac_matrix_info_t TactileSensor::getMatrixInformation()
{
unsigned char payload[0];
- Response response = interface->submitCmd( 0x30, payload, sizeof(payload), false );
+ Response response = interface->submitCmd(0x30, payload, sizeof(payload), false);
response.ensureMinLength(12);
response.ensureSuccess();
@@ -34,22 +35,25 @@ tac_matrix_info_t TactileSensor::getMatrixInformation( )
return matrix_info;
}
-void TactileSensor::printMatrixInfo( tac_matrix_info_t *mi )
+void TactileSensor::printMatrixInfo(tac_matrix_info_t* mi)
{
printf("res_x = %d, res_y = %d, cell_width = %d, cell_height = %d, fullscale = %X\n",
- mi->res_x, mi->res_y, mi->cell_width, mi->cell_height, mi->fullscale);
+ mi->res_x, mi->res_y, mi->cell_width, mi->cell_height, mi->fullscale);
}
-void TactileSensor::printMatrix ( short *matrix, int width, int height )
+void TactileSensor::printMatrix(short* matrix, int width, int height)
{
int x, y;
+
for (y = 0; y < height; y++)
{
printf("%03X", matrix[y * width]);
+
for (x = 1; x < width; x++)
{
printf(", %03X", matrix[y * width + x]);
}
+
printf("\n");
}
}
@@ -58,17 +62,19 @@ FrameData TactileSensor::readSingleFrame()
{
unsigned char payload[1];
payload[0] = 0x00; // FLAGS = 0
- Response response = interface->submitCmd( 0x20, payload, sizeof(payload), false );
+ Response response = interface->submitCmd(0x20, payload, sizeof(payload), false);
return getFrameData(&response);
}
PeriodicFrameData TactileSensor::receicePeriodicFrame()
{
Response response = interface->receiveWithoutChecks();
- if(response.cmdId == 0x21)
+
+ if (response.cmdId == 0x21)
{
response = interface->receiveWithoutChecks();
}
- if(response.cmdId == 0x00)
+
+ if (response.cmdId == 0x00)
{
return getPeriodicFrameData(&response);
}
@@ -78,27 +84,29 @@ PeriodicFrameData TactileSensor::receicePeriodicFrame()
}
}
-PeriodicFrameData TactileSensor::getPeriodicFrameData(Response *response)
+PeriodicFrameData TactileSensor::getPeriodicFrameData(Response* response)
{
response->ensureMinLength(7);
- unsigned int timestamp = response->getUInt( 0 );
+ unsigned int timestamp = response->getUInt(0);
int offset = 5;
int count = (response->len - offset) / 2;
int i;
boost::shared_ptr<std::vector<short> > data;
data.reset(new std::vector<short>(count, 0));
+
//short* data = new short[ count ];
- for(i = 0; i < count; i++)
+ for (i = 0; i < count; i++)
{
- short value = response->getShort(i*2 + offset);
+ short value = response->getShort(i * 2 + offset);
(*data)[i] = value;
}
+
return PeriodicFrameData(data, count, timestamp);
}
-FrameData TactileSensor::getFrameData(Response *response)
+FrameData TactileSensor::getFrameData(Response* response)
{
response->ensureMinLength(7);
response->ensureSuccess();
@@ -109,82 +117,94 @@ FrameData TactileSensor::getFrameData(Response *response)
int i;
boost::shared_ptr<std::vector<short> > data;
data.reset(new std::vector<short>(count, 0));
- for(i = 0; i < count; i++)
+
+ for (i = 0; i < count; i++)
{
- short value = response->getShort(i*2 + offset);
+ short value = response->getShort(i * 2 + offset);
(*data)[i] = value;
}
+
return FrameData(data, count);
}
-void TactileSensor::startPeriodicFrameAcquisition( unsigned short delay_ms )
+void TactileSensor::startPeriodicFrameAcquisition(unsigned short delay_ms)
{
unsigned char payload[3];
payload[0] = 0x00; // FLAGS = 0
payload[1] = delay_ms & 0xFF;
payload[2] = (delay_ms >> 8) & 0xFF;
- interface->fireAndForgetCmd( 0x21, payload, sizeof(payload), false );
+ interface->fireAndForgetCmd(0x21, payload, sizeof(payload), false);
}
-void TactileSensor::stopPeriodicFrameAcquisition( void )
+void TactileSensor::stopPeriodicFrameAcquisition(void)
{
- while(1)
+ while (1)
{
unsigned char payload[0];
- interface->fireAndForgetCmd( 0x22, payload, sizeof(payload), false );
+ interface->fireAndForgetCmd(0x22, payload, sizeof(payload), false);
int waitCount = 10;
+
while (waitCount > 0)
{
Response response = interface->receiveWithoutChecks();
- if(response.cmdId == 0x22) {
+
+ if (response.cmdId == 0x22)
+ {
return;
}
else
{
cout << boost::format("stopPeriodicFrameAcquisition :: Discarding Response with ID 0x%02X") % (int)response.cmdId << endl;
}
+
waitCount--;
}
}
}
-void TactileSensor::tareSensorMatrix( unsigned char operation )
+void TactileSensor::tareSensorMatrix(unsigned char operation)
{
unsigned char payload[1];
payload[0] = operation; // OPERATION: 0 = un-tare the sensor matrix using the currently set threshold value, 1 = tare the sensor matrix
- Response response = interface->submitCmd( 0x23, payload, sizeof(payload), false );
+ Response response = interface->submitCmd(0x23, payload, sizeof(payload), false);
response.ensureMinLength(2);
response.ensureSuccess();
}
-void TactileSensor::setAquisitionWindow( unsigned char x1, unsigned char y1, unsigned char x2, unsigned char y2 )
+void TactileSensor::setAquisitionWindow(unsigned char x1, unsigned char y1, unsigned char x2, unsigned char y2)
{
unsigned char payload[4];
payload[0] = x1;
payload[1] = y1;
payload[2] = x2;
payload[3] = y2;
- Response response = interface->submitCmd( 0x31, payload, sizeof(payload), false );
+ Response response = interface->submitCmd(0x31, payload, sizeof(payload), false);
response.ensureMinLength(2);
response.ensureSuccess();
}
-int TactileSensor::setAdvanvedAcquisitionMask( char *mask ) { return 0; }
-int TactileSensor::getAcquisitionMask( char **mask, int *mask_len ) { return 0; }
-void TactileSensor::setThreshold( short threshold )
+int TactileSensor::setAdvanvedAcquisitionMask(char* mask)
+{
+ return 0;
+}
+int TactileSensor::getAcquisitionMask(char** mask, int* mask_len)
+{
+ return 0;
+}
+void TactileSensor::setThreshold(short threshold)
{
unsigned char payload[2];
payload[0] = threshold & 0xFF;
payload[1] = (threshold >> 8) & 0xFF;
- Response response = interface->submitCmd( 0x34, payload, sizeof(payload), false );
+ Response response = interface->submitCmd(0x34, payload, sizeof(payload), false);
response.ensureMinLength(2);
response.ensureSuccess();
}
unsigned short TactileSensor::getThreshold()
{
unsigned char payload[0];
- Response response = interface->submitCmd( 0x35, payload, sizeof(payload), false );
+ Response response = interface->submitCmd(0x35, payload, sizeof(payload), false);
response.ensureMinLength(2);
response.ensureSuccess();
return response.getShort(2);
}
-void TactileSensor::setFrontEndGain( unsigned char gain )
+void TactileSensor::setFrontEndGain(unsigned char gain)
{
/*
* Adjust the pressure sensitivity of a matrix by setting the gain of the Analog Front-End. The gain can
@@ -193,7 +213,7 @@ void TactileSensor::setFrontEndGain( unsigned char gain )
*/
unsigned char payload[1];
payload[0] = gain;
- Response response = interface->submitCmd( 0x36, payload, sizeof(payload), false );
+ Response response = interface->submitCmd(0x36, payload, sizeof(payload), false);
response.ensureMinLength(2);
response.ensureSuccess();
}
@@ -204,7 +224,7 @@ unsigned char TactileSensor::getFrontEndGain()
* 255, where 0 is the most insensitive (lowest gain) and 255 is the most sensitive (highest gain) setting.
*/
unsigned char payload[0];
- Response response = interface->submitCmd( 0x37, payload, sizeof(payload), false );
+ Response response = interface->submitCmd(0x37, payload, sizeof(payload), false);
response.ensureMinLength(3);
response.ensureSuccess();
unsigned char gain = response.getByte(2);
@@ -216,7 +236,7 @@ std::string TactileSensor::getSensorType()
* Return a string containing the sensor type.
*/
unsigned char payload[0];
- Response response = interface->submitCmd( 0x38, payload, sizeof(payload), false );
+ Response response = interface->submitCmd(0x38, payload, sizeof(payload), false);
response.ensureMinLength(2);
response.ensureSuccess();
std::string type = std::string((char*)response.data.data() + 2, response.len - 2);
@@ -225,7 +245,7 @@ std::string TactileSensor::getSensorType()
float TactileSensor::readDeviceTemperature()
{
unsigned char payload[0];
- Response response = interface->submitCmd( 0x46, payload, sizeof(payload), false );
+ Response response = interface->submitCmd(0x46, payload, sizeof(payload), false);
response.ensureMinLength(2);
short value = (short)response.getShort(2);
return value * 0.1f;
@@ -233,7 +253,7 @@ float TactileSensor::readDeviceTemperature()
tac_system_information_t TactileSensor::getSystemInformation()
{
unsigned char payload[0];
- Response response = interface->submitCmd( 0x50, payload, sizeof(payload), false );
+ Response response = interface->submitCmd(0x50, payload, sizeof(payload), false);
response.ensureMinLength(9);
response.ensureSuccess();
tac_system_information_t si;
@@ -250,45 +270,51 @@ void TactileSensor::printSystemInformation(tac_system_information_t si)
int v3 = (si.fw_version & 0x00F0) >> 4;
int v4 = (si.fw_version & 0x000F) >> 0;
cout << boost::format("System Type=%1%, Hardware Revision=%2%, Firmware Version=%3%.%4%.%5%.%6% (0x%7$04X), Serial Number=%8%")
- % (int)si.type % (int)si.hw_rev % v1 % v2 % v3 % v4 % si.fw_version % si.sn << endl;
+ % (int)si.type % (int)si.hw_rev % v1 % v2 % v3 % v4 % si.fw_version % si.sn << endl;
}
void TactileSensor::setDeviceTag(string tag)
{
- unsigned char *payload = (unsigned char*)tag.c_str();
- Response response = interface->submitCmd( 0x51, payload, tag.length(), false );
+ unsigned char* payload = (unsigned char*)tag.c_str();
+ Response response = interface->submitCmd(0x51, payload, tag.length(), false);
response.ensureMinLength(2);
response.ensureSuccess();
}
string TactileSensor::getDeviceTag()
{
unsigned char payload[0];
- Response response = interface->submitCmd( 0x52, payload, sizeof(payload), false );
+ Response response = interface->submitCmd(0x52, payload, sizeof(payload), false);
response.ensureMinLength(2);
response.ensureSuccess();
std::string tag = std::string((char*)response.data.data() + 2, response.len - 2);
return tag;
}
-bool TactileSensor::tryGetDeviceTag(string &tag)
+bool TactileSensor::tryGetDeviceTag(string& tag)
{
unsigned char payload[0];
- Response response = interface->submitCmd( 0x52, payload, sizeof(payload), false );
+ Response response = interface->submitCmd(0x52, payload, sizeof(payload), false);
response.ensureMinLength(2);
+
if (response.status == E_NOT_AVAILABLE)
{
return false;
}
+
response.ensureSuccess();
tag = std::string((char*)response.data.data() + 2, response.len - 2);
return true;
}
-int TactileSensor::loop( char *data, int data_len ) { return 0; }
+int TactileSensor::loop(char* data, int data_len)
+{
+ return 0;
+}
string TactileSensor::getInterfaceInfo()
{
return interface->toString();
}
-ostream& operator<<(ostream &strm, const TactileSensor &a) {
- return strm << a.interface;
+ostream& operator<<(ostream& strm, const TactileSensor& a)
+{
+ return strm << a.interface;
}
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/TactileSensor.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/TactileSensor.h
index 7f36b86cc7fe1f0fa99f71ab2671d3b8f3dfe144..131d10d765f90dead6133a7e4d7a2a7e203bc7ee 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/TactileSensor.h
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/TactileSensor.h
@@ -5,21 +5,21 @@
using namespace std;
#include <boost/shared_ptr.hpp>
-#define extract_short( array, index ) ( (unsigned short)array[index] | ( (unsigned short)array[index + 1] << 8 ) )
-#define TAC_CHECK_RES( res, expected, resp ) { \
- if ( res < expected ) { \
- dbgPrint( "Response length is too short, should be = %d (is %d)\n", expected, res ); \
- if ( res > 0 ) free( resp ); \
- return -1; \
- } \
- status_t status = cmd_get_response_status( resp ); \
- if ( status != E_SUCCESS ) \
- { \
- dbgPrint( "Command not successful: %s\n", status_to_str( status ) ); \
- free( resp ); \
- return -1; \
- } \
- }
+#define extract_short( array, index ) ( (unsigned short)array[index] | ( (unsigned short)array[index + 1] << 8 ) )
+#define TAC_CHECK_RES( res, expected, resp ) { \
+ if ( res < expected ) { \
+ dbgPrint( "Response length is too short, should be = %d (is %d)\n", expected, res ); \
+ if ( res > 0 ) free( resp ); \
+ return -1; \
+ } \
+ status_t status = cmd_get_response_status( resp ); \
+ if ( status != E_SUCCESS ) \
+ { \
+ dbgPrint( "Command not successful: %s\n", status_to_str( status ) ); \
+ free( resp ); \
+ return -1; \
+ } \
+ }
typedef struct
{
@@ -58,26 +58,27 @@ public:
unsigned int timestamp;
};
-class TactileSensor {
+class TactileSensor
+{
public:
TactileSensor(boost::shared_ptr<AbstractInterface> interface);
virtual ~TactileSensor();
- tac_matrix_info_t getMatrixInformation( );
- static void printMatrixInfo( tac_matrix_info_t *mi );
+ tac_matrix_info_t getMatrixInformation();
+ static void printMatrixInfo(tac_matrix_info_t* mi);
FrameData readSingleFrame();
- static void printMatrix ( short *matrix, int width, int height );
+ static void printMatrix(short* matrix, int width, int height);
- void startPeriodicFrameAcquisition( unsigned short delay_ms );
- void stopPeriodicFrameAcquisition( void );
+ void startPeriodicFrameAcquisition(unsigned short delay_ms);
+ void stopPeriodicFrameAcquisition(void);
PeriodicFrameData receicePeriodicFrame();
- void tareSensorMatrix( unsigned char operation );
- void setAquisitionWindow( unsigned char x1, unsigned char y1, unsigned char x2, unsigned char y2 );
- int setAdvanvedAcquisitionMask( char *mask );
- int getAcquisitionMask( char **mask, int *mask_len );
- void setThreshold( short threshold );
+ void tareSensorMatrix(unsigned char operation);
+ void setAquisitionWindow(unsigned char x1, unsigned char y1, unsigned char x2, unsigned char y2);
+ int setAdvanvedAcquisitionMask(char* mask);
+ int getAcquisitionMask(char** mask, int* mask_len);
+ void setThreshold(short threshold);
unsigned short getThreshold();
- void setFrontEndGain( unsigned char gain );
+ void setFrontEndGain(unsigned char gain);
unsigned char getFrontEndGain();
string getSensorType();
float readDeviceTemperature();
@@ -85,20 +86,20 @@ public:
static void printSystemInformation(tac_system_information_t si);
void setDeviceTag(string tag);
string getDeviceTag();
- bool tryGetDeviceTag(string &tag);
- int loop( char *data, int data_len );
+ bool tryGetDeviceTag(string& tag);
+ int loop(char* data, int data_len);
string getInterfaceInfo();
private:
boost::shared_ptr<AbstractInterface> interface;
- FrameData getFrameData(Response *response);
- PeriodicFrameData getPeriodicFrameData(Response *response);
+ FrameData getFrameData(Response* response);
+ PeriodicFrameData getPeriodicFrameData(Response* response);
private:
friend std::ostream& operator<<(std::ostream&, const TactileSensor&);
};
-std::ostream& operator<<(std::ostream &strm, const TactileSensor &a);
+std::ostream& operator<<(std::ostream& strm, const TactileSensor& a);
#endif // TACTILESENSOR_H
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/TransmissionException.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/TransmissionException.h
index 93710f7ec2476bb1be56dfafc5757ab8277f4051..c50a5f0931c55b4a6ffe3fa9a4f1cdfc495e49a9 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/TransmissionException.h
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/TransmissionException.h
@@ -3,17 +3,19 @@
#include <stdexcept>
-class TransmissionException : public std::runtime_error {
+class TransmissionException : public std::runtime_error
+{
public:
TransmissionException(std::string message)
- : runtime_error(message)
+ : runtime_error(message)
{ }
};
-class ChecksumErrorException : public TransmissionException {
+class ChecksumErrorException : public TransmissionException
+{
public:
ChecksumErrorException(std::string message)
- : TransmissionException(message)
+ : TransmissionException(message)
{ }
};
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/Types.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/Types.h
index 1fec7ca5f2535af8cea1197b7e87ca326d7d317e..19275ae1226d6e996e1c389d4ea4e2152d253547 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/Types.h
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/Types.h
@@ -11,7 +11,8 @@ typedef struct
} msg_t;
-typedef enum {
+typedef enum
+{
E_SUCCESS = 0, // No error
E_NOT_AVAILABLE, // Device, service or data is not available
E_NO_SENSOR, // No sensor connected
@@ -33,19 +34,19 @@ typedef enum {
E_CMD_FAILED, // Command failed
E_CMD_ABORTED, // Command aborted
E_INVALID_HANDLE, // invalid handle
- E_NOT_FOUND, // device not found
- E_NOT_OPEN, // device not open
+ E_NOT_FOUND, // device not found
+ E_NOT_OPEN, // device not open
E_IO_ERROR, // I/O error
E_INVALID_PARAMETER, // invalid parameter
E_INDEX_OUT_OF_BOUNDS, // index out of bounds
E_CMD_PENDING, // Command was received correctly, but the execution needs more time. If the command was completely processed, another status message is returned indicating the command's result
- E_OVERRUN, // Data overrun
- E_RANGE_ERROR, // Range error
- E_AXIS_BLOCKED, // Axis is blocked
- E_FILE_EXISTS // File already exists
+ E_OVERRUN, // Data overrun
+ E_RANGE_ERROR, // Range error
+ E_AXIS_BLOCKED, // Axis is blocked
+ E_FILE_EXISTS // File already exists
} status_t;
-const char* status_to_str( status_t status );
+const char* status_to_str(status_t status);
#endif // TYPES_H
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.cpp
index 32b44ac4749e7ad76dae442406d97fef4211889c..cb5d80f620055dd65932e3bb73b4f754fb613fb7 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.cpp
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.cpp
@@ -10,7 +10,7 @@ WeissHapticSensor::WeissHapticSensor(std::string device, int minimumReportInterv
{
sensorTask = new RunningTask<WeissHapticSensor>(this, &WeissHapticSensor::frameAcquisitionTaskLoop);
boost::smatch match;
- boost::regex_search( device, match, boost::regex("\\w+$") );
+ boost::regex_search(device, match, boost::regex("\\w+$"));
this->deviceFileName = match[0];
}
@@ -37,7 +37,8 @@ void WeissHapticSensor::connect()
//sensor->setDeviceTag("Test Tag");
string tag;
- if(sensor->tryGetDeviceTag(tag))
+
+ if (sensor->tryGetDeviceTag(tag))
{
ARMARX_INFO << "[" << device << "] Got Device Tag: " << tag;
this->tag = tag;
@@ -118,7 +119,7 @@ void WeissHapticSensor::frameAcquisitionTaskLoop()
math::SlidingWindowVectorMedian slidingMedian(mi.res_x * mi.res_y, 21); // inter sample dely ~= 3,7ms, 11 samples ~== 40ms delay
- while(!sensorTask->isStopped())
+ while (!sensorTask->isStopped())
{
//ARMARX_INFO << deactivateSpam(1) << this << ": receicePeriodicFrame";
@@ -130,14 +131,17 @@ void WeissHapticSensor::frameAcquisitionTaskLoop()
//cout << end - start << endl;
std::vector<float> sensorValues;
- for(int i = 0; i < mi.res_x * mi.res_y; i++)
+
+ for (int i = 0; i < mi.res_x * mi.res_y; i++)
{
sensorValues.push_back(data.data->at(i));
}
+
slidingMedian.addEntry(sensorValues);
MatrixFloatPtr matrix = new MatrixFloat(mi.res_y, mi.res_x);
std::vector<float> filteredSensorValues = slidingMedian.getMedian();
+
for (int y = 0; y < mi.res_y; y++)
{
for (int x = 0; x < mi.res_x; x++)
@@ -165,18 +169,19 @@ void WeissHapticSensor::frameAcquisitionTaskLoop()
writeMatrixToJs(matrix, nowTimestamp);
IceUtil::Time interval = now - lastFrameTime;
- if(interval.toMilliSeconds() >= minimumReportIntervalMs)
+
+ if (interval.toMilliSeconds() >= minimumReportIntervalMs)
{
listenerPrx->reportSensorValues(device, tag, matrix, nowTimestamp);
lastFrameTime = now;
}
}
- catch(ChecksumErrorException)
+ catch (ChecksumErrorException)
{
ARMARX_WARNING << "Caught ChecksumErrorException on " << device << ", skipping frame";
}
- if(setDeviceTagScheduled)
+ if (setDeviceTagScheduled)
{
boost::mutex::scoped_lock lock(mutex);
setDeviceTagScheduled = false;
@@ -191,6 +196,7 @@ void WeissHapticSensor::frameAcquisitionTaskLoop()
ARMARX_INFO << "[" << device << "] Starting periodic frame aquisition";
sensor->startPeriodicFrameAcquisition(0);
}
+
//usleep(3000);
//usleep(3000);
@@ -204,7 +210,7 @@ void WeissHapticSensor::frameAcquisitionTaskLoop()
void WeissHapticSensor::writeMatrixToJs(MatrixFloatPtr matrix, TimestampVariantPtr timestamp)
{
//std::cout << "writeMatrixToJs" << std::endl;
- if(jsWriter != NULL)
+ if (jsWriter != NULL)
{
jsWriter->writeLine(str(boost::format("%s.data.push([%i, %s]);") % deviceFileName % timestamp->getTimestamp() % matrix->toJsonRowMajor()));
}
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.h
index 897f104364008ebbb264f6f31e808ad2b077ebf4..a90f2fc4ccbb39228c8fa7acd90c8756145110a8 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.h
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticSensor.h
@@ -1,17 +1,17 @@
#ifndef WEISSHAPTICSENSOR_H
#define WEISSHAPTICSENSOR_H
-#include <Core/core/services/tasks/RunningTask.h>
-#include <Core/core/system/ImportExportComponent.h>
+#include <ArmarXCore/core/services/tasks/RunningTask.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
#include "SerialInterface.h"
#include "TactileSensor.h"
#include <RobotAPI/interface/units/HapticUnit.h>
-#include <Core/util/variants/eigen3/Eigen3VariantObjectFactories.h>
-//#include <Core/util/variants/eigen3/Eigen3LibRegistry.h>
+#include <ArmarXCore/util/variants/eigen3/Eigen3VariantObjectFactories.h>
+//#include <ArmarXCore/util/variants/eigen3/Eigen3LibRegistry.h>
#include "TextWriter.h"
-#include <Core/observers/variant/TimestampVariant.h>
+#include <ArmarXCore/observers/variant/TimestampVariant.h>
#include <RobotAPI/libraries/core/math/SlidingWindowVectorMedian.h>
-#include <Core/util/variants/eigen3/MatrixVariant.h>
+#include <ArmarXCore/util/variants/eigen3/MatrixVariant.h>
#include <boost/thread/mutex.hpp>
namespace armarx
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticUnit.cpp b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticUnit.cpp
index 24c1edda1132ec2290eba62c5ca4252e5a5906dc..eadc5b159629e074545992d36097e64a672396a6 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticUnit.cpp
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticUnit.cpp
@@ -1,149 +1,156 @@
-/*
- * 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 ArmarXCore::units
- * @author Peter Kaiser
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#include "WeissHapticUnit.h"
-
-#include <boost/regex.hpp>
-#include <boost/filesystem.hpp>
-
-
-using namespace armarx;
-
-void WeissHapticUnit::onInitHapticUnit()
-{
-
- std::vector<std::string> devices = getDevices();
-
- for(std::vector<std::string>::iterator it = devices.begin(); it != devices.end(); ++it)
- {
- WeissHapticSensorPtr sensor(new WeissHapticSensor(*it, 20)); // minimumReportIntervalMs = 20, limit to maximum 50 frames/s
- this->sensors.push_back(sensor);
- }
-
- std::cout << "Connect Interfaces" << std::endl;
-
- for(std::vector<boost::shared_ptr<WeissHapticSensor> >::iterator it = sensors.begin(); it != sensors.end(); ++it)
- {
- (*it)->connect();
- }
-
-}
-
-std::vector< std::string > WeissHapticUnit::getDevices()
-{
- const std::string target_path( "/dev/" );
- const boost::regex my_filter( "ttyACM[0-9]+" );
-
- std::vector< std::string > files;
-
- boost::filesystem::directory_iterator end_itr; // Default ctor yields past-the-end
- for( boost::filesystem::directory_iterator i( target_path ); i != end_itr; ++i )
- {
- // Skip if not a file
- //if( !boost::filesystem::is_( i->status() ) ) continue;
-
- boost::smatch what;
-
- // Skip if no match
- if( !boost::regex_match( i->path().filename().string(), what, my_filter ) ) continue;
-
-
- // File matches, store it
- files.push_back( "/dev/" + i->path().filename().string() );
- }
- std::sort(files.begin(), files.end());
-
- if(files.size() == 0)
- {
- ARMARX_WARNING << "No ACM-Interfaces found";
- }
- else
- {
- ARMARX_INFO << "Detected ACM-Interfaces: " << files.size();
- for(std::string file : files)
- {
- ARMARX_INFO << "Found device: " << file;
- }
- }
-
- return files;
-}
-
-void WeissHapticUnit::setDeviceTag(const string &deviceName, const string &tag, const Ice::Current &)
-{
- for(WeissHapticSensorPtr sensor : sensors)
- {
- if(sensor->getDeviceName() == deviceName)
- {
- ARMARX_IMPORTANT << "scheduling to set new device tag for " << deviceName << ": " << tag;
- sensor->scheduleSetDeviceTag(tag);
- return;
- }
- }
- ARMARX_WARNING << "device not found: " << deviceName;
-}
-
-void WeissHapticUnit::startLogging(const Ice::Current &)
-{
- // @@@ TODO NotImplemented
-}
-
-void WeissHapticUnit::stopLogging(const Ice::Current &)
-{
- // @@@ TODO NotImplemented
-}
-
-void WeissHapticUnit::onStartHapticUnit()
-{
-
- for(std::vector<boost::shared_ptr<WeissHapticSensor> >::iterator it = sensors.begin(); it != sensors.end(); ++it)
- {
- (*it)->setListenerPrx(hapticTopicPrx);
- (*it)->startSampling();
- }
-
-}
-
-void WeissHapticUnit::onExitHapticUnit()
-{
- for(std::vector<boost::shared_ptr<WeissHapticSensor> >::iterator it = sensors.begin(); it != sensors.end(); ++it)
- {
- (*it)->disconnect();
- }
-}
-
-/*void WeissHapticUnit::onConnectComponent()
-{
-
-}*/
-
-void WeissHapticUnit::onDisconnectComponent()
-{
-}
-
-
-PropertyDefinitionsPtr WeissHapticUnit::createPropertyDefinitions()
-{
- return PropertyDefinitionsPtr(new WeissHapticUnitPropertyDefinitions(getConfigIdentifier()));
-}
-
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License 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 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 ArmarXCore::units
+ * @author Peter Kaiser
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "WeissHapticUnit.h"
+
+#include <boost/regex.hpp>
+#include <boost/filesystem.hpp>
+
+
+using namespace armarx;
+
+void WeissHapticUnit::onInitHapticUnit()
+{
+
+ std::vector<std::string> devices = getDevices();
+
+ for (std::vector<std::string>::iterator it = devices.begin(); it != devices.end(); ++it)
+ {
+ WeissHapticSensorPtr sensor(new WeissHapticSensor(*it, 20)); // minimumReportIntervalMs = 20, limit to maximum 50 frames/s
+ this->sensors.push_back(sensor);
+ }
+
+ std::cout << "Connect Interfaces" << std::endl;
+
+ for (std::vector<boost::shared_ptr<WeissHapticSensor> >::iterator it = sensors.begin(); it != sensors.end(); ++it)
+ {
+ (*it)->connect();
+ }
+
+}
+
+std::vector< std::string > WeissHapticUnit::getDevices()
+{
+ const std::string target_path("/dev/");
+ const boost::regex my_filter("ttyACM[0-9]+");
+
+ std::vector< std::string > files;
+
+ boost::filesystem::directory_iterator end_itr; // Default ctor yields past-the-end
+
+ for (boost::filesystem::directory_iterator i(target_path); i != end_itr; ++i)
+ {
+ // Skip if not a file
+ //if( !boost::filesystem::is_( i->status() ) ) continue;
+
+ boost::smatch what;
+
+ // Skip if no match
+ if (!boost::regex_match(i->path().filename().string(), what, my_filter))
+ {
+ continue;
+ }
+
+
+ // File matches, store it
+ files.push_back("/dev/" + i->path().filename().string());
+ }
+
+ std::sort(files.begin(), files.end());
+
+ if (files.size() == 0)
+ {
+ ARMARX_WARNING << "No ACM-Interfaces found";
+ }
+ else
+ {
+ ARMARX_INFO << "Detected ACM-Interfaces: " << files.size();
+
+ for (std::string file : files)
+ {
+ ARMARX_INFO << "Found device: " << file;
+ }
+ }
+
+ return files;
+}
+
+void WeissHapticUnit::setDeviceTag(const string& deviceName, const string& tag, const Ice::Current&)
+{
+ for (WeissHapticSensorPtr sensor : sensors)
+ {
+ if (sensor->getDeviceName() == deviceName)
+ {
+ ARMARX_IMPORTANT << "scheduling to set new device tag for " << deviceName << ": " << tag;
+ sensor->scheduleSetDeviceTag(tag);
+ return;
+ }
+ }
+
+ ARMARX_WARNING << "device not found: " << deviceName;
+}
+
+void WeissHapticUnit::startLogging(const Ice::Current&)
+{
+ // @@@ TODO NotImplemented
+}
+
+void WeissHapticUnit::stopLogging(const Ice::Current&)
+{
+ // @@@ TODO NotImplemented
+}
+
+void WeissHapticUnit::onStartHapticUnit()
+{
+
+ for (std::vector<boost::shared_ptr<WeissHapticSensor> >::iterator it = sensors.begin(); it != sensors.end(); ++it)
+ {
+ (*it)->setListenerPrx(hapticTopicPrx);
+ (*it)->startSampling();
+ }
+
+}
+
+void WeissHapticUnit::onExitHapticUnit()
+{
+ for (std::vector<boost::shared_ptr<WeissHapticSensor> >::iterator it = sensors.begin(); it != sensors.end(); ++it)
+ {
+ (*it)->disconnect();
+ }
+}
+
+/*void WeissHapticUnit::onConnectComponent()
+{
+
+}*/
+
+void WeissHapticUnit::onDisconnectComponent()
+{
+}
+
+
+PropertyDefinitionsPtr WeissHapticUnit::createPropertyDefinitions()
+{
+ return PropertyDefinitionsPtr(new WeissHapticUnitPropertyDefinitions(getConfigIdentifier()));
+}
+
diff --git a/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticUnit.h b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticUnit.h
index ff24168d0b939d42bb3e48755ba206e9331827fb..0c9f6651044c70748ba0dc7f90efd6df15627122 100644
--- a/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticUnit.h
+++ b/source/RobotAPI/libraries/drivers/WeissHapticSensor/WeissHapticUnit.h
@@ -1,85 +1,88 @@
-/*
- * 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 Armar4::units
- * @author Simon Ottenhaus <simon dot ottenhaus at kit dot edu>
- * @date 2014
- * @copyright http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef ARMAR4_FT_UNIT_ARMAR4_H
-#define ARMAR4_FT_UNIT_ARMAR4_H
-
-#include <RobotAPI/components/units/HapticUnit.h>
-#include <RobotAPI/interface/units/WeissHapticUnit.h>
-#include <Core/core/system/ImportExportComponent.h>
-
-#include <string>
-#include "WeissHapticSensor.h"
-
-namespace armarx
-{
- class WeissHapticUnitPropertyDefinitions : public HapticUnitPropertyDefinitions
- {
- public:
- WeissHapticUnitPropertyDefinitions(std::string prefix):
- HapticUnitPropertyDefinitions(prefix)
- {
- }
- };
-
- class WeissHapticUnit :
- virtual public WeissHapticUnitInterface,
- virtual public HapticUnit
- {
- public:
- virtual std::string getDefaultName() { return "WeissHapticUnit"; }
-
- virtual void onInitHapticUnit();
- virtual void onStartHapticUnit();
- virtual void onExitHapticUnit();
-
- //virtual void onConnectComponent();
- virtual void onDisconnectComponent();
-
- virtual PropertyDefinitionsPtr createPropertyDefinitions();
-
- protected:
- //void proceedSensorCategory(SensorCategoryDefinition<MatrixFloat> *category);
-
- //std::map<std::string, MatrixFloatPtr> currentValues;
-
-
-
- //HapticSensorProtocolMaster hapticProtocol;
-
- //bool remoteSystemReady;
-
- private:
- std::vector< std::string > getDevices();
-
- std::vector< boost::shared_ptr< WeissHapticSensor > > sensors;
-
- // WeissHapticUnitInterface interface
- public:
- void setDeviceTag(const string &deviceName, const string &tag, const Ice::Current &);
- void startLogging(const Ice::Current &);
- void stopLogging(const Ice::Current &);
- };
-}
-
-#endif
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License 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 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 Armar4::units
+ * @author Simon Ottenhaus <simon dot ottenhaus at kit dot edu>
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef ARMAR4_FT_UNIT_ARMAR4_H
+#define ARMAR4_FT_UNIT_ARMAR4_H
+
+#include <RobotAPI/components/units/HapticUnit.h>
+#include <RobotAPI/interface/units/WeissHapticUnit.h>
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+
+#include <string>
+#include "WeissHapticSensor.h"
+
+namespace armarx
+{
+ class WeissHapticUnitPropertyDefinitions : public HapticUnitPropertyDefinitions
+ {
+ public:
+ WeissHapticUnitPropertyDefinitions(std::string prefix):
+ HapticUnitPropertyDefinitions(prefix)
+ {
+ }
+ };
+
+ class WeissHapticUnit :
+ virtual public WeissHapticUnitInterface,
+ virtual public HapticUnit
+ {
+ public:
+ virtual std::string getDefaultName()
+ {
+ return "WeissHapticUnit";
+ }
+
+ virtual void onInitHapticUnit();
+ virtual void onStartHapticUnit();
+ virtual void onExitHapticUnit();
+
+ //virtual void onConnectComponent();
+ virtual void onDisconnectComponent();
+
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+
+ protected:
+ //void proceedSensorCategory(SensorCategoryDefinition<MatrixFloat> *category);
+
+ //std::map<std::string, MatrixFloatPtr> currentValues;
+
+
+
+ //HapticSensorProtocolMaster hapticProtocol;
+
+ //bool remoteSystemReady;
+
+ private:
+ std::vector< std::string > getDevices();
+
+ std::vector< boost::shared_ptr< WeissHapticSensor > > sensors;
+
+ // WeissHapticUnitInterface interface
+ public:
+ void setDeviceTag(const string& deviceName, const string& tag, const Ice::Current&);
+ void startLogging(const Ice::Current&);
+ void stopLogging(const Ice::Current&);
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/CMakeLists.txt b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/CMakeLists.txt
index b3623f33a11debc6b718bc5214226718f53dd308..b463b2a77cfcf797960cce6946d8ee11afbb737a 100644
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/CMakeLists.txt
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/CMakeLists.txt
@@ -1,8 +1,8 @@
armarx_set_target("LibIMU")
set(LIB_NAME LibIMU)
-set(LIB_VERSION 0.0.1)
-set(LIB_SOVERSION 1)
+
+
set(LIBS pthread)
set(LIB_FILES
@@ -29,4 +29,4 @@ set(LIB_HEADERS
)
-armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IIMUEventDispatcher.cpp b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IIMUEventDispatcher.cpp
old mode 100755
new mode 100644
index 92deccbc7b25866cc117d01d996814634078e701..92c0657631ca1b8d193586d71e14bbc13405401d
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IIMUEventDispatcher.cpp
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IIMUEventDispatcher.cpp
@@ -3,7 +3,7 @@
*
* Created on: Mar 16, 2014
* Author: Dr.-Ing. David Israel González Aguirre
- * Mail: david.gonzalez@kit.edu
+ * Mail: david.gonzalez@kit.edu
*/
#include "IIMUEventDispatcher.h"
@@ -11,267 +11,289 @@
namespace IMU
{
- IIMUEventDispatcher::IIMUEventDispatcher(CIMUDevice* pIMUDevice) :
- m_DispatchingMode(eCoupled), m_MaximalPendingEvents(2), m_EventFlags(0XFFFF), m_pIMUDevice(pIMUDevice), m_LastStartTimeStamp(CTimeStamp::s_Zero), m_LastStopTimeStamp(CTimeStamp::s_Zero), m_LastCycleReferenceTimeStamp(CTimeStamp::s_Zero), m_LastFusedCycleReferenceTimeStamp(CTimeStamp::s_Zero), m_LastIntegratedStateReferenceTimeStamp(CTimeStamp::s_Zero), m_LastCustomEventReferenceTimeStamp(CTimeStamp::s_Zero)
- {
- pthread_mutex_init(&m_DispatchingModeMutex,NULL);
- pthread_mutex_init(&m_MaximalPendingEventsMutex,NULL);
- pthread_mutex_init(&m_EventFlagsMutex,NULL);
- pthread_mutex_init(&m_IMUDeviceMutex,NULL);
- pthread_mutex_init(&m_EventsQueueMutex,NULL);
- pthread_mutex_init(&m_LastStartTimeStampMutex,NULL);
- pthread_mutex_init(&m_LastStopTimeStampMutex,NULL);
- pthread_mutex_init(&m_LastCycleReferenceTimeStampMutex,NULL);
- pthread_mutex_init(&m_LastFusedCycleReferenceTimeStampMutex,NULL);
- pthread_mutex_init(&m_LastIntegratedStateReferenceTimeStampMutex,NULL);
- pthread_mutex_init(&m_LastCustomEventReferenceTimeStampMutex,NULL);
- }
-
- IIMUEventDispatcher::IIMUEventDispatcher() :
- m_DispatchingMode(eCoupled), m_MaximalPendingEvents(2), m_EventFlags(0XFFFF), m_pIMUDevice(NULL), m_EventsQueue(), m_LastStartTimeStamp(CTimeStamp::s_Zero), m_LastStopTimeStamp(CTimeStamp::s_Zero), m_LastCycleReferenceTimeStamp(CTimeStamp::s_Zero), m_LastFusedCycleReferenceTimeStamp(CTimeStamp::s_Zero), m_LastIntegratedStateReferenceTimeStamp(CTimeStamp::s_Zero), m_LastCustomEventReferenceTimeStamp(CTimeStamp::s_Zero)
- {
- pthread_mutex_init(&m_DispatchingModeMutex,NULL);
- pthread_mutex_init(&m_MaximalPendingEventsMutex,NULL);
- pthread_mutex_init(&m_EventFlagsMutex,NULL);
- pthread_mutex_init(&m_IMUDeviceMutex,NULL);
- pthread_mutex_init(&m_EventsQueueMutex,NULL);
- pthread_mutex_init(&m_LastStartTimeStampMutex,NULL);
- pthread_mutex_init(&m_LastStopTimeStampMutex,NULL);
- pthread_mutex_init(&m_LastCycleReferenceTimeStampMutex,NULL);
- pthread_mutex_init(&m_LastFusedCycleReferenceTimeStampMutex,NULL);
- pthread_mutex_init(&m_LastIntegratedStateReferenceTimeStampMutex,NULL);
- pthread_mutex_init(&m_LastCustomEventReferenceTimeStampMutex,NULL);
- }
-
- IIMUEventDispatcher::~IIMUEventDispatcher()
- {
- if (m_pIMUDevice)
- m_pIMUDevice->UnregisterEventDispatcher(this);
- }
-
- void IIMUEventDispatcher::SetIMU(CIMUDevice* pIMUDevice)
- {
- _MINIMAL___LOCK(m_IMUDeviceMutex)
- m_pIMUDevice = pIMUDevice;
- _MINIMAL_UNLOCK(m_IMUDeviceMutex)
- }
-
- uint32_t IIMUEventDispatcher::GetEventFlags()
- {
- _MINIMAL___LOCK(m_EventFlagsMutex)
- const uint32_t EventFlagsCurrentState = m_EventFlags;
- _MINIMAL_UNLOCK(m_EventFlagsMutex)
- return EventFlagsCurrentState;
- }
-
- void IIMUEventDispatcher::SetDispatchingMode(const DispatchingMode Mode)
- {
- _MINIMAL___LOCK(m_DispatchingModeMutex)
- m_DispatchingMode = Mode;
- _MINIMAL_UNLOCK(m_DispatchingModeMutex)
- }
-
- IIMUEventDispatcher::DispatchingMode IIMUEventDispatcher::GetDispatchingMode()
- {
- _MINIMAL___LOCK(m_DispatchingModeMutex)
- const DispatchingMode DispatchingModeCurrentState = m_DispatchingMode;
- _MINIMAL_UNLOCK(m_DispatchingModeMutex)
- return DispatchingModeCurrentState;
- }
-
- void IIMUEventDispatcher::SetMaximalPendingEvents(const uint32_t MaximalPendingEvents)
- {
- if ((MaximalPendingEvents > 1) && (MaximalPendingEvents != m_MaximalPendingEvents))
- {
- _MINIMAL___LOCK(m_MaximalPendingEventsMutex)
- m_MaximalPendingEvents = MaximalPendingEvents;
- _MINIMAL_UNLOCK(m_MaximalPendingEventsMutex)
- if (m_DispatchingMode == eDecoupled)
- PurgeEvents();
- }
- }
-
- uint32_t IIMUEventDispatcher::GetMaximalPendingEvents()
- {
- _MINIMAL___LOCK(m_MaximalPendingEventsMutex)
- const uint32_t MaximalPendingEventsCurrentState = m_MaximalPendingEvents;
- _MINIMAL_UNLOCK(m_MaximalPendingEventsMutex)
- return MaximalPendingEventsCurrentState;
- }
-
- void IIMUEventDispatcher::SetEventHandling(const CIMUEvent::EventType Type, const bool Enabled)
- {
- _MINIMAL___LOCK(m_EventFlagsMutex)
- m_EventFlags = Enabled ? (m_EventFlags | Type) : (m_EventFlags & (~Type));
- _MINIMAL_UNLOCK(m_EventFlagsMutex)
- }
-
- uint32_t IIMUEventDispatcher::GetEventHandlingFlags()
- {
- _MINIMAL___LOCK(m_EventFlagsMutex);
- const uint32_t EventHandlingFlagsCurrentState = m_EventFlags;
- _MINIMAL_UNLOCK(m_EventFlagsMutex);
- return EventHandlingFlagsCurrentState;
- }
-
- void IIMUEventDispatcher::ReceiveEvent(const CIMUEvent& Event)
- {
- _MINIMAL___LOCK(m_EventFlagsMutex)
- const bool HandelEvent = Event.GetEventType() & m_EventFlags;
- _MINIMAL_UNLOCK(m_EventFlagsMutex)
-
- if (HandelEvent)
- {
- if (m_DispatchingMode == eDecoupled)
- {
- _MINIMAL___LOCK(m_EventsQueueMutex)
- if (m_EventsQueue.size() == m_MaximalPendingEvents)
- m_EventsQueue.pop_front();
- m_EventsQueue.push_back(Event);
- _MINIMAL_UNLOCK(m_EventsQueueMutex)
-
- switch(Event.GetEventType())
- {
- case CIMUEvent::eOnIMUCycle:
- _MINIMAL___LOCK(m_LastCycleReferenceTimeStampMutex)
- gettimeofday(&m_LastCycleReferenceTimeStamp,NULL);
- _MINIMAL_UNLOCK(m_LastCycleReferenceTimeStampMutex)
- return;
- case CIMUEvent::eOnIMUFusedCycle:
- _MINIMAL___LOCK(m_LastFusedCycleReferenceTimeStampMutex)
- gettimeofday(&m_LastFusedCycleReferenceTimeStamp,NULL);
- _MINIMAL_UNLOCK(m_LastFusedCycleReferenceTimeStampMutex)
- return;
- case CIMUEvent::eOnIMUIntegratedState:
- _MINIMAL___LOCK(m_LastIntegratedStateReferenceTimeStampMutex)
- gettimeofday(&m_LastIntegratedStateReferenceTimeStamp,NULL);
- _MINIMAL_UNLOCK(m_LastIntegratedStateReferenceTimeStampMutex)
- return;
- case CIMUEvent::eOnIMUCustomEvent:
- _MINIMAL___LOCK(m_LastCustomEventReferenceTimeStampMutex)
- gettimeofday(&m_LastCustomEventReferenceTimeStamp,NULL);
- _MINIMAL_UNLOCK(m_LastCustomEventReferenceTimeStampMutex)
- return;
- case CIMUEvent::eOnIMUStart:
- _MINIMAL___LOCK(m_LastStartTimeStampMutex)
- gettimeofday(&m_LastStartTimeStamp,NULL);
- _MINIMAL_UNLOCK(m_LastStartTimeStampMutex)
- return;
- case CIMUEvent::eOnIMUStop:
- _MINIMAL___LOCK(m_LastStopTimeStampMutex)
- gettimeofday(&m_LastStopTimeStamp,NULL);
- _MINIMAL_UNLOCK(m_LastStopTimeStampMutex)
- return;
- }
- }
- else
- OnIMUEvent(Event);
- }
- }
-
- bool IIMUEventDispatcher::ProcessPendingEvent()
- {
- _MINIMAL___LOCK(m_EventsQueueMutex)
- if (m_EventsQueue.size())
- {
- OnIMUEvent(m_EventsQueue.front());
- m_EventsQueue.pop_front();
- _MINIMAL_UNLOCK(m_EventsQueueMutex)
- return true;
- }
- else
- {
- _MINIMAL_UNLOCK(m_EventsQueueMutex)
- return false;
- }
- }
-
- void IIMUEventDispatcher::SetReferenceTimeStamps(const timeval& Reference)
- {
- _MINIMAL___LOCK(m_LastStartTimeStampMutex)
- m_LastStartTimeStamp = Reference;
- _MINIMAL_UNLOCK(m_LastStartTimeStampMutex)
-
- _MINIMAL___LOCK(m_LastStopTimeStampMutex)
- m_LastStopTimeStamp = Reference;
- _MINIMAL_UNLOCK(m_LastStopTimeStampMutex)
-
- _MINIMAL___LOCK(m_LastCycleReferenceTimeStampMutex)
- m_LastCycleReferenceTimeStamp = Reference;
- _MINIMAL_UNLOCK(m_LastCycleReferenceTimeStampMutex)
-
- _MINIMAL___LOCK(m_LastFusedCycleReferenceTimeStampMutex)
- m_LastFusedCycleReferenceTimeStamp = Reference;
- _MINIMAL_UNLOCK(m_LastFusedCycleReferenceTimeStampMutex)
-
- _MINIMAL___LOCK(m_LastIntegratedStateReferenceTimeStampMutex)
- m_LastIntegratedStateReferenceTimeStamp = Reference;
- _MINIMAL_UNLOCK(m_LastIntegratedStateReferenceTimeStampMutex)
-
- _MINIMAL___LOCK(m_LastCustomEventReferenceTimeStampMutex)
- m_LastCustomEventReferenceTimeStamp = Reference;
- _MINIMAL_UNLOCK(m_LastCustomEventReferenceTimeStampMutex)
- }
-
- timeval IIMUEventDispatcher::GetLastStartTimeStamp()
- {
- _MINIMAL___LOCK(m_LastStartTimeStampMutex)
- timeval TimeStampCurrentState = m_LastStartTimeStamp;
- _MINIMAL_UNLOCK(m_LastStartTimeStampMutex)
- return TimeStampCurrentState;
- }
-
- timeval IIMUEventDispatcher::GetLastStopTimeStamp()
- {
- _MINIMAL___LOCK(m_LastStopTimeStampMutex)
- timeval TimeStampCurrentState = m_LastStopTimeStamp;
- _MINIMAL_UNLOCK(m_LastStopTimeStampMutex)
- return TimeStampCurrentState;
- }
-
- timeval IIMUEventDispatcher::GetLastCycleReferenceTimeStamp()
- {
- _MINIMAL___LOCK(m_LastCycleReferenceTimeStampMutex)
- timeval TimeStampCurrentState = m_LastCycleReferenceTimeStamp;
- _MINIMAL_UNLOCK(m_LastCycleReferenceTimeStampMutex)
- return TimeStampCurrentState;
- }
-
- timeval IIMUEventDispatcher::GetLastFusedCycleReferenceTimeStamp()
- {
- _MINIMAL___LOCK(m_LastFusedCycleReferenceTimeStampMutex)
- timeval TimeStampCurrentState = m_LastFusedCycleReferenceTimeStamp;
- _MINIMAL_UNLOCK(m_LastFusedCycleReferenceTimeStampMutex)
- return TimeStampCurrentState;
- }
-
- timeval IIMUEventDispatcher::GetLastIntegratedStateReferenceTimeStamp()
- {
- _MINIMAL___LOCK(m_LastIntegratedStateReferenceTimeStampMutex)
- timeval TimeStampCurrentState = m_LastIntegratedStateReferenceTimeStamp;
- _MINIMAL_UNLOCK(m_LastIntegratedStateReferenceTimeStampMutex)
- return TimeStampCurrentState;
- }
-
- timeval IIMUEventDispatcher::GetLastCustomEventReferenceTimeStamp()
- {
- _MINIMAL___LOCK(m_LastCustomEventReferenceTimeStampMutex)
- timeval TimeStampCurrentState = m_LastCustomEventReferenceTimeStamp;
- _MINIMAL_UNLOCK(m_LastCustomEventReferenceTimeStampMutex)
- return TimeStampCurrentState;
- }
-
- void IIMUEventDispatcher::PurgeEvents()
- {
- _MINIMAL___LOCK(m_EventsQueueMutex)
- if (m_EventsQueue.size() >= m_MaximalPendingEvents)
- {
- const uint32_t TotalEventsToRemove = (uint32_t(m_EventsQueue.size()) - m_MaximalPendingEvents) + 1;
- for(uint32_t i = 0 ; i < TotalEventsToRemove ; ++i)
- m_EventsQueue.pop_front();
- }
- _MINIMAL_UNLOCK(m_EventsQueueMutex)
- }
+ IIMUEventDispatcher::IIMUEventDispatcher(CIMUDevice* pIMUDevice) :
+ m_DispatchingMode(eCoupled), m_MaximalPendingEvents(2), m_EventFlags(0XFFFF), m_pIMUDevice(pIMUDevice), m_LastStartTimeStamp(CTimeStamp::s_Zero), m_LastStopTimeStamp(CTimeStamp::s_Zero), m_LastCycleReferenceTimeStamp(CTimeStamp::s_Zero), m_LastFusedCycleReferenceTimeStamp(CTimeStamp::s_Zero), m_LastIntegratedStateReferenceTimeStamp(CTimeStamp::s_Zero), m_LastCustomEventReferenceTimeStamp(CTimeStamp::s_Zero)
+ {
+ pthread_mutex_init(&m_DispatchingModeMutex, NULL);
+ pthread_mutex_init(&m_MaximalPendingEventsMutex, NULL);
+ pthread_mutex_init(&m_EventFlagsMutex, NULL);
+ pthread_mutex_init(&m_IMUDeviceMutex, NULL);
+ pthread_mutex_init(&m_EventsQueueMutex, NULL);
+ pthread_mutex_init(&m_LastStartTimeStampMutex, NULL);
+ pthread_mutex_init(&m_LastStopTimeStampMutex, NULL);
+ pthread_mutex_init(&m_LastCycleReferenceTimeStampMutex, NULL);
+ pthread_mutex_init(&m_LastFusedCycleReferenceTimeStampMutex, NULL);
+ pthread_mutex_init(&m_LastIntegratedStateReferenceTimeStampMutex, NULL);
+ pthread_mutex_init(&m_LastCustomEventReferenceTimeStampMutex, NULL);
+ }
+
+ IIMUEventDispatcher::IIMUEventDispatcher() :
+ m_DispatchingMode(eCoupled), m_MaximalPendingEvents(2), m_EventFlags(0XFFFF), m_pIMUDevice(NULL), m_EventsQueue(), m_LastStartTimeStamp(CTimeStamp::s_Zero), m_LastStopTimeStamp(CTimeStamp::s_Zero), m_LastCycleReferenceTimeStamp(CTimeStamp::s_Zero), m_LastFusedCycleReferenceTimeStamp(CTimeStamp::s_Zero), m_LastIntegratedStateReferenceTimeStamp(CTimeStamp::s_Zero), m_LastCustomEventReferenceTimeStamp(CTimeStamp::s_Zero)
+ {
+ pthread_mutex_init(&m_DispatchingModeMutex, NULL);
+ pthread_mutex_init(&m_MaximalPendingEventsMutex, NULL);
+ pthread_mutex_init(&m_EventFlagsMutex, NULL);
+ pthread_mutex_init(&m_IMUDeviceMutex, NULL);
+ pthread_mutex_init(&m_EventsQueueMutex, NULL);
+ pthread_mutex_init(&m_LastStartTimeStampMutex, NULL);
+ pthread_mutex_init(&m_LastStopTimeStampMutex, NULL);
+ pthread_mutex_init(&m_LastCycleReferenceTimeStampMutex, NULL);
+ pthread_mutex_init(&m_LastFusedCycleReferenceTimeStampMutex, NULL);
+ pthread_mutex_init(&m_LastIntegratedStateReferenceTimeStampMutex, NULL);
+ pthread_mutex_init(&m_LastCustomEventReferenceTimeStampMutex, NULL);
+ }
+
+ IIMUEventDispatcher::~IIMUEventDispatcher()
+ {
+ if (m_pIMUDevice)
+ {
+ m_pIMUDevice->UnregisterEventDispatcher(this);
+ }
+ }
+
+ void IIMUEventDispatcher::SetIMU(CIMUDevice* pIMUDevice)
+ {
+ _MINIMAL___LOCK(m_IMUDeviceMutex)
+ m_pIMUDevice = pIMUDevice;
+ _MINIMAL_UNLOCK(m_IMUDeviceMutex)
+ }
+
+ uint32_t IIMUEventDispatcher::GetEventFlags()
+ {
+ _MINIMAL___LOCK(m_EventFlagsMutex)
+ const uint32_t EventFlagsCurrentState = m_EventFlags;
+ _MINIMAL_UNLOCK(m_EventFlagsMutex)
+ return EventFlagsCurrentState;
+ }
+
+ void IIMUEventDispatcher::SetDispatchingMode(const DispatchingMode Mode)
+ {
+ _MINIMAL___LOCK(m_DispatchingModeMutex)
+ m_DispatchingMode = Mode;
+ _MINIMAL_UNLOCK(m_DispatchingModeMutex)
+ }
+
+ IIMUEventDispatcher::DispatchingMode IIMUEventDispatcher::GetDispatchingMode()
+ {
+ _MINIMAL___LOCK(m_DispatchingModeMutex)
+ const DispatchingMode DispatchingModeCurrentState = m_DispatchingMode;
+ _MINIMAL_UNLOCK(m_DispatchingModeMutex)
+ return DispatchingModeCurrentState;
+ }
+
+ void IIMUEventDispatcher::SetMaximalPendingEvents(const uint32_t MaximalPendingEvents)
+ {
+ if ((MaximalPendingEvents > 1) && (MaximalPendingEvents != m_MaximalPendingEvents))
+ {
+ _MINIMAL___LOCK(m_MaximalPendingEventsMutex)
+ m_MaximalPendingEvents = MaximalPendingEvents;
+ _MINIMAL_UNLOCK(m_MaximalPendingEventsMutex)
+
+ if (m_DispatchingMode == eDecoupled)
+ {
+ PurgeEvents();
+ }
+ }
+ }
+
+ uint32_t IIMUEventDispatcher::GetMaximalPendingEvents()
+ {
+ _MINIMAL___LOCK(m_MaximalPendingEventsMutex)
+ const uint32_t MaximalPendingEventsCurrentState = m_MaximalPendingEvents;
+ _MINIMAL_UNLOCK(m_MaximalPendingEventsMutex)
+ return MaximalPendingEventsCurrentState;
+ }
+
+ void IIMUEventDispatcher::SetEventHandling(const CIMUEvent::EventType Type, const bool Enabled)
+ {
+ _MINIMAL___LOCK(m_EventFlagsMutex)
+ m_EventFlags = Enabled ? (m_EventFlags | Type) : (m_EventFlags & (~Type));
+ _MINIMAL_UNLOCK(m_EventFlagsMutex)
+ }
+
+ uint32_t IIMUEventDispatcher::GetEventHandlingFlags()
+ {
+ _MINIMAL___LOCK(m_EventFlagsMutex);
+ const uint32_t EventHandlingFlagsCurrentState = m_EventFlags;
+ _MINIMAL_UNLOCK(m_EventFlagsMutex);
+ return EventHandlingFlagsCurrentState;
+ }
+
+ void IIMUEventDispatcher::ReceiveEvent(const CIMUEvent& Event)
+ {
+ _MINIMAL___LOCK(m_EventFlagsMutex)
+ const bool HandelEvent = Event.GetEventType() & m_EventFlags;
+ _MINIMAL_UNLOCK(m_EventFlagsMutex)
+
+ if (HandelEvent)
+ {
+ if (m_DispatchingMode == eDecoupled)
+ {
+ _MINIMAL___LOCK(m_EventsQueueMutex)
+
+ if (m_EventsQueue.size() == m_MaximalPendingEvents)
+ {
+ m_EventsQueue.pop_front();
+ }
+
+ m_EventsQueue.push_back(Event);
+ _MINIMAL_UNLOCK(m_EventsQueueMutex)
+
+ switch (Event.GetEventType())
+ {
+ case CIMUEvent::eOnIMUCycle:
+ _MINIMAL___LOCK(m_LastCycleReferenceTimeStampMutex)
+ gettimeofday(&m_LastCycleReferenceTimeStamp, NULL);
+ _MINIMAL_UNLOCK(m_LastCycleReferenceTimeStampMutex)
+ return;
+
+ case CIMUEvent::eOnIMUFusedCycle:
+ _MINIMAL___LOCK(m_LastFusedCycleReferenceTimeStampMutex)
+ gettimeofday(&m_LastFusedCycleReferenceTimeStamp, NULL);
+ _MINIMAL_UNLOCK(m_LastFusedCycleReferenceTimeStampMutex)
+ return;
+
+ case CIMUEvent::eOnIMUIntegratedState:
+ _MINIMAL___LOCK(m_LastIntegratedStateReferenceTimeStampMutex)
+ gettimeofday(&m_LastIntegratedStateReferenceTimeStamp, NULL);
+ _MINIMAL_UNLOCK(m_LastIntegratedStateReferenceTimeStampMutex)
+ return;
+
+ case CIMUEvent::eOnIMUCustomEvent:
+ _MINIMAL___LOCK(m_LastCustomEventReferenceTimeStampMutex)
+ gettimeofday(&m_LastCustomEventReferenceTimeStamp, NULL);
+ _MINIMAL_UNLOCK(m_LastCustomEventReferenceTimeStampMutex)
+ return;
+
+ case CIMUEvent::eOnIMUStart:
+ _MINIMAL___LOCK(m_LastStartTimeStampMutex)
+ gettimeofday(&m_LastStartTimeStamp, NULL);
+ _MINIMAL_UNLOCK(m_LastStartTimeStampMutex)
+ return;
+
+ case CIMUEvent::eOnIMUStop:
+ _MINIMAL___LOCK(m_LastStopTimeStampMutex)
+ gettimeofday(&m_LastStopTimeStamp, NULL);
+ _MINIMAL_UNLOCK(m_LastStopTimeStampMutex)
+ return;
+ }
+ }
+ else
+ {
+ OnIMUEvent(Event);
+ }
+ }
+ }
+
+ bool IIMUEventDispatcher::ProcessPendingEvent()
+ {
+ _MINIMAL___LOCK(m_EventsQueueMutex)
+
+ if (m_EventsQueue.size())
+ {
+ OnIMUEvent(m_EventsQueue.front());
+ m_EventsQueue.pop_front();
+ _MINIMAL_UNLOCK(m_EventsQueueMutex)
+ return true;
+ }
+ else
+ {
+ _MINIMAL_UNLOCK(m_EventsQueueMutex)
+ return false;
+ }
+ }
+
+ void IIMUEventDispatcher::SetReferenceTimeStamps(const timeval& Reference)
+ {
+ _MINIMAL___LOCK(m_LastStartTimeStampMutex)
+ m_LastStartTimeStamp = Reference;
+ _MINIMAL_UNLOCK(m_LastStartTimeStampMutex)
+
+ _MINIMAL___LOCK(m_LastStopTimeStampMutex)
+ m_LastStopTimeStamp = Reference;
+ _MINIMAL_UNLOCK(m_LastStopTimeStampMutex)
+
+ _MINIMAL___LOCK(m_LastCycleReferenceTimeStampMutex)
+ m_LastCycleReferenceTimeStamp = Reference;
+ _MINIMAL_UNLOCK(m_LastCycleReferenceTimeStampMutex)
+
+ _MINIMAL___LOCK(m_LastFusedCycleReferenceTimeStampMutex)
+ m_LastFusedCycleReferenceTimeStamp = Reference;
+ _MINIMAL_UNLOCK(m_LastFusedCycleReferenceTimeStampMutex)
+
+ _MINIMAL___LOCK(m_LastIntegratedStateReferenceTimeStampMutex)
+ m_LastIntegratedStateReferenceTimeStamp = Reference;
+ _MINIMAL_UNLOCK(m_LastIntegratedStateReferenceTimeStampMutex)
+
+ _MINIMAL___LOCK(m_LastCustomEventReferenceTimeStampMutex)
+ m_LastCustomEventReferenceTimeStamp = Reference;
+ _MINIMAL_UNLOCK(m_LastCustomEventReferenceTimeStampMutex)
+ }
+
+ timeval IIMUEventDispatcher::GetLastStartTimeStamp()
+ {
+ _MINIMAL___LOCK(m_LastStartTimeStampMutex)
+ timeval TimeStampCurrentState = m_LastStartTimeStamp;
+ _MINIMAL_UNLOCK(m_LastStartTimeStampMutex)
+ return TimeStampCurrentState;
+ }
+
+ timeval IIMUEventDispatcher::GetLastStopTimeStamp()
+ {
+ _MINIMAL___LOCK(m_LastStopTimeStampMutex)
+ timeval TimeStampCurrentState = m_LastStopTimeStamp;
+ _MINIMAL_UNLOCK(m_LastStopTimeStampMutex)
+ return TimeStampCurrentState;
+ }
+
+ timeval IIMUEventDispatcher::GetLastCycleReferenceTimeStamp()
+ {
+ _MINIMAL___LOCK(m_LastCycleReferenceTimeStampMutex)
+ timeval TimeStampCurrentState = m_LastCycleReferenceTimeStamp;
+ _MINIMAL_UNLOCK(m_LastCycleReferenceTimeStampMutex)
+ return TimeStampCurrentState;
+ }
+
+ timeval IIMUEventDispatcher::GetLastFusedCycleReferenceTimeStamp()
+ {
+ _MINIMAL___LOCK(m_LastFusedCycleReferenceTimeStampMutex)
+ timeval TimeStampCurrentState = m_LastFusedCycleReferenceTimeStamp;
+ _MINIMAL_UNLOCK(m_LastFusedCycleReferenceTimeStampMutex)
+ return TimeStampCurrentState;
+ }
+
+ timeval IIMUEventDispatcher::GetLastIntegratedStateReferenceTimeStamp()
+ {
+ _MINIMAL___LOCK(m_LastIntegratedStateReferenceTimeStampMutex)
+ timeval TimeStampCurrentState = m_LastIntegratedStateReferenceTimeStamp;
+ _MINIMAL_UNLOCK(m_LastIntegratedStateReferenceTimeStampMutex)
+ return TimeStampCurrentState;
+ }
+
+ timeval IIMUEventDispatcher::GetLastCustomEventReferenceTimeStamp()
+ {
+ _MINIMAL___LOCK(m_LastCustomEventReferenceTimeStampMutex)
+ timeval TimeStampCurrentState = m_LastCustomEventReferenceTimeStamp;
+ _MINIMAL_UNLOCK(m_LastCustomEventReferenceTimeStampMutex)
+ return TimeStampCurrentState;
+ }
+
+ void IIMUEventDispatcher::PurgeEvents()
+ {
+ _MINIMAL___LOCK(m_EventsQueueMutex)
+
+ if (m_EventsQueue.size() >= m_MaximalPendingEvents)
+ {
+ const uint32_t TotalEventsToRemove = (uint32_t(m_EventsQueue.size()) - m_MaximalPendingEvents) + 1;
+
+ for (uint32_t i = 0 ; i < TotalEventsToRemove ; ++i)
+ {
+ m_EventsQueue.pop_front();
+ }
+ }
+
+ _MINIMAL_UNLOCK(m_EventsQueueMutex)
+ }
}
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IIMUEventDispatcher.h b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IIMUEventDispatcher.h
old mode 100755
new mode 100644
index 2693fca7afa038a4043c4b90bd74ab25854f6c4f..d5a073128d0fa9726e3e7fc47a43d38b854c1b28
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IIMUEventDispatcher.h
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IIMUEventDispatcher.h
@@ -3,7 +3,7 @@
*
* Created on: Mar 16, 2014
* Author: Dr.-Ing. David Israel González Aguirre
- * Mail: david.gonzalez@kit.edu
+ * Mail: david.gonzalez@kit.edu
*/
#ifndef IIMUEVENTDISPATCHER_H_
@@ -15,86 +15,86 @@
namespace IMU
{
- class CIMUDevice;
- class IIMUEventDispatcher
- {
- public:
-
- enum DispatchingMode
- {
- eCoupled, eDecoupled
- };
-
- IIMUEventDispatcher(CIMUDevice* pIMUDevice);
- IIMUEventDispatcher();
-
- virtual ~IIMUEventDispatcher();
-
- void SetIMU(CIMUDevice* pIMUDevice);
-
- uint32_t GetEventFlags();
-
- void SetDispatchingMode(const DispatchingMode Mode);
- DispatchingMode GetDispatchingMode();
-
- void SetMaximalPendingEvents(const uint32_t MaximalPendingEvents);
- uint32_t GetMaximalPendingEvents();
-
- void SetEventHandling(const CIMUEvent::EventType Type, const bool Enabled);
- uint32_t GetEventHandlingFlags();
-
- void ReceiveEvent(const CIMUEvent& Event);
-
- inline uint32_t GetTotalPendingEvents()
- {
- return uint32_t(m_EventsQueue.size());
- }
-
- inline bool HasPendingEvents()
- {
- return m_EventsQueue.size();
- }
-
- bool ProcessPendingEvent();
-
- void SetReferenceTimeStamps(const timeval& Reference);
-
- timeval GetLastStartTimeStamp();
- timeval GetLastStopTimeStamp();
- timeval GetLastCycleReferenceTimeStamp();
- timeval GetLastFusedCycleReferenceTimeStamp();
- timeval GetLastIntegratedStateReferenceTimeStamp();
- timeval GetLastCustomEventReferenceTimeStamp();
-
- virtual void OnIMUEvent(const CIMUEvent& Event) = 0;
-
- private:
-
- void PurgeEvents();
-
- DispatchingMode m_DispatchingMode;
- pthread_mutex_t m_DispatchingModeMutex;
- uint32_t m_MaximalPendingEvents;
- pthread_mutex_t m_MaximalPendingEventsMutex;
- uint32_t m_EventFlags;
- pthread_mutex_t m_EventFlagsMutex;
- CIMUDevice* m_pIMUDevice;
- pthread_mutex_t m_IMUDeviceMutex;
- std::list<CIMUEvent> m_EventsQueue;
- pthread_mutex_t m_EventsQueueMutex;
- timeval m_LastStartTimeStamp;
- pthread_mutex_t m_LastStartTimeStampMutex;
- timeval m_LastStopTimeStamp;
- pthread_mutex_t m_LastStopTimeStampMutex;
- timeval m_LastCycleReferenceTimeStamp;
- pthread_mutex_t m_LastCycleReferenceTimeStampMutex;
- timeval m_LastFusedCycleReferenceTimeStamp;
- pthread_mutex_t m_LastFusedCycleReferenceTimeStampMutex;
- timeval m_LastIntegratedStateReferenceTimeStamp;
- pthread_mutex_t m_LastIntegratedStateReferenceTimeStampMutex;
- timeval m_LastCustomEventReferenceTimeStamp;
- pthread_mutex_t m_LastCustomEventReferenceTimeStampMutex;
- };
+ class CIMUDevice;
+ class IIMUEventDispatcher
+ {
+ public:
+
+ enum DispatchingMode
+ {
+ eCoupled, eDecoupled
+ };
+
+ IIMUEventDispatcher(CIMUDevice* pIMUDevice);
+ IIMUEventDispatcher();
+
+ virtual ~IIMUEventDispatcher();
+
+ void SetIMU(CIMUDevice* pIMUDevice);
+
+ uint32_t GetEventFlags();
+
+ void SetDispatchingMode(const DispatchingMode Mode);
+ DispatchingMode GetDispatchingMode();
+
+ void SetMaximalPendingEvents(const uint32_t MaximalPendingEvents);
+ uint32_t GetMaximalPendingEvents();
+
+ void SetEventHandling(const CIMUEvent::EventType Type, const bool Enabled);
+ uint32_t GetEventHandlingFlags();
+
+ void ReceiveEvent(const CIMUEvent& Event);
+
+ inline uint32_t GetTotalPendingEvents()
+ {
+ return uint32_t(m_EventsQueue.size());
+ }
+
+ inline bool HasPendingEvents()
+ {
+ return m_EventsQueue.size();
+ }
+
+ bool ProcessPendingEvent();
+
+ void SetReferenceTimeStamps(const timeval& Reference);
+
+ timeval GetLastStartTimeStamp();
+ timeval GetLastStopTimeStamp();
+ timeval GetLastCycleReferenceTimeStamp();
+ timeval GetLastFusedCycleReferenceTimeStamp();
+ timeval GetLastIntegratedStateReferenceTimeStamp();
+ timeval GetLastCustomEventReferenceTimeStamp();
+
+ virtual void OnIMUEvent(const CIMUEvent& Event) = 0;
+
+ private:
+
+ void PurgeEvents();
+
+ DispatchingMode m_DispatchingMode;
+ pthread_mutex_t m_DispatchingModeMutex;
+ uint32_t m_MaximalPendingEvents;
+ pthread_mutex_t m_MaximalPendingEventsMutex;
+ uint32_t m_EventFlags;
+ pthread_mutex_t m_EventFlagsMutex;
+ CIMUDevice* m_pIMUDevice;
+ pthread_mutex_t m_IMUDeviceMutex;
+ std::list<CIMUEvent> m_EventsQueue;
+ pthread_mutex_t m_EventsQueueMutex;
+ timeval m_LastStartTimeStamp;
+ pthread_mutex_t m_LastStartTimeStampMutex;
+ timeval m_LastStopTimeStamp;
+ pthread_mutex_t m_LastStopTimeStampMutex;
+ timeval m_LastCycleReferenceTimeStamp;
+ pthread_mutex_t m_LastCycleReferenceTimeStampMutex;
+ timeval m_LastFusedCycleReferenceTimeStamp;
+ pthread_mutex_t m_LastFusedCycleReferenceTimeStampMutex;
+ timeval m_LastIntegratedStateReferenceTimeStamp;
+ pthread_mutex_t m_LastIntegratedStateReferenceTimeStampMutex;
+ timeval m_LastCustomEventReferenceTimeStamp;
+ pthread_mutex_t m_LastCustomEventReferenceTimeStampMutex;
+ };
}
#endif
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMU.h b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMU.h
old mode 100755
new mode 100644
index 205cc8b596aec2f0247e3e9f81224735c87eca76..0eb554c34a855467d284dc3108c94e0027a0c459
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMU.h
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMU.h
@@ -3,7 +3,7 @@
*
* Created on: Mar 17, 2014
* Author: Dr.-Ing. David Israel González Aguirre
- * Mail: david.gonzalez@kit.edu
+ * Mail: david.gonzalez@kit.edu
*/
#ifndef IMU_H_
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDeducedReckoning.cpp b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDeducedReckoning.cpp
old mode 100755
new mode 100644
index c386a4fdb8c2ab8ece76ce0f212743da9ba50480..0a1a7f7c3e1cd43a64fe6fb0e1f7d6b2dc8ad27d
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDeducedReckoning.cpp
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDeducedReckoning.cpp
@@ -3,169 +3,188 @@
*
* Created on: Mar 16, 2014
* Author: Dr.-Ing. David Israel González Aguirre
- * Mail: david.gonzalez@kit.edu
+ * Mail: david.gonzalez@kit.edu
*/
#include "IMUDeducedReckoning.h"
namespace IMU
{
- CIMUDeducedReckoning::CIMUDeducedReckoning(const bool IsVerbose) :
- IIMUEventDispatcher(), m_IsVerbose(IsVerbose), m_G(IMU::CGeolocationInformation::GetGravitationalAcceleration())
- {
- SetEventHandling(CIMUEvent::eOnIMUStart,true);
- SetEventHandling(CIMUEvent::eOnIMUStop,true);
- SetEventHandling(CIMUEvent::eOnIMUCycle,false);
- SetEventHandling(CIMUEvent::eOnIMUFusedCycle,true);
- SetEventHandling(CIMUEvent::eOnIMUIntegratedState,false);
- SetEventHandling(CIMUEvent::eOnIMUCustomEvent,true);
- }
-
- CIMUDeducedReckoning::~CIMUDeducedReckoning()
- {
- }
-
- void CIMUDeducedReckoning::OnIMUEvent(const CIMUEvent& Event)
- {
- switch(Event.GetEventType())
- {
- case CIMUEvent::eOnIMUCycle:
- OnIMUCycle(Event.GetTimeStamp(),Event.GetIMU());
- break;
- case CIMUEvent::eOnIMUFusedCycle:
- OnIMUFusedCycle(Event.GetTimeStamp(),Event.GetIMU());
- break;
- case CIMUEvent::eOnIMUIntegratedState:
- OnIMUIntegratedState(Event.GetTimeStamp(),Event.GetIMU());
- break;
- case CIMUEvent::eOnIMUCustomEvent:
- OnIMUCustomEvent(Event);
- break;
- case CIMUEvent::eOnIMUStart:
- OnIMUStart(Event.GetTimeStamp(),Event.GetIMU());
- break;
- case CIMUEvent::eOnIMUStop:
- OnIMUStop(Event.GetTimeStamp(),Event.GetIMU());
- break;
- }
- }
-
- void CIMUDeducedReckoning::OnIMUStart(const timeval& TimeStamp, const CIMUDevice* pIMUDevice)
- {
- if (m_IsVerbose)
- {
- std::cout << "OnIMUStart(IMU Device ID = " << pIMUDevice->GetDeviceId() << ((GetDispatchingMode() == eCoupled) ? " Coupled" : " Decoupled") << ")" << std::endl;
- std::cout << "\t[ Global time = " << CTimeStamp::GetElapsedSeconds(TimeStamp,pIMUDevice->GetReferenceTimeStamp()) << " s]" << std::endl;
- std::cout << "\t[ Latency = " << CTimeStamp::GetElapsedMicroseconds(TimeStamp,GetLastStartTimeStamp()) << "]" << std::endl;
- if (GetDispatchingMode() == eDecoupled)
- {
- std::cout << "\t[ Pending Events = " << GetTotalPendingEvents() << "]" << std::endl;
- std::cout << "\t[ Maximal Pending Events = " << GetMaximalPendingEvents() << "]" << std::endl;
- }
- }
- }
-
- void CIMUDeducedReckoning::OnIMUStop(const timeval& TimeStamp, const CIMUDevice* pIMUDevice)
- {
- if (m_IsVerbose)
- {
- std::cout << "OnIMUStop(IMU Device ID = " << pIMUDevice->GetDeviceId() << ((GetDispatchingMode() == eCoupled) ? " Coupled" : " Decoupled") << ")" << std::endl;
- std::cout << "\t[ Global time = " << CTimeStamp::GetElapsedSeconds(TimeStamp,pIMUDevice->GetReferenceTimeStamp()) << " s]" << std::endl;
- std::cout << "\t[ Latency = " << CTimeStamp::GetElapsedMicroseconds(TimeStamp,GetLastStopTimeStamp()) << "]" << std::endl;
- if (GetDispatchingMode() == eDecoupled)
- {
- std::cout << "\t[ Pending Events = " << GetTotalPendingEvents() << "]" << std::endl;
- std::cout << "\t[ Maximal Pending Events = " << GetMaximalPendingEvents() << "]" << std::endl;
- }
- }
- }
-
- void CIMUDeducedReckoning::OnIMUCycle(const timeval& TimeStamp, const CIMUDevice* pIMUDevice)
- {
- const IMUState CurrentState = pIMUDevice->GetIMUState();
- if (m_IsVerbose)
- {
- std::cout << "OnIMUCycle(IMU Device ID = 0x" << std::hex << pIMUDevice->GetDeviceId() << ((GetDispatchingMode() == eCoupled) ? " Coupled" : " Decoupled") << std::dec << ")" << std::endl;
- std::cout << "\t[ Global time = " << CTimeStamp::GetElapsedSeconds(TimeStamp,pIMUDevice->GetReferenceTimeStamp()) << " s]" << std::endl;
- std::cout << "\t[ Latency = " << CTimeStamp::GetElapsedMicroseconds(TimeStamp,GetLastCycleReferenceTimeStamp()) << " µs]" << std::endl;
- if (GetDispatchingMode() == eDecoupled)
- {
- std::cout << "\t[ Pending Events = " << GetTotalPendingEvents() << "]" << std::endl;
- std::cout << "\t[ Maximal Pending Events = " << GetMaximalPendingEvents() << "]" << std::endl;
- }
- std::cout << "\t[ Cycle = " << CurrentState.m_ControlData.m_MessageCounter << "]" << std::endl;
- std::cout << "\t[ Acceleration = [" << CurrentState.m_PhysicalData.m_Acceleration[0] << "," << CurrentState.m_PhysicalData.m_Acceleration[1] << "," << CurrentState.m_PhysicalData.m_Acceleration[2] << "]" << std::endl;
- std::cout << "\t[ Acceleration Magnitude = [" << std::abs(CurrentState.m_PhysicalData.m_AccelerationMagnitud - m_G) * 1000.0f << " mm/s^2]" << std::endl;
- std::cout << "\t[ Gyroscope Rotation = [" << CurrentState.m_PhysicalData.m_GyroscopeRotation[0] << "," << CurrentState.m_PhysicalData.m_GyroscopeRotation[1] << "," << CurrentState.m_PhysicalData.m_GyroscopeRotation[2] << "]" << std::endl;
- std::cout << "\t[ Magnetic Rotation = [" << CurrentState.m_PhysicalData.m_MagneticRotation[0] << "," << CurrentState.m_PhysicalData.m_MagneticRotation[1] << "," << CurrentState.m_PhysicalData.m_MagneticRotation[2] << "]" << std::endl;
- std::cout << "\t[ Quaternion Rotation = [" << CurrentState.m_PhysicalData.m_QuaternionRotation[0] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[1] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[2] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[3] << "]" << std::endl;
- }
- memcpy(m_OrientationQuaternion,CurrentState.m_PhysicalData.m_QuaternionRotation,sizeof(float) * 4);
- memcpy(m_MagneticRotation,CurrentState.m_PhysicalData.m_MagneticRotation,sizeof(float) * 3);
- memcpy(m_GyroscopeRotation,CurrentState.m_PhysicalData.m_GyroscopeRotation,sizeof(float) * 3);
- memcpy(m_Accelaration,CurrentState.m_PhysicalData.m_Acceleration,sizeof(float) * 3);
- }
-
- void CIMUDeducedReckoning::OnIMUFusedCycle(const timeval& TimeStamp, const CIMUDevice* pIMUDevice)
- {
- const IMUState CurrentState = pIMUDevice->GetIMUState();
- if (m_IsVerbose)
- {
- std::cout << "OnIMUFusedCycle(IMU Device ID = 0x" << std::hex << pIMUDevice->GetDeviceId() << ((GetDispatchingMode() == eCoupled) ? " Coupled" : " Decoupled") << std::dec << ")" << std::endl;
- std::cout << "\t[ Global time = " << CTimeStamp::GetElapsedSeconds(TimeStamp,pIMUDevice->GetReferenceTimeStamp()) << " s]" << std::endl;
- std::cout << "\t[ Latency = " << CTimeStamp::GetElapsedMicroseconds(TimeStamp,GetLastFusedCycleReferenceTimeStamp()) << " µs]" << std::endl;
- if (GetDispatchingMode() == eDecoupled)
- {
- std::cout << "\t[ Pending Events = " << GetTotalPendingEvents() << "]" << std::endl;
- std::cout << "\t[ Maximal Pending Events = " << GetMaximalPendingEvents() << "]" << std::endl;
- }
- std::cout << "\t[ Cycle = " << CurrentState.m_ControlData.m_MessageCounter << "]" << std::endl;
- std::cout << "\t[ Acceleration = [" << CurrentState.m_PhysicalData.m_Acceleration[0] << "," << CurrentState.m_PhysicalData.m_Acceleration[1] << "," << CurrentState.m_PhysicalData.m_Acceleration[2] << "]" << std::endl;
- std::cout << "\t[ Acceleration Magnitude = [" << std::abs(CurrentState.m_PhysicalData.m_AccelerationMagnitud - m_G) * 1000.0f << " mm/s^2]" << std::endl;
- std::cout << "\t[ Gyroscope Rotation = [" << CurrentState.m_PhysicalData.m_GyroscopeRotation[0] << "," << CurrentState.m_PhysicalData.m_GyroscopeRotation[1] << "," << CurrentState.m_PhysicalData.m_GyroscopeRotation[2] << "]" << std::endl;
- std::cout << "\t[ Magnetic Rotation = [" << CurrentState.m_PhysicalData.m_MagneticRotation[0] << "," << CurrentState.m_PhysicalData.m_MagneticRotation[1] << "," << CurrentState.m_PhysicalData.m_MagneticRotation[2] << "]" << std::endl;
- std::cout << "\t[ Quaternion Rotation = [" << CurrentState.m_PhysicalData.m_QuaternionRotation[0] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[1] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[2] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[3] << "]" << std::endl;
- }
- memcpy(m_OrientationQuaternion,CurrentState.m_PhysicalData.m_QuaternionRotation,sizeof(float) * 4);
- memcpy(m_MagneticRotation,CurrentState.m_PhysicalData.m_MagneticRotation,sizeof(float) * 3);
- memcpy(m_GyroscopeRotation,CurrentState.m_PhysicalData.m_GyroscopeRotation,sizeof(float) * 3);
- memcpy(m_Accelaration,CurrentState.m_PhysicalData.m_Acceleration,sizeof(float) * 3);
- }
-
- void CIMUDeducedReckoning::OnIMUIntegratedState(const timeval& TimeStamp, const CIMUDevice* pIMUDevice)
- {
- const IMUState CurrentState = pIMUDevice->GetIMUState();
- if (m_IsVerbose)
- {
- std::cout << "OnIMUStateUpdate(IMU Device ID = 0x" << std::hex << pIMUDevice->GetDeviceId() << ((GetDispatchingMode() == eCoupled) ? " Coupled" : " Decoupled") << std::dec << ")" << std::endl;
- std::cout << "\t[ Global time = " << CTimeStamp::GetElapsedSeconds(TimeStamp,pIMUDevice->GetReferenceTimeStamp()) << " s]" << std::endl;
- std::cout << "\t[ Latency = " << CTimeStamp::GetElapsedMicroseconds(TimeStamp,GetLastIntegratedStateReferenceTimeStamp()) << " µs]" << std::endl;
- if (GetDispatchingMode() == eDecoupled)
- {
- std::cout << "\t[ Pending Events = " << GetTotalPendingEvents() << "]" << std::endl;
- std::cout << "\t[ Maximal Pending Events = " << GetMaximalPendingEvents() << "]" << std::endl;
- }
- std::cout << "\t[ Cycle = " << CurrentState.m_ControlData.m_MessageCounter << "]" << std::endl;
- std::cout << "\t[ Acceleration = [" << CurrentState.m_PhysicalData.m_Acceleration[0] << "," << CurrentState.m_PhysicalData.m_Acceleration[1] << "," << CurrentState.m_PhysicalData.m_Acceleration[2] << "]" << std::endl;
- std::cout << "\t[ Acceleration Magnitude = [" << std::abs(CurrentState.m_PhysicalData.m_AccelerationMagnitud - m_G) * 1000.0f << " mm/s^2]" << std::endl;
- std::cout << "\t[ Gyroscope Rotation = [" << CurrentState.m_PhysicalData.m_GyroscopeRotation[0] << "," << CurrentState.m_PhysicalData.m_GyroscopeRotation[1] << "," << CurrentState.m_PhysicalData.m_GyroscopeRotation[2] << "]" << std::endl;
- std::cout << "\t[ Magnetic Rotation = [" << CurrentState.m_PhysicalData.m_MagneticRotation[0] << "," << CurrentState.m_PhysicalData.m_MagneticRotation[1] << "," << CurrentState.m_PhysicalData.m_MagneticRotation[2] << "]" << std::endl;
- std::cout << "\t[ Quaternion Rotation = [" << CurrentState.m_PhysicalData.m_QuaternionRotation[0] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[1] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[2] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[3] << "]" << std::endl;
- }
- }
-
- void CIMUDeducedReckoning::OnIMUCustomEvent(const CIMUEvent& CustomEvent)
- {
- if (m_IsVerbose)
- {
- std::cout << "OnIMUCustomEvent(IMU Device ID = 0x" << std::hex << CustomEvent.GetIMU()->GetDeviceId() << ((GetDispatchingMode() == eCoupled) ? " Coupled" : " Decoupled") << std::dec << ")" << std::endl;
- std::cout << "\t[ Latency = " << CTimeStamp::GetElapsedMicroseconds(CustomEvent.GetTimeStamp(),CustomEvent.GetIMU()->GetReferenceTimeStamp()) << " µs]" << std::endl;
- std::cout << "\t[ Latency = " << CTimeStamp::GetElapsedMicroseconds(CustomEvent.GetTimeStamp(),GetLastCustomEventReferenceTimeStamp()) << " µs]" << std::endl;
- if (GetDispatchingMode() == eDecoupled)
- {
- std::cout << "\t[ Pending Events = " << GetTotalPendingEvents() << "]" << std::endl;
- std::cout << "\t[ Maximal Pending Events = " << GetMaximalPendingEvents() << "]" << std::endl;
- }
- }
- }
+ CIMUDeducedReckoning::CIMUDeducedReckoning(const bool IsVerbose) :
+ IIMUEventDispatcher(), m_IsVerbose(IsVerbose), m_G(IMU::CGeolocationInformation::GetGravitationalAcceleration())
+ {
+ SetEventHandling(CIMUEvent::eOnIMUStart, true);
+ SetEventHandling(CIMUEvent::eOnIMUStop, true);
+ SetEventHandling(CIMUEvent::eOnIMUCycle, false);
+ SetEventHandling(CIMUEvent::eOnIMUFusedCycle, true);
+ SetEventHandling(CIMUEvent::eOnIMUIntegratedState, false);
+ SetEventHandling(CIMUEvent::eOnIMUCustomEvent, true);
+ }
+
+ CIMUDeducedReckoning::~CIMUDeducedReckoning()
+ {
+ }
+
+ void CIMUDeducedReckoning::OnIMUEvent(const CIMUEvent& Event)
+ {
+ switch (Event.GetEventType())
+ {
+ case CIMUEvent::eOnIMUCycle:
+ OnIMUCycle(Event.GetTimeStamp(), Event.GetIMU());
+ break;
+
+ case CIMUEvent::eOnIMUFusedCycle:
+ OnIMUFusedCycle(Event.GetTimeStamp(), Event.GetIMU());
+ break;
+
+ case CIMUEvent::eOnIMUIntegratedState:
+ OnIMUIntegratedState(Event.GetTimeStamp(), Event.GetIMU());
+ break;
+
+ case CIMUEvent::eOnIMUCustomEvent:
+ OnIMUCustomEvent(Event);
+ break;
+
+ case CIMUEvent::eOnIMUStart:
+ OnIMUStart(Event.GetTimeStamp(), Event.GetIMU());
+ break;
+
+ case CIMUEvent::eOnIMUStop:
+ OnIMUStop(Event.GetTimeStamp(), Event.GetIMU());
+ break;
+ }
+ }
+
+ void CIMUDeducedReckoning::OnIMUStart(const timeval& TimeStamp, const CIMUDevice* pIMUDevice)
+ {
+ if (m_IsVerbose)
+ {
+ std::cout << "OnIMUStart(IMU Device ID = " << pIMUDevice->GetDeviceId() << ((GetDispatchingMode() == eCoupled) ? " Coupled" : " Decoupled") << ")" << std::endl;
+ std::cout << "\t[ Global time = " << CTimeStamp::GetElapsedSeconds(TimeStamp, pIMUDevice->GetReferenceTimeStamp()) << " s]" << std::endl;
+ std::cout << "\t[ Latency = " << CTimeStamp::GetElapsedMicroseconds(TimeStamp, GetLastStartTimeStamp()) << "]" << std::endl;
+
+ if (GetDispatchingMode() == eDecoupled)
+ {
+ std::cout << "\t[ Pending Events = " << GetTotalPendingEvents() << "]" << std::endl;
+ std::cout << "\t[ Maximal Pending Events = " << GetMaximalPendingEvents() << "]" << std::endl;
+ }
+ }
+ }
+
+ void CIMUDeducedReckoning::OnIMUStop(const timeval& TimeStamp, const CIMUDevice* pIMUDevice)
+ {
+ if (m_IsVerbose)
+ {
+ std::cout << "OnIMUStop(IMU Device ID = " << pIMUDevice->GetDeviceId() << ((GetDispatchingMode() == eCoupled) ? " Coupled" : " Decoupled") << ")" << std::endl;
+ std::cout << "\t[ Global time = " << CTimeStamp::GetElapsedSeconds(TimeStamp, pIMUDevice->GetReferenceTimeStamp()) << " s]" << std::endl;
+ std::cout << "\t[ Latency = " << CTimeStamp::GetElapsedMicroseconds(TimeStamp, GetLastStopTimeStamp()) << "]" << std::endl;
+
+ if (GetDispatchingMode() == eDecoupled)
+ {
+ std::cout << "\t[ Pending Events = " << GetTotalPendingEvents() << "]" << std::endl;
+ std::cout << "\t[ Maximal Pending Events = " << GetMaximalPendingEvents() << "]" << std::endl;
+ }
+ }
+ }
+
+ void CIMUDeducedReckoning::OnIMUCycle(const timeval& TimeStamp, const CIMUDevice* pIMUDevice)
+ {
+ const IMUState CurrentState = pIMUDevice->GetIMUState();
+
+ if (m_IsVerbose)
+ {
+ std::cout << "OnIMUCycle(IMU Device ID = 0x" << std::hex << pIMUDevice->GetDeviceId() << ((GetDispatchingMode() == eCoupled) ? " Coupled" : " Decoupled") << std::dec << ")" << std::endl;
+ std::cout << "\t[ Global time = " << CTimeStamp::GetElapsedSeconds(TimeStamp, pIMUDevice->GetReferenceTimeStamp()) << " s]" << std::endl;
+ std::cout << "\t[ Latency = " << CTimeStamp::GetElapsedMicroseconds(TimeStamp, GetLastCycleReferenceTimeStamp()) << " µs]" << std::endl;
+
+ if (GetDispatchingMode() == eDecoupled)
+ {
+ std::cout << "\t[ Pending Events = " << GetTotalPendingEvents() << "]" << std::endl;
+ std::cout << "\t[ Maximal Pending Events = " << GetMaximalPendingEvents() << "]" << std::endl;
+ }
+
+ std::cout << "\t[ Cycle = " << CurrentState.m_ControlData.m_MessageCounter << "]" << std::endl;
+ std::cout << "\t[ Acceleration = [" << CurrentState.m_PhysicalData.m_Acceleration[0] << "," << CurrentState.m_PhysicalData.m_Acceleration[1] << "," << CurrentState.m_PhysicalData.m_Acceleration[2] << "]" << std::endl;
+ std::cout << "\t[ Acceleration Magnitude = [" << std::abs(CurrentState.m_PhysicalData.m_AccelerationMagnitud - m_G) * 1000.0f << " mm/s^2]" << std::endl;
+ std::cout << "\t[ Gyroscope Rotation = [" << CurrentState.m_PhysicalData.m_GyroscopeRotation[0] << "," << CurrentState.m_PhysicalData.m_GyroscopeRotation[1] << "," << CurrentState.m_PhysicalData.m_GyroscopeRotation[2] << "]" << std::endl;
+ std::cout << "\t[ Magnetic Rotation = [" << CurrentState.m_PhysicalData.m_MagneticRotation[0] << "," << CurrentState.m_PhysicalData.m_MagneticRotation[1] << "," << CurrentState.m_PhysicalData.m_MagneticRotation[2] << "]" << std::endl;
+ std::cout << "\t[ Quaternion Rotation = [" << CurrentState.m_PhysicalData.m_QuaternionRotation[0] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[1] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[2] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[3] << "]" << std::endl;
+ }
+
+ memcpy(m_OrientationQuaternion, CurrentState.m_PhysicalData.m_QuaternionRotation, sizeof(float) * 4);
+ memcpy(m_MagneticRotation, CurrentState.m_PhysicalData.m_MagneticRotation, sizeof(float) * 3);
+ memcpy(m_GyroscopeRotation, CurrentState.m_PhysicalData.m_GyroscopeRotation, sizeof(float) * 3);
+ memcpy(m_Accelaration, CurrentState.m_PhysicalData.m_Acceleration, sizeof(float) * 3);
+ }
+
+ void CIMUDeducedReckoning::OnIMUFusedCycle(const timeval& TimeStamp, const CIMUDevice* pIMUDevice)
+ {
+ const IMUState CurrentState = pIMUDevice->GetIMUState();
+
+ if (m_IsVerbose)
+ {
+ std::cout << "OnIMUFusedCycle(IMU Device ID = 0x" << std::hex << pIMUDevice->GetDeviceId() << ((GetDispatchingMode() == eCoupled) ? " Coupled" : " Decoupled") << std::dec << ")" << std::endl;
+ std::cout << "\t[ Global time = " << CTimeStamp::GetElapsedSeconds(TimeStamp, pIMUDevice->GetReferenceTimeStamp()) << " s]" << std::endl;
+ std::cout << "\t[ Latency = " << CTimeStamp::GetElapsedMicroseconds(TimeStamp, GetLastFusedCycleReferenceTimeStamp()) << " µs]" << std::endl;
+
+ if (GetDispatchingMode() == eDecoupled)
+ {
+ std::cout << "\t[ Pending Events = " << GetTotalPendingEvents() << "]" << std::endl;
+ std::cout << "\t[ Maximal Pending Events = " << GetMaximalPendingEvents() << "]" << std::endl;
+ }
+
+ std::cout << "\t[ Cycle = " << CurrentState.m_ControlData.m_MessageCounter << "]" << std::endl;
+ std::cout << "\t[ Acceleration = [" << CurrentState.m_PhysicalData.m_Acceleration[0] << "," << CurrentState.m_PhysicalData.m_Acceleration[1] << "," << CurrentState.m_PhysicalData.m_Acceleration[2] << "]" << std::endl;
+ std::cout << "\t[ Acceleration Magnitude = [" << std::abs(CurrentState.m_PhysicalData.m_AccelerationMagnitud - m_G) * 1000.0f << " mm/s^2]" << std::endl;
+ std::cout << "\t[ Gyroscope Rotation = [" << CurrentState.m_PhysicalData.m_GyroscopeRotation[0] << "," << CurrentState.m_PhysicalData.m_GyroscopeRotation[1] << "," << CurrentState.m_PhysicalData.m_GyroscopeRotation[2] << "]" << std::endl;
+ std::cout << "\t[ Magnetic Rotation = [" << CurrentState.m_PhysicalData.m_MagneticRotation[0] << "," << CurrentState.m_PhysicalData.m_MagneticRotation[1] << "," << CurrentState.m_PhysicalData.m_MagneticRotation[2] << "]" << std::endl;
+ std::cout << "\t[ Quaternion Rotation = [" << CurrentState.m_PhysicalData.m_QuaternionRotation[0] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[1] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[2] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[3] << "]" << std::endl;
+ }
+
+ memcpy(m_OrientationQuaternion, CurrentState.m_PhysicalData.m_QuaternionRotation, sizeof(float) * 4);
+ memcpy(m_MagneticRotation, CurrentState.m_PhysicalData.m_MagneticRotation, sizeof(float) * 3);
+ memcpy(m_GyroscopeRotation, CurrentState.m_PhysicalData.m_GyroscopeRotation, sizeof(float) * 3);
+ memcpy(m_Accelaration, CurrentState.m_PhysicalData.m_Acceleration, sizeof(float) * 3);
+ }
+
+ void CIMUDeducedReckoning::OnIMUIntegratedState(const timeval& TimeStamp, const CIMUDevice* pIMUDevice)
+ {
+ const IMUState CurrentState = pIMUDevice->GetIMUState();
+
+ if (m_IsVerbose)
+ {
+ std::cout << "OnIMUStateUpdate(IMU Device ID = 0x" << std::hex << pIMUDevice->GetDeviceId() << ((GetDispatchingMode() == eCoupled) ? " Coupled" : " Decoupled") << std::dec << ")" << std::endl;
+ std::cout << "\t[ Global time = " << CTimeStamp::GetElapsedSeconds(TimeStamp, pIMUDevice->GetReferenceTimeStamp()) << " s]" << std::endl;
+ std::cout << "\t[ Latency = " << CTimeStamp::GetElapsedMicroseconds(TimeStamp, GetLastIntegratedStateReferenceTimeStamp()) << " µs]" << std::endl;
+
+ if (GetDispatchingMode() == eDecoupled)
+ {
+ std::cout << "\t[ Pending Events = " << GetTotalPendingEvents() << "]" << std::endl;
+ std::cout << "\t[ Maximal Pending Events = " << GetMaximalPendingEvents() << "]" << std::endl;
+ }
+
+ std::cout << "\t[ Cycle = " << CurrentState.m_ControlData.m_MessageCounter << "]" << std::endl;
+ std::cout << "\t[ Acceleration = [" << CurrentState.m_PhysicalData.m_Acceleration[0] << "," << CurrentState.m_PhysicalData.m_Acceleration[1] << "," << CurrentState.m_PhysicalData.m_Acceleration[2] << "]" << std::endl;
+ std::cout << "\t[ Acceleration Magnitude = [" << std::abs(CurrentState.m_PhysicalData.m_AccelerationMagnitud - m_G) * 1000.0f << " mm/s^2]" << std::endl;
+ std::cout << "\t[ Gyroscope Rotation = [" << CurrentState.m_PhysicalData.m_GyroscopeRotation[0] << "," << CurrentState.m_PhysicalData.m_GyroscopeRotation[1] << "," << CurrentState.m_PhysicalData.m_GyroscopeRotation[2] << "]" << std::endl;
+ std::cout << "\t[ Magnetic Rotation = [" << CurrentState.m_PhysicalData.m_MagneticRotation[0] << "," << CurrentState.m_PhysicalData.m_MagneticRotation[1] << "," << CurrentState.m_PhysicalData.m_MagneticRotation[2] << "]" << std::endl;
+ std::cout << "\t[ Quaternion Rotation = [" << CurrentState.m_PhysicalData.m_QuaternionRotation[0] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[1] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[2] << "," << CurrentState.m_PhysicalData.m_QuaternionRotation[3] << "]" << std::endl;
+ }
+ }
+
+ void CIMUDeducedReckoning::OnIMUCustomEvent(const CIMUEvent& CustomEvent)
+ {
+ if (m_IsVerbose)
+ {
+ std::cout << "OnIMUCustomEvent(IMU Device ID = 0x" << std::hex << CustomEvent.GetIMU()->GetDeviceId() << ((GetDispatchingMode() == eCoupled) ? " Coupled" : " Decoupled") << std::dec << ")" << std::endl;
+ std::cout << "\t[ Latency = " << CTimeStamp::GetElapsedMicroseconds(CustomEvent.GetTimeStamp(), CustomEvent.GetIMU()->GetReferenceTimeStamp()) << " µs]" << std::endl;
+ std::cout << "\t[ Latency = " << CTimeStamp::GetElapsedMicroseconds(CustomEvent.GetTimeStamp(), GetLastCustomEventReferenceTimeStamp()) << " µs]" << std::endl;
+
+ if (GetDispatchingMode() == eDecoupled)
+ {
+ std::cout << "\t[ Pending Events = " << GetTotalPendingEvents() << "]" << std::endl;
+ std::cout << "\t[ Maximal Pending Events = " << GetMaximalPendingEvents() << "]" << std::endl;
+ }
+ }
+ }
}
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDeducedReckoning.h b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDeducedReckoning.h
old mode 100755
new mode 100644
index d2617867402ba6e95a3369190de635114737bf9b..8315bb663a9718436cd326c5dca62c42ac66df38
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDeducedReckoning.h
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDeducedReckoning.h
@@ -3,7 +3,7 @@
*
* Created on: Mar 16, 2014
* Author: Dr.-Ing. David Israel González Aguirre
- * Mail: david.gonzalez@kit.edu
+ * Mail: david.gonzalez@kit.edu
*/
#ifndef IMUDEDUCEDRECKONING_H_
@@ -15,52 +15,52 @@
namespace IMU
{
- class CIMUDeducedReckoning : public IIMUEventDispatcher
- {
- public:
+ class CIMUDeducedReckoning : public IIMUEventDispatcher
+ {
+ public:
- CIMUDeducedReckoning(const bool IsVerbose);
- virtual ~CIMUDeducedReckoning();
+ CIMUDeducedReckoning(const bool IsVerbose);
+ virtual ~CIMUDeducedReckoning();
- inline const float* GetOrientationQuaternion() const
- {
- return m_OrientationQuaternion;
- }
+ inline const float* GetOrientationQuaternion() const
+ {
+ return m_OrientationQuaternion;
+ }
- inline const float* GetMagneticRotation() const
- {
- return m_MagneticRotation;
- }
+ inline const float* GetMagneticRotation() const
+ {
+ return m_MagneticRotation;
+ }
- inline const float* GetGyroscopeRotation() const
- {
- return m_GyroscopeRotation;
- }
+ inline const float* GetGyroscopeRotation() const
+ {
+ return m_GyroscopeRotation;
+ }
- inline const float* GetAccelaration() const
- {
- return m_Accelaration;
- }
+ inline const float* GetAccelaration() const
+ {
+ return m_Accelaration;
+ }
- protected:
+ protected:
- virtual void OnIMUEvent(const CIMUEvent& Event);
+ virtual void OnIMUEvent(const CIMUEvent& Event);
- void OnIMUStart(const timeval& TimeStamp, const CIMUDevice* pIMUDevice);
- void OnIMUStop(const timeval& TimeStamp, const CIMUDevice* pIMUDevice);
- void OnIMUFusedCycle(const timeval& TimeStamp, const CIMUDevice* pIMUDevice);
- void OnIMUCycle(const timeval& TimeStamp, const CIMUDevice* pIMUDevice);
- void OnIMUIntegratedState(const timeval& TimeStamp, const CIMUDevice* pIMUDevice);
- void OnIMUCustomEvent(const CIMUEvent& CustomEvent);
+ void OnIMUStart(const timeval& TimeStamp, const CIMUDevice* pIMUDevice);
+ void OnIMUStop(const timeval& TimeStamp, const CIMUDevice* pIMUDevice);
+ void OnIMUFusedCycle(const timeval& TimeStamp, const CIMUDevice* pIMUDevice);
+ void OnIMUCycle(const timeval& TimeStamp, const CIMUDevice* pIMUDevice);
+ void OnIMUIntegratedState(const timeval& TimeStamp, const CIMUDevice* pIMUDevice);
+ void OnIMUCustomEvent(const CIMUEvent& CustomEvent);
- const bool m_IsVerbose;
- const float m_G;
+ const bool m_IsVerbose;
+ const float m_G;
- float m_OrientationQuaternion[4];
- float m_MagneticRotation[3];
- float m_GyroscopeRotation[3];
- float m_Accelaration[3];
- };
+ float m_OrientationQuaternion[4];
+ float m_MagneticRotation[3];
+ float m_GyroscopeRotation[3];
+ float m_Accelaration[3];
+ };
}
#endif
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDevice.cpp b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDevice.cpp
old mode 100755
new mode 100644
index 77336df645c8aac6b4b561ae4700b92b39a8a8d6..2a69eeb8d2336b3b585e29bd2653effd25586e50
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDevice.cpp
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDevice.cpp
@@ -3,7 +3,7 @@
*
* Created on: Mar 16, 2014
* Author: Dr.-Ing. David Israel González Aguirre
- * Mail: david.gonzalez@kit.edu
+ * Mail: david.gonzalez@kit.edu
*/
#include "IMUDevice.h"
@@ -11,559 +11,646 @@
namespace IMU
{
- CIMUDevice::CIMUDevice() :
- m_DeviceId(0), m_SamplingFrequency(SamplingFrequency(0)), m_PeriodMicroSeconds(0), m_FusionStrategy(eNoFusion), m_SamplesPerFusion(0), m_CollectedFusionSamples(0), m_IsActive(false), m_IsDispatching(false), m_IsInitialized(false), m_pInternalThreadHandel(0), m_IMUEventDispatchers(), m_ReferenceTimeStamp(CTimeStamp::s_Zero), m_LastFrameTimeStamp(CTimeStamp::s_Zero)
+ CIMUDevice::CIMUDevice() :
+ m_DeviceId(0), m_SamplingFrequency(SamplingFrequency(0)), m_PeriodMicroSeconds(0), m_FusionStrategy(eNoFusion), m_SamplesPerFusion(0), m_CollectedFusionSamples(0), m_IsActive(false), m_IsDispatching(false), m_IsInitialized(false), m_pInternalThreadHandel(0), m_IMUEventDispatchers(), m_ReferenceTimeStamp(CTimeStamp::s_Zero), m_LastFrameTimeStamp(CTimeStamp::s_Zero)
#ifdef _IMU_USE_XSENS_DEVICE_
- , m_pXsensMTiModule(NULL)
+ , m_pXsensMTiModule(NULL)
#endif
- {
- pthread_mutex_init(&m_IsActiveMutex,NULL);
- pthread_mutex_init(&m_IsDispatchingMutex,NULL);
- pthread_mutex_init(&m_EventDispatchersMutex,NULL);
- pthread_mutex_init(&m_DeviceMutex,NULL);
- }
-
- CIMUDevice::~CIMUDevice()
- {
- FinalizeModuleDevice();
- }
-
- uint64_t CIMUDevice::GetDeviceId() const
- {
- return m_DeviceId;
- }
-
- bool CIMUDevice::Connect(const std::string& PortName, const SamplingFrequency Frequency)
- {
- if (m_IsInitialized)
- return true;
-
- if (!PortName.length())
- {
- std::cerr << "[IMU Error: Cannot connect to empty port name!]\n\t[Operation result: (PortName.length()==0)]\n[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- return false;
- }
-
- m_IsInitialized = InitializeDevice(PortName,Frequency);
-
- return m_IsInitialized;
- }
-
- bool CIMUDevice::Start(const bool Blocking)
- {
- if (m_IsInitialized && (!m_IsActive))
- {
- const int Result = pthread_create(&m_pInternalThreadHandel,NULL,CIMUDevice::ThreadLoop,(void*) this);
- if (Result == 0)
- {
- while(Blocking && !m_IsActive)
- pthread_yield();
- return true;
- }
- }
- return false;
- }
-
- void CIMUDevice::Stop(const bool Blocking)
- {
- if (m_IsActive)
- {
- _MINIMAL___LOCK(m_IsActiveMutex)
- m_IsActive = false;
- _MINIMAL_UNLOCK(m_IsActiveMutex)
- pthread_join(m_pInternalThreadHandel,NULL);
- while(Blocking && m_IsDispatching)
- pthread_yield();
- }
- }
-
- bool CIMUDevice::SetFusion(const FusionStrategy Strategy, const ushort SamplesPerFusion)
- {
- if (SamplesPerFusion > 1)
- {
- if ((m_FusionStrategy != Strategy) || (m_SamplesPerFusion != SamplesPerFusion))
- {
- m_FusionStrategy = Strategy;
- m_SamplesPerFusion = SamplesPerFusion;
- m_CollectedFusionSamples = 0;
- }
- return true;
- }
- else
- {
- std::cerr << "[IMU Device error: Cannot set fusion with less than 2 samples per fusion!]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- return false;
- }
- }
-
- bool CIMUDevice::IsActive() const
- {
- return m_IsActive;
- }
-
- bool CIMUDevice::RegisterEventDispatcher(IIMUEventDispatcher* pIMUEventDispatcher)
- {
- if (pIMUEventDispatcher)
- {
- _MINIMAL___LOCK(m_EventDispatchersMutex)
- if (m_IMUEventDispatchers.find(pIMUEventDispatcher) == m_IMUEventDispatchers.end())
- {
- pIMUEventDispatcher->SetIMU(this);
- pIMUEventDispatcher->SetReferenceTimeStamps(m_ReferenceTimeStamp);
- std::pair<std::set<IIMUEventDispatcher*>::iterator, bool> Result = m_IMUEventDispatchers.insert(pIMUEventDispatcher);
- _MINIMAL_UNLOCK(m_EventDispatchersMutex)
- return Result.second;
- }
- _MINIMAL_UNLOCK(m_EventDispatchersMutex)
- }
- return false;
- }
-
- bool CIMUDevice::UnregisterEventDispatcher(IIMUEventDispatcher* pIMUEventDispatcher)
- {
- if (pIMUEventDispatcher)
- {
- _MINIMAL___LOCK(m_EventDispatchersMutex)
- std::set<IIMUEventDispatcher*>::iterator ppElement = m_IMUEventDispatchers.find(pIMUEventDispatcher);
- if (ppElement != m_IMUEventDispatchers.end())
- {
- pIMUEventDispatcher->SetIMU(NULL);
- m_IMUEventDispatchers.erase(ppElement);
- _MINIMAL_UNLOCK(m_EventDispatchersMutex)
- return true;
- }
- _MINIMAL_UNLOCK(m_EventDispatchersMutex)
- }
- return false;
- }
-
- void CIMUDevice::UnregisterEventDispatchers()
- {
- if (m_IMUEventDispatchers.size())
- {
- _MINIMAL___LOCK(m_EventDispatchersMutex)
- for(std::set<IIMUEventDispatcher*>::iterator ppElement = m_IMUEventDispatchers.begin() ; ppElement != m_IMUEventDispatchers.end() ; ++ppElement)
- (*ppElement)->SetIMU(NULL);
- m_IMUEventDispatchers.clear();
- _MINIMAL_UNLOCK(m_EventDispatchersMutex)
- }
- }
+ {
+ pthread_mutex_init(&m_IsActiveMutex, NULL);
+ pthread_mutex_init(&m_IsDispatchingMutex, NULL);
+ pthread_mutex_init(&m_EventDispatchersMutex, NULL);
+ pthread_mutex_init(&m_DeviceMutex, NULL);
+ }
+
+ CIMUDevice::~CIMUDevice()
+ {
+ FinalizeModuleDevice();
+ }
+
+ uint64_t CIMUDevice::GetDeviceId() const
+ {
+ return m_DeviceId;
+ }
+
+ bool CIMUDevice::Connect(const std::string& PortName, const SamplingFrequency Frequency)
+ {
+ if (m_IsInitialized)
+ {
+ return true;
+ }
+
+ if (!PortName.length())
+ {
+ std::cerr << "[IMU Error: Cannot connect to empty port name!]\n\t[Operation result: (PortName.length()==0)]\n[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ return false;
+ }
+
+ m_IsInitialized = InitializeDevice(PortName, Frequency);
+
+ return m_IsInitialized;
+ }
+
+ bool CIMUDevice::Start(const bool Blocking)
+ {
+ if (m_IsInitialized && (!m_IsActive))
+ {
+ const int Result = pthread_create(&m_pInternalThreadHandel, NULL, CIMUDevice::ThreadLoop, (void*) this);
+
+ if (Result == 0)
+ {
+ while (Blocking && !m_IsActive)
+ {
+ pthread_yield();
+ }
+
+ return true;
+ }
+ }
+
+ return false;
+ }
+
+ void CIMUDevice::Stop(const bool Blocking)
+ {
+ if (m_IsActive)
+ {
+ _MINIMAL___LOCK(m_IsActiveMutex)
+ m_IsActive = false;
+ _MINIMAL_UNLOCK(m_IsActiveMutex)
+ pthread_join(m_pInternalThreadHandel, NULL);
+
+ while (Blocking && m_IsDispatching)
+ {
+ pthread_yield();
+ }
+ }
+ }
+
+ bool CIMUDevice::SetFusion(const FusionStrategy Strategy, const ushort SamplesPerFusion)
+ {
+ if (SamplesPerFusion > 1)
+ {
+ if ((m_FusionStrategy != Strategy) || (m_SamplesPerFusion != SamplesPerFusion))
+ {
+ m_FusionStrategy = Strategy;
+ m_SamplesPerFusion = SamplesPerFusion;
+ m_CollectedFusionSamples = 0;
+ }
+
+ return true;
+ }
+ else
+ {
+ std::cerr << "[IMU Device error: Cannot set fusion with less than 2 samples per fusion!]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ return false;
+ }
+ }
+
+ bool CIMUDevice::IsActive() const
+ {
+ return m_IsActive;
+ }
+
+ bool CIMUDevice::RegisterEventDispatcher(IIMUEventDispatcher* pIMUEventDispatcher)
+ {
+ if (pIMUEventDispatcher)
+ {
+ _MINIMAL___LOCK(m_EventDispatchersMutex)
+
+ if (m_IMUEventDispatchers.find(pIMUEventDispatcher) == m_IMUEventDispatchers.end())
+ {
+ pIMUEventDispatcher->SetIMU(this);
+ pIMUEventDispatcher->SetReferenceTimeStamps(m_ReferenceTimeStamp);
+ std::pair<std::set<IIMUEventDispatcher*>::iterator, bool> Result = m_IMUEventDispatchers.insert(pIMUEventDispatcher);
+ _MINIMAL_UNLOCK(m_EventDispatchersMutex)
+ return Result.second;
+ }
+
+ _MINIMAL_UNLOCK(m_EventDispatchersMutex)
+ }
+
+ return false;
+ }
+
+ bool CIMUDevice::UnregisterEventDispatcher(IIMUEventDispatcher* pIMUEventDispatcher)
+ {
+ if (pIMUEventDispatcher)
+ {
+ _MINIMAL___LOCK(m_EventDispatchersMutex)
+ std::set<IIMUEventDispatcher*>::iterator ppElement = m_IMUEventDispatchers.find(pIMUEventDispatcher);
+
+ if (ppElement != m_IMUEventDispatchers.end())
+ {
+ pIMUEventDispatcher->SetIMU(NULL);
+ m_IMUEventDispatchers.erase(ppElement);
+ _MINIMAL_UNLOCK(m_EventDispatchersMutex)
+ return true;
+ }
+
+ _MINIMAL_UNLOCK(m_EventDispatchersMutex)
+ }
+
+ return false;
+ }
+
+ void CIMUDevice::UnregisterEventDispatchers()
+ {
+ if (m_IMUEventDispatchers.size())
+ {
+ _MINIMAL___LOCK(m_EventDispatchersMutex)
+
+ for (std::set<IIMUEventDispatcher*>::iterator ppElement = m_IMUEventDispatchers.begin() ; ppElement != m_IMUEventDispatchers.end() ; ++ppElement)
+ {
+ (*ppElement)->SetIMU(NULL);
+ }
+
+ m_IMUEventDispatchers.clear();
+ _MINIMAL_UNLOCK(m_EventDispatchersMutex)
+ }
+ }
#ifdef _IMU_USE_XSENS_DEVICE_
- bool CIMUDevice::InitializeXsensDevice(const std::string& PortName, const SamplingFrequency Frequency)
- {
- if (m_IsInitialized)
- return true;
-
- m_pXsensMTiModule = new Xsens::CXsensMTiModule();
-
- if (m_pXsensMTiModule->openPort(PortName.c_str()) != MTRV_OK)
- {
- std::cerr << "[IMU Device error: Cannot open port!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- DestroyXsensModuleDevice();
- return false;
- }
-
- if (m_pXsensMTiModule->writeMessage(MID_GOTOCONFIG) != MTRV_OK)
- {
- std::cerr << "[IMU Device error: Cannot set configuration state!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- DestroyXsensModuleDevice();
- return false;
- }
-
- if (m_pXsensMTiModule->setDeviceMode(OUTPUTMODE_CALIB | OUTPUTMODE_ORIENT,OUTPUTSETTINGS_ORIENTMODE_QUATERNION | OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT) != MTRV_OK)
- {
- std::cerr << "[IMU Device error: Cannot set output mode!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- DestroyXsensModuleDevice();
- return false;
- }
-
- if (m_pXsensMTiModule->setSetting(MID_SETPERIOD,Frequency,LEN_PERIOD) != MTRV_OK)
- {
- std::cerr << "[IMU Device error: Cannot set sampling period!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- DestroyXsensModuleDevice();
- return false;
- }
-
- unsigned long DeviceId;
- if (m_pXsensMTiModule->reqSetting(MID_REQDID,DeviceId) != MTRV_OK)
- {
- std::cerr << "[IMU Device error: Cannot get device ID!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- DestroyXsensModuleDevice();
- return false;
- }
- m_DeviceId = DeviceId;
-
- if (m_pXsensMTiModule->writeMessage(MID_GOTOMEASUREMENT) != MTRV_OK)
- {
- std::cerr << "[IMU Device error: Cannot enter measurement state!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- DestroyXsensModuleDevice();
- return false;
- }
-
- return true;
- }
-
- void CIMUDevice::FinalizeXsensModuleDevice()
- {
- if (m_IsInitialized)
- {
- while(m_IsActive || m_IsDispatching)
- pthread_yield();
-
- _MINIMAL___LOCK(m_DeviceMutex)
- DestroyXsensModuleDevice();
- _MINIMAL_UNLOCK(m_DeviceMutex)
- }
- }
-
- void CIMUDevice::DestroyXsensModuleDevice()
- {
- if (m_pXsensMTiModule)
- {
- if (m_pXsensMTiModule->isPortOpen())
- m_pXsensMTiModule->close();
- delete m_pXsensMTiModule;
- m_pXsensMTiModule = NULL;
- m_DeviceId = 0;
- }
- }
+ bool CIMUDevice::InitializeXsensDevice(const std::string& PortName, const SamplingFrequency Frequency)
+ {
+ if (m_IsInitialized)
+ {
+ return true;
+ }
+
+ m_pXsensMTiModule = new Xsens::CXsensMTiModule();
+
+ if (m_pXsensMTiModule->openPort(PortName.c_str()) != MTRV_OK)
+ {
+ std::cerr << "[IMU Device error: Cannot open port!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ DestroyXsensModuleDevice();
+ return false;
+ }
+
+ if (m_pXsensMTiModule->writeMessage(MID_GOTOCONFIG) != MTRV_OK)
+ {
+ std::cerr << "[IMU Device error: Cannot set configuration state!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ DestroyXsensModuleDevice();
+ return false;
+ }
+
+ if (m_pXsensMTiModule->setDeviceMode(OUTPUTMODE_CALIB | OUTPUTMODE_ORIENT, OUTPUTSETTINGS_ORIENTMODE_QUATERNION | OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT) != MTRV_OK)
+ {
+ std::cerr << "[IMU Device error: Cannot set output mode!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ DestroyXsensModuleDevice();
+ return false;
+ }
+
+ if (m_pXsensMTiModule->setSetting(MID_SETPERIOD, Frequency, LEN_PERIOD) != MTRV_OK)
+ {
+ std::cerr << "[IMU Device error: Cannot set sampling period!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ DestroyXsensModuleDevice();
+ return false;
+ }
+
+ unsigned long DeviceId;
+
+ if (m_pXsensMTiModule->reqSetting(MID_REQDID, DeviceId) != MTRV_OK)
+ {
+ std::cerr << "[IMU Device error: Cannot get device ID!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ DestroyXsensModuleDevice();
+ return false;
+ }
+
+ m_DeviceId = DeviceId;
+
+ if (m_pXsensMTiModule->writeMessage(MID_GOTOMEASUREMENT) != MTRV_OK)
+ {
+ std::cerr << "[IMU Device error: Cannot enter measurement state!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ DestroyXsensModuleDevice();
+ return false;
+ }
+
+ return true;
+ }
+
+ void CIMUDevice::FinalizeXsensModuleDevice()
+ {
+ if (m_IsInitialized)
+ {
+ while (m_IsActive || m_IsDispatching)
+ {
+ pthread_yield();
+ }
+
+ _MINIMAL___LOCK(m_DeviceMutex)
+ DestroyXsensModuleDevice();
+ _MINIMAL_UNLOCK(m_DeviceMutex)
+ }
+ }
+
+ void CIMUDevice::DestroyXsensModuleDevice()
+ {
+ if (m_pXsensMTiModule)
+ {
+ if (m_pXsensMTiModule->isPortOpen())
+ {
+ m_pXsensMTiModule->close();
+ }
+
+ delete m_pXsensMTiModule;
+ m_pXsensMTiModule = NULL;
+ m_DeviceId = 0;
+ }
+ }
#endif
- bool CIMUDevice::LoadCurrentState()
- {
+ bool CIMUDevice::LoadCurrentState()
+ {
- _MINIMAL___LOCK(m_DeviceMutex)
+ _MINIMAL___LOCK(m_DeviceMutex)
#ifdef _IMU_USE_XSENS_DEVICE_
- if (m_pXsensMTiModule->readDataMessage(m_XsensMTiFrame.m_Data,m_XsensMTiFrame.m_DataLength) == MTRV_OK)
- if (m_pXsensMTiModule->getValue(VALUE_CALIB_ACC,m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_Acceleration,m_XsensMTiFrame.m_Data) == MTRV_OK)
- if (m_pXsensMTiModule->getValue(VALUE_CALIB_GYR,m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_GyroscopeRotation,m_XsensMTiFrame.m_Data) == MTRV_OK)
- if (m_pXsensMTiModule->getValue(VALUE_CALIB_MAG,m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_MagneticRotation,m_XsensMTiFrame.m_Data) == MTRV_OK)
- if (m_pXsensMTiModule->getValue(VALUE_ORIENT_QUAT,m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_QuaternionRotation,m_XsensMTiFrame.m_Data) == MTRV_OK)
- if (m_pXsensMTiModule->getValue(VALUE_SAMPLECNT,m_XsensMTiFrame.m_IMUState.m_ControlData.m_CurrentSampleCount,m_XsensMTiFrame.m_Data) == MTRV_OK)
- {
- if (m_XsensMTiFrame.m_IMUState.m_ControlData.m_PreviousSampleCount != -1)
- m_XsensMTiFrame.m_IMUState.m_ControlData.m_IsConsecutive = ((m_XsensMTiFrame.m_IMUState.m_ControlData.m_PreviousSampleCount + 1) % 65536) == m_XsensMTiFrame.m_IMUState.m_ControlData.m_CurrentSampleCount;
- m_XsensMTiFrame.m_IMUState.m_ControlData.m_PreviousSampleCount = m_XsensMTiFrame.m_IMUState.m_ControlData.m_CurrentSampleCount;
- m_XsensMTiFrame.m_IMUState.m_ControlData.m_MessageCounter++;
- gettimeofday(&m_XsensMTiFrame.m_IMUState.m_ControlData.m_TimeStamp,NULL);
- m_LastFrameTimeStamp = m_XsensMTiFrame.m_IMUState.m_ControlData.m_TimeStamp;
-
- m_XsensMTiFrame.m_IMUState.m_PhysicalData.UpdateAccelerationMagnitud();
-
- _MINIMAL_UNLOCK(m_DeviceMutex)
- return true;
- }
- else
- std::cerr << "[IMU Device error: Fail to get sample count!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- else
- std::cerr << "[IMU Device error: Fail to get quaternion rotation!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- else
- std::cerr << "[IMU Device error: Fail to get magnetic rotation!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- else
- std::cerr << "[IMU Device error: Fail to get gyroscope rotation!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- else
- std::cerr << "[IMU Device error: Fail to get acceleration vector!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- else
- std::cerr << "[IMU Device error: Fail to read message!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ if (m_pXsensMTiModule->readDataMessage(m_XsensMTiFrame.m_Data, m_XsensMTiFrame.m_DataLength) == MTRV_OK)
+ if (m_pXsensMTiModule->getValue(VALUE_CALIB_ACC, m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_Acceleration, m_XsensMTiFrame.m_Data) == MTRV_OK)
+ if (m_pXsensMTiModule->getValue(VALUE_CALIB_GYR, m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_GyroscopeRotation, m_XsensMTiFrame.m_Data) == MTRV_OK)
+ if (m_pXsensMTiModule->getValue(VALUE_CALIB_MAG, m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_MagneticRotation, m_XsensMTiFrame.m_Data) == MTRV_OK)
+ if (m_pXsensMTiModule->getValue(VALUE_ORIENT_QUAT, m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_QuaternionRotation, m_XsensMTiFrame.m_Data) == MTRV_OK)
+ if (m_pXsensMTiModule->getValue(VALUE_SAMPLECNT, m_XsensMTiFrame.m_IMUState.m_ControlData.m_CurrentSampleCount, m_XsensMTiFrame.m_Data) == MTRV_OK)
+ {
+ if (m_XsensMTiFrame.m_IMUState.m_ControlData.m_PreviousSampleCount != -1)
+ {
+ m_XsensMTiFrame.m_IMUState.m_ControlData.m_IsConsecutive = ((m_XsensMTiFrame.m_IMUState.m_ControlData.m_PreviousSampleCount + 1) % 65536) == m_XsensMTiFrame.m_IMUState.m_ControlData.m_CurrentSampleCount;
+ }
+
+ m_XsensMTiFrame.m_IMUState.m_ControlData.m_PreviousSampleCount = m_XsensMTiFrame.m_IMUState.m_ControlData.m_CurrentSampleCount;
+ m_XsensMTiFrame.m_IMUState.m_ControlData.m_MessageCounter++;
+ gettimeofday(&m_XsensMTiFrame.m_IMUState.m_ControlData.m_TimeStamp, NULL);
+ m_LastFrameTimeStamp = m_XsensMTiFrame.m_IMUState.m_ControlData.m_TimeStamp;
+
+ m_XsensMTiFrame.m_IMUState.m_PhysicalData.UpdateAccelerationMagnitud();
+
+ _MINIMAL_UNLOCK(m_DeviceMutex)
+ return true;
+ }
+ else
+ {
+ std::cerr << "[IMU Device error: Fail to get sample count!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ }
+ else
+ {
+ std::cerr << "[IMU Device error: Fail to get quaternion rotation!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ }
+ else
+ {
+ std::cerr << "[IMU Device error: Fail to get magnetic rotation!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ }
+ else
+ {
+ std::cerr << "[IMU Device error: Fail to get gyroscope rotation!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ }
+ else
+ {
+ std::cerr << "[IMU Device error: Fail to get acceleration vector!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ }
+ else
+ {
+ std::cerr << "[IMU Device error: Fail to read message!]\n\t[Operation result: " << m_pXsensMTiModule->getLastRetVal() << "]\n\t[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ }
#endif
- _MINIMAL_UNLOCK(m_DeviceMutex)
-
- return false;
- }
-
- bool CIMUDevice::MeanFuseCurrentState()
- {
- IncorporateCurrentStateMeanFusion();
- if (m_CollectedFusionSamples == m_SamplesPerFusion)
- {
- MeanFusion();
- return true;
- }
- return false;
- }
-
- void CIMUDevice::IncorporateCurrentStateMeanFusion()
- {
- m_FusedPhysicalData.m_Acceleration[0] += m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_Acceleration[0];
- m_FusedPhysicalData.m_Acceleration[1] += m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_Acceleration[1];
- m_FusedPhysicalData.m_Acceleration[2] += m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_Acceleration[2];
- ++m_CollectedFusionSamples;
- }
-
- void CIMUDevice::MeanFusion()
- {
- //Execution the fusion
- const float NormalizationFactor = 1.0f / float(m_CollectedFusionSamples);
- m_FusedIMUState.m_PhysicalData.m_Acceleration[0] = m_FusedPhysicalData.m_Acceleration[0] * NormalizationFactor;
- m_FusedIMUState.m_PhysicalData.m_Acceleration[1] = m_FusedPhysicalData.m_Acceleration[1] * NormalizationFactor;
- m_FusedIMUState.m_PhysicalData.m_Acceleration[2] = m_FusedPhysicalData.m_Acceleration[2] * NormalizationFactor;
-
- //Derivated from fusion
- m_FusedIMUState.m_PhysicalData.UpdateAccelerationMagnitud();
-
- //Reset counters and accumulators
- memset(m_FusedPhysicalData.m_Acceleration,0,sizeof(float) * 3);
- m_CollectedFusionSamples = 0;
- }
-
- bool CIMUDevice::GaussianFuseCurrentState()
- {
- IncorporateCurrentStateGaussianFusion();
- if (m_CollectedFusionSamples == m_SamplesPerFusion)
- {
- GaussianFusion();
- return true;
- }
- return false;
- }
-
- void CIMUDevice::IncorporateCurrentStateGaussianFusion()
- {
- m_FusedPhysicalData.m_Acceleration[0] += m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_Acceleration[0];
- m_FusedPhysicalData.m_Acceleration[1] += m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_Acceleration[1];
- m_FusedPhysicalData.m_Acceleration[2] += m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_Acceleration[2];
-
- ++m_CollectedFusionSamples;
- }
-
- void CIMUDevice::GaussianFusion()
- {
- //Execution the fusion
- const float NormalizationFactor = 1.0f / float(m_CollectedFusionSamples);
- m_FusedIMUState.m_PhysicalData.m_Acceleration[0] = m_FusedPhysicalData.m_Acceleration[0] * NormalizationFactor;
- m_FusedIMUState.m_PhysicalData.m_Acceleration[1] = m_FusedPhysicalData.m_Acceleration[1] * NormalizationFactor;
- m_FusedIMUState.m_PhysicalData.m_Acceleration[2] = m_FusedPhysicalData.m_Acceleration[2] * NormalizationFactor;
-
- //Derivated from fusion
- m_FusedIMUState.m_PhysicalData.UpdateAccelerationMagnitud();
-
- //Reset counters and accumulators
- memset(m_FusedPhysicalData.m_Acceleration,0,sizeof(float) * 3);
- m_CollectedFusionSamples = 0;
- }
-
- bool CIMUDevice::IntegrateCurrentState()
- {
- if (m_FusionStrategy == eNoFusion)
- {
- return IntegrateWithOutFusion();
- }
- else
- {
- return IntegrateWithFusion();
- }
- }
-
- bool CIMUDevice::IntegrateWithOutFusion()
- {
- return true;
- }
-
- bool CIMUDevice::IntegrateWithFusion()
- {
- return true;
- }
-
- bool CIMUDevice::InitializeDevice(const std::string& PortName, const SamplingFrequency Frequency)
- {
-
- _MINIMAL___LOCK(m_DeviceMutex)
+ _MINIMAL_UNLOCK(m_DeviceMutex)
+
+ return false;
+ }
+
+ bool CIMUDevice::MeanFuseCurrentState()
+ {
+ IncorporateCurrentStateMeanFusion();
+
+ if (m_CollectedFusionSamples == m_SamplesPerFusion)
+ {
+ MeanFusion();
+ return true;
+ }
+
+ return false;
+ }
+
+ void CIMUDevice::IncorporateCurrentStateMeanFusion()
+ {
+ m_FusedPhysicalData.m_Acceleration[0] += m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_Acceleration[0];
+ m_FusedPhysicalData.m_Acceleration[1] += m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_Acceleration[1];
+ m_FusedPhysicalData.m_Acceleration[2] += m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_Acceleration[2];
+ ++m_CollectedFusionSamples;
+ }
+
+ void CIMUDevice::MeanFusion()
+ {
+ //Execution the fusion
+ const float NormalizationFactor = 1.0f / float(m_CollectedFusionSamples);
+ m_FusedIMUState.m_PhysicalData.m_Acceleration[0] = m_FusedPhysicalData.m_Acceleration[0] * NormalizationFactor;
+ m_FusedIMUState.m_PhysicalData.m_Acceleration[1] = m_FusedPhysicalData.m_Acceleration[1] * NormalizationFactor;
+ m_FusedIMUState.m_PhysicalData.m_Acceleration[2] = m_FusedPhysicalData.m_Acceleration[2] * NormalizationFactor;
+
+ //Derivated from fusion
+ m_FusedIMUState.m_PhysicalData.UpdateAccelerationMagnitud();
+
+ //Reset counters and accumulators
+ memset(m_FusedPhysicalData.m_Acceleration, 0, sizeof(float) * 3);
+ m_CollectedFusionSamples = 0;
+ }
+
+ bool CIMUDevice::GaussianFuseCurrentState()
+ {
+ IncorporateCurrentStateGaussianFusion();
+
+ if (m_CollectedFusionSamples == m_SamplesPerFusion)
+ {
+ GaussianFusion();
+ return true;
+ }
+
+ return false;
+ }
+
+ void CIMUDevice::IncorporateCurrentStateGaussianFusion()
+ {
+ m_FusedPhysicalData.m_Acceleration[0] += m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_Acceleration[0];
+ m_FusedPhysicalData.m_Acceleration[1] += m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_Acceleration[1];
+ m_FusedPhysicalData.m_Acceleration[2] += m_XsensMTiFrame.m_IMUState.m_PhysicalData.m_Acceleration[2];
+
+ ++m_CollectedFusionSamples;
+ }
+
+ void CIMUDevice::GaussianFusion()
+ {
+ //Execution the fusion
+ const float NormalizationFactor = 1.0f / float(m_CollectedFusionSamples);
+ m_FusedIMUState.m_PhysicalData.m_Acceleration[0] = m_FusedPhysicalData.m_Acceleration[0] * NormalizationFactor;
+ m_FusedIMUState.m_PhysicalData.m_Acceleration[1] = m_FusedPhysicalData.m_Acceleration[1] * NormalizationFactor;
+ m_FusedIMUState.m_PhysicalData.m_Acceleration[2] = m_FusedPhysicalData.m_Acceleration[2] * NormalizationFactor;
+
+ //Derivated from fusion
+ m_FusedIMUState.m_PhysicalData.UpdateAccelerationMagnitud();
+
+ //Reset counters and accumulators
+ memset(m_FusedPhysicalData.m_Acceleration, 0, sizeof(float) * 3);
+ m_CollectedFusionSamples = 0;
+ }
+
+ bool CIMUDevice::IntegrateCurrentState()
+ {
+ if (m_FusionStrategy == eNoFusion)
+ {
+ return IntegrateWithOutFusion();
+ }
+ else
+ {
+ return IntegrateWithFusion();
+ }
+ }
+
+ bool CIMUDevice::IntegrateWithOutFusion()
+ {
+ return true;
+ }
+
+ bool CIMUDevice::IntegrateWithFusion()
+ {
+ return true;
+ }
+
+ bool CIMUDevice::InitializeDevice(const std::string& PortName, const SamplingFrequency Frequency)
+ {
+
+ _MINIMAL___LOCK(m_DeviceMutex)
#ifdef _IMU_USE_XSENS_DEVICE_
- if (InitializeXsensDevice(PortName,Frequency))
- {
- m_SamplingFrequency = Frequency;
- const int Cylces = 0X1C200 / int(m_SamplingFrequency);
- m_PeriodMicroSeconds = int(round((1000000.0f * _IMU_DEVICE_DEFAUL_CHECK_PERIOD_FACTOR_) / float(Cylces)));
- _MINIMAL_UNLOCK(m_DeviceMutex)
- return true;
- }
- else
- {
- _MINIMAL_UNLOCK(m_DeviceMutex)
- return false;
- }
+ if (InitializeXsensDevice(PortName, Frequency))
+ {
+ m_SamplingFrequency = Frequency;
+ const int Cylces = 0X1C200 / int(m_SamplingFrequency);
+ m_PeriodMicroSeconds = int(round((1000000.0f * _IMU_DEVICE_DEFAUL_CHECK_PERIOD_FACTOR_) / float(Cylces)));
+ _MINIMAL_UNLOCK(m_DeviceMutex)
+ return true;
+ }
+ else
+ {
+ _MINIMAL_UNLOCK(m_DeviceMutex)
+ return false;
+ }
#endif
- }
+ }
- void CIMUDevice::FinalizeModuleDevice()
- {
- Stop(true);
+ void CIMUDevice::FinalizeModuleDevice()
+ {
+ Stop(true);
#ifdef _IMU_USE_XSENS_DEVICE_
- FinalizeXsensModuleDevice();
+ FinalizeXsensModuleDevice();
#endif
- UnregisterEventDispatchers();
-
- }
-
- void CIMUDevice::ShouldYield()
- {
- const long int RemainingTime = m_PeriodMicroSeconds - CTimeStamp::GetElapsedMicroseconds(m_LastFrameTimeStamp);
- if (RemainingTime > 0)
- usleep(__useconds_t(RemainingTime));
- }
-
- bool CIMUDevice::DispatchCylcle()
- {
- if (LoadCurrentState())
- {
- SendEvent(CIMUEvent(m_LastFrameTimeStamp,CIMUEvent::eOnIMUCycle,this));
- switch(m_FusionStrategy)
- {
- case eMeanFusion:
- if (MeanFuseCurrentState())
- {
- SendEvent(CIMUEvent(m_LastFrameTimeStamp,CIMUEvent::eOnIMUFusedCycle,this,m_FusedIMUState));
- if (IntegrateCurrentState())
- SendEvent(CIMUEvent(m_LastFrameTimeStamp,CIMUEvent::eOnIMUIntegratedState,this,m_IntegratedIMUState));
- }
- break;
- case eGaussianFusion:
- if (GaussianFuseCurrentState())
- {
- SendEvent(CIMUEvent(m_LastFrameTimeStamp,CIMUEvent::eOnIMUIntegratedState,this,m_FusedIMUState));
- if (IntegrateCurrentState())
- SendEvent(CIMUEvent(m_LastFrameTimeStamp,CIMUEvent::eOnIMUIntegratedState,this,m_IntegratedIMUState));
- }
- break;
- case eNoFusion:
- if (IntegrateCurrentState())
- SendEvent(CIMUEvent(m_LastFrameTimeStamp,CIMUEvent::eOnIMUIntegratedState,this,m_IntegratedIMUState));
- break;
- }
- return true;
- }
- return false;
- }
-
- void CIMUDevice::SendEvent(const CIMUEvent& Event)
- {
- _MINIMAL___LOCK(m_EventDispatchersMutex)
- const unsigned long int TotalDispatchers = m_IMUEventDispatchers.size();
- if (TotalDispatchers)
- {
- if (TotalDispatchers == 1)
- (*m_IMUEventDispatchers.begin())->ReceiveEvent(Event);
- else
- for(std::set<IIMUEventDispatcher*>::iterator ppIIMUEventDispatcher = m_IMUEventDispatchers.begin() ; ppIIMUEventDispatcher != m_IMUEventDispatchers.end() ; ++ppIIMUEventDispatcher)
- (*ppIIMUEventDispatcher)->ReceiveEvent(Event);
- }
- _MINIMAL_UNLOCK(m_EventDispatchersMutex)
- }
-
- void CIMUDevice::SetReferenceTimeStamps()
- {
- _MINIMAL___LOCK(m_EventDispatchersMutex)
- gettimeofday(&m_ReferenceTimeStamp,NULL);
- gettimeofday(&m_LastFrameTimeStamp,NULL);
- if (m_IMUEventDispatchers.size())
- for(std::set<IIMUEventDispatcher*>::iterator ppIIMUEventDispatcher = m_IMUEventDispatchers.begin() ; ppIIMUEventDispatcher != m_IMUEventDispatchers.end() ; ++ppIIMUEventDispatcher)
- (*ppIIMUEventDispatcher)->SetReferenceTimeStamps(m_ReferenceTimeStamp);
- _MINIMAL_UNLOCK(m_EventDispatchersMutex)
- }
-
- bool CIMUDevice::SetThreadRunnigMode(const ThreadPolicyType ThreadPolicy, const float NormalizedPriority)
- {
- if (m_IsActive)
- {
- int Policy = -1;
- struct sched_param SchedulingParameters;
- if (pthread_getschedparam(m_pInternalThreadHandel,&Policy,&SchedulingParameters) == 0)
- {
- const int MaximalPriority = sched_get_priority_max(ThreadPolicy);
- const int MinimalPriority = sched_get_priority_min(ThreadPolicy);
- const int PriorityRange = MaximalPriority - MinimalPriority;
- const int Priority = int(round(float(PriorityRange) * NormalizedPriority + float(MinimalPriority)));
- SchedulingParameters.sched_priority = Priority;
- const int Result = pthread_setschedparam(m_pInternalThreadHandel,ThreadPolicy,&SchedulingParameters);
- switch(Result)
- {
- case 0:
- return true;
- break;
- case EINVAL:
- std::cerr << "[IMU Device error: SetThreadRunnigMode() returns EINVAL!]\n[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- break;
- case ENOTSUP:
- std::cerr << "[IMU Device error: SetThreadRunnigMode() returns ENOTSUP!]\n[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- break;
- case EPERM:
- std::cerr << "[IMU Device error: SetThreadRunnigMode() returns EPERM!]\n[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- break;
- case ESRCH:
- std::cerr << "[IMU Device error: SetThreadRunnigMode() returns ESRCH!]\n[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- break;
- }
- }
- return false;
- }
- else
- {
- std::cerr << "[IMU Device error: SetThreadRunnigMode() cannot set running mode while thread is not active!]\n[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- return false;
- }
- }
-
- void* CIMUDevice::ThreadLoop(void* pData)
- {
- if (pData)
- {
-
- CIMUDevice* pIMUDevice = (CIMUDevice*) pData;
-
- _MINIMAL___LOCK(pIMUDevice->m_IsActiveMutex)
- pIMUDevice->m_IsActive = true;
- _MINIMAL_UNLOCK(pIMUDevice->m_IsActiveMutex)
-
- pIMUDevice->SetReferenceTimeStamps();
-
- pIMUDevice->SendEvent(CIMUEvent(CIMUEvent::eOnIMUStart,pIMUDevice));
-
- while(pIMUDevice->m_IsActive)
- {
- pIMUDevice->ShouldYield();
-
- _MINIMAL___LOCK(pIMUDevice->m_IsDispatchingMutex)
- pIMUDevice->m_IsDispatching = true;
-
- const bool DispatchingResult = pIMUDevice->DispatchCylcle();
-
- pIMUDevice->m_IsDispatching = false;
- _MINIMAL_UNLOCK(pIMUDevice->m_IsDispatchingMutex)
-
- if (!DispatchingResult)
- {
- std::cerr << "[IMU Device error: DispatchCylcle() returns false!]\n[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
- break;
- }
-
- }
- if (pIMUDevice->m_IsActive)
- {
- _MINIMAL___LOCK(pIMUDevice->m_IsActiveMutex)
- pIMUDevice->m_IsActive = false;
- _MINIMAL_UNLOCK(pIMUDevice->m_IsActiveMutex)
- }
-
- pIMUDevice->SendEvent(CIMUEvent(CIMUEvent::eOnIMUStop,pIMUDevice));
- }
- return NULL;
- }
+ UnregisterEventDispatchers();
+
+ }
+
+ void CIMUDevice::ShouldYield()
+ {
+ const long int RemainingTime = m_PeriodMicroSeconds - CTimeStamp::GetElapsedMicroseconds(m_LastFrameTimeStamp);
+
+ if (RemainingTime > 0)
+ {
+ usleep(__useconds_t(RemainingTime));
+ }
+ }
+
+ bool CIMUDevice::DispatchCylcle()
+ {
+ if (LoadCurrentState())
+ {
+ SendEvent(CIMUEvent(m_LastFrameTimeStamp, CIMUEvent::eOnIMUCycle, this));
+
+ switch (m_FusionStrategy)
+ {
+ case eMeanFusion:
+ if (MeanFuseCurrentState())
+ {
+ SendEvent(CIMUEvent(m_LastFrameTimeStamp, CIMUEvent::eOnIMUFusedCycle, this, m_FusedIMUState));
+
+ if (IntegrateCurrentState())
+ {
+ SendEvent(CIMUEvent(m_LastFrameTimeStamp, CIMUEvent::eOnIMUIntegratedState, this, m_IntegratedIMUState));
+ }
+ }
+
+ break;
+
+ case eGaussianFusion:
+ if (GaussianFuseCurrentState())
+ {
+ SendEvent(CIMUEvent(m_LastFrameTimeStamp, CIMUEvent::eOnIMUIntegratedState, this, m_FusedIMUState));
+
+ if (IntegrateCurrentState())
+ {
+ SendEvent(CIMUEvent(m_LastFrameTimeStamp, CIMUEvent::eOnIMUIntegratedState, this, m_IntegratedIMUState));
+ }
+ }
+
+ break;
+
+ case eNoFusion:
+ if (IntegrateCurrentState())
+ {
+ SendEvent(CIMUEvent(m_LastFrameTimeStamp, CIMUEvent::eOnIMUIntegratedState, this, m_IntegratedIMUState));
+ }
+
+ break;
+ }
+
+ return true;
+ }
+
+ return false;
+ }
+
+ void CIMUDevice::SendEvent(const CIMUEvent& Event)
+ {
+ _MINIMAL___LOCK(m_EventDispatchersMutex)
+ const unsigned long int TotalDispatchers = m_IMUEventDispatchers.size();
+
+ if (TotalDispatchers)
+ {
+ if (TotalDispatchers == 1)
+ {
+ (*m_IMUEventDispatchers.begin())->ReceiveEvent(Event);
+ }
+ else
+ for (std::set<IIMUEventDispatcher*>::iterator ppIIMUEventDispatcher = m_IMUEventDispatchers.begin() ; ppIIMUEventDispatcher != m_IMUEventDispatchers.end() ; ++ppIIMUEventDispatcher)
+ {
+ (*ppIIMUEventDispatcher)->ReceiveEvent(Event);
+ }
+ }
+
+ _MINIMAL_UNLOCK(m_EventDispatchersMutex)
+ }
+
+ void CIMUDevice::SetReferenceTimeStamps()
+ {
+ _MINIMAL___LOCK(m_EventDispatchersMutex)
+ gettimeofday(&m_ReferenceTimeStamp, NULL);
+ gettimeofday(&m_LastFrameTimeStamp, NULL);
+
+ if (m_IMUEventDispatchers.size())
+ for (std::set<IIMUEventDispatcher*>::iterator ppIIMUEventDispatcher = m_IMUEventDispatchers.begin() ; ppIIMUEventDispatcher != m_IMUEventDispatchers.end() ; ++ppIIMUEventDispatcher)
+ {
+ (*ppIIMUEventDispatcher)->SetReferenceTimeStamps(m_ReferenceTimeStamp);
+ }
+
+ _MINIMAL_UNLOCK(m_EventDispatchersMutex)
+ }
+
+ bool CIMUDevice::SetThreadRunnigMode(const ThreadPolicyType ThreadPolicy, const float NormalizedPriority)
+ {
+ if (m_IsActive)
+ {
+ int Policy = -1;
+ struct sched_param SchedulingParameters;
+
+ if (pthread_getschedparam(m_pInternalThreadHandel, &Policy, &SchedulingParameters) == 0)
+ {
+ const int MaximalPriority = sched_get_priority_max(ThreadPolicy);
+ const int MinimalPriority = sched_get_priority_min(ThreadPolicy);
+ const int PriorityRange = MaximalPriority - MinimalPriority;
+ const int Priority = int(round(float(PriorityRange) * NormalizedPriority + float(MinimalPriority)));
+ SchedulingParameters.sched_priority = Priority;
+ const int Result = pthread_setschedparam(m_pInternalThreadHandel, ThreadPolicy, &SchedulingParameters);
+
+ switch (Result)
+ {
+ case 0:
+ return true;
+ break;
+
+ case EINVAL:
+ std::cerr << "[IMU Device error: SetThreadRunnigMode() returns EINVAL!]\n[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ break;
+
+ case ENOTSUP:
+ std::cerr << "[IMU Device error: SetThreadRunnigMode() returns ENOTSUP!]\n[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ break;
+
+ case EPERM:
+ std::cerr << "[IMU Device error: SetThreadRunnigMode() returns EPERM!]\n[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ break;
+
+ case ESRCH:
+ std::cerr << "[IMU Device error: SetThreadRunnigMode() returns ESRCH!]\n[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ break;
+ }
+ }
+
+ return false;
+ }
+ else
+ {
+ std::cerr << "[IMU Device error: SetThreadRunnigMode() cannot set running mode while thread is not active!]\n[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ return false;
+ }
+ }
+
+ void* CIMUDevice::ThreadLoop(void* pData)
+ {
+ if (pData)
+ {
+
+ CIMUDevice* pIMUDevice = (CIMUDevice*) pData;
+
+ _MINIMAL___LOCK(pIMUDevice->m_IsActiveMutex)
+ pIMUDevice->m_IsActive = true;
+ _MINIMAL_UNLOCK(pIMUDevice->m_IsActiveMutex)
+
+ pIMUDevice->SetReferenceTimeStamps();
+
+ pIMUDevice->SendEvent(CIMUEvent(CIMUEvent::eOnIMUStart, pIMUDevice));
+
+ while (pIMUDevice->m_IsActive)
+ {
+ pIMUDevice->ShouldYield();
+
+ _MINIMAL___LOCK(pIMUDevice->m_IsDispatchingMutex)
+ pIMUDevice->m_IsDispatching = true;
+
+ const bool DispatchingResult = pIMUDevice->DispatchCylcle();
+
+ pIMUDevice->m_IsDispatching = false;
+ _MINIMAL_UNLOCK(pIMUDevice->m_IsDispatchingMutex)
+
+ if (!DispatchingResult)
+ {
+ std::cerr << "[IMU Device error: DispatchCylcle() returns false!]\n[Source location: " << __FILE__ << ":" << __LINE__ << "]" << std::endl;
+ break;
+ }
+
+ }
+
+ if (pIMUDevice->m_IsActive)
+ {
+ _MINIMAL___LOCK(pIMUDevice->m_IsActiveMutex)
+ pIMUDevice->m_IsActive = false;
+ _MINIMAL_UNLOCK(pIMUDevice->m_IsActiveMutex)
+ }
+
+ pIMUDevice->SendEvent(CIMUEvent(CIMUEvent::eOnIMUStop, pIMUDevice));
+ }
+
+ return NULL;
+ }
}
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDevice.h b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDevice.h
old mode 100755
new mode 100644
index ff37a7d3d9de28038ca765cf83eebf03b5ef9be8..0eccbad7e60cea8d40ccc3559dd83bd22b31eed1
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDevice.h
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUDevice.h
@@ -3,7 +3,7 @@
*
* Created on: Mar 16, 2014
* Author: Dr.-Ing. David Israel González Aguirre
- * Mail: david.gonzalez@kit.edu
+ * Mail: david.gonzalez@kit.edu
*/
#ifndef IMUDEVICE_H_
@@ -28,192 +28,192 @@
namespace IMU
{
- //Forward definition
- class IIMUEventDispatcher;
-
- /*!
- \class CIMUDevice
- \ingroup IMU
- \brief This class contains the the devices module and the thread for read the measurements.
-
- CIMUDevice encapsulates the device details for the rest of the library and applications.
- This also includes a thread which is in charge of generate the IMU events
- */
- class CIMUDevice
- {
- public:
-
- /*!
- \brief Enum specifying the running thread policy.
- */
- enum ThreadPolicyType
- {
- eRealTime = SCHED_FIFO, eRoundRobinPriorityBased = SCHED_RR, eBatch = SCHED_BATCH, eIdle = SCHED_IDLE
- };
-
- /*!
- \brief Enum specifying the supported sampling frequencies.
- */
- enum SamplingFrequency
- {
- eSamplingFrequency_10HZ = 0x2D00,
- eSamplingFrequency_12HZ = 0x2580,
- eSamplingFrequency_15HZ = 0x1E00,
- eSamplingFrequency_16HZ = 0x1C20,
- eSamplingFrequency_18HZ = 0x1900,
- eSamplingFrequency_20HZ = 0x1680,
- eSamplingFrequency_24HZ = 0x12C0,
- eSamplingFrequency_25HZ = 0x1200,
- eSamplingFrequency_30HZ = 0x0F00,
- eSamplingFrequency_32HZ = 0x0E10,
- eSamplingFrequency_36HZ = 0x0C80,
- eSamplingFrequency_40HZ = 0x0B40,
- eSamplingFrequency_45HZ = 0x0A00,
- eSamplingFrequency_48HZ = 0x0960,
- eSamplingFrequency_50HZ = 0x0900,
- eSamplingFrequency_60HZ = 0x0780,
- eSamplingFrequency_64HZ = 0x0708,
- eSamplingFrequency_72HZ = 0x0640,
- eSamplingFrequency_75HZ = 0x0600,
- eSamplingFrequency_80HZ = 0x05A0,
- eSamplingFrequency_90HZ = 0x0500,
- eSamplingFrequency_96HZ = 0x04B0,
- eSamplingFrequency_100HZ = 0x0480,
- eSamplingFrequency_120HZ = 0x03C0,
- eSamplingFrequency_128HZ = 0x0384,
- eSamplingFrequency_144HZ = 0x0320,
- eSamplingFrequency_150HZ = 0x0300,
- eSamplingFrequency_160HZ = 0x02D0,
- eSamplingFrequency_180HZ = 0x0280,
- eSamplingFrequency_192HZ = 0x0258,
- eSamplingFrequency_200HZ = 0x0240,
- eSamplingFrequency_225HZ = 0x0200,
- eSamplingFrequency_240HZ = 0x01E0,
- eSamplingFrequency_256HZ = 0x01C2,
- eSamplingFrequency_288HZ = 0x0190,
- eSamplingFrequency_300HZ = 0x0180,
- eSamplingFrequency_320HZ = 0x0168,
- eSamplingFrequency_360HZ = 0x0140,
- eSamplingFrequency_384HZ = 0x012C,
- eSamplingFrequency_400HZ = 0x0120,
- eSamplingFrequency_450HZ = 0x0100,
- eSamplingFrequency_480HZ = 0x00F0,
- eSamplingFrequency_512HZ = 0x00E1
- };
-
- enum FusionStrategy
- {
- eNoFusion, eMeanFusion, eGaussianFusion
- };
-
- /*!
- \brief The default constructor.
- The default constructor sets all member variables to zero, i.e. after construction no valid device nor thread are represented.
- */
- CIMUDevice();
-
- /*!
- \brief The destructor.
- */
- virtual ~CIMUDevice();
-
- uint64_t GetDeviceId() const;
-
- inline IMUState GetIMUState() const
- {
+ //Forward definition
+ class IIMUEventDispatcher;
+
+ /*!
+ \class CIMUDevice
+ \ingroup IMU
+ \brief This class contains the the devices module and the thread for read the measurements.
+
+ CIMUDevice encapsulates the device details for the rest of the library and applications.
+ This also includes a thread which is in charge of generate the IMU events
+ */
+ class CIMUDevice
+ {
+ public:
+
+ /*!
+ \brief Enum specifying the running thread policy.
+ */
+ enum ThreadPolicyType
+ {
+ eRealTime = SCHED_FIFO, eRoundRobinPriorityBased = SCHED_RR, eBatch = SCHED_BATCH, eIdle = SCHED_IDLE
+ };
+
+ /*!
+ \brief Enum specifying the supported sampling frequencies.
+ */
+ enum SamplingFrequency
+ {
+ eSamplingFrequency_10HZ = 0x2D00,
+ eSamplingFrequency_12HZ = 0x2580,
+ eSamplingFrequency_15HZ = 0x1E00,
+ eSamplingFrequency_16HZ = 0x1C20,
+ eSamplingFrequency_18HZ = 0x1900,
+ eSamplingFrequency_20HZ = 0x1680,
+ eSamplingFrequency_24HZ = 0x12C0,
+ eSamplingFrequency_25HZ = 0x1200,
+ eSamplingFrequency_30HZ = 0x0F00,
+ eSamplingFrequency_32HZ = 0x0E10,
+ eSamplingFrequency_36HZ = 0x0C80,
+ eSamplingFrequency_40HZ = 0x0B40,
+ eSamplingFrequency_45HZ = 0x0A00,
+ eSamplingFrequency_48HZ = 0x0960,
+ eSamplingFrequency_50HZ = 0x0900,
+ eSamplingFrequency_60HZ = 0x0780,
+ eSamplingFrequency_64HZ = 0x0708,
+ eSamplingFrequency_72HZ = 0x0640,
+ eSamplingFrequency_75HZ = 0x0600,
+ eSamplingFrequency_80HZ = 0x05A0,
+ eSamplingFrequency_90HZ = 0x0500,
+ eSamplingFrequency_96HZ = 0x04B0,
+ eSamplingFrequency_100HZ = 0x0480,
+ eSamplingFrequency_120HZ = 0x03C0,
+ eSamplingFrequency_128HZ = 0x0384,
+ eSamplingFrequency_144HZ = 0x0320,
+ eSamplingFrequency_150HZ = 0x0300,
+ eSamplingFrequency_160HZ = 0x02D0,
+ eSamplingFrequency_180HZ = 0x0280,
+ eSamplingFrequency_192HZ = 0x0258,
+ eSamplingFrequency_200HZ = 0x0240,
+ eSamplingFrequency_225HZ = 0x0200,
+ eSamplingFrequency_240HZ = 0x01E0,
+ eSamplingFrequency_256HZ = 0x01C2,
+ eSamplingFrequency_288HZ = 0x0190,
+ eSamplingFrequency_300HZ = 0x0180,
+ eSamplingFrequency_320HZ = 0x0168,
+ eSamplingFrequency_360HZ = 0x0140,
+ eSamplingFrequency_384HZ = 0x012C,
+ eSamplingFrequency_400HZ = 0x0120,
+ eSamplingFrequency_450HZ = 0x0100,
+ eSamplingFrequency_480HZ = 0x00F0,
+ eSamplingFrequency_512HZ = 0x00E1
+ };
+
+ enum FusionStrategy
+ {
+ eNoFusion, eMeanFusion, eGaussianFusion
+ };
+
+ /*!
+ \brief The default constructor.
+ The default constructor sets all member variables to zero, i.e. after construction no valid device nor thread are represented.
+ */
+ CIMUDevice();
+
+ /*!
+ \brief The destructor.
+ */
+ virtual ~CIMUDevice();
+
+ uint64_t GetDeviceId() const;
+
+ inline IMUState GetIMUState() const
+ {
#ifdef _IMU_USE_XSENS_DEVICE_
- return m_XsensMTiFrame.m_IMUState;
+ return m_XsensMTiFrame.m_IMUState;
#endif
- }
+ }
- bool Connect(const std::string& PortName, const SamplingFrequency Frequency);
+ bool Connect(const std::string& PortName, const SamplingFrequency Frequency);
- bool Start(const bool Blocking = true);
+ bool Start(const bool Blocking = true);
- bool SetThreadRunnigMode(const ThreadPolicyType ThreadPolicy, const float NormalizedPriority);
+ bool SetThreadRunnigMode(const ThreadPolicyType ThreadPolicy, const float NormalizedPriority);
- void Stop(const bool Blocking = true);
+ void Stop(const bool Blocking = true);
- bool SetFusion(const FusionStrategy Strategy, const ushort SamplesPerFusion);
+ bool SetFusion(const FusionStrategy Strategy, const ushort SamplesPerFusion);
- bool IsActive() const;
+ bool IsActive() const;
- bool RegisterEventDispatcher(IIMUEventDispatcher* pIMUEventDispatcher);
+ bool RegisterEventDispatcher(IIMUEventDispatcher* pIMUEventDispatcher);
- bool UnregisterEventDispatcher(IIMUEventDispatcher* pIMUEventDispatcher);
+ bool UnregisterEventDispatcher(IIMUEventDispatcher* pIMUEventDispatcher);
- inline const timeval& GetReferenceTimeStamp() const
- {
- return m_ReferenceTimeStamp;
- }
+ inline const timeval& GetReferenceTimeStamp() const
+ {
+ return m_ReferenceTimeStamp;
+ }
- protected:
+ protected:
- bool LoadCurrentState();
+ bool LoadCurrentState();
- bool MeanFuseCurrentState();
- void IncorporateCurrentStateMeanFusion();
- void MeanFusion();
+ bool MeanFuseCurrentState();
+ void IncorporateCurrentStateMeanFusion();
+ void MeanFusion();
- bool GaussianFuseCurrentState();
- void IncorporateCurrentStateGaussianFusion();
- void GaussianFusion();
+ bool GaussianFuseCurrentState();
+ void IncorporateCurrentStateGaussianFusion();
+ void GaussianFusion();
- bool IntegrateCurrentState();
- bool IntegrateWithOutFusion();
- bool IntegrateWithFusion();
+ bool IntegrateCurrentState();
+ bool IntegrateWithOutFusion();
+ bool IntegrateWithFusion();
- private:
+ private:
- void UnregisterEventDispatchers();
+ void UnregisterEventDispatchers();
- bool InitializeDevice(const std::string& PortName, const SamplingFrequency Frequency);
- void FinalizeModuleDevice();
- void ShouldYield();
- bool DispatchCylcle();
- void SendEvent(const CIMUEvent& Event);
- void SetReferenceTimeStamps();
+ bool InitializeDevice(const std::string& PortName, const SamplingFrequency Frequency);
+ void FinalizeModuleDevice();
+ void ShouldYield();
+ bool DispatchCylcle();
+ void SendEvent(const CIMUEvent& Event);
+ void SetReferenceTimeStamps();
- static void* ThreadLoop(void* pData);
+ static void* ThreadLoop(void* pData);
- uint64_t m_DeviceId;
- SamplingFrequency m_SamplingFrequency;
- int m_PeriodMicroSeconds;
- FusionStrategy m_FusionStrategy;
- int m_SamplesPerFusion;
- int m_CollectedFusionSamples;
- volatile bool m_IsActive;
- volatile bool m_IsDispatching;
- bool m_IsInitialized;
- pthread_t m_pInternalThreadHandel;
- pthread_mutex_t m_IsActiveMutex;
- pthread_mutex_t m_IsDispatchingMutex;
- pthread_mutex_t m_EventDispatchersMutex;
- pthread_mutex_t m_DeviceMutex;
- std::set<IIMUEventDispatcher*> m_IMUEventDispatchers;
- timeval m_ReferenceTimeStamp;
- timeval m_LastFrameTimeStamp;
+ uint64_t m_DeviceId;
+ SamplingFrequency m_SamplingFrequency;
+ int m_PeriodMicroSeconds;
+ FusionStrategy m_FusionStrategy;
+ int m_SamplesPerFusion;
+ int m_CollectedFusionSamples;
+ volatile bool m_IsActive;
+ volatile bool m_IsDispatching;
+ bool m_IsInitialized;
+ pthread_t m_pInternalThreadHandel;
+ pthread_mutex_t m_IsActiveMutex;
+ pthread_mutex_t m_IsDispatchingMutex;
+ pthread_mutex_t m_EventDispatchersMutex;
+ pthread_mutex_t m_DeviceMutex;
+ std::set<IIMUEventDispatcher*> m_IMUEventDispatchers;
+ timeval m_ReferenceTimeStamp;
+ timeval m_LastFrameTimeStamp;
- IMUState::PhysicalData m_FusedPhysicalData;
- IMUState m_FusedIMUState;
- IMUState m_IntegratedIMUState;
+ IMUState::PhysicalData m_FusedPhysicalData;
+ IMUState m_FusedIMUState;
+ IMUState m_IntegratedIMUState;
#ifdef _IMU_USE_XSENS_DEVICE_
- bool InitializeXsensDevice(const std::string& PortName, const SamplingFrequency Frequency);
- void FinalizeXsensModuleDevice();
- void DestroyXsensModuleDevice();
+ bool InitializeXsensDevice(const std::string& PortName, const SamplingFrequency Frequency);
+ void FinalizeXsensModuleDevice();
+ void DestroyXsensModuleDevice();
- Xsens::CXsensMTiModule* m_pXsensMTiModule;
- Xsens::XsensMTiFrame m_XsensMTiFrame;
+ Xsens::CXsensMTiModule* m_pXsensMTiModule;
+ Xsens::XsensMTiFrame m_XsensMTiFrame;
#endif
- };
+ };
}
#endif
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUEvent.cpp b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUEvent.cpp
old mode 100755
new mode 100644
index 5a2aaef79521e8e7b64fd464b73287cf8b6f8a2d..c2a97a2091b8070061c0c173551b00e1501b6e17
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUEvent.cpp
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUEvent.cpp
@@ -2,8 +2,8 @@
* IMUEvent.cpp
*
* Created on: Mar 16, 2014
- * Author: Dr.-Ing. David Israel González Aguirre
- * Mail: david.gonzalez@kit.edu
+ * Author: Dr.-Ing. David Israel González Aguirre
+ * Mail: david.gonzalez@kit.edu
*/
#include "IMUEvent.h"
@@ -11,44 +11,44 @@
namespace IMU
{
- uint32_t CIMUEvent::s_IdCounter = 0;
- pthread_mutex_t CIMUEvent::s_IdCounterMutex = PTHREAD_MUTEX_INITIALIZER;
-
- CIMUEvent::CIMUEvent(const timeval& TimeStamp, const EventType EventType, const CIMUDevice* pIMUDevice, const IMUState& EventState) :
- m_Id(CreatId()) ,
-m_TimeStamp (TimeStamp), m_EventType(EventType), m_pIMUDevice(pIMUDevice), m_IMUState(EventState)
- {
- }
-
- CIMUEvent::CIMUEvent(const timeval& TimeStamp, const EventType EventType, const CIMUDevice* pIMUDevice) :
- m_Id(CreatId()), m_TimeStamp(TimeStamp), m_EventType(EventType), m_pIMUDevice(pIMUDevice), m_IMUState(pIMUDevice->GetIMUState())
- {
- }
-
- CIMUEvent::CIMUEvent(const EventType EventType, const CIMUDevice* pIMUDevice) :
- m_Id(CreatId()), m_TimeStamp(CTimeStamp::GetCurrentTimeStamp()), m_EventType(EventType), m_pIMUDevice(pIMUDevice), m_IMUState(pIMUDevice->GetIMUState())
- {
- }
-
- CIMUEvent::CIMUEvent(const CIMUEvent& Event) :
- m_Id(CreatId()), m_TimeStamp(Event.m_TimeStamp), m_EventType(Event.m_EventType), m_pIMUDevice(Event.m_pIMUDevice), m_IMUState(Event.m_IMUState)
- {
- }
-
- CIMUEvent::CIMUEvent() :
- m_Id(CreatId()), m_TimeStamp(CTimeStamp::s_Zero), m_EventType(EventType(0x0)), m_pIMUDevice(NULL), m_IMUState()
- {
- }
-
- CIMUEvent::~CIMUEvent()
- {
- }
-
- uint32_t CIMUEvent::CreatId()
- {
- pthread_mutex_lock(&s_IdCounterMutex);
- uint32_t Id = CIMUEvent::s_IdCounter++;
- pthread_mutex_unlock(&s_IdCounterMutex);
- return Id;
- }
+ uint32_t CIMUEvent::s_IdCounter = 0;
+ pthread_mutex_t CIMUEvent::s_IdCounterMutex = PTHREAD_MUTEX_INITIALIZER;
+
+ CIMUEvent::CIMUEvent(const timeval& TimeStamp, const EventType EventType, const CIMUDevice* pIMUDevice, const IMUState& EventState) :
+ m_Id(CreatId()) ,
+ m_TimeStamp(TimeStamp), m_EventType(EventType), m_pIMUDevice(pIMUDevice), m_IMUState(EventState)
+ {
+ }
+
+ CIMUEvent::CIMUEvent(const timeval& TimeStamp, const EventType EventType, const CIMUDevice* pIMUDevice) :
+ m_Id(CreatId()), m_TimeStamp(TimeStamp), m_EventType(EventType), m_pIMUDevice(pIMUDevice), m_IMUState(pIMUDevice->GetIMUState())
+ {
+ }
+
+ CIMUEvent::CIMUEvent(const EventType EventType, const CIMUDevice* pIMUDevice) :
+ m_Id(CreatId()), m_TimeStamp(CTimeStamp::GetCurrentTimeStamp()), m_EventType(EventType), m_pIMUDevice(pIMUDevice), m_IMUState(pIMUDevice->GetIMUState())
+ {
+ }
+
+ CIMUEvent::CIMUEvent(const CIMUEvent& Event) :
+ m_Id(CreatId()), m_TimeStamp(Event.m_TimeStamp), m_EventType(Event.m_EventType), m_pIMUDevice(Event.m_pIMUDevice), m_IMUState(Event.m_IMUState)
+ {
+ }
+
+ CIMUEvent::CIMUEvent() :
+ m_Id(CreatId()), m_TimeStamp(CTimeStamp::s_Zero), m_EventType(EventType(0x0)), m_pIMUDevice(NULL), m_IMUState()
+ {
+ }
+
+ CIMUEvent::~CIMUEvent()
+ {
+ }
+
+ uint32_t CIMUEvent::CreatId()
+ {
+ pthread_mutex_lock(&s_IdCounterMutex);
+ uint32_t Id = CIMUEvent::s_IdCounter++;
+ pthread_mutex_unlock(&s_IdCounterMutex);
+ return Id;
+ }
}
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUEvent.h b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUEvent.h
old mode 100755
new mode 100644
index f10f4755e27fd2a4c51ad2f38cf5241491877cd2..b342fb84fd69801ae8d3e477673a079185e42564
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUEvent.h
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUEvent.h
@@ -3,7 +3,7 @@
*
* Created on: Mar 16, 2014
* Author: Dr.-Ing. David Israel González Aguirre
- * Mail: david.gonzalez@kit.edu
+ * Mail: david.gonzalez@kit.edu
*/
#ifndef IMUEVENT_H_
@@ -14,58 +14,58 @@
namespace IMU
{
- class CIMUDevice;
- class CIMUEvent
- {
- public:
+ class CIMUDevice;
+ class CIMUEvent
+ {
+ public:
- enum EventType
- {
- eOnIMUStart = 0X0001, eOnIMUStop = 0X0002, eOnIMUCycle = 0X0004, eOnIMUFusedCycle = 0X0008, eOnIMUIntegratedState = 0X0010, eOnIMUCustomEvent = 0X8000
- };
+ enum EventType
+ {
+ eOnIMUStart = 0X0001, eOnIMUStop = 0X0002, eOnIMUCycle = 0X0004, eOnIMUFusedCycle = 0X0008, eOnIMUIntegratedState = 0X0010, eOnIMUCustomEvent = 0X8000
+ };
- CIMUEvent(const timeval& TimeStamp, const EventType EventType, const CIMUDevice* pIMUDevice, const IMUState& EventState);
- CIMUEvent(const timeval& TimeStamp, const EventType EventType, const CIMUDevice* pIMUDevice);
- CIMUEvent(const EventType EventType, const CIMUDevice* pIMUDevice);
- CIMUEvent(const CIMUEvent& Event);
- CIMUEvent();
+ CIMUEvent(const timeval& TimeStamp, const EventType EventType, const CIMUDevice* pIMUDevice, const IMUState& EventState);
+ CIMUEvent(const timeval& TimeStamp, const EventType EventType, const CIMUDevice* pIMUDevice);
+ CIMUEvent(const EventType EventType, const CIMUDevice* pIMUDevice);
+ CIMUEvent(const CIMUEvent& Event);
+ CIMUEvent();
- virtual ~CIMUEvent();
+ virtual ~CIMUEvent();
- inline uint32_t GetId() const
- {
- return m_Id;
- }
+ inline uint32_t GetId() const
+ {
+ return m_Id;
+ }
- inline EventType GetEventType() const
- {
- return m_EventType;
- }
+ inline EventType GetEventType() const
+ {
+ return m_EventType;
+ }
- inline const CIMUDevice* GetIMU() const
- {
- return m_pIMUDevice;
- }
+ inline const CIMUDevice* GetIMU() const
+ {
+ return m_pIMUDevice;
+ }
- inline const timeval& GetTimeStamp() const
- {
- return m_TimeStamp;
- }
+ inline const timeval& GetTimeStamp() const
+ {
+ return m_TimeStamp;
+ }
- protected:
+ protected:
- uint32_t m_Id;
- const timeval m_TimeStamp;
- const EventType m_EventType;
- const CIMUDevice* m_pIMUDevice;
- const IMUState m_IMUState;
+ uint32_t m_Id;
+ const timeval m_TimeStamp;
+ const EventType m_EventType;
+ const CIMUDevice* m_pIMUDevice;
+ const IMUState m_IMUState;
- private:
+ private:
- static uint32_t CreatId();
- static uint32_t s_IdCounter;
- static pthread_mutex_t s_IdCounterMutex;
- };
+ static uint32_t CreatId();
+ static uint32_t s_IdCounter;
+ static pthread_mutex_t s_IdCounterMutex;
+ };
}
#endif
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUHelpers.cpp b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUHelpers.cpp
old mode 100755
new mode 100644
index 1ceeff59f0115005639a78973fd904217fe2fa6e..c787ddfaf1de4cb788cd85a20e73c297fd986032
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUHelpers.cpp
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUHelpers.cpp
@@ -3,16 +3,16 @@
*
* Created on: Mar 16, 2014
* Author: Dr.-Ing. David Israel González Aguirre
- * Mail: david.gonzalez@kit.edu
+ * Mail: david.gonzalez@kit.edu
*/
#include "IMUHelpers.h"
namespace IMU
{
- const timeval CTimeStamp::s_Zero = { 0 , 0 };
+ const timeval CTimeStamp::s_Zero = { 0 , 0 };
- const float CGeolocationInformation::s_G_LPoles = 9.832f;
- const float CGeolocationInformation::s_G_L45 = 9.806f;
- const float CGeolocationInformation::s_G_LEquator = 9.780f;
+ const float CGeolocationInformation::s_G_LPoles = 9.832f;
+ const float CGeolocationInformation::s_G_L45 = 9.806f;
+ const float CGeolocationInformation::s_G_LEquator = 9.780f;
}
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUHelpers.h b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUHelpers.h
old mode 100755
new mode 100644
index 82632ec54165d23e5ba09d15a1a7afa718e0dcf6..8e5dd202c1836cef6068fd9be94e6faf27004e79
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUHelpers.h
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUHelpers.h
@@ -3,7 +3,7 @@
*
* Created on: Mar 17, 2014
* Author: Dr.-Ing. David Israel González Aguirre
- * Mail: david.gonzalez@kit.edu
+ * Mail: david.gonzalez@kit.edu
*/
#ifndef IMUHELPERS_H_
@@ -16,59 +16,59 @@
namespace IMU
{
- class CTimeStamp
- {
- public:
-
- inline static timeval GetCurrentTimeStamp()
- {
- timeval TimeStamp;
- gettimeofday(&TimeStamp,NULL);
- return TimeStamp;
- }
-
- inline static float GetElapsedSeconds(const timeval& Post, const timeval& Pre)
- {
- return float(double(GetElapsedMicroseconds(Post,Pre)) / 1000000.0);
- }
-
- inline static float GetElapsedMilliseconds(const timeval& Post, const timeval& Pre)
- {
- return float(double(GetElapsedMicroseconds(Post,Pre)) / 1000.0);
- }
-
- inline static long GetElapsedMicroseconds(const timeval& Post, const timeval& Pre)
- {
- return ((Post.tv_sec - Pre.tv_sec) * 1000000) + (Post.tv_usec - Pre.tv_usec);
- }
-
- inline static long GetElapsedMicroseconds(const timeval& Pre)
- {
- timeval Post;
- gettimeofday(&Post,NULL);
- return ((Post.tv_sec - Pre.tv_sec) * 1000000) + (Post.tv_usec - Pre.tv_usec);
- }
-
- static const timeval s_Zero;
- };
-
- class CGeolocationInformation
- {
- public:
-
- static const float s_G_LPoles;
- static const float s_G_L45;
- static const float s_G_LEquator;
-
- //LatitudeInDegrees of your location:
- //http://www.mapsofworld.com/lat_long/germany-lat-long.html
- //49.0167 Karlsruhe, Germany
-
- static float GetGravitationalAcceleration(const float LatitudeInDegrees = 49.0167f)
- {
- return s_G_L45 - (s_G_LPoles - s_G_LEquator) * std::cos((float(M_PI) / 90.0f) * LatitudeInDegrees);
- }
- };
+ class CTimeStamp
+ {
+ public:
+
+ inline static timeval GetCurrentTimeStamp()
+ {
+ timeval TimeStamp;
+ gettimeofday(&TimeStamp, NULL);
+ return TimeStamp;
+ }
+
+ inline static float GetElapsedSeconds(const timeval& Post, const timeval& Pre)
+ {
+ return float(double(GetElapsedMicroseconds(Post, Pre)) / 1000000.0);
+ }
+
+ inline static float GetElapsedMilliseconds(const timeval& Post, const timeval& Pre)
+ {
+ return float(double(GetElapsedMicroseconds(Post, Pre)) / 1000.0);
+ }
+
+ inline static long GetElapsedMicroseconds(const timeval& Post, const timeval& Pre)
+ {
+ return ((Post.tv_sec - Pre.tv_sec) * 1000000) + (Post.tv_usec - Pre.tv_usec);
+ }
+
+ inline static long GetElapsedMicroseconds(const timeval& Pre)
+ {
+ timeval Post;
+ gettimeofday(&Post, NULL);
+ return ((Post.tv_sec - Pre.tv_sec) * 1000000) + (Post.tv_usec - Pre.tv_usec);
+ }
+
+ static const timeval s_Zero;
+ };
+
+ class CGeolocationInformation
+ {
+ public:
+
+ static const float s_G_LPoles;
+ static const float s_G_L45;
+ static const float s_G_LEquator;
+
+ //LatitudeInDegrees of your location:
+ //http://www.mapsofworld.com/lat_long/germany-lat-long.html
+ //49.0167 Karlsruhe, Germany
+
+ static float GetGravitationalAcceleration(const float LatitudeInDegrees = 49.0167f)
+ {
+ return s_G_L45 - (s_G_LPoles - s_G_LEquator) * std::cos((float(M_PI) / 90.0f) * LatitudeInDegrees);
+ }
+ };
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUState.cpp b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUState.cpp
old mode 100755
new mode 100644
index cde825c3c17e262d80f8721531370f053dde7756..b578fc2b661c2d7d05250c624628c29ccaf09676
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUState.cpp
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUState.cpp
@@ -3,7 +3,7 @@
*
* Created on: Mar 16, 2014
* Author: Dr.-Ing. David Israel González Aguirre
- * Mail: david.gonzalez@kit.edu
+ * Mail: david.gonzalez@kit.edu
*/
#include "IMUState.h"
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUState.h b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUState.h
old mode 100755
new mode 100644
index 7f8fe38c447973993230c921c48176059bc70fe0..f1f3df1c3d0100b2f190feb4a09fd5cc03187c94
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUState.h
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/IMUState.h
@@ -3,7 +3,7 @@
*
* Created on: Mar 16, 2014
* Author: Dr.-Ing. David Israel González Aguirre
- * Mail: david.gonzalez@kit.edu
+ * Mail: david.gonzalez@kit.edu
*/
#ifndef IMUSTATE_H_
@@ -13,54 +13,54 @@
namespace IMU
{
- struct IMUState
- {
- inline IMUState() :
- m_ControlData(), m_PhysicalData()
- {
- }
+ struct IMUState
+ {
+ inline IMUState() :
+ m_ControlData(), m_PhysicalData()
+ {
+ }
- struct ControlData
- {
- ControlData() :
- m_PreviousSampleCount(-1), m_CurrentSampleCount(0), m_MessageCounter(0), m_IsConsecutive(false)
- {
- memset(&m_TimeStamp,0,sizeof(timeval));
- }
+ struct ControlData
+ {
+ ControlData() :
+ m_PreviousSampleCount(-1), m_CurrentSampleCount(0), m_MessageCounter(0), m_IsConsecutive(false)
+ {
+ memset(&m_TimeStamp, 0, sizeof(timeval));
+ }
- long m_PreviousSampleCount;
- unsigned short m_CurrentSampleCount;
- long m_MessageCounter;
- bool m_IsConsecutive;
- timeval m_TimeStamp;
- };
+ long m_PreviousSampleCount;
+ unsigned short m_CurrentSampleCount;
+ long m_MessageCounter;
+ bool m_IsConsecutive;
+ timeval m_TimeStamp;
+ };
- struct PhysicalData
- {
- PhysicalData() :
- m_AccelerationMagnitud(0.0f)
- {
- memset(m_Acceleration,0,sizeof(float) * 3);
- memset(m_GyroscopeRotation,0,sizeof(float) * 3);
- memset(m_MagneticRotation,0,sizeof(float) * 3);
- memset(m_QuaternionRotation,0,sizeof(float) * 4);
- }
+ struct PhysicalData
+ {
+ PhysicalData() :
+ m_AccelerationMagnitud(0.0f)
+ {
+ memset(m_Acceleration, 0, sizeof(float) * 3);
+ memset(m_GyroscopeRotation, 0, sizeof(float) * 3);
+ memset(m_MagneticRotation, 0, sizeof(float) * 3);
+ memset(m_QuaternionRotation, 0, sizeof(float) * 4);
+ }
- float m_Acceleration[3];
- float m_AccelerationMagnitud;
- float m_GyroscopeRotation[3];
- float m_MagneticRotation[3];
- float m_QuaternionRotation[4];
+ float m_Acceleration[3];
+ float m_AccelerationMagnitud;
+ float m_GyroscopeRotation[3];
+ float m_MagneticRotation[3];
+ float m_QuaternionRotation[4];
- inline void UpdateAccelerationMagnitud()
- {
- m_AccelerationMagnitud = std::sqrt(m_Acceleration[0] * m_Acceleration[0] + m_Acceleration[1] * m_Acceleration[1] + m_Acceleration[2] * m_Acceleration[2]);
- }
- };
+ inline void UpdateAccelerationMagnitud()
+ {
+ m_AccelerationMagnitud = std::sqrt(m_Acceleration[0] * m_Acceleration[0] + m_Acceleration[1] * m_Acceleration[1] + m_Acceleration[2] * m_Acceleration[2]);
+ }
+ };
- ControlData m_ControlData;
- PhysicalData m_PhysicalData;
- };
+ ControlData m_ControlData;
+ PhysicalData m_PhysicalData;
+ };
}
#endif
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/Includes.h b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/Includes.h
old mode 100755
new mode 100644
index 958dea63913562559ba9b810d6febc65e88be338..364db5615867220318bb2195ed6df24e8ac86923
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/Includes.h
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/Includes.h
@@ -2,8 +2,8 @@
* Includes.h
*
* Created on: Mar 17, 2014
- * Author: Dr.-Ing. David Israel González Aguirre
- * Mail: david.gonzalez@kit.edu
+ * Author: Dr.-Ing. David Israel González Aguirre
+ * Mail: david.gonzalez@kit.edu
*/
#ifndef INCLUDES_H_
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/Xsens/Xsens.h b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/Xsens/Xsens.h
old mode 100755
new mode 100644
index f52c895894940c56b40fdf50c5d4d70a34bbc9ca..3f7c4fe033b81dea8242dab459a91e0c59d5315a
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/Xsens/Xsens.h
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/Xsens/Xsens.h
@@ -17,21 +17,21 @@
namespace IMU
{
- namespace Xsens
- {
- struct XsensMTiFrame
- {
- XsensMTiFrame() :
- m_DataLength(0)
- {
- memset(m_Data,0,sizeof(unsigned char) * MAXMSGLEN);
- }
-
- short m_DataLength;
- unsigned char m_Data[MAXMSGLEN ];
- IMUState m_IMUState;
- };
- }
+ namespace Xsens
+ {
+ struct XsensMTiFrame
+ {
+ XsensMTiFrame() :
+ m_DataLength(0)
+ {
+ memset(m_Data, 0, sizeof(unsigned char) * MAXMSGLEN);
+ }
+
+ short m_DataLength;
+ unsigned char m_Data[MAXMSGLEN ];
+ IMUState m_IMUState;
+ };
+ }
}
#endif
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/Xsens/XsensMTiModule.cpp b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/Xsens/XsensMTiModule.cpp
old mode 100755
new mode 100644
index 389219d7aa4fd18cf340e366e42e32359b5a4275..cad622231046e90bb58b19abb4bbd23c712670f7
--- a/source/RobotAPI/libraries/drivers/XsensIMU/IMU/Xsens/XsensMTiModule.cpp
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/IMU/Xsens/XsensMTiModule.cpp
@@ -29,14 +29,14 @@
//
// v1.2.0
// 27-02-2006 - Renamed Xbus class to Motion Tracker C++ Communication class, short MTComm
-// - Defines XBRV_* accordingly renamed to MTRV_*
-// - Fixed device length not correct for bid 0 when using Xbus Master and setDeviceMode function
+// - Defines XBRV_* accordingly renamed to MTRV_*
+// - Fixed device length not correct for bid 0 when using Xbus Master and setDeviceMode function
//
// v1.1.7
// 15-02-2006 - Added fixed point signed 12.20 dataformat support
-// Added selective calibrated data output per sensor type support
-// Added outputmode temperature support
-// Fixed warning C4244: '=' : conversion from '' to '', possible loss of data
+// Added selective calibrated data output per sensor type support
+// Added outputmode temperature support
+// Fixed warning C4244: '=' : conversion from '' to '', possible loss of data
// v1.1.6
// 25-01-2006 - Added escape function for CLRDTR, CLRRTS, SETDTR, SETRTS, SETXOFF, SETXON, SETBREAK, CLRBREAK
//
@@ -45,46 +45,46 @@
//
// v1.1.4
// 08-11-2005 - Changed practically all uses of m_timeOut into uses of the new m_clkEnd
-// - Changed COM timeout in win32 to return immediately if data is available,
-// but wait 1ms otherwise
+// - Changed COM timeout in win32 to return immediately if data is available,
+// but wait 1ms otherwise
//
// v1.1.3
// 18-10-2005 - Added MID_REQPRODUCTCODE, MID_REQ/SETTRANSMITDELAY
-// - Added MTRV_TIMEOUTNODATA indicating timeout occurred due to no data read
+// - Added MTRV_TIMEOUTNODATA indicating timeout occurred due to no data read
//
// v1.1.2
// 16-09-2005 - Added eMTS version 0.1->1.0 changes (EMTS_FACTORYMODE)
-// - Added factory output mode defines
+// - Added factory output mode defines
//
// v1.1.1
// 01-09-2005 - Added defines for Extended output mode
-// - Added reqSetting (byte array in + out & no param variant)
+// - Added reqSetting (byte array in + out & no param variant)
//
// v1.1
// 08-08-2005 - Added file read and write support
-// - Added functions for data retrieval (getValue etc)
-// for easy data retrieval of acc, gyr, mag etc
-// - ReadMessageRaw:
-// - added a temporary buffer for unprocessed bytes
-// - check for invalid length messages
-// - Changed BID_MT into 1 and added BID_MASTER (=0xFF)
-// - Changed various ....SerialPort functions to .....Port
-// - Changed mtSendMessage functions to mtWriteMessage
-// - Added numerous defines
-// - Deleted obsolete functions
-// - Changed function getLastErrorCode into getLastDeviceError
-// - Changed OpenPort function for compatiblity with Bluetooth ports
-// - Added workaround for lockup of USB driver (close function)
-// - Added workaround for clock() problem with read function of USB driver
+// - Added functions for data retrieval (getValue etc)
+// for easy data retrieval of acc, gyr, mag etc
+// - ReadMessageRaw:
+// - added a temporary buffer for unprocessed bytes
+// - check for invalid length messages
+// - Changed BID_MT into 1 and added BID_MASTER (=0xFF)
+// - Changed various ....SerialPort functions to .....Port
+// - Changed mtSendMessage functions to mtWriteMessage
+// - Added numerous defines
+// - Deleted obsolete functions
+// - Changed function getLastErrorCode into getLastDeviceError
+// - Changed OpenPort function for compatiblity with Bluetooth ports
+// - Added workaround for lockup of USB driver (close function)
+// - Added workaround for clock() problem with read function of USB driver
//
// v1.0.2
// 29-06-2005 - Inserted initSerialPort with devicename input
-// - Changed return value defines names from X_ to MTRV_
-// - Removed unneeded includes for linux
+// - Changed return value defines names from X_ to MTRV_
+// - Removed unneeded includes for linux
//
// v1.0.1
// 22-06-2005 - Fixed ReqSetting functions (byte array & param variant)
-// mtSendRawString had wrong length input
+// mtSendRawString had wrong length input
//
// v1.0.0
// 20-06-2005 - Initial release
@@ -92,11 +92,11 @@
// ----------------------------------------------------------------------------
// This file is an Xsens Code Examples.
//
-// Copyright (C) Xsens Technologies B.V., 2005.
+// Copyright (C) Xsens Technologies B.V., 2005.
//
// This source code is intended only as a example of the implementation
-// of the Xsens MT Communication protocol.
-// It was written for cross platform capabilities.
+// of the Xsens MT Communication protocol.
+// It was written for cross platform capabilities.
//
// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY
// KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
@@ -109,7 +109,7 @@
#ifdef _DEBUG
#undef THIS_FILE
-static char THIS_FILE[]=__FILE__;
+static char THIS_FILE[] = __FILE__;
#define new DEBUG_NEW
#endif
@@ -123,2827 +123,3067 @@ static char THIS_FILE[]=__FILE__;
namespace IMU
{
- namespace Xsens
- {
- //////////////////////////////////////////////////////////////////////
- // Construction/Destruction
- //////////////////////////////////////////////////////////////////////
- //
- CXsensMTiModule::CXsensMTiModule()
- {
- m_handle = -1;
- m_portOpen = false;
- m_fileOpen = false;
- m_deviceError = 0; // No error
- m_retVal = MTRV_OK;
- m_timeOut = TO_DEFAULT;
- m_nTempBufferLen = 0;
- m_clkEnd = 0;
- for(int i = 0 ; i < MAXDEVICES + 1 ; i++)
- {
- m_storedOutputMode[i] = INVALIDSETTINGVALUE;
- m_storedOutputSettings[i] = INVALIDSETTINGVALUE;
- m_storedDataLength[i] = 0;
- }
- }
-
- CXsensMTiModule::~CXsensMTiModule()
- {
- close();
- }
-
-////////////////////////////////////////////////////////////////////
-// clockms
-//
-// Calculates the processor time used by the calling process.
-// For linux use gettimeofday instead of clock() function
-// When using read from FTDI serial port in a loop the
-// clock() function very often keeps returning 0.
-//
-// Output
-// returns processor time in milliseconds
-//
- clock_t CXsensMTiModule::clockms()
- {
- clock_t clk;
+ namespace Xsens
+ {
+ //////////////////////////////////////////////////////////////////////
+ // Construction/Destruction
+ //////////////////////////////////////////////////////////////////////
+ //
+ CXsensMTiModule::CXsensMTiModule()
+ {
+ m_handle = -1;
+ m_portOpen = false;
+ m_fileOpen = false;
+ m_deviceError = 0; // No error
+ m_retVal = MTRV_OK;
+ m_timeOut = TO_DEFAULT;
+ m_nTempBufferLen = 0;
+ m_clkEnd = 0;
+
+ for (int i = 0 ; i < MAXDEVICES + 1 ; i++)
+ {
+ m_storedOutputMode[i] = INVALIDSETTINGVALUE;
+ m_storedOutputSettings[i] = INVALIDSETTINGVALUE;
+ m_storedDataLength[i] = 0;
+ }
+ }
+
+ CXsensMTiModule::~CXsensMTiModule()
+ {
+ close();
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // clockms
+ //
+ // Calculates the processor time used by the calling process.
+ // For linux use gettimeofday instead of clock() function
+ // When using read from FTDI serial port in a loop the
+ // clock() function very often keeps returning 0.
+ //
+ // Output
+ // returns processor time in milliseconds
+ //
+ clock_t CXsensMTiModule::clockms()
+ {
+ clock_t clk;
#ifdef WIN32
- clk = clock(); // Get current processor time
+ clk = clock(); // Get current processor time
#if (CLOCKS_PER_SEC != 1000)
- clk /= (CLOCKS_PER_SEC / 1000);
- // clk = (clk * 1000) / CLOCKS_PER_SEC;
+ clk /= (CLOCKS_PER_SEC / 1000);
+ // clk = (clk * 1000) / CLOCKS_PER_SEC;
#endif
#else
- struct timeval tv;
- struct timezone tz;
- gettimeofday(&tv,&tz);
- clk = tv.tv_sec * 1000 + (tv.tv_usec / 1000);
+ struct timeval tv;
+ struct timezone tz;
+ gettimeofday(&tv, &tz);
+ clk = tv.tv_sec * 1000 + (tv.tv_usec / 1000);
#endif
- return clk;
- }
+ return clk;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // openPort (serial port number as input parameter)
+ //
+ // Opens a 'live' connection to a MT or XM
+ //
+ // Input
+ // portNumber : number of serial port to open (1-99)
+ // baudrate : baudrate value (One of the PBR_* defines), default = PBR_115K2
+ // inqueueSize : size of input queue, default = 4096
+ // outqueueSize: size of output queue, default = 1024
+ //
+ // Output
+ // returns MTRV_OK if serial port is successfully opened, else MTRV_INPUTCANNOTBEOPENED
+ //
+ short CXsensMTiModule::openPort(const int portNumber, const unsigned long baudrate, const unsigned long /*inqueueSize*/, const unsigned long /*outqueueSize*/)
+ {
+ m_clkEnd = 0;
+
+ if (m_fileOpen || m_portOpen)
+ {
+ return (m_retVal = MTRV_ANINPUTALREADYOPEN);
+ }
-////////////////////////////////////////////////////////////////////
-// openPort (serial port number as input parameter)
-//
-// Opens a 'live' connection to a MT or XM
-//
-// Input
-// portNumber : number of serial port to open (1-99)
-// baudrate : baudrate value (One of the PBR_* defines), default = PBR_115K2
-// inqueueSize : size of input queue, default = 4096
-// outqueueSize: size of output queue, default = 1024
-//
-// Output
-// returns MTRV_OK if serial port is successfully opened, else MTRV_INPUTCANNOTBEOPENED
-//
- short CXsensMTiModule::openPort(const int portNumber, const unsigned long baudrate, const unsigned long /*inqueueSize*/, const unsigned long /*outqueueSize*/)
- {
- m_clkEnd = 0;
-
- if (m_fileOpen || m_portOpen)
- {
- return (m_retVal = MTRV_ANINPUTALREADYOPEN);
- }
-#ifdef WIN32
- char pchFileName[10];
-
- sprintf(pchFileName,"\\\\.\\COM%d",portNumber); // Create file name
-
- m_handle = CreateFile(pchFileName, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, 0, NULL);
- if (m_handle == INVALID_HANDLE_VALUE)
- {
- return (m_retVal = MTRV_INPUTCANNOTBEOPENED);
- }
-
- // Once here, port is open
- m_portOpen = true;
-
- //Get the current state & then change it
- DCB dcb;
-
- GetCommState(m_handle, &dcb);// Get current state
-
- dcb.BaudRate = baudrate;// Setup the baud rate
- dcb.Parity = NOPARITY;// Setup the Parity
- dcb.ByteSize = 8;// Setup the data bits
- dcb.StopBits = TWOSTOPBITS;// Setup the stop bits
- dcb.fDsrSensitivity = FALSE;// Setup the flow control
- dcb.fOutxCtsFlow = FALSE;// NoFlowControl:
- dcb.fOutxDsrFlow = FALSE;
- dcb.fOutX = FALSE;
- dcb.fInX = FALSE;
- if (!SetCommState(m_handle, (LPDCB)&dcb))
- { // Set new state
- // Bluetooth ports cannot always be opened with 2 stopbits
- // Now try to open port with 1 stopbit.
- dcb.StopBits = ONESTOPBIT;
- if (!SetCommState(m_handle, (LPDCB)&dcb))
- {
- CloseHandle(m_handle);
- m_handle = INVALID_HANDLE_VALUE;
- m_portOpen = false;
- return (m_retVal = MTRV_INPUTCANNOTBEOPENED);
- }
- }
-
- // Set COM timeouts
- COMMTIMEOUTS CommTimeouts;
-
- GetCommTimeouts(m_handle,&CommTimeouts);// Fill CommTimeouts structure
-
- // immediate return if data is available, wait 1ms otherwise
- CommTimeouts.ReadTotalTimeoutConstant = 1;
- CommTimeouts.ReadIntervalTimeout = MAXDWORD;
- CommTimeouts.ReadTotalTimeoutMultiplier = MAXDWORD;
-
- // immediate return whether data is available or not
-// CommTimeouts.ReadTotalTimeoutConstant = 0;
-// CommTimeouts.ReadIntervalTimeout = MAXDWORD;
-// CommTimeouts.ReadTotalTimeoutMultiplier = 0;
-
- SetCommTimeouts(m_handle, &CommTimeouts);// Set CommTimeouts structure
-
- // Other initialization functions
- EscapeCommFunction(m_handle, SETRTS);// Enable RTS (for Xbus Master use)
- SetupComm(m_handle,inqueueSize,outqueueSize);// Set queue size
-
- // Remove any 'old' data in buffer
- PurgeComm(m_handle, PURGE_TXCLEAR | PURGE_RXCLEAR);
-
- return (m_retVal = MTRV_OK);
-#else
- char chPort[15];
- struct termios options;
-
- /* Open port */
- sprintf(chPort,"/dev/ttyS%d",(portNumber - 1));
- m_handle = open(chPort,O_RDWR | O_NOCTTY);
-
- // O_RDWR: Read+Write
- // O_NOCTTY: Raw input, no "controlling terminal"
- // O_NDELAY: Don't care about DCD signal
-
- if (m_handle < 0)
- {
- // Port not open
- return (m_retVal = MTRV_INPUTCANNOTBEOPENED);
- }
-
- // Once here, port is open
- m_portOpen = true;
-
- /* Start configuring of port for non-canonical transfer mode */
- // Get current options for the port
- tcgetattr(m_handle,&options);
-
- // Set baudrate.
- cfsetispeed(&options,baudrate);
- cfsetospeed(&options,baudrate);
-
- // Enable the receiver and set local mode
- options.c_cflag |= (CLOCAL | CREAD);
- // Set character size to data bits and set no parity Mask the characte size bits
- options.c_cflag &= ~(CSIZE | PARENB);
- options.c_cflag |= CS8; // Select 8 data bits
- options.c_cflag |= CSTOPB; // send 2 stop bits
- // Disable hardware flow control
- options.c_cflag &= ~CRTSCTS;
- options.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
- // Disable software flow control
- options.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON);
- // Set Raw output
- options.c_oflag &= ~OPOST;
- // Timeout 0.005 sec for first byte, read minimum of 0 bytes
- options.c_cc[VMIN] = 0;
- options.c_cc[VTIME] = 5;
-
- // Set the new options for the port
- tcsetattr(m_handle,TCSANOW,&options);
-
- tcflush(m_handle,TCIOFLUSH);
-
- return (m_retVal = MTRV_OK);
-#endif
- }
-
-////////////////////////////////////////////////////////////////////
-// openPort (string as input parameter)
-//
-// Opens a 'live' connection to a MT or XM
-//
-// Input
-// portName : device name of serial port ("/dev/ttyUSB0" or "\\\\.\\COM1")
-// baudrate : baudrate value (One of the PBR_* defines), default = PBR_115K2
-// inqueueSize : size of input queue, default = 4096
-// outqueueSize: size of output queue, default = 1024
-//
-// Output
-// returns MTRV_OK if serial port is successfully opened, else MTRV_INPUTCANNOTBEOPENED
-//
- short CXsensMTiModule::openPort(const char *portName, const unsigned long baudrate, const unsigned long /*inqueueSize*/, const unsigned long /*outqueueSize*/)
- {
- m_clkEnd = 0;
-
- if (m_fileOpen || m_portOpen)
- {
- return (m_retVal = MTRV_ANINPUTALREADYOPEN);
- }
-#ifdef WIN32
- m_handle = CreateFile(portName, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, 0, NULL);
- if (m_handle == INVALID_HANDLE_VALUE)
- {
- return (m_retVal = MTRV_INPUTCANNOTBEOPENED);
- }
-
- // Once here, port is open
- m_portOpen = true;
-
- //Get the current state & then change it
- DCB dcb;
-
- GetCommState(m_handle, &dcb);// Get current state
-
- dcb.BaudRate = baudrate;// Setup the baud rate
- dcb.Parity = NOPARITY;// Setup the Parity
- dcb.ByteSize = 8;// Setup the data bits
- dcb.StopBits = TWOSTOPBITS;// Setup the stop bits
- dcb.fDsrSensitivity = FALSE;// Setup the flow control
- dcb.fOutxCtsFlow = FALSE;// NoFlowControl:
- dcb.fOutxDsrFlow = FALSE;
- dcb.fOutX = FALSE;
- dcb.fInX = FALSE;
- if (!SetCommState(m_handle, (LPDCB)&dcb))
- { // Set new state
- // Bluetooth ports cannot always be opened with 2 stopbits
- // Now try to open port with 1 stopbit.
- dcb.StopBits = ONESTOPBIT;
- if (!SetCommState(m_handle, (LPDCB)&dcb))
- {
- CloseHandle(m_handle);
- m_handle = INVALID_HANDLE_VALUE;
- m_portOpen = false;
- return (m_retVal = MTRV_INPUTCANNOTBEOPENED);
- }
- }
-
- // Set COM timeouts
- COMMTIMEOUTS CommTimeouts;
-
- GetCommTimeouts(m_handle,&CommTimeouts);// Fill CommTimeouts structure
-
- // immediate return if data is available, wait 1ms otherwise
- CommTimeouts.ReadTotalTimeoutConstant = 1;
- CommTimeouts.ReadIntervalTimeout = MAXDWORD;
- CommTimeouts.ReadTotalTimeoutMultiplier = MAXDWORD;
-
- // immediate return whether data is available or not
-// CommTimeouts.ReadTotalTimeoutConstant = 0;
-// CommTimeouts.ReadIntervalTimeout = MAXDWORD;
-// CommTimeouts.ReadTotalTimeoutMultiplier = 0;
- SetCommTimeouts(m_handle, &CommTimeouts);// Set CommTimeouts structure
-
- // Other initialization functions
- EscapeCommFunction(m_handle, SETRTS);// Enable RTS (for Xbus Master use)
- SetupComm(m_handle,inqueueSize,outqueueSize);// Set queue size
-
- // Remove any 'old' data in buffer
- PurgeComm(m_handle, PURGE_TXCLEAR | PURGE_RXCLEAR);
-
- return (m_retVal = MTRV_OK);
-#else
- struct termios options;
-
- /* Open port */
-
- m_handle = open(portName,O_RDWR | O_NOCTTY);
-
- // O_RDWR: Read+Write
- // O_NOCTTY: Raw input, no "controlling terminal"
- // O_NDELAY: Don't care about DCD signal
-
- if (m_handle < 0)
- {
- // Port not open
- return (m_retVal = MTRV_INPUTCANNOTBEOPENED);
- }
-
- // Once here, port is open
- m_portOpen = true;
-
- /* Start configuring of port for non-canonical transfer mode */
- // Get current options for the port
- tcgetattr(m_handle,&options);
-
- // Set baudrate.
- cfsetispeed(&options,baudrate);
- cfsetospeed(&options,baudrate);
-
- // Enable the receiver and set local mode
- options.c_cflag |= (CLOCAL | CREAD);
- // Set character size to data bits and set no parity Mask the characte size bits
- options.c_cflag &= ~(CSIZE | PARENB);
- options.c_cflag |= CS8; // Select 8 data bits
- options.c_cflag |= CSTOPB; // send 2 stop bits
- // Disable hardware flow control
- options.c_cflag &= ~CRTSCTS;
- options.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
- // Disable software flow control
- options.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON);
- // Set Raw output
- options.c_oflag &= ~OPOST;
- // Timeout 0.005 sec for first byte, read minimum of 0 bytes
- options.c_cc[VMIN] = 0;
- options.c_cc[VTIME] = 5;
-
- // Set the new options for the port
- tcsetattr(m_handle,TCSANOW,&options);
-
- tcflush(m_handle,TCIOFLUSH);
-
- return (m_retVal = MTRV_OK);
-#endif
- }
-
-////////////////////////////////////////////////////////////////////
-// openFile
-//
-// Open file for reading and writing
-// Filepos is at start of file
-//
-// Input
-// fileName : file name including path
-// createAlways: empties the log file, if existing
-//
-// Output
-// returns MTRV_OK if the file is opened
-// returns MTRV_INPUTCANNOTBEOPENED if the file can not be opened
-// returns MTRV_ANINPUTALREADYOPEN if a serial port / file is already opened
-//
- short CXsensMTiModule::openFile(const char *fileName, bool createAlways)
- {
- m_clkEnd = 0;
-
- if (m_portOpen || m_portOpen)
- {
- return (m_retVal = MTRV_ANINPUTALREADYOPEN);
- }
-#ifdef WIN32
- DWORD disposition = OPEN_ALWAYS;
- if (createAlways == true)
- {
- disposition = CREATE_ALWAYS;
- }
- m_handle = CreateFile(fileName, GENERIC_READ | GENERIC_WRITE, FILE_SHARE_READ, NULL, disposition, 0, NULL);
- if (m_handle == INVALID_HANDLE_VALUE)
- {
- return (m_retVal = MTRV_INPUTCANNOTBEOPENED);
- }
-#else
- int openMode = O_RDWR | O_CREAT;
- if (createAlways == true)
- {
- openMode |= O_TRUNC;
- }
- m_handle = open(fileName,openMode,S_IRWXU);
- if (m_handle < 0)
- {
- return (m_retVal = MTRV_INPUTCANNOTBEOPENED);
- }
-#endif
- m_timeOut = 0; // No timeout when using file input
- m_fileOpen = true;
- return (m_retVal = MTRV_OK);
+#ifdef WIN32
+ char pchFileName[10];
- }
+ sprintf(pchFileName, "\\\\.\\COM%d", portNumber); // Create file name
-////////////////////////////////////////////////////////////////////
-// isPortOpen
-//
-// Return if serial port is open or not
-//
- bool CXsensMTiModule::isPortOpen()
- {
- return m_portOpen;
- }
+ m_handle = CreateFile(pchFileName, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, 0, NULL);
-////////////////////////////////////////////////////////////////////
-// isFileOpen
-//
-// Return if serial port is open or not
-//
- bool CXsensMTiModule::isFileOpen()
- {
- return m_fileOpen;
- }
+ if (m_handle == INVALID_HANDLE_VALUE)
+ {
+ return (m_retVal = MTRV_INPUTCANNOTBEOPENED);
+ }
-////////////////////////////////////////////////////////////////////
-// readData
-//
-// Reads bytes from serial port or file
-//
-// Input
-// msgBuffer : pointer to buffer in which next string will be stored
-// nBytesToRead : number of buffer bytes to read from serial port
-// retval : return value, either MTRV_OK, MTRV_ENDOFFILE or MTRV_NOINPUTINITIALIZED
-//
-// Output
-// number of bytes actually read
- int CXsensMTiModule::readData(unsigned char* msgBuffer, const int nBytesToRead)
- {
- //if(!m_fileOpen && !m_portOpen)
- if (!(m_portOpen || m_fileOpen))
- {
- m_retVal = MTRV_NOINPUTINITIALIZED;
- return 0;
- }
-#ifdef WIN32
- DWORD nBytesRead;
- BOOL retval = ReadFile(m_handle, msgBuffer, nBytesToRead, &nBytesRead, NULL);
- if (retval && nBytesRead == 0 && m_fileOpen)
- {
- m_retVal = MTRV_ENDOFFILE;
- }
- else
- m_retVal = MTRV_OK;
- return nBytesRead;
+ // Once here, port is open
+ m_portOpen = true;
+
+ //Get the current state & then change it
+ DCB dcb;
+
+ GetCommState(m_handle, &dcb);// Get current state
+
+ dcb.BaudRate = baudrate;// Setup the baud rate
+ dcb.Parity = NOPARITY;// Setup the Parity
+ dcb.ByteSize = 8;// Setup the data bits
+ dcb.StopBits = TWOSTOPBITS;// Setup the stop bits
+ dcb.fDsrSensitivity = FALSE;// Setup the flow control
+ dcb.fOutxCtsFlow = FALSE;// NoFlowControl:
+ dcb.fOutxDsrFlow = FALSE;
+ dcb.fOutX = FALSE;
+ dcb.fInX = FALSE;
+
+ if (!SetCommState(m_handle, (LPDCB)&dcb))
+ {
+ // Set new state
+ // Bluetooth ports cannot always be opened with 2 stopbits
+ // Now try to open port with 1 stopbit.
+ dcb.StopBits = ONESTOPBIT;
+
+ if (!SetCommState(m_handle, (LPDCB)&dcb))
+ {
+ CloseHandle(m_handle);
+ m_handle = INVALID_HANDLE_VALUE;
+ m_portOpen = false;
+ return (m_retVal = MTRV_INPUTCANNOTBEOPENED);
+ }
+ }
+
+ // Set COM timeouts
+ COMMTIMEOUTS CommTimeouts;
+
+ GetCommTimeouts(m_handle, &CommTimeouts); // Fill CommTimeouts structure
+
+ // immediate return if data is available, wait 1ms otherwise
+ CommTimeouts.ReadTotalTimeoutConstant = 1;
+ CommTimeouts.ReadIntervalTimeout = MAXDWORD;
+ CommTimeouts.ReadTotalTimeoutMultiplier = MAXDWORD;
+
+ // immediate return whether data is available or not
+ // CommTimeouts.ReadTotalTimeoutConstant = 0;
+ // CommTimeouts.ReadIntervalTimeout = MAXDWORD;
+ // CommTimeouts.ReadTotalTimeoutMultiplier = 0;
+
+ SetCommTimeouts(m_handle, &CommTimeouts);// Set CommTimeouts structure
+
+ // Other initialization functions
+ EscapeCommFunction(m_handle, SETRTS);// Enable RTS (for Xbus Master use)
+ SetupComm(m_handle, inqueueSize, outqueueSize); // Set queue size
+
+ // Remove any 'old' data in buffer
+ PurgeComm(m_handle, PURGE_TXCLEAR | PURGE_RXCLEAR);
+
+ return (m_retVal = MTRV_OK);
#else
- const int nBytesRead = read(m_handle,msgBuffer,nBytesToRead);
-
- m_retVal = MTRV_OK;
- if (nBytesRead)
- return nBytesRead;
- else if (m_fileOpen)
- m_retVal = MTRV_ENDOFFILE;
- return nBytesRead;
- /*
- if (nBytesRead == 0 && m_fileOpen)
- {
- nBytesRead = 0;
- m_retVal = MTRV_ENDOFFILE;
- }
- else
- m_retVal = MTRV_OK;
- return nBytesRead;*/
-
- // In Linux it is sometimes better to read per byte instead of a block of bytes at once
- // Use this block if experiencing problems with the above code
- /*
- int j = 0; // Index in buffer for read data
- int k = 0; // Timeout factor
- int nRead = 0; // Bytes read from port, return by read function
-
- do {
- nRead = read(m_handle, &msgBuffer[j], 1);
- if (nRead == 1) { // Byte read
- k = 0;
- j++;
- }
- else {
- k++;
- }
-
- if (k == 3) { // Timeout, too long no data read from port
- return nRead;
- }
- }
- while (j < nBytesToRead);
-
- return j;
- */
+ char chPort[15];
+ struct termios options;
+
+ /* Open port */
+ sprintf(chPort, "/dev/ttyS%d", (portNumber - 1));
+ m_handle = open(chPort, O_RDWR | O_NOCTTY);
+
+ // O_RDWR: Read+Write
+ // O_NOCTTY: Raw input, no "controlling terminal"
+ // O_NDELAY: Don't care about DCD signal
+
+ if (m_handle < 0)
+ {
+ // Port not open
+ return (m_retVal = MTRV_INPUTCANNOTBEOPENED);
+ }
+
+ // Once here, port is open
+ m_portOpen = true;
+
+ /* Start configuring of port for non-canonical transfer mode */
+ // Get current options for the port
+ tcgetattr(m_handle, &options);
+
+ // Set baudrate.
+ cfsetispeed(&options, baudrate);
+ cfsetospeed(&options, baudrate);
+
+ // Enable the receiver and set local mode
+ options.c_cflag |= (CLOCAL | CREAD);
+ // Set character size to data bits and set no parity Mask the characte size bits
+ options.c_cflag &= ~(CSIZE | PARENB);
+ options.c_cflag |= CS8; // Select 8 data bits
+ options.c_cflag |= CSTOPB; // send 2 stop bits
+ // Disable hardware flow control
+ options.c_cflag &= ~CRTSCTS;
+ options.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
+ // Disable software flow control
+ options.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON);
+ // Set Raw output
+ options.c_oflag &= ~OPOST;
+ // Timeout 0.005 sec for first byte, read minimum of 0 bytes
+ options.c_cc[VMIN] = 0;
+ options.c_cc[VTIME] = 5;
+
+ // Set the new options for the port
+ tcsetattr(m_handle, TCSANOW, &options);
+
+ tcflush(m_handle, TCIOFLUSH);
+
+ return (m_retVal = MTRV_OK);
#endif
- }
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // openPort (string as input parameter)
+ //
+ // Opens a 'live' connection to a MT or XM
+ //
+ // Input
+ // portName : device name of serial port ("/dev/ttyUSB0" or "\\\\.\\COM1")
+ // baudrate : baudrate value (One of the PBR_* defines), default = PBR_115K2
+ // inqueueSize : size of input queue, default = 4096
+ // outqueueSize: size of output queue, default = 1024
+ //
+ // Output
+ // returns MTRV_OK if serial port is successfully opened, else MTRV_INPUTCANNOTBEOPENED
+ //
+ short CXsensMTiModule::openPort(const char* portName, const unsigned long baudrate, const unsigned long /*inqueueSize*/, const unsigned long /*outqueueSize*/)
+ {
+ m_clkEnd = 0;
+
+ if (m_fileOpen || m_portOpen)
+ {
+ return (m_retVal = MTRV_ANINPUTALREADYOPEN);
+ }
-////////////////////////////////////////////////////////////////////
-// writeData
-//
-// Writes bytes to serial port (to do: file)
-//
-// Input
-// msgBuffer : a pointer to a char buffer containing
-// the characters to be written to serial port
-// nBytesToWrite : number of buffer bytes to write to serial port
-//
-// Output
-// number of bytes actually written
-//
-// The MTComm return value is != MTRV_OK if serial port is closed
- int CXsensMTiModule::writeData(const unsigned char* msgBuffer, const int nBytesToWrite)
- {
- if (!m_fileOpen && !m_portOpen)
- {
- m_retVal = MTRV_NOINPUTINITIALIZED;
- return 0;
- }
-
- m_retVal = MTRV_OK;
#ifdef WIN32
- DWORD nBytesWritten;
- WriteFile(m_handle, msgBuffer, nBytesToWrite, &nBytesWritten, NULL);
- return nBytesWritten;
+ m_handle = CreateFile(portName, GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, 0, NULL);
+
+ if (m_handle == INVALID_HANDLE_VALUE)
+ {
+ return (m_retVal = MTRV_INPUTCANNOTBEOPENED);
+ }
+
+ // Once here, port is open
+ m_portOpen = true;
+
+ //Get the current state & then change it
+ DCB dcb;
+
+ GetCommState(m_handle, &dcb);// Get current state
+
+ dcb.BaudRate = baudrate;// Setup the baud rate
+ dcb.Parity = NOPARITY;// Setup the Parity
+ dcb.ByteSize = 8;// Setup the data bits
+ dcb.StopBits = TWOSTOPBITS;// Setup the stop bits
+ dcb.fDsrSensitivity = FALSE;// Setup the flow control
+ dcb.fOutxCtsFlow = FALSE;// NoFlowControl:
+ dcb.fOutxDsrFlow = FALSE;
+ dcb.fOutX = FALSE;
+ dcb.fInX = FALSE;
+
+ if (!SetCommState(m_handle, (LPDCB)&dcb))
+ {
+ // Set new state
+ // Bluetooth ports cannot always be opened with 2 stopbits
+ // Now try to open port with 1 stopbit.
+ dcb.StopBits = ONESTOPBIT;
+
+ if (!SetCommState(m_handle, (LPDCB)&dcb))
+ {
+ CloseHandle(m_handle);
+ m_handle = INVALID_HANDLE_VALUE;
+ m_portOpen = false;
+ return (m_retVal = MTRV_INPUTCANNOTBEOPENED);
+ }
+ }
+
+ // Set COM timeouts
+ COMMTIMEOUTS CommTimeouts;
+
+ GetCommTimeouts(m_handle, &CommTimeouts); // Fill CommTimeouts structure
+
+ // immediate return if data is available, wait 1ms otherwise
+ CommTimeouts.ReadTotalTimeoutConstant = 1;
+ CommTimeouts.ReadIntervalTimeout = MAXDWORD;
+ CommTimeouts.ReadTotalTimeoutMultiplier = MAXDWORD;
+
+ // immediate return whether data is available or not
+ // CommTimeouts.ReadTotalTimeoutConstant = 0;
+ // CommTimeouts.ReadIntervalTimeout = MAXDWORD;
+ // CommTimeouts.ReadTotalTimeoutMultiplier = 0;
+ SetCommTimeouts(m_handle, &CommTimeouts);// Set CommTimeouts structure
+
+ // Other initialization functions
+ EscapeCommFunction(m_handle, SETRTS);// Enable RTS (for Xbus Master use)
+ SetupComm(m_handle, inqueueSize, outqueueSize); // Set queue size
+
+ // Remove any 'old' data in buffer
+ PurgeComm(m_handle, PURGE_TXCLEAR | PURGE_RXCLEAR);
+
+ return (m_retVal = MTRV_OK);
#else
- return write(m_handle,msgBuffer,nBytesToWrite);
+ struct termios options;
+
+ /* Open port */
+
+ m_handle = open(portName, O_RDWR | O_NOCTTY);
+
+ // O_RDWR: Read+Write
+ // O_NOCTTY: Raw input, no "controlling terminal"
+ // O_NDELAY: Don't care about DCD signal
+
+ if (m_handle < 0)
+ {
+ // Port not open
+ return (m_retVal = MTRV_INPUTCANNOTBEOPENED);
+ }
+
+ // Once here, port is open
+ m_portOpen = true;
+
+ /* Start configuring of port for non-canonical transfer mode */
+ // Get current options for the port
+ tcgetattr(m_handle, &options);
+
+ // Set baudrate.
+ cfsetispeed(&options, baudrate);
+ cfsetospeed(&options, baudrate);
+
+ // Enable the receiver and set local mode
+ options.c_cflag |= (CLOCAL | CREAD);
+ // Set character size to data bits and set no parity Mask the characte size bits
+ options.c_cflag &= ~(CSIZE | PARENB);
+ options.c_cflag |= CS8; // Select 8 data bits
+ options.c_cflag |= CSTOPB; // send 2 stop bits
+ // Disable hardware flow control
+ options.c_cflag &= ~CRTSCTS;
+ options.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
+ // Disable software flow control
+ options.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL | IXON);
+ // Set Raw output
+ options.c_oflag &= ~OPOST;
+ // Timeout 0.005 sec for first byte, read minimum of 0 bytes
+ options.c_cc[VMIN] = 0;
+ options.c_cc[VTIME] = 5;
+
+ // Set the new options for the port
+ tcsetattr(m_handle, TCSANOW, &options);
+
+ tcflush(m_handle, TCIOFLUSH);
+
+ return (m_retVal = MTRV_OK);
#endif
- }
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // openFile
+ //
+ // Open file for reading and writing
+ // Filepos is at start of file
+ //
+ // Input
+ // fileName : file name including path
+ // createAlways: empties the log file, if existing
+ //
+ // Output
+ // returns MTRV_OK if the file is opened
+ // returns MTRV_INPUTCANNOTBEOPENED if the file can not be opened
+ // returns MTRV_ANINPUTALREADYOPEN if a serial port / file is already opened
+ //
+ short CXsensMTiModule::openFile(const char* fileName, bool createAlways)
+ {
+ m_clkEnd = 0;
+
+ if (m_portOpen || m_portOpen)
+ {
+ return (m_retVal = MTRV_ANINPUTALREADYOPEN);
+ }
-////////////////////////////////////////////////////////////////////
-// flush
-//
-// Remove any 'old' data in COM port buffer and flushes internal
-// temporary buffer
-//
- void CXsensMTiModule::flush()
- {
- if (m_portOpen)
- {
#ifdef WIN32
- // Remove any 'old' data in buffer
- PurgeComm(m_handle, PURGE_TXCLEAR | PURGE_RXCLEAR);
+ DWORD disposition = OPEN_ALWAYS;
+
+ if (createAlways == true)
+ {
+ disposition = CREATE_ALWAYS;
+ }
+
+ m_handle = CreateFile(fileName, GENERIC_READ | GENERIC_WRITE, FILE_SHARE_READ, NULL, disposition, 0, NULL);
+
+ if (m_handle == INVALID_HANDLE_VALUE)
+ {
+ return (m_retVal = MTRV_INPUTCANNOTBEOPENED);
+ }
+
#else
- tcflush(m_handle,TCIOFLUSH);
+ int openMode = O_RDWR | O_CREAT;
+
+ if (createAlways == true)
+ {
+ openMode |= O_TRUNC;
+ }
+
+ m_handle = open(fileName, openMode, S_IRWXU);
+
+ if (m_handle < 0)
+ {
+ return (m_retVal = MTRV_INPUTCANNOTBEOPENED);
+ }
+
#endif
- }
- m_nTempBufferLen = 0;
- m_retVal = MTRV_OK;
- }
+ m_timeOut = 0; // No timeout when using file input
+ m_fileOpen = true;
+ return (m_retVal = MTRV_OK);
+
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // isPortOpen
+ //
+ // Return if serial port is open or not
+ //
+ bool CXsensMTiModule::isPortOpen()
+ {
+ return m_portOpen;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // isFileOpen
+ //
+ // Return if serial port is open or not
+ //
+ bool CXsensMTiModule::isFileOpen()
+ {
+ return m_fileOpen;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // readData
+ //
+ // Reads bytes from serial port or file
+ //
+ // Input
+ // msgBuffer : pointer to buffer in which next string will be stored
+ // nBytesToRead : number of buffer bytes to read from serial port
+ // retval : return value, either MTRV_OK, MTRV_ENDOFFILE or MTRV_NOINPUTINITIALIZED
+ //
+ // Output
+ // number of bytes actually read
+ int CXsensMTiModule::readData(unsigned char* msgBuffer, const int nBytesToRead)
+ {
+ //if(!m_fileOpen && !m_portOpen)
+ if (!(m_portOpen || m_fileOpen))
+ {
+ m_retVal = MTRV_NOINPUTINITIALIZED;
+ return 0;
+ }
-////////////////////////////////////////////////////////////////////
-// escape
-//
-// Directs a COM port to perform an extended function
-//
-// Input
-// function : Windows define. Can be one of following:
-// CLRDTR, CLRRTS, SETDTR, SETRTS, SETXOFF, SETXON, SETBREAK, CLRBREAK
- void CXsensMTiModule::escape(unsigned long /*function*/)
- {
#ifdef WIN32
- EscapeCommFunction(m_handle, function);
+ DWORD nBytesRead;
+ BOOL retval = ReadFile(m_handle, msgBuffer, nBytesToRead, &nBytesRead, NULL);
+
+ if (retval && nBytesRead == 0 && m_fileOpen)
+ {
+ m_retVal = MTRV_ENDOFFILE;
+ }
+ else
+ {
+ m_retVal = MTRV_OK;
+ }
+
+ return nBytesRead;
#else
+ const int nBytesRead = read(m_handle, msgBuffer, nBytesToRead);
+
+ m_retVal = MTRV_OK;
+
+ if (nBytesRead)
+ {
+ return nBytesRead;
+ }
+ else if (m_fileOpen)
+ {
+ m_retVal = MTRV_ENDOFFILE;
+ }
+
+ return nBytesRead;
+ /*
+ if (nBytesRead == 0 && m_fileOpen)
+ {
+ nBytesRead = 0;
+ m_retVal = MTRV_ENDOFFILE;
+ }
+ else
+ m_retVal = MTRV_OK;
+ return nBytesRead;*/
+
+ // In Linux it is sometimes better to read per byte instead of a block of bytes at once
+ // Use this block if experiencing problems with the above code
+ /*
+ int j = 0; // Index in buffer for read data
+ int k = 0; // Timeout factor
+ int nRead = 0; // Bytes read from port, return by read function
+
+ do {
+ nRead = read(m_handle, &msgBuffer[j], 1);
+ if (nRead == 1) { // Byte read
+ k = 0;
+ j++;
+ }
+ else {
+ k++;
+ }
+
+ if (k == 3) { // Timeout, too long no data read from port
+ return nRead;
+ }
+ }
+ while (j < nBytesToRead);
+
+ return j;
+ */
#endif
- }
-
-////////////////////////////////////////////////////////////////////
-// setPortQueueSize
-//
-// Set input and output buffer size of serial port
-//
- void CXsensMTiModule::setPortQueueSize(const unsigned long /*inqueueSize = 4096 */, const unsigned long /*outqueueSize = 1024 */)
- {
- if (m_portOpen)
- {
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // writeData
+ //
+ // Writes bytes to serial port (to do: file)
+ //
+ // Input
+ // msgBuffer : a pointer to a char buffer containing
+ // the characters to be written to serial port
+ // nBytesToWrite : number of buffer bytes to write to serial port
+ //
+ // Output
+ // number of bytes actually written
+ //
+ // The MTComm return value is != MTRV_OK if serial port is closed
+ int CXsensMTiModule::writeData(const unsigned char* msgBuffer, const int nBytesToWrite)
+ {
+ if (!m_fileOpen && !m_portOpen)
+ {
+ m_retVal = MTRV_NOINPUTINITIALIZED;
+ return 0;
+ }
+
+ m_retVal = MTRV_OK;
#ifdef WIN32
- SetupComm(m_handle,inqueueSize,outqueueSize); // Set queue size
+ DWORD nBytesWritten;
+ WriteFile(m_handle, msgBuffer, nBytesToWrite, &nBytesWritten, NULL);
+ return nBytesWritten;
#else
- // Not yet implemented
+ return write(m_handle, msgBuffer, nBytesToWrite);
#endif
- }
- m_retVal = MTRV_OK;
- }
-
-////////////////////////////////////////////////////////////////////
-// setFilePos
-//
-// Sets the current position of the file pointer for file input
-//
-// Input
-// relPos : 32-bit value specifying the relative move in bytes
-// origin is specified in moveMethod
-// moveMethod : FILEPOS_BEGIN, FILEPOS_CURRENT or FILEPOS_END
-// Output
-//
-// returns MTRV_OK if file pointer is successfully set
-//
- short CXsensMTiModule::setFilePos(long relPos, unsigned long moveMethod)
- {
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // flush
+ //
+ // Remove any 'old' data in COM port buffer and flushes internal
+ // temporary buffer
+ //
+ void CXsensMTiModule::flush()
+ {
+ if (m_portOpen)
+ {
#ifdef WIN32
- if (m_fileOpen)
- {
- if(SetFilePointer(m_handle, relPos, NULL, moveMethod) != INVALID_SET_FILE_POINTER)
- {
- return (m_retVal = MTRV_OK);
- }
- }
+ // Remove any 'old' data in buffer
+ PurgeComm(m_handle, PURGE_TXCLEAR | PURGE_RXCLEAR);
#else
- if (m_fileOpen)
- {
- if (lseek(m_handle,relPos,moveMethod) != -1)
- {
- return (m_retVal = MTRV_OK);
- }
- }
+ tcflush(m_handle, TCIOFLUSH);
#endif
- return (m_retVal = MTRV_NOTSUCCESSFUL);
- }
-
-////////////////////////////////////////////////////////////////////
-// getFileSize
-//
-// Retrieves the file size of the opened file
-//
-// Input
-// Output
-// fileSize : Number of bytes of the current file
-//
-// returns MTRV_OK if successful
-//
- short CXsensMTiModule::getFileSize(unsigned long &fileSize)
- {
+ }
+
+ m_nTempBufferLen = 0;
+ m_retVal = MTRV_OK;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // escape
+ //
+ // Directs a COM port to perform an extended function
+ //
+ // Input
+ // function : Windows define. Can be one of following:
+ // CLRDTR, CLRRTS, SETDTR, SETRTS, SETXOFF, SETXON, SETBREAK, CLRBREAK
+ void CXsensMTiModule::escape(unsigned long /*function*/)
+ {
#ifdef WIN32
- if (m_fileOpen)
- {
- if ((fileSize = GetFileSize(m_handle, NULL)) != INVALID_FILE_SIZE)
- {
- return (m_retVal = MTRV_OK);
- }
- }
+ EscapeCommFunction(m_handle, function);
#else
- if (m_fileOpen)
- {
- struct stat buf;
- if (fstat(m_handle,&buf) == 0)
- {
- fileSize = buf.st_size;
- return (m_retVal = MTRV_OK);
- }
- }
#endif
- return (m_retVal = MTRV_NOTSUCCESSFUL);
- }
-
-////////////////////////////////////////////////////////////////////
-// close
-//
-// Closes handle of file or serial port
-//
- short CXsensMTiModule::close()
- {
- if (m_portOpen || m_fileOpen)
- {
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // setPortQueueSize
+ //
+ // Set input and output buffer size of serial port
+ //
+ void CXsensMTiModule::setPortQueueSize(const unsigned long /*inqueueSize = 4096 */, const unsigned long /*outqueueSize = 1024 */)
+ {
+ if (m_portOpen)
+ {
#ifdef WIN32
- if (m_portOpen)
- { // Because of USB-serial driver bug
- flush();
- }
- CloseHandle(m_handle);
+ SetupComm(m_handle, inqueueSize, outqueueSize); // Set queue size
#else
- ::close(m_handle);
+ // Not yet implemented
#endif
- }
- m_fileOpen = m_portOpen = false;
- m_timeOut = TO_DEFAULT; // Restore timeout value (file input)
- m_clkEnd = 0;
- m_nTempBufferLen = 0;
- m_deviceError = 0; // No error
- for(int i = 0 ; i < MAXDEVICES + 1 ; i++)
- {
- m_storedOutputMode[i] = INVALIDSETTINGVALUE;
- m_storedOutputSettings[i] = INVALIDSETTINGVALUE;
- m_storedDataLength[i] = 0;
- }
- return (m_retVal = MTRV_OK);
- }
-
-////////////////////////////////////////////////////////////////////
-// readMessage
-//
-// Reads the next message from serial port buffer or file.
-// To be read within current time out period
-//
-// Input
-// Output
-// mid : MessageID of message received
-// data : array pointer to data bytes (no header)
-// dataLen : number of data bytes read
-// bid : BID or address of message read (optional)
-//
-// returns MTRV_OK if a message has been read else <>MTRV_OK
-//
-// Remarks
-// allocate enough memory for message buffer
-// use setTimeOut for different timeout value
- short CXsensMTiModule::readMessage(unsigned char &mid, unsigned char data[], short &dataLen, unsigned char *bid)
- {
- unsigned char buffer[MAXMSGLEN ];
- short msgLen;
-
- if (!(m_fileOpen || m_portOpen))
- {
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
-
- if (readMessageRaw(buffer,&msgLen) == MTRV_OK)
- {
- // Message read
- mid = buffer[IND_MID];
- if (bid != NULL)
- {
- *bid = buffer[IND_BID];
- }
- if (buffer[IND_LEN] != EXTLENCODE)
- {
- dataLen = buffer[IND_LEN];
- memcpy(data,&buffer[IND_DATA0],dataLen);
- }
- else
- {
- dataLen = buffer[IND_LENEXTH] * 256 + buffer[IND_LENEXTL];
- memcpy(data,&buffer[IND_DATAEXT0],dataLen);
- }
- }
- return m_retVal;
- }
-
-////////////////////////////////////////////////////////////////////
-// readDataMessage
-//
-// Read a MTData or XMData message from serial port (using TimeOut val)
-//
-// Input
-// data : pointer to buffer in which the DATA field of MTData/XMData is stored
-// dataLen : number of bytes in buffer (= number bytes in DATA field)
-// Output
-// returns MTRV_OK if MTData / XMData message has been read else <>MTRV_OK
-//
-// Remarks
-// allocate enough memory for data buffer
-// use setTimeOut for different timeout value
- short CXsensMTiModule::readDataMessage(unsigned char data[], short &dataLen)
- {
- if (!(m_portOpen || m_fileOpen))
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
-
- unsigned char buffer[MAXMSGLEN ];
- short buflen;
-
- if (readMessageRaw(buffer,&buflen) == MTRV_OK)
- {
- if (buffer[IND_MID] == MID_MTDATA)
- { // MID_XMDATA is same
- if (buffer[IND_LEN] != EXTLENCODE)
- {
- dataLen = buffer[IND_LEN];
- memcpy(data,&buffer[IND_DATA0],dataLen);
- }
- else
- {
- dataLen = buffer[IND_LENEXTH] * 256 + buffer[IND_LENEXTL];
- memcpy(data,&buffer[IND_DATAEXT0],dataLen);
- }
- return (m_retVal = MTRV_OK);
- }
- else if (buffer[IND_MID] == MID_ERROR)
- {
- m_deviceError = buffer[IND_DATA0];
- return (m_retVal = MTRV_RECVERRORMSG); // Error message received
- }
- }
- return m_retVal;
- }
-
-////////////////////////////////////////////////////////////////////
-// readMessageRaw
-//
-// Read a message from serial port for a certain period
-//
-// Input
-// msgBuffer : pointer to buffer in which next msg will be stored
-// msgBufferLength: integer to number of bytes written in buffer (header + data + chksum)
-// Output
-// returns MTRV_OK if a message has been read else <>MTRV_OK
-//
-// Remarks
-// allocate enough memory for message buffer
-// use setTimeOut for different timeout value
- short CXsensMTiModule::readMessageRaw(unsigned char *msgBuffer, short *msgBufferLength)
- {
- int state = 0;
- int nBytesToRead = 1;
- int nBytesRead = 0;
- int nOffset = 0;
- int nMsgDataLen = 0;
- int nMsgLen;
- unsigned char chCheckSum;
- bool Synced = false;
-
- if (!(m_portOpen || m_fileOpen))
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
-
- // Copy previous read bytes if available
- if (m_nTempBufferLen > 0)
- {
- memcpy(msgBuffer,m_tempBuffer,m_nTempBufferLen);
- nBytesRead = m_nTempBufferLen;
- m_nTempBufferLen = 0;
- }
- clock_t clkStart = clockms(); // Get current processor time
- clock_t clkEnd = m_clkEnd; // check if the end timer is already set
- if (clkEnd == 0)
- clkEnd = clkStart + m_timeOut;
-
- while(true)
- {
- do
- {
- // First check if we already have some bytes read
- if (nBytesRead > 0 && nBytesToRead > 0)
- {
- if (nBytesToRead > nBytesRead)
- {
- nOffset += nBytesRead;
- nBytesToRead -= nBytesRead;
- nBytesRead = 0;
- }
- else
- {
- nOffset += nBytesToRead;
- nBytesRead -= nBytesToRead;
- nBytesToRead = 0;
- }
- }
-
- // Check if serial port buffer must be read
- if (nBytesToRead > 0)
- {
- nBytesRead = readData(msgBuffer + nOffset,nBytesToRead);
- if (m_retVal == MTRV_ENDOFFILE)
- return (m_retVal = MTRV_ENDOFFILE);
- nOffset += nBytesRead;
- nBytesToRead -= nBytesRead;
- nBytesRead = 0;
- }
-
- if (!nBytesToRead)
- {
- switch(state)
- {
- case 0: // Check preamble
- if (msgBuffer[IND_PREAMBLE] == PREAMBLE)
- {
- state++;
- nBytesToRead = 3;
- }
- else
- {
- nOffset = 0;
- nBytesToRead = 1;
- }
- break;
- case 1: // Check ADDR, MID, LEN
- if (msgBuffer[IND_LEN] != 0xFF)
- {
- state = 3;
- nBytesToRead = (nMsgDataLen = msgBuffer[IND_LEN]) + 1; // Read LEN + 1 (chksum)
- }
- else
- {
- state = 2;
- nBytesToRead = 2; // Read extended length
- }
- break;
- case 2:
- state = 3;
- nBytesToRead = (nMsgDataLen = msgBuffer[IND_LENEXTH] * 256 + msgBuffer[IND_LENEXTL]) + 1; // Read LENEXT + CS
- if (nMsgDataLen > MAXMSGLEN - LEN_MSGEXTHEADERCS)
- {
- // Not synced - check for preamble in the bytes read
- for(int i = 1 ; i < LEN_MSGEXTHEADER ; i++)
- if (msgBuffer[i] == PREAMBLE)
- {
- // Found a maybe preamble - 'fill buffer'
- nBytesRead = LEN_MSGEXTHEADER - i;
- memmove(msgBuffer,msgBuffer + i,nBytesRead);
- break;
- }
- Synced = false;
- nOffset = 0;
- state = 0;
- nBytesToRead = 1; // Start looking for preamble
- }
- break;
- case 3: // Check msg
- chCheckSum = 0;
- nMsgLen = nMsgDataLen + 5 + (msgBuffer[IND_LEN] == 0xFF ? 2 : 0);
-
- for(int i = 1 ; i < nMsgLen ; i++)
- chCheckSum += msgBuffer[i];
-
- if (chCheckSum == 0)
- { // Checksum ok?
- if (nBytesRead > 0)
- { // Store bytes if read too much
- memcpy(m_tempBuffer,msgBuffer + nMsgLen,nBytesRead);
- m_nTempBufferLen = nBytesRead;
- }
- *msgBufferLength = nMsgLen;
- Synced = true;
- return (m_retVal = MTRV_OK);
- }
- else
- {
- if (!Synced)
- for(int i = 1 ; i < nMsgLen ; i++) // Not synced - maybe recheck for preamble in this incorrect message
- if (msgBuffer[i] == PREAMBLE)
- {
- // Found a maybe preamble - 'fill buffer'
- nBytesRead = nMsgLen - i;
- memmove(msgBuffer,msgBuffer + i,nBytesRead);
- break;
- }
- Synced = false;
- nOffset = 0;
- state = 0;
- nBytesToRead = 1; // Start looking for preamble
- }
- break;
- }
- }
- }
- while((clkEnd >= clockms()) || m_timeOut == 0 || nBytesRead != 0);
-
- // Check if pending message has a valid message
- if (state > 0)
- {
- int i;
- // Search for preamble
- for(i = 1; i < nOffset ; i++)
- if (msgBuffer[i] == PREAMBLE)
- {
- // Found a maybe preamble - 'fill buffer'
- nBytesRead = nOffset - i - 1; // no preamble
- memmove(msgBuffer + 1,msgBuffer + i + 1,nBytesRead);
- break;
- }
- if (i < nOffset)
- {
- // Found preamble in message - recheck
- nOffset = 1;
- state = 1;
- nBytesToRead = 3; // Start looking for preamble
- continue;
- }
- }
- break;
- }
-
- return (m_retVal = MTRV_TIMEOUT);
- }
-
-////////////////////////////////////////////////////////////////////
-// writeMessage (optional: integer value)
-//
-// Sends a message and in case of an serial port interface it checks
-// if the return message (ack, error or timeout). See return value
-// In case an file is opened the functions returns directly after
-// 'sending' the message
-//
-// Use this function for GotoConfig, Reset, ResetOrientation etc
-//
-// Input
-// mid : MessageID of message to send
-// dataValue : A integer value that will be included into the data message field
-// can be a 1,2 or 4 bytes values
-// dataValueLen : Size of dataValue in bytes
-// bid : BID or address to use in message to send (default = 0xFF)
-//
-// Return value
-// = MTRV_OK if an Ack message received / or data successfully written to file
-// = MTRV_RECVERRORMSG if an error message received
-// = MTRV_TIMEOUT if timeout occurred
-// = MTRV_NOINPUTINITIALIZED
-//
- short CXsensMTiModule::writeMessage(const unsigned char mid, const unsigned long dataValue, const unsigned char dataValueLen, const unsigned char bid)
- {
- unsigned char buffer[MAXMSGLEN ];
- short msgLen;
-
- if (!(m_fileOpen || m_portOpen))
- {
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
-
- buffer[IND_PREAMBLE] = PREAMBLE;
- buffer[IND_BID] = bid;
- buffer[IND_MID] = mid;
- buffer[IND_LEN] = dataValueLen;
- if (dataValueLen)
- swapEndian((const unsigned char *) &dataValue,&buffer[IND_DATA0],dataValueLen);
- calcChecksum(buffer,LEN_MSGHEADER + dataValueLen);
-
- // Send message
- writeData(buffer,LEN_MSGHEADERCS + dataValueLen);
-
- // Return if file opened
- if (m_fileOpen)
- {
- return (m_retVal = MTRV_OK);
- }
-
- // Keep reading until an Ack or Error message is received (or timeout)
- clock_t clkStart , clkOld;
- bool msgRead = false;
-
- clkStart = clockms(); // Get current processor time
- clkOld = m_clkEnd;
- if (clkOld == 0)
- m_clkEnd = m_timeOut + clkStart;
-
- while(m_clkEnd >= clockms() || (m_timeOut == 0))
- {
- if (readMessageRaw(buffer,&msgLen) == MTRV_OK)
- {
- // Message received
- msgRead = true;
- if (buffer[IND_MID] == (mid + 1))
- {
- m_clkEnd = clkOld;
- return (m_retVal = MTRV_OK); // Acknowledge received
- }
- else if (buffer[IND_MID] == MID_ERROR)
- {
- m_deviceError = buffer[IND_DATA0];
- m_clkEnd = clkOld;
- return (m_retVal = MTRV_RECVERRORMSG); // Error message received
- }
- }
- }
-
- m_clkEnd = clkOld;
- if (msgRead)
- return (m_retVal = MTRV_TIMEOUT);
- else
- return (m_retVal = MTRV_TIMEOUTNODATA);
- }
-
-////////////////////////////////////////////////////////////////////
-// writeMessage (data array)
-//
-// Sends a message and in case of an serial port interface it checks
-// if the return message (ack, error or timeout). See return value
-// In case an file is opened the functions returns directly after
-// 'sending' the message
-//
-// Input
-// mid : MessageID of message to send
-// data : array pointer to data bytes
-// dataLen : number of bytes to include in message
-// bid : BID or address to use in message to send (default = 0xFF)
-//
-// Output
-// = MTRV_OK if an Ack message received
-// = MTRV_RECVERRORMSG if an error message received
-// = MTRV_TIMEOUT if timeout occurred
-// = MTRV_NOINPUTINITIALIZED
-//
- short CXsensMTiModule::writeMessage(const unsigned char mid, const unsigned char data[], const unsigned short &dataLen, const unsigned char bid)
- {
- unsigned char buffer[MAXMSGLEN ];
- short msgLen;
- short headerLength;
-
- if (!(m_fileOpen || m_portOpen))
- {
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
-
- // Build message to send
- buffer[IND_PREAMBLE] = PREAMBLE;
- buffer[IND_BID] = bid;
- buffer[IND_MID] = mid;
-
- if (dataLen < EXTLENCODE)
- {
- buffer[IND_LEN] = (unsigned char) dataLen;
- headerLength = LEN_MSGHEADER;
- }
- else
- {
- buffer[IND_LEN] = EXTLENCODE;
- buffer[IND_LENEXTH] = (unsigned char) (dataLen >> 8);
- buffer[IND_LENEXTL] = (unsigned char) (dataLen & 0x00FF);
- headerLength = LEN_MSGEXTHEADER;
- }
- memcpy(&buffer[headerLength],data,dataLen);
- calcChecksum(buffer,headerLength + dataLen);
-
- // Send message
- writeData(buffer,headerLength + dataLen + LEN_CHECKSUM);
-
- // Return if file opened
- if (m_fileOpen)
- {
- return (m_retVal = MTRV_OK);
- }
-
- // Keep reading until an Ack or Error message is received (or timeout)
- bool msgRead = false;
- clock_t clkStart , clkOld;
-
- clkStart = clockms(); // Get current processor time
- clkOld = m_clkEnd;
- if (clkOld == 0)
- m_clkEnd = m_timeOut + clkStart;
-
- while(m_clkEnd >= clockms() || (m_timeOut == 0))
- {
- if (readMessageRaw(buffer,&msgLen) == MTRV_OK)
- {
- // Message received
- msgRead = true;
- if (buffer[IND_MID] == (mid + 1))
- {
- m_clkEnd = clkOld;
- return (m_retVal = MTRV_OK); // Acknowledge received
- }
- else if (buffer[IND_MID] == MID_ERROR)
- {
- m_deviceError = buffer[IND_DATA0];
- m_clkEnd = clkOld;
- return (m_retVal = MTRV_RECVERRORMSG); // Error message received
- }
- }
- }
-
- m_clkEnd = clkOld;
- if (msgRead)
- return (m_retVal = MTRV_TIMEOUT);
- else
- return (m_retVal = MTRV_TIMEOUTNODATA);
- }
-
-////////////////////////////////////////////////////////////////////
-// waitForMessage
-//
-// Read messages from serial port or file using the current timeout period
-// until the received message is equal to a specific message identifier
-// By default the timeout period by file input is set to infinity (= until
-// end of file is reached)
-//
-// Input/Output
-// mid : message identifier of message that should be returned
-// data : pointer to buffer in which the data of the requested msg will be stored
-// dataLen : integer to number of data bytes
-// bid : optional, pointer which holds the bid of the returned message
-// Output
-// returns MTRV_OK if the message has been read else != MTRV_OK
-//
-// Remarks
-// allocate enough memory for data message buffer
-// use setTimeOut for different timeout value
- short CXsensMTiModule::waitForMessage(const unsigned char mid, unsigned char data[], short *dataLen, unsigned char *bid)
- {
- unsigned char buffer[MAXMSGLEN ];
- short buflen;
-
- clock_t clkStart , clkOld;
-
- if (!(m_fileOpen || m_portOpen))
- {
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
-
- clkStart = clockms(); // Get current processor time
- clkOld = m_clkEnd;
- if (clkOld == 0)
- m_clkEnd = m_timeOut + clkStart;
-
- while(m_clkEnd >= clockms() || (m_timeOut == 0))
- {
- if (readMessageRaw(buffer,&buflen) == MTRV_OK)
- {
- if (buffer[IND_MID] == mid)
- {
- if (bid != NULL)
- {
- *bid = buffer[IND_BID];
- }
- if (data != NULL && dataLen != NULL)
- {
- if (buffer[IND_LEN] != EXTLENCODE)
- {
- *dataLen = buffer[IND_LEN];
- memcpy(data,&buffer[IND_DATA0],*dataLen);
- }
- else
- {
- *dataLen = buffer[IND_LENEXTH] * 256 + buffer[IND_LENEXTL];
- memcpy(data,&buffer[IND_DATAEXT0],*dataLen);
- }
- }
- else if (dataLen != NULL)
- dataLen = 0;
- m_clkEnd = clkOld;
- return (m_retVal = MTRV_OK);
- }
- }
- else if (m_retVal == MTRV_ENDOFFILE)
- {
- m_clkEnd = clkOld;
- return (m_retVal = MTRV_ENDOFFILE);
- }
- }
-
- m_clkEnd = clkOld;
- return (m_retVal = MTRV_TIMEOUT);
- }
-
-////////////////////////////////////////////////////////////////////
-// reqSetting (integer & no param variant)
-//
-// Request a integer setting from the device. This setting
-// can be an unsigned 1,2 or 4 bytes setting. Only valid
-// for serial port connections
-//
-// Input
-// mid : Message ID of message to send
-// bid : Bus ID of message to send (def 0xFF)
-//
-// Output
-// = MTRV_OK if an Ack message is received
-// = MTRV_RECVERRORMSG if an error message is received
-// = MTRV_TIMEOUT if timeout occurred
-//
-// value contains the integer value of the data field of the ack message
-//
- short CXsensMTiModule::reqSetting(const unsigned char mid, unsigned long &value, const unsigned char bid)
- {
- unsigned char buffer[MAXMSGLEN ];
- short msgLen;
-
- if (m_fileOpen)
- {
- return (m_retVal = MTRV_INVALIDFORFILEINPUT);
- }
- if (!m_portOpen)
- {
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
- buffer[IND_PREAMBLE] = PREAMBLE;
- buffer[IND_BID] = bid;
- buffer[IND_MID] = mid;
- buffer[IND_LEN] = 0;
- calcChecksum(buffer,LEN_MSGHEADER + buffer[IND_LEN]);
-
- // Send message
- writeData(buffer,LEN_MSGHEADERCS + buffer[IND_LEN]);
-
- // Read next message or else timeout
- if (readMessageRaw(buffer,&msgLen) == MTRV_OK)
- {
- // Message received
- if (buffer[IND_MID] == (mid + 1))
- {
- // Acknowledge received
- value = 0;
- swapEndian(&buffer[IND_DATA0],(unsigned char *) &value,buffer[IND_LEN]);
- return (m_retVal = MTRV_OK);
- }
- else if (buffer[IND_MID] == MID_ERROR)
- {
- m_deviceError = buffer[IND_DATA0];
- return (m_retVal = MTRV_RECVERRORMSG); // Error message received
- }
- else
- {
- return (m_retVal = MTRV_UNEXPECTEDMSG); // Unexpected message
- }
- }
- return m_retVal;
- }
-
-////////////////////////////////////////////////////////////////////
-// reqSetting (integer & param variant)
-//
-// Request a integer setting from the device. This setting
-// can be an unsigned 1,2 or 4 bytes setting. Only valid
-// for serial port connections.
-//
-// Input
-// mid : Message ID of message to send
-// param : For messages that need a parameter
-// bid : Bus ID of message to send (def 0xFF)
-//
-// Output
-// = MTRV_OK if an Ack message is received
-// = MTRV_RECVERRORMSG if an error message is received
-// = MTRV_TIMEOUT if timeout occurred
-//
-// value contains the integer value of the data field of the ack message
-//
- short CXsensMTiModule::reqSetting(const unsigned char mid, const unsigned char param, unsigned long &value, const unsigned char bid)
- {
- unsigned char buffer[MAXMSGLEN ];
- short msgLen;
-
- if (m_fileOpen)
- {
- return (m_retVal = MTRV_INVALIDFORFILEINPUT);
- }
- if (!m_portOpen)
- {
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
- buffer[IND_PREAMBLE] = PREAMBLE;
- buffer[IND_BID] = bid;
- buffer[IND_MID] = mid;
- if (param != 0xFF)
- {
- buffer[IND_LEN] = 1;
- buffer[IND_DATA0] = param;
- }
- else
- {
- buffer[IND_LEN] = 0;
- }
- calcChecksum(buffer,LEN_MSGHEADER + buffer[IND_LEN]);
-
- // Send message
- writeData(buffer,LEN_MSGHEADERCS + buffer[IND_LEN]);
-
- // Read next message or else timeout
- if (readMessageRaw(buffer,&msgLen) == MTRV_OK)
- {
- // Message received
- if (buffer[IND_MID] == (mid + 1))
- {
- // Acknowledge received
- value = 0;
- if (param == 0xFF)
- {
- swapEndian(&buffer[IND_DATA0],(unsigned char *) &value,buffer[IND_LEN]);
- }
- else
- {
- swapEndian(&buffer[IND_DATA0] + 1,(unsigned char *) &value,buffer[IND_LEN] - 1);
- }
- return (m_retVal = MTRV_OK);
- }
- else if (buffer[IND_MID] == MID_ERROR)
- {
- m_deviceError = buffer[IND_DATA0];
- return (m_retVal = MTRV_RECVERRORMSG); // Error message received
- }
- else
- {
- return (m_retVal = MTRV_UNEXPECTEDMSG); // Unexpected message
- }
- }
- return m_retVal;
- }
-
-////////////////////////////////////////////////////////////////////
-// reqSetting (float & no param variant)
-//
-// Request a float setting from the device. Only valid
-// for serial port connections.
-//
-// Input
-// mid : Message ID of message to send
-// bid : Bus ID of message to send (def 0xFF)
-//
-// Output
-// = MTRV_OK if an Ack message is received
-// = MTRV_RECVERRORMSG if an error message is received
-// = MTRV_TIMEOUT if timeout occurred
-//
-// value contains the float value of the acknowledge data field
-//
- short CXsensMTiModule::reqSetting(const unsigned char mid, float &value, const unsigned char bid)
- {
- unsigned char buffer[MAXMSGLEN ];
- short msgLen;
-
- if (m_fileOpen)
- {
- return (m_retVal = MTRV_INVALIDFORFILEINPUT);
- }
- if (!m_portOpen)
- {
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
- buffer[IND_PREAMBLE] = PREAMBLE;
- buffer[IND_BID] = bid;
- buffer[IND_MID] = mid;
- buffer[IND_LEN] = 0;
- calcChecksum(buffer,LEN_MSGHEADER + buffer[IND_LEN]);
-
- // Send message
- writeData(buffer,LEN_MSGHEADERCS + buffer[IND_LEN]);
-
- // Read next message or else timeout
- if (readMessageRaw(buffer,&msgLen) == MTRV_OK)
- {
- // Message received
- if (buffer[IND_MID] == (mid + 1))
- {
- // Acknowledge received
- value = 0;
- swapEndian(&buffer[IND_DATA0],(unsigned char *) &value,buffer[IND_LEN]);
- return (m_retVal = MTRV_OK);
- }
- else if (buffer[IND_MID] == MID_ERROR)
- {
- m_deviceError = buffer[IND_DATA0];
- return (m_retVal = MTRV_RECVERRORMSG); // Error message received
- }
- else
- {
- return (m_retVal = MTRV_UNEXPECTEDMSG); // Unexpected message
- }
- }
- return m_retVal;
- }
-
-////////////////////////////////////////////////////////////////////
-// reqSetting (float & param variant)
-//
-// Request a float setting from the device. Only valid
-// for serial port connections.
-//
-// Input
-// mid : Message ID of message to send
-// param : For messages that need a parameter (optional)
-// bid : Bus ID of message to send (def 0xFF)
-//
-// Output
-// = MTRV_OK if an Ack message is received
-// = MTRV_RECVERRORMSG if an error message is received
-// = MTRV_TIMEOUT if timeout occurred
-//
-// value contains the float value of the acknowledge data field
-//
- short CXsensMTiModule::reqSetting(const unsigned char mid, const unsigned char param, float &value, const unsigned char bid)
- {
- unsigned char buffer[MAXMSGLEN ];
- short msgLen;
-
- if (m_fileOpen)
- {
- return (m_retVal = MTRV_INVALIDFORFILEINPUT);
- }
- if (!m_portOpen)
- {
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
- buffer[IND_PREAMBLE] = PREAMBLE;
- buffer[IND_BID] = bid;
- buffer[IND_MID] = mid;
- if (param != 0xFF)
- {
- buffer[IND_LEN] = 1;
- buffer[IND_DATA0] = param;
- }
- else
- {
- buffer[IND_LEN] = 0;
- }
- calcChecksum(buffer,LEN_MSGHEADER + buffer[IND_LEN]);
-
- // Send message
- writeData(buffer,LEN_MSGHEADERCS + buffer[IND_LEN]);
-
- // Read next message or else timeout
- if (readMessageRaw(buffer,&msgLen) == MTRV_OK)
- {
- // Message received
- if (buffer[IND_MID] == (mid + 1))
- {
- // Acknowledge received
- value = 0;
- if (param == 0xFF)
- {
- swapEndian(&buffer[IND_DATA0],(unsigned char *) &value,buffer[IND_LEN]);
- }
- else
- {
- swapEndian(&buffer[IND_DATA0] + 1,(unsigned char *) &value,buffer[IND_LEN] - 1);
- }
- return (m_retVal = MTRV_OK);
- }
- else if (buffer[IND_MID] == MID_ERROR)
- {
- m_deviceError = buffer[IND_DATA0];
- return (m_retVal = MTRV_RECVERRORMSG); // Error message received
- }
- else
- {
- return (m_retVal = MTRV_UNEXPECTEDMSG); // Unexpected message
- }
- }
- return m_retVal;
- }
-
-////////////////////////////////////////////////////////////////////
-// reqSetting (byte array & no param variant)
-//
-// Send a message to the device and the data of acknowledge message
-// will be returned. Only valid for serial port connections
-//
-// Input
-// mid : Message ID of message to send
-// bid : Bus ID of message to send (def 0xFF)
-//
-// Output
-// = MTRV_OK if an Ack message is received
-// = MTRV_RECVERRORMSG if an error message is received
-// = MTRV_TIMEOUT if timeout occurred
-//
-// data[] contains the data of the acknowledge message
-// dataLen contains the number bytes returned
-//
- short CXsensMTiModule::reqSetting(const unsigned char mid, unsigned char data[], short &dataLen, const unsigned char bid)
- {
- unsigned char buffer[MAXMSGLEN ];
- short msgLen;
-
- if (m_fileOpen)
- {
- return (m_retVal = MTRV_INVALIDFORFILEINPUT);
- }
- if (!m_portOpen)
- {
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
- buffer[IND_PREAMBLE] = PREAMBLE;
- buffer[IND_BID] = bid;
- buffer[IND_MID] = mid;
- buffer[IND_LEN] = 0;
- calcChecksum(buffer,LEN_MSGHEADER + buffer[IND_LEN]);
-
- // Send message
- writeData(buffer,LEN_MSGHEADERCS + buffer[IND_LEN]);
-
- dataLen = 0;
- // Read next message or else timeout
- if (readMessageRaw(buffer,&msgLen) == MTRV_OK)
- {
- // Message received
- if (buffer[IND_MID] == (mid + 1))
- {
- // Acknowledge received
- if (buffer[IND_LEN] != EXTLENCODE)
- {
- dataLen = buffer[IND_LEN];
- memcpy(data,&buffer[IND_DATA0],dataLen);
- }
- else
- {
- dataLen = buffer[IND_LENEXTH] * 256 + buffer[IND_LENEXTL];
- memcpy(data,&buffer[IND_DATAEXT0],dataLen);
- }
- return (m_retVal = MTRV_OK);
- }
- else if (buffer[IND_MID] == MID_ERROR)
- {
- m_deviceError = buffer[IND_DATA0];
- return (m_retVal = MTRV_RECVERRORMSG); // Error message received
- }
- else
- {
- return (m_retVal = MTRV_UNEXPECTEDMSG); // Unexpected message
- }
- }
- return m_retVal;
- }
-
-////////////////////////////////////////////////////////////////////
-// reqSetting (byte array in + out & no param variant)
-//
-// Send a message to the device and the data of acknowledge message
-// will be returned. Only valid for serial port connections
-//
-// Input
-// mid : Message ID of message to send
-// bid : Bus ID of message to send (def 0xFF)
-// dataIn : Data to be included in request
-// dataInLen : Number of bytes in dataIn
-//
-// Output
-// = MTRV_OK if an Ack message is received
-// = MTRV_RECVERRORMSG if an error message is received
-// = MTRV_TIMEOUT if timeout occurred
-//
-// dataOut[] contains the data of the acknowledge message
-// dataOutLen contains the number bytes returned
-//
- short CXsensMTiModule::reqSetting(const unsigned char mid, unsigned char dataIn[], short dataInLen, unsigned char dataOut[], short &dataOutLen, const unsigned char bid)
- {
- unsigned char buffer[MAXMSGLEN ];
- short headerLength;
- short msgLen;
-
- if (m_fileOpen)
- {
- return (m_retVal = MTRV_INVALIDFORFILEINPUT);
- }
- if (!m_portOpen)
- {
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
- buffer[IND_PREAMBLE] = PREAMBLE;
- buffer[IND_BID] = bid;
- buffer[IND_MID] = mid;
- if (dataInLen < EXTLENCODE)
- {
- buffer[IND_LEN] = (unsigned char) dataInLen;
- headerLength = LEN_MSGHEADER;
- }
- else
- {
- buffer[IND_LEN] = EXTLENCODE;
- buffer[IND_LENEXTH] = (unsigned char) (dataInLen >> 8);
- buffer[IND_LENEXTL] = (unsigned char) (dataInLen & 0x00FF);
- headerLength = LEN_MSGEXTHEADER;
- }
- memcpy(&buffer[headerLength],dataIn,dataInLen);
- calcChecksum(buffer,headerLength + dataInLen);
-
- // Send message
- writeData(buffer,headerLength + dataInLen + LEN_CHECKSUM);
-
- dataOutLen = 0;
- // Read next message or else timeout
- if (readMessageRaw(buffer,&msgLen) == MTRV_OK)
- {
- // Message received
- if (buffer[IND_MID] == (mid + 1))
- {
- // Acknowledge received
- if (buffer[IND_LEN] != EXTLENCODE)
- {
- dataOutLen = buffer[IND_LEN];
- memcpy(dataOut,&buffer[IND_DATA0],dataOutLen);
- }
- else
- {
- dataOutLen = buffer[IND_LENEXTH] * 256 + buffer[IND_LENEXTL];
- memcpy(dataOut,&buffer[IND_DATAEXT0],dataOutLen);
- }
- return (m_retVal = MTRV_OK);
- }
- else if (buffer[IND_MID] == MID_ERROR)
- {
- m_deviceError = buffer[IND_DATA0];
- return (m_retVal = MTRV_RECVERRORMSG); // Error message received
- }
- else
- {
- return (m_retVal = MTRV_UNEXPECTEDMSG); // Unexpected message
- }
- }
- return m_retVal;
- }
-
-////////////////////////////////////////////////////////////////////
-// reqSetting (byte array & param variant)
-//
-// Send a message to the device and the data of acknowledge message
-// will be returned. Only valid for serial port connections
-//
-// Input
-// mid : Message ID of message to send
-// param : For messages that need a parameter (optional)
-// bid : Bus ID of message to send (def 0xFF)
-//
-// Output
-// = MTRV_OK if an Ack message is received
-// = MTRV_RECVERRORMSG if an error message is received
-// = MTRV_TIMEOUT if timeout occurred
-//
-// data[] contains the data of the acknowledge message (including param!!)
-// dataLen contains the number bytes returned
-//
- short CXsensMTiModule::reqSetting(const unsigned char mid, const unsigned char param, unsigned char data[], short &dataLen, const unsigned char bid)
- {
- unsigned char buffer[MAXMSGLEN ];
- short msgLen;
-
- if (m_fileOpen)
- {
- return (m_retVal = MTRV_INVALIDFORFILEINPUT);
- }
- if (!m_portOpen)
- {
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
- buffer[IND_PREAMBLE] = PREAMBLE;
- buffer[IND_BID] = bid;
- buffer[IND_MID] = mid;
- if (param != 0xFF)
- {
- buffer[IND_LEN] = 1;
- buffer[IND_DATA0] = param;
- }
- else
- {
- buffer[IND_LEN] = 0;
- }
- calcChecksum(buffer,LEN_MSGHEADER + buffer[IND_LEN]);
-
- // Send message
- writeData(buffer,LEN_MSGHEADERCS + buffer[IND_LEN]);
-
- dataLen = 0;
- // Read next message or else timeout
- if (readMessageRaw(buffer,&msgLen) == MTRV_OK)
- {
- // Message received
- if (buffer[IND_MID] == (mid + 1))
- {
- // Acknowledge received
- if (buffer[IND_LEN] != EXTLENCODE)
- {
- dataLen = buffer[IND_LEN];
- memcpy(data,&buffer[IND_DATA0],dataLen);
- }
- else
- {
- dataLen = buffer[IND_LENEXTH] * 256 + buffer[IND_LENEXTL];
- memcpy(data,&buffer[IND_DATAEXT0],dataLen);
- }
- return (m_retVal = MTRV_OK);
- }
- else if (buffer[IND_MID] == MID_ERROR)
- {
- m_deviceError = buffer[IND_DATA0];
- return (m_retVal = MTRV_RECVERRORMSG); // Error message received
- }
- else
- {
- return (m_retVal = MTRV_UNEXPECTEDMSG); // Unexpected message
- }
- }
- return m_retVal;
- }
-
-////////////////////////////////////////////////////////////////////
-// setSetting (integer & no param variant)
-//
-// Sets a integer setting of the device. This setting
-// can be an unsigned 1,2 or 4 bytes setting. Only valid
-// for serial port connections.
-//
-// Input
-// mid : Message ID of message to send
-// bid : Bus ID of message to send (def 0xFF)
-// value : Contains the integer value to be used
-// valuelen : Length in bytes of the value
-//
-// Output
-// = MTRV_OK if an Ack message is received
-// = MTRV_RECVERRORMSG if an error message is received
-// = MTRV_TIMEOUT if timeout occurred
-//
-//
- short CXsensMTiModule::setSetting(const unsigned char mid, const unsigned long value, const unsigned short valuelen, const unsigned char bid)
- {
- unsigned char buffer[MAXMSGLEN ];
- short msgLen;
-
- if (m_fileOpen)
- {
- return (m_retVal = MTRV_INVALIDFORFILEINPUT);
- }
- if (!m_portOpen)
- {
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
- msgLen = LEN_MSGHEADER;
- buffer[IND_PREAMBLE] = PREAMBLE;
- buffer[IND_BID] = bid;
- buffer[IND_MID] = mid;
- buffer[IND_LEN] = (unsigned char) valuelen;
- swapEndian((unsigned char *) &value,&buffer[msgLen],valuelen);
- calcChecksum(buffer,LEN_MSGHEADER + buffer[IND_LEN]);
-
- // Send message
- writeData(buffer,LEN_MSGHEADERCS + buffer[IND_LEN]);
-
- // Read next received message
- if (readMessageRaw(buffer,&msgLen) == MTRV_OK)
- {
- // Message received
- if (buffer[IND_MID] == (mid + 1))
- {
- return (m_retVal = MTRV_OK); // Acknowledge received
- }
- else if (buffer[IND_MID] == MID_ERROR)
- {
- m_deviceError = buffer[IND_DATA0];
- return (m_retVal = MTRV_RECVERRORMSG); // Error message received
- }
- }
- return m_retVal;
- }
-
-////////////////////////////////////////////////////////////////////
-// setSetting (integer & param variant)
-//
-// Sets a integer setting of the device. This setting
-// can be an unsigned 1,2 or 4 bytes setting. Only valid
-// for serial port connections.
-//
-// Input
-// mid : Message ID of message to send
-// param : For messages that need a parameter (optional)
-// bid : Bus ID of message to send (def 0xFF)
-// value : Contains the integer value to be used
-// valuelen : Length in bytes of the value
-//
-// Output
-// = MTRV_OK if an Ack message is received
-// = MTRV_RECVERRORMSG if an error message is received
-// = MTRV_TIMEOUT if timeout occurred
-//
-//
- short CXsensMTiModule::setSetting(const unsigned char mid, const unsigned char param, const unsigned long value, const unsigned short valuelen, const unsigned char bid)
- {
- unsigned char buffer[MAXMSGLEN ];
- short msgLen;
-
- if (m_fileOpen)
- {
- return (m_retVal = MTRV_INVALIDFORFILEINPUT);
- }
- if (!m_portOpen)
- {
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
- msgLen = LEN_MSGHEADER;
- buffer[IND_PREAMBLE] = PREAMBLE;
- buffer[IND_BID] = bid;
- buffer[IND_MID] = mid;
- if (param != 0xFF)
- {
- msgLen++;
- buffer[IND_LEN] = valuelen + 1;
- buffer[IND_DATA0] = param;
- }
- else
- {
- buffer[IND_LEN] = (unsigned char) valuelen;
- }
- swapEndian((unsigned char *) &value,&buffer[msgLen],valuelen);
- calcChecksum(buffer,LEN_MSGHEADER + buffer[IND_LEN]);
-
- // Send message
- writeData(buffer,LEN_MSGHEADERCS + buffer[IND_LEN]);
-
- // Read next received message
- if (readMessageRaw(buffer,&msgLen) == MTRV_OK)
- {
- // Message received
- if (buffer[IND_MID] == (mid + 1))
- {
- return (m_retVal = MTRV_OK); // Acknowledge received
- }
- else if (buffer[IND_MID] == MID_ERROR)
- {
- m_deviceError = buffer[IND_DATA0];
- return (m_retVal = MTRV_RECVERRORMSG); // Error message received
- }
- }
- return m_retVal;
- }
-
-////////////////////////////////////////////////////////////////////
-// setSetting (float & no param variant)
-//
-// Sets a float setting of the device. Only valid
-// for serial port connections.
-//
-// Input
-// mid : Message ID of message to send
-// bid : Bus ID of message to send (def 0xFF)
-// value : Contains the float value to be used
-//
-// Output
-// = MTRV_OK if an Ack message is received
-// = MTRV_RECVERRORMSG if an error message is received
-// = MTRV_TIMEOUT if timeout occurred
-//
- short CXsensMTiModule::setSetting(const unsigned char mid, const float value, const unsigned char bid)
- {
- unsigned char buffer[MAXMSGLEN ];
- short msgLen;
-
- if (m_fileOpen)
- {
- return (m_retVal = MTRV_INVALIDFORFILEINPUT);
- }
- if (!m_portOpen)
- {
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
- msgLen = LEN_MSGHEADER;
- buffer[IND_PREAMBLE] = PREAMBLE;
- buffer[IND_BID] = bid;
- buffer[IND_MID] = mid;
- buffer[IND_LEN] = LEN_FLOAT;
- swapEndian((unsigned char *) &value,&buffer[msgLen],LEN_FLOAT);
- calcChecksum(buffer,LEN_MSGHEADER + LEN_FLOAT);
-
- // Send message
- writeData(buffer,LEN_MSGHEADERCS + LEN_FLOAT);
-
- // Read next received message
- if (readMessageRaw(buffer,&msgLen) == MTRV_OK)
- {
- // Message received
- if (buffer[IND_MID] == (mid + 1))
- {
- return (m_retVal = MTRV_OK); // Acknowledge received
- }
- else if (buffer[IND_MID] == MID_ERROR)
- {
- m_deviceError = buffer[IND_DATA0];
- return (m_retVal = MTRV_RECVERRORMSG); // Error message received
- }
- }
- return m_retVal;
- }
-
-////////////////////////////////////////////////////////////////////
-// setSetting (float & param variant)
-//
-// Sets a float setting of the device. Only valid
-// for serial port connections.
-//
-// Input
-// mid : Message ID of message to send
-// param : For messages that need a parameter (optional)
-// bid : Bus ID of message to send (def 0xFF)
-// value : Contains the float value to be used
-//
-// Output
-// = MTRV_OK if an Ack message is received
-// = MTRV_RECVERRORMSG if an error message is received
-// = MTRV_TIMEOUT if timeout occurred
-//
-//
- short CXsensMTiModule::setSetting(const unsigned char mid, const unsigned char param, const float value, const unsigned char bid)
- {
- unsigned char buffer[MAXMSGLEN ];
- short msgLen;
-
- if (m_fileOpen)
- {
- return (m_retVal = MTRV_INVALIDFORFILEINPUT);
- }
- if (!m_portOpen)
- {
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
- msgLen = LEN_MSGHEADER;
- buffer[IND_PREAMBLE] = PREAMBLE;
- buffer[IND_BID] = bid;
- buffer[IND_MID] = mid;
- if (param != 0xFF)
- {
- msgLen++;
- buffer[IND_LEN] = LEN_FLOAT + 1;
- buffer[IND_DATA0] = param;
- }
- else
- {
- buffer[IND_LEN] = LEN_FLOAT;
- }
- swapEndian((unsigned char *) &value,&buffer[msgLen],LEN_FLOAT);
- calcChecksum(buffer,LEN_MSGHEADER + buffer[IND_LEN]);
-
- // Send message
- writeData(buffer,LEN_MSGHEADERCS + buffer[IND_LEN]);
-
- // Read next received message
- if (readMessageRaw(buffer,&msgLen) == MTRV_OK)
- {
- // Message received
- if (buffer[IND_MID] == (mid + 1))
- {
- return (m_retVal = MTRV_OK); // Acknowledge received
- }
- else if (buffer[IND_MID] == MID_ERROR)
- {
- m_deviceError = buffer[IND_DATA0];
- return (m_retVal = MTRV_RECVERRORMSG); // Error message received
- }
- }
- return m_retVal;
- }
-
-////////////////////////////////////////////////////////////////////
-// setSetting (float & param & store variant)
-//
-// Sets a float setting of the device and with the Store field.
-// Only valid for serial port connections
-//
-// Input
-// mid : Message ID of message to send
-// param : For messages that need a parameter (optional)
-// value : Contains the float value to be used
-// store ; Store in non-volatile memory (1) or not (0)
-// bid : Bus ID of message to send (def 0xFF)
-//
-// Output
-// = MTRV_OK if an Ack message is received
-// = MTRV_RECVERRORMSG if an error message is received
-// = MTRV_TIMEOUT if timeout occurred
-//
-//
- short CXsensMTiModule::setSetting(const unsigned char mid, const unsigned char param, const float value, const bool store, const unsigned char bid)
- {
- unsigned char buffer[MAXMSGLEN ];
- short msgLen;
-
- if (m_fileOpen)
- {
- return (m_retVal = MTRV_INVALIDFORFILEINPUT);
- }
- if (!m_portOpen)
- {
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
- msgLen = LEN_MSGHEADER;
- buffer[IND_PREAMBLE] = PREAMBLE;
- buffer[IND_BID] = bid;
- buffer[IND_MID] = mid;
- if (param != 0xFF)
- {
- msgLen++;
- buffer[IND_LEN] = LEN_FLOAT + 2;
- buffer[IND_DATA0] = param;
- }
- else
- {
- buffer[IND_LEN] = LEN_FLOAT + 1;
- }
- swapEndian((unsigned char *) &value,&buffer[msgLen],LEN_FLOAT);
- buffer[msgLen + LEN_FLOAT ] = store;
- calcChecksum(buffer,LEN_MSGHEADER + buffer[IND_LEN]);
-
- // Send message
- writeData(buffer,LEN_MSGHEADERCS + buffer[IND_LEN]);
-
- // Read next received message
- if (readMessageRaw(buffer,&msgLen) == MTRV_OK)
- {
- // Message received
- if (buffer[IND_MID] == (mid + 1))
- {
- return (m_retVal = MTRV_OK); // Acknowledge received
- }
- else if (buffer[IND_MID] == MID_ERROR)
- {
- m_deviceError = buffer[IND_DATA0];
- return (m_retVal = MTRV_RECVERRORMSG); // Error message received
- }
- }
- return m_retVal;
- }
-
-////////////////////////////////////////////////////////////////////
-// getDeviceMode
-//
-// Requests the current output mode/setting of input (file or serialport)
-// the Outputmode, Outputsettings, DataLength & number of devices
-// are stored in member variables of the MTComm class. These values
-// are needed for the GetValue functions.
-// The function optionally returns the number of devices
-//
-// File: expects the Configuration message at the start of the file
-// which holds the OutputMode & OutputSettings. File position
-// is after the first message
-//
-// Input
-// Output
-// numDevices : [optional] number of devices connected to port or
-// found in configuration file
-//
-// returns MTRV_OK if the mode & settings are read
-//
- short CXsensMTiModule::getDeviceMode(unsigned short *numDevices)
- {
- unsigned char mid = 0 , data[MAXMSGLEN ];
- short datalen;
-
- if (numDevices != NULL)
- {
- *numDevices = 0;
- }
-
- // In case serial port is used (live device / XM or MT)
- if (m_portOpen)
- {
- if (reqSetting(MID_INITBUS,data,datalen) != MTRV_OK)
- {
- return m_retVal;
- }
-
- // Retrieve outputmode + outputsettings
- for(int i = 0 ; i < datalen / LEN_DEVICEID ; i++)
- {
- if (reqSetting(MID_REQOUTPUTMODE,m_storedOutputMode[BID_MT + i],BID_MT + i) != MTRV_OK)
- {
- return m_retVal;
- }
-
- if (reqSetting(MID_REQOUTPUTSETTINGS,m_storedOutputSettings[BID_MT + i],BID_MT + i) != MTRV_OK)
- {
- return m_retVal;
- }
-
- if (reqSetting(MID_REQDATALENGTH,m_storedDataLength[BID_MT + i],BID_MT + i) != MTRV_OK)
- {
- return m_retVal;
- }
- }
-
- if (numDevices != NULL)
- {
- *numDevices = datalen / LEN_DEVICEID;
- }
-
- unsigned char masterDID[4];
- short DIDlen;
-
- if (reqSetting(MID_REQDID,masterDID,DIDlen) != MTRV_OK)
- {
- return m_retVal;
- }
-
- if (memcmp(masterDID,data,LEN_DEVICEID) != 0)
- {
- // Using an XbusMaster
- m_storedOutputMode[0] = OUTPUTMODE_XM;
- m_storedOutputSettings[0] = OUTPUTSETTINGS_XM;
- m_storedDataLength[0] = LEN_SAMPLECNT;
- }
- else
- {
- m_storedOutputMode[0] = m_storedOutputMode[BID_MT ];
- m_storedOutputSettings[0] = m_storedOutputSettings[BID_MT ];
- m_storedDataLength[0] = m_storedDataLength[BID_MT ];
- }
- return (m_retVal = MTRV_OK);
- }
- else if (m_fileOpen)
- {
- // Configuration message should be the first message in the file
- setFilePos(0);
- if (readMessage(mid,data,datalen) == MTRV_OK)
- {
- if (mid == MID_CONFIGURATION)
- {
- unsigned short _numDevices = 0;
- swapEndian(data + CONF_NUMDEVICES,(unsigned char *) &_numDevices,CONF_NUMDEVICESLEN);
- for(unsigned int i = 0 ; i < _numDevices ; i++)
- {
- m_storedOutputMode[BID_MT + i] = 0;
- swapEndian(data + CONF_OUTPUTMODE + i * CONF_BLOCKLEN,(unsigned char *) (m_storedOutputMode + BID_MT + i),
- CONF_OUTPUTMODELEN);
- m_storedOutputSettings[BID_MT + i] = 0;
- swapEndian(data + CONF_OUTPUTSETTINGS + i * CONF_BLOCKLEN,(unsigned char *) (m_storedOutputSettings + BID_MT + i),
- CONF_OUTPUTSETTINGSLEN);
- m_storedDataLength[BID_MT + i] = 0;
- swapEndian(data + CONF_DATALENGTH + i * CONF_BLOCKLEN,(unsigned char *) (m_storedDataLength + BID_MT + i),
- CONF_DATALENGTHLEN);
- }
- if (numDevices != NULL)
- {
- *numDevices = _numDevices;
- }
- if (memcmp(data + CONF_MASTERDID,data + CONF_DID,LEN_DEVICEID) != 0)
- {
- // Using an XbusMaster
- m_storedOutputMode[0] = OUTPUTMODE_XM;
- m_storedOutputSettings[0] = OUTPUTSETTINGS_XM;
- m_storedDataLength[0] = LEN_SAMPLECNT;
- }
- else
- {
- m_storedOutputMode[0] = m_storedOutputMode[BID_MT ];
- m_storedOutputSettings[0] = m_storedOutputSettings[BID_MT ];
- m_storedDataLength[0] = m_storedDataLength[BID_MT ];
- }
- return (m_retVal = MTRV_OK);
- }
- }
- return (m_retVal = MTRV_NOTSUCCESSFUL);
- }
- return (m_retVal = MTRV_NOINPUTINITIALIZED);
- }
-
-////////////////////////////////////////////////////////////////////
-// setDeviceMode
-//
-// Sets the current output mode/setting of input (not for file-based
-// inputs)
-//
-// Input
-// OutputMode : OutputMode to be set in device & stored in MTComm
-// class member variable
-// OutputSettings : OutputSettings to be set in device & stored in
-// MTComm class member variable
-// Output
-//
-// returns MTRV_OK if the mode & settings are read
-//
- short CXsensMTiModule::setDeviceMode(unsigned long OutputMode, unsigned long OutputSettings, const unsigned char bid)
- {
- // In case serial port is used (live XM / MT)
- if (m_portOpen)
- {
- // Set OutputMode
- if (setSetting(MID_SETOUTPUTMODE,OutputMode,LEN_OUTPUTMODE,bid) != MTRV_OK)
- {
- return m_retVal;
- }
- if (bid == BID_MASTER || (bid == BID_MT && m_storedOutputMode[0] != OUTPUTMODE_XM))
- {
- m_storedOutputMode[0] = m_storedOutputMode[BID_MT ] = OutputMode;
- }
- else
- {
- m_storedOutputMode[bid] = OutputMode;
- }
- // Set OutputSettings
- if (setSetting(MID_SETOUTPUTSETTINGS,OutputSettings,LEN_OUTPUTSETTINGS,bid) != MTRV_OK)
- {
- return m_retVal;
- }
- if (bid == BID_MASTER || (bid == BID_MT && m_storedOutputMode[0] != OUTPUTMODE_XM))
- {
- m_storedOutputSettings[0] = m_storedOutputSettings[BID_MT ] = OutputSettings;
- }
- else
- {
- m_storedOutputSettings[bid] = OutputSettings;
- }
- // Get DataLength from device
- if (OutputMode != OUTPUTMODE_XM)
- {
- unsigned long value;
- if (reqSetting(MID_REQDATALENGTH,value,bid) == MTRV_OK)
- {
- if ((bid == BID_MASTER ) || ((bid == BID_MT ) && (m_storedOutputMode[0] != OUTPUTMODE_XM)))
- {
- m_storedDataLength[0] = m_storedDataLength[BID_MT ] = value;
- }
- else
- {
- m_storedDataLength[bid] = value;
- }
- }
- }
- else
- {
- m_storedDataLength[0] = LEN_SAMPLECNT;
- }
- return (m_retVal = MTRV_OK);
- }
- return (m_retVal = MTRV_INVALIDFORFILEINPUT);
- }
-
-////////////////////////////////////////////////////////////////////
-// getMode
-//
-// Gets the output mode/setting used in MTComm class and the corresponding
-// datalength. These variables are set by the functions GetDeviceMode,
-// SetDeviceMode or SetMode
-//
-// Input
-// Output
-// OutputMode : OutputMode stored in MTComm class member variable
-// OutputSettings : OutputSettings stored in MTComm class member variable
-//
-// returns always MTRV_OK
-//
- short CXsensMTiModule::getMode(unsigned long &OutputMode, unsigned long &OutputSettings, unsigned short &dataLength, const unsigned char bid)
- {
- unsigned char nbid = (bid == BID_MASTER ) ? 0 : bid;
- OutputMode = m_storedOutputMode[nbid];
- OutputSettings = m_storedOutputSettings[nbid];
- dataLength = (unsigned short) m_storedDataLength[nbid];
- return (m_retVal = MTRV_OK);
- }
-
-////////////////////////////////////////////////////////////////////
-// setMode
-//
-// Sets the output mode/setting used in MTComm class. Use the function
-// GetDeviceMode to retrieve the current values of file/device.
-// This function will also calculate the data length field
-//
-// Input
-// OutputMode : OutputMode to be stored in MTComm class member variable
-// OutputSettings : OutputSettings to be stored in MTComm class member variable
-// Output
-//
-// returns always MTRV_OK
-//
- short CXsensMTiModule::setMode(unsigned long OutputMode, unsigned long OutputSettings, const unsigned char bid)
- {
- unsigned char nbid = bid;
-
- if (nbid == BID_MASTER)
- {
- nbid = 0;
- }
- m_storedOutputMode[nbid] = OutputMode;
- m_storedOutputSettings[nbid] = OutputSettings;
- if (OutputMode == INVALIDSETTINGVALUE || OutputSettings == INVALIDSETTINGVALUE)
- {
- m_storedDataLength[nbid] = 0;
- }
- else
- {
- unsigned short dataLength = 0;
- if (OutputMode & OUTPUTMODE_MT9)
- {
- dataLength = ((OutputSettings & OUTPUTSETTINGS_TIMESTAMP_MASK) == OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT) ? LEN_SAMPLECNT : 0 + LEN_RAWDATA;
- }
- else if (OutputMode == OUTPUTMODE_XM)
- {
- // XbusMaster concatenates sample counter
- dataLength = LEN_SAMPLECNT;
- }
- else
- {
- if (OutputMode & OUTPUTMODE_RAW)
- {
- dataLength = LEN_RAWDATA;
- }
- else
- {
- if (OutputMode & OUTPUTMODE_CALIB)
- {
- dataLength = LEN_CALIBDATA;
- }
- if (OutputMode & OUTPUTMODE_ORIENT)
- {
- switch(OutputSettings & OUTPUTSETTINGS_ORIENTMODE_MASK)
- {
- case OUTPUTSETTINGS_ORIENTMODE_QUATERNION:
- dataLength += LEN_ORIENT_QUATDATA;
- break;
- case OUTPUTSETTINGS_ORIENTMODE_EULER:
- dataLength += LEN_ORIENT_EULERDATA;
- break;
- case OUTPUTSETTINGS_ORIENTMODE_MATRIX:
- dataLength += LEN_ORIENT_MATRIXDATA;
- break;
- default:
- break;
- }
- }
- }
- switch(OutputSettings & OUTPUTSETTINGS_TIMESTAMP_MASK)
- {
- case OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT:
- dataLength += LEN_SAMPLECNT;
- break;
- default:
- break;
- }
- }
- m_storedDataLength[nbid] = dataLength;
- }
- // If not XbusMaster store also in BID_MT
- if (bid == BID_MASTER && OutputMode != OUTPUTMODE_XM)
- {
- m_storedOutputMode[BID_MT ] = m_storedOutputMode[0];
- m_storedOutputSettings[BID_MT ] = m_storedOutputSettings[0];
- m_storedDataLength[BID_MT ] = m_storedDataLength[0];
- }
- return (m_retVal = MTRV_OK);
- }
-
-////////////////////////////////////////////////////////////////////
-// getValue (unsigned short variant)
-//
-// Retrieves a unsigned short value from the data input parameter
-// This function is valid for the following value specifiers:
-// VALUE_RAW_TEMP
-// VALUE_SAMPLECNT
-//
-// Use getDeviceMode or setMode to initialize the Outputmode
-// and Outputsettings member variables used to retrieve the correct
-// value
-//
-// Input
-// valueSpec : Specifier of the value to be retrieved
-// data[] : Data field of a MTData / BusData message
-// bid : bus identifier of the device of which the
-// value should be returned (default = BID_MT)
-// Output
-// value : reference to unsigned short in which the retrieved
-// value will be returned
-//
-// Return value
-// MTRV_OK : value is successfully retrieved
-// != MTRV_OK : not successful
-//
- short CXsensMTiModule::getValue(const unsigned long valueSpec, unsigned short &value, const unsigned char data[], const unsigned char bid)
- {
- short offset = 0;
- unsigned char nbid = bid;
-
- if (nbid == BID_MASTER)
- {
- nbid = 0;
- }
-
- // Check for invalid mode/settings
- if (m_storedOutputMode[nbid] == INVALIDSETTINGVALUE || m_storedOutputSettings[nbid] == INVALIDSETTINGVALUE)
- {
- return (m_retVal = MTRV_NOVALIDMODESPECIFIED);
- }
-
- // Calculate offset for XM input
- if (m_storedOutputMode[0] == OUTPUTMODE_XM)
- {
- int i = 0;
- while(i < nbid)
- {
- offset += (short) m_storedDataLength[i++];
- }
- }
-
- // Check if data is unsigned short & available in data
- m_retVal = MTRV_INVALIDVALUESPEC;
- if (valueSpec == VALUE_RAW_TEMP)
- {
- if (m_storedOutputMode[nbid] & (OUTPUTMODE_RAW | OUTPUTMODE_MT9))
- {
- offset += (m_storedOutputMode[nbid] == OUTPUTMODE_MT9 && m_storedOutputSettings[nbid] == OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT) ? LEN_SAMPLECNT : 0;
- swapEndian(data + offset + valueSpec * LEN_UNSIGSHORT * 3,(unsigned char *) &value,LEN_RAW_TEMP);
- m_retVal = MTRV_OK;
- }
- }
- else if (valueSpec == VALUE_SAMPLECNT)
- {
- if ((m_storedOutputSettings[nbid] & OUTPUTSETTINGS_TIMESTAMP_MASK) == OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT)
- {
- if (!(m_storedOutputMode[nbid] == OUTPUTMODE_MT9))
- {
- offset += (short) m_storedDataLength[nbid] - LEN_SAMPLECNT;
- }
- swapEndian(data + offset,(unsigned char *) &value,LEN_SAMPLECNT);
- m_retVal = MTRV_OK;
- }
- }
- return m_retVal;
- }
-
-////////////////////////////////////////////////////////////////////
-// getValue (array of unsigned short variant)
-//
-// Retrieves an array of unsigned short values from the data input
-// parameter. This function is valid for the following value specifiers:
-// VALUE_RAW_ACC
-// VALUE_RAW_GYR
-// VALUE_RAW_MAG
-//
-// Use getDeviceMode or setMode to initialize the Outputmode
-// and Outputsettings member variables used to retrieve the correct
-// value
-//
-// Input
-// valueSpec : Specifier of the value to be retrieved
-// data[] : Data field of a MTData / BusData message
-// bid : bus identifier of the device of which the
-// value should be returned (default = BID_MT)
-// Output
-// value[] : pointer to array of unsigned shorts in which the
-// retrieved values will be returned
-//
-// Return value
-// MTRV_OK : value is successfully retrieved
-// != MTRV_OK : not successful
-//
- short CXsensMTiModule::getValue(const unsigned long valueSpec, unsigned short value[], const unsigned char data[], const unsigned char bid)
- {
- short offset = 0;
- unsigned char nbid = bid;
-
- if (nbid == BID_MASTER)
- {
- nbid = 0;
- }
- // Check for invalid mode/settings
- if (m_storedOutputMode[nbid] == INVALIDSETTINGVALUE || m_storedOutputSettings[nbid] == INVALIDSETTINGVALUE)
- {
- return (m_retVal = MTRV_NOVALIDMODESPECIFIED);
- }
-
- // Calculate offset for XM input
- if (m_storedOutputMode[0] == OUTPUTMODE_XM)
- {
- int i = 0;
- while(i < nbid)
- {
- offset += (short) m_storedDataLength[i++];
- }
- }
-
- // Check if data is unsigned short, available in data & retrieve data
- m_retVal = MTRV_INVALIDVALUESPEC;
- //if (valueSpec >= VALUE_RAW_ACC && valueSpec <= VALUE_RAW_MAG)
- if (valueSpec <= VALUE_RAW_MAG)
- {
- if (m_storedOutputMode[nbid] & (OUTPUTMODE_RAW | OUTPUTMODE_MT9))
- {
- offset += (short) (valueSpec * LEN_UNSIGSHORT * 3);
- offset += (m_storedOutputMode[nbid] == OUTPUTMODE_MT9 && m_storedOutputSettings[nbid] == OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT) ? LEN_SAMPLECNT : 0;
- for(int i = 0 ; i < 3 ; i++)
- {
- swapEndian(data + offset + i * LEN_UNSIGSHORT,(unsigned char *) value + i * LEN_UNSIGSHORT,LEN_UNSIGSHORT);
- }
- m_retVal = MTRV_OK;
- }
- }
- return m_retVal;
- }
-
-////////////////////////////////////////////////////////////////////
-// getValue (array of floats variant)
-//
-// Retrieves an array of float values from the data input parameter.
-// This function is valid for the following value specifiers:
-// VALUE_TEMP
-// VALUE_CALIB_ACC
-// VALUE_CALIB_GYR
-// VALUE_CALIB_MAG
-// VALUE_ORIENT_QUAT
-// VALUE_ORIENT_EULER
-// VALUE_ORIENT_MATRIX
-//
-// Use getDeviceMode or setMode to initialize the Outputmode
-// and Outputsettings member variables used to retrieve the correct
-// value
-//
-// Input
-// valueSpec : Specifier of the value to be retrieved
-// data[] : Data field of a MTData / BusData message
-// bid : bus identifier of the device of which the
-// value should be returned (default = BID_MT)
-// Output
-// value[] : pointer to array of floats in which the
-// retrieved values will be returned
-//
-// Return value
-// MTRV_OK : value is successfully retrieved
-// != MTRV_OK : not successful
-//
- short CXsensMTiModule::getValue(const unsigned long valueSpec, float value[], const unsigned char data[], const unsigned char bid)
- {
- short offset = 0;
- int nElements = 0;
- unsigned char nbid = bid;
-
- if (nbid == BID_MASTER)
- {
- nbid = 0;
- }
-
- // Check for invalid mode/settings
- if (m_storedOutputMode[nbid] == INVALIDSETTINGVALUE || m_storedOutputSettings[nbid] == INVALIDSETTINGVALUE)
- {
- return (m_retVal = MTRV_NOVALIDMODESPECIFIED);
- }
-
- // Calculate offset for XM input
- if (m_storedOutputMode[0] == OUTPUTMODE_XM)
- {
- int i = 0;
- while(i < nbid)
- {
- offset += (short) m_storedDataLength[i++];
- }
- }
-
- // Check if data is float & available in data
- m_retVal = MTRV_INVALIDVALUESPEC;
- if (valueSpec == VALUE_TEMP)
- {
- if (m_storedOutputMode[nbid] & OUTPUTMODE_TEMP)
- {
- nElements = LEN_TEMPDATA / LEN_FLOAT;
- m_retVal = MTRV_OK;
- }
- }
- else if (valueSpec == VALUE_CALIB_ACC)
- {
- offset += ((m_storedOutputMode[nbid] & OUTPUTMODE_TEMP) != 0) ? LEN_TEMPDATA : 0;
- if ((m_storedOutputMode[nbid] & OUTPUTMODE_CALIB) && (m_storedOutputSettings[nbid] & OUTPUTSETTINGS_CALIBMODE_ACC_MASK) == 0)
- {
- nElements = LEN_CALIB_ACCDATA / LEN_FLOAT;
- m_retVal = MTRV_OK;
- }
- }
- else if (valueSpec == VALUE_CALIB_GYR)
- {
- offset += ((m_storedOutputMode[nbid] & OUTPUTMODE_TEMP) != 0) ? LEN_TEMPDATA : 0;
- if ((m_storedOutputMode[nbid] & OUTPUTMODE_CALIB) && (m_storedOutputSettings[nbid] & OUTPUTSETTINGS_CALIBMODE_GYR_MASK) == 0)
- {
- offset += ((m_storedOutputSettings[nbid] & OUTPUTSETTINGS_CALIBMODE_ACC_MASK) == 0) ? LEN_CALIB_ACCX * 3 : 0;
- nElements = LEN_CALIB_GYRDATA / LEN_FLOAT;
- m_retVal = MTRV_OK;
- }
- }
- else if (valueSpec == VALUE_CALIB_MAG)
- {
- offset += ((m_storedOutputMode[nbid] & OUTPUTMODE_TEMP) != 0) ? LEN_TEMPDATA : 0;
- if ((m_storedOutputMode[nbid] & OUTPUTMODE_CALIB) && (m_storedOutputSettings[nbid] & OUTPUTSETTINGS_CALIBMODE_MAG_MASK) == 0)
- {
- offset += ((m_storedOutputSettings[nbid] & OUTPUTSETTINGS_CALIBMODE_ACC_MASK) == 0) ? LEN_CALIB_ACCX * 3 : 0;
- offset += ((m_storedOutputSettings[nbid] & OUTPUTSETTINGS_CALIBMODE_GYR_MASK) == 0) ? LEN_CALIB_GYRX * 3 : 0;
- nElements = LEN_CALIB_MAGDATA / LEN_FLOAT;
- m_retVal = MTRV_OK;
- }
- }
- else if (valueSpec >= VALUE_ORIENT_QUAT && valueSpec <= VALUE_ORIENT_MATRIX)
- {
- offset += ((m_storedOutputMode[nbid] & OUTPUTMODE_TEMP) != 0) ? LEN_TEMPDATA : 0;
- if ((m_storedOutputMode[nbid] & OUTPUTMODE_CALIB))
- {
- offset += ((m_storedOutputSettings[nbid] & OUTPUTSETTINGS_CALIBMODE_ACC_MASK) == 0) ? LEN_CALIB_ACCX * 3 : 0;
- offset += ((m_storedOutputSettings[nbid] & OUTPUTSETTINGS_CALIBMODE_GYR_MASK) == 0) ? LEN_CALIB_GYRX * 3 : 0;
- offset += ((m_storedOutputSettings[nbid] & OUTPUTSETTINGS_CALIBMODE_MAG_MASK) == 0) ? LEN_CALIB_MAGX * 3 : 0;
- }
- if (m_storedOutputMode[nbid] & OUTPUTMODE_ORIENT)
- {
- unsigned long orientmode = m_storedOutputSettings[nbid] & OUTPUTSETTINGS_ORIENTMODE_MASK;
- switch(valueSpec)
- {
- case VALUE_ORIENT_QUAT:
- if (orientmode == OUTPUTSETTINGS_ORIENTMODE_QUATERNION)
- {
- nElements = LEN_ORIENT_QUATDATA / LEN_FLOAT;
- m_retVal = MTRV_OK;
- }
- break;
- case VALUE_ORIENT_EULER:
- if (orientmode == OUTPUTSETTINGS_ORIENTMODE_EULER)
- {
- nElements = LEN_ORIENT_EULERDATA / LEN_FLOAT;
- m_retVal = MTRV_OK;
- }
- break;
- case VALUE_ORIENT_MATRIX:
- if (orientmode == OUTPUTSETTINGS_ORIENTMODE_MATRIX)
- {
- nElements = LEN_ORIENT_MATRIXDATA / LEN_FLOAT;
- m_retVal = MTRV_OK;
- }
- break;
- default:
- break;
- }
- }
- }
- if (m_retVal == MTRV_OK)
- {
- if ((m_storedOutputSettings[nbid] & OUTPUTSETTINGS_DATAFORMAT_F1220) == 0)
- {
- for(int i = 0 ; i < nElements ; i++)
- {
- swapEndian(data + offset + i * LEN_FLOAT,(unsigned char *) value + i * LEN_FLOAT,LEN_FLOAT);
- }
- }
- else
- {
- int temp;
- for(int i = 0 ; i < nElements ; i++)
- {
- swapEndian(data + offset + i * LEN_FLOAT,(unsigned char*) &temp,4);
- value[i] = (float) temp / 1048576;
- }
- }
- }
- return m_retVal;
- }
+ }
+
+ m_retVal = MTRV_OK;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // setFilePos
+ //
+ // Sets the current position of the file pointer for file input
+ //
+ // Input
+ // relPos : 32-bit value specifying the relative move in bytes
+ // origin is specified in moveMethod
+ // moveMethod : FILEPOS_BEGIN, FILEPOS_CURRENT or FILEPOS_END
+ // Output
+ //
+ // returns MTRV_OK if file pointer is successfully set
+ //
+ short CXsensMTiModule::setFilePos(long relPos, unsigned long moveMethod)
+ {
+#ifdef WIN32
-//////////////////////////////////////////////////////////////////////
-// getLastDeviceError
-//
-// Returns the last reported device error of the latest received Error
-// message
-//
-// Output
-// Error code
- short CXsensMTiModule::getLastDeviceError()
- {
- return m_deviceError;
- }
+ if (m_fileOpen)
+ {
+ if (SetFilePointer(m_handle, relPos, NULL, moveMethod) != INVALID_SET_FILE_POINTER)
+ {
+ return (m_retVal = MTRV_OK);
+ }
+ }
-//////////////////////////////////////////////////////////////////////
-// getLastRetVal
-//
-// Returns the returned value of the last called function
-//
-// Output
-// Return value
- short CXsensMTiModule::getLastRetVal()
- {
- return m_retVal;
- }
+#else
-//////////////////////////////////////////////////////////////////////
-// setTimeOut
-//
-// Sets the time out value in milliseconds used by the functions
-// Use 0 for infinite timeout
-//
-// Output
-// MTRV_OK is set, MTRV_INVALIDTIMEOUT if time value < 0
- short CXsensMTiModule::setTimeOut(short timeOutMs)
- {
- if (timeOutMs >= 0)
- {
- m_timeOut = timeOutMs;
- return (m_retVal = MTRV_OK);
- }
- else
- return (m_retVal = MTRV_INVALIDTIMEOUT);
- }
+ if (m_fileOpen)
+ {
+ if (lseek(m_handle, relPos, moveMethod) != -1)
+ {
+ return (m_retVal = MTRV_OK);
+ }
+ }
-//////////////////////////////////////////////////////////////////////
-// swapEndian
-//
-// Convert 2 or 4 bytes data from little to big endian or back
-//
-// Input
-// input : Pointer to data to be converted
-// output : Pointer where converted data is stored
-// length : Length of setting (0,2 & 4)
-//
-// Remarks:
-// Allocate enough bytes for output buffer
-
- void CXsensMTiModule::swapEndian(const unsigned char input[], unsigned char output[], const int length)
- {
- switch(length)
- {
- case 4:
- output[0] = input[3];
- output[1] = input[2];
- output[2] = input[1];
- output[3] = input[0];
- break;
- case 2:
- output[0] = input[1];
- output[1] = input[0];
- break;
- case 1:
- output[0] = input[0];
- break;
- default:
- for(int i = 0 , j = length - 1 ; i < length ; i++ , j--)
- output[j] = input[i];
- break;
- }
- }
+#endif
+ return (m_retVal = MTRV_NOTSUCCESSFUL);
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // getFileSize
+ //
+ // Retrieves the file size of the opened file
+ //
+ // Input
+ // Output
+ // fileSize : Number of bytes of the current file
+ //
+ // returns MTRV_OK if successful
+ //
+ short CXsensMTiModule::getFileSize(unsigned long& fileSize)
+ {
+#ifdef WIN32
-//////////////////////////////////////////////////////////////////////
-// calcChecksum
-//
-// Calculate and append checksum to msgBuffer
-//
- void CXsensMTiModule::calcChecksum(unsigned char *msgBuffer, const int msgBufferLength)
- {
- unsigned char checkSum = 0;
- int i;
+ if (m_fileOpen)
+ {
+ if ((fileSize = GetFileSize(m_handle, NULL)) != INVALID_FILE_SIZE)
+ {
+ return (m_retVal = MTRV_OK);
+ }
+ }
- for(i = 1; i < msgBufferLength ; i++)
- checkSum += msgBuffer[i];
+#else
- msgBuffer[msgBufferLength] = -checkSum; // Store chksum
- }
+ if (m_fileOpen)
+ {
+ struct stat buf;
-//////////////////////////////////////////////////////////////////////
-// checkChecksum
-//
-// Checks if message checksum is valid
-//
-// Output
-// returns true checksum is OK
- bool CXsensMTiModule::checkChecksum(const unsigned char *msgBuffer, const int msgBufferLength)
- {
- unsigned char checkSum = 0;
- int i;
-
- for(i = 1; i < msgBufferLength ; i++)
- checkSum += msgBuffer[i];
-
- if (checkSum == 0)
- {
- return true;
- }
- else
- {
- return false;
- }
- }
- }
+ if (fstat(m_handle, &buf) == 0)
+ {
+ fileSize = buf.st_size;
+ return (m_retVal = MTRV_OK);
+ }
+ }
+
+#endif
+ return (m_retVal = MTRV_NOTSUCCESSFUL);
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // close
+ //
+ // Closes handle of file or serial port
+ //
+ short CXsensMTiModule::close()
+ {
+ if (m_portOpen || m_fileOpen)
+ {
+#ifdef WIN32
+
+ if (m_portOpen)
+ {
+ // Because of USB-serial driver bug
+ flush();
+ }
+
+ CloseHandle(m_handle);
+#else
+ ::close(m_handle);
+#endif
+ }
+
+ m_fileOpen = m_portOpen = false;
+ m_timeOut = TO_DEFAULT; // Restore timeout value (file input)
+ m_clkEnd = 0;
+ m_nTempBufferLen = 0;
+ m_deviceError = 0; // No error
+
+ for (int i = 0 ; i < MAXDEVICES + 1 ; i++)
+ {
+ m_storedOutputMode[i] = INVALIDSETTINGVALUE;
+ m_storedOutputSettings[i] = INVALIDSETTINGVALUE;
+ m_storedDataLength[i] = 0;
+ }
+
+ return (m_retVal = MTRV_OK);
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // readMessage
+ //
+ // Reads the next message from serial port buffer or file.
+ // To be read within current time out period
+ //
+ // Input
+ // Output
+ // mid : MessageID of message received
+ // data : array pointer to data bytes (no header)
+ // dataLen : number of data bytes read
+ // bid : BID or address of message read (optional)
+ //
+ // returns MTRV_OK if a message has been read else <>MTRV_OK
+ //
+ // Remarks
+ // allocate enough memory for message buffer
+ // use setTimeOut for different timeout value
+ short CXsensMTiModule::readMessage(unsigned char& mid, unsigned char data[], short& dataLen, unsigned char* bid)
+ {
+ unsigned char buffer[MAXMSGLEN ];
+ short msgLen;
+
+ if (!(m_fileOpen || m_portOpen))
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ if (readMessageRaw(buffer, &msgLen) == MTRV_OK)
+ {
+ // Message read
+ mid = buffer[IND_MID];
+
+ if (bid != NULL)
+ {
+ *bid = buffer[IND_BID];
+ }
+
+ if (buffer[IND_LEN] != EXTLENCODE)
+ {
+ dataLen = buffer[IND_LEN];
+ memcpy(data, &buffer[IND_DATA0], dataLen);
+ }
+ else
+ {
+ dataLen = buffer[IND_LENEXTH] * 256 + buffer[IND_LENEXTL];
+ memcpy(data, &buffer[IND_DATAEXT0], dataLen);
+ }
+ }
+
+ return m_retVal;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // readDataMessage
+ //
+ // Read a MTData or XMData message from serial port (using TimeOut val)
+ //
+ // Input
+ // data : pointer to buffer in which the DATA field of MTData/XMData is stored
+ // dataLen : number of bytes in buffer (= number bytes in DATA field)
+ // Output
+ // returns MTRV_OK if MTData / XMData message has been read else <>MTRV_OK
+ //
+ // Remarks
+ // allocate enough memory for data buffer
+ // use setTimeOut for different timeout value
+ short CXsensMTiModule::readDataMessage(unsigned char data[], short& dataLen)
+ {
+ if (!(m_portOpen || m_fileOpen))
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ unsigned char buffer[MAXMSGLEN ];
+ short buflen;
+
+ if (readMessageRaw(buffer, &buflen) == MTRV_OK)
+ {
+ if (buffer[IND_MID] == MID_MTDATA)
+ {
+ // MID_XMDATA is same
+ if (buffer[IND_LEN] != EXTLENCODE)
+ {
+ dataLen = buffer[IND_LEN];
+ memcpy(data, &buffer[IND_DATA0], dataLen);
+ }
+ else
+ {
+ dataLen = buffer[IND_LENEXTH] * 256 + buffer[IND_LENEXTL];
+ memcpy(data, &buffer[IND_DATAEXT0], dataLen);
+ }
+
+ return (m_retVal = MTRV_OK);
+ }
+ else if (buffer[IND_MID] == MID_ERROR)
+ {
+ m_deviceError = buffer[IND_DATA0];
+ return (m_retVal = MTRV_RECVERRORMSG); // Error message received
+ }
+ }
+
+ return m_retVal;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // readMessageRaw
+ //
+ // Read a message from serial port for a certain period
+ //
+ // Input
+ // msgBuffer : pointer to buffer in which next msg will be stored
+ // msgBufferLength: integer to number of bytes written in buffer (header + data + chksum)
+ // Output
+ // returns MTRV_OK if a message has been read else <>MTRV_OK
+ //
+ // Remarks
+ // allocate enough memory for message buffer
+ // use setTimeOut for different timeout value
+ short CXsensMTiModule::readMessageRaw(unsigned char* msgBuffer, short* msgBufferLength)
+ {
+ int state = 0;
+ int nBytesToRead = 1;
+ int nBytesRead = 0;
+ int nOffset = 0;
+ int nMsgDataLen = 0;
+ int nMsgLen;
+ unsigned char chCheckSum;
+ bool Synced = false;
+
+ if (!(m_portOpen || m_fileOpen))
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ // Copy previous read bytes if available
+ if (m_nTempBufferLen > 0)
+ {
+ memcpy(msgBuffer, m_tempBuffer, m_nTempBufferLen);
+ nBytesRead = m_nTempBufferLen;
+ m_nTempBufferLen = 0;
+ }
+
+ clock_t clkStart = clockms(); // Get current processor time
+ clock_t clkEnd = m_clkEnd; // check if the end timer is already set
+
+ if (clkEnd == 0)
+ {
+ clkEnd = clkStart + m_timeOut;
+ }
+
+ while (true)
+ {
+ do
+ {
+ // First check if we already have some bytes read
+ if (nBytesRead > 0 && nBytesToRead > 0)
+ {
+ if (nBytesToRead > nBytesRead)
+ {
+ nOffset += nBytesRead;
+ nBytesToRead -= nBytesRead;
+ nBytesRead = 0;
+ }
+ else
+ {
+ nOffset += nBytesToRead;
+ nBytesRead -= nBytesToRead;
+ nBytesToRead = 0;
+ }
+ }
+
+ // Check if serial port buffer must be read
+ if (nBytesToRead > 0)
+ {
+ nBytesRead = readData(msgBuffer + nOffset, nBytesToRead);
+
+ if (m_retVal == MTRV_ENDOFFILE)
+ {
+ return (m_retVal = MTRV_ENDOFFILE);
+ }
+
+ nOffset += nBytesRead;
+ nBytesToRead -= nBytesRead;
+ nBytesRead = 0;
+ }
+
+ if (!nBytesToRead)
+ {
+ switch (state)
+ {
+ case 0: // Check preamble
+ if (msgBuffer[IND_PREAMBLE] == PREAMBLE)
+ {
+ state++;
+ nBytesToRead = 3;
+ }
+ else
+ {
+ nOffset = 0;
+ nBytesToRead = 1;
+ }
+
+ break;
+
+ case 1: // Check ADDR, MID, LEN
+ if (msgBuffer[IND_LEN] != 0xFF)
+ {
+ state = 3;
+ nBytesToRead = (nMsgDataLen = msgBuffer[IND_LEN]) + 1; // Read LEN + 1 (chksum)
+ }
+ else
+ {
+ state = 2;
+ nBytesToRead = 2; // Read extended length
+ }
+
+ break;
+
+ case 2:
+ state = 3;
+ nBytesToRead = (nMsgDataLen = msgBuffer[IND_LENEXTH] * 256 + msgBuffer[IND_LENEXTL]) + 1; // Read LENEXT + CS
+
+ if (nMsgDataLen > MAXMSGLEN - LEN_MSGEXTHEADERCS)
+ {
+ // Not synced - check for preamble in the bytes read
+ for (int i = 1 ; i < LEN_MSGEXTHEADER ; i++)
+ if (msgBuffer[i] == PREAMBLE)
+ {
+ // Found a maybe preamble - 'fill buffer'
+ nBytesRead = LEN_MSGEXTHEADER - i;
+ memmove(msgBuffer, msgBuffer + i, nBytesRead);
+ break;
+ }
+
+ Synced = false;
+ nOffset = 0;
+ state = 0;
+ nBytesToRead = 1; // Start looking for preamble
+ }
+
+ break;
+
+ case 3: // Check msg
+ chCheckSum = 0;
+ nMsgLen = nMsgDataLen + 5 + (msgBuffer[IND_LEN] == 0xFF ? 2 : 0);
+
+ for (int i = 1 ; i < nMsgLen ; i++)
+ {
+ chCheckSum += msgBuffer[i];
+ }
+
+ if (chCheckSum == 0)
+ {
+ // Checksum ok?
+ if (nBytesRead > 0)
+ {
+ // Store bytes if read too much
+ memcpy(m_tempBuffer, msgBuffer + nMsgLen, nBytesRead);
+ m_nTempBufferLen = nBytesRead;
+ }
+
+ *msgBufferLength = nMsgLen;
+ Synced = true;
+ return (m_retVal = MTRV_OK);
+ }
+ else
+ {
+ if (!Synced)
+ for (int i = 1 ; i < nMsgLen ; i++) // Not synced - maybe recheck for preamble in this incorrect message
+ if (msgBuffer[i] == PREAMBLE)
+ {
+ // Found a maybe preamble - 'fill buffer'
+ nBytesRead = nMsgLen - i;
+ memmove(msgBuffer, msgBuffer + i, nBytesRead);
+ break;
+ }
+
+ Synced = false;
+ nOffset = 0;
+ state = 0;
+ nBytesToRead = 1; // Start looking for preamble
+ }
+
+ break;
+ }
+ }
+ }
+ while ((clkEnd >= clockms()) || m_timeOut == 0 || nBytesRead != 0);
+
+ // Check if pending message has a valid message
+ if (state > 0)
+ {
+ int i;
+
+ // Search for preamble
+ for (i = 1; i < nOffset ; i++)
+ if (msgBuffer[i] == PREAMBLE)
+ {
+ // Found a maybe preamble - 'fill buffer'
+ nBytesRead = nOffset - i - 1; // no preamble
+ memmove(msgBuffer + 1, msgBuffer + i + 1, nBytesRead);
+ break;
+ }
+
+ if (i < nOffset)
+ {
+ // Found preamble in message - recheck
+ nOffset = 1;
+ state = 1;
+ nBytesToRead = 3; // Start looking for preamble
+ continue;
+ }
+ }
+
+ break;
+ }
+
+ return (m_retVal = MTRV_TIMEOUT);
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // writeMessage (optional: integer value)
+ //
+ // Sends a message and in case of an serial port interface it checks
+ // if the return message (ack, error or timeout). See return value
+ // In case an file is opened the functions returns directly after
+ // 'sending' the message
+ //
+ // Use this function for GotoConfig, Reset, ResetOrientation etc
+ //
+ // Input
+ // mid : MessageID of message to send
+ // dataValue : A integer value that will be included into the data message field
+ // can be a 1,2 or 4 bytes values
+ // dataValueLen : Size of dataValue in bytes
+ // bid : BID or address to use in message to send (default = 0xFF)
+ //
+ // Return value
+ // = MTRV_OK if an Ack message received / or data successfully written to file
+ // = MTRV_RECVERRORMSG if an error message received
+ // = MTRV_TIMEOUT if timeout occurred
+ // = MTRV_NOINPUTINITIALIZED
+ //
+ short CXsensMTiModule::writeMessage(const unsigned char mid, const unsigned long dataValue, const unsigned char dataValueLen, const unsigned char bid)
+ {
+ unsigned char buffer[MAXMSGLEN ];
+ short msgLen;
+
+ if (!(m_fileOpen || m_portOpen))
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ buffer[IND_PREAMBLE] = PREAMBLE;
+ buffer[IND_BID] = bid;
+ buffer[IND_MID] = mid;
+ buffer[IND_LEN] = dataValueLen;
+
+ if (dataValueLen)
+ {
+ swapEndian((const unsigned char*) &dataValue, &buffer[IND_DATA0], dataValueLen);
+ }
+
+ calcChecksum(buffer, LEN_MSGHEADER + dataValueLen);
+
+ // Send message
+ writeData(buffer, LEN_MSGHEADERCS + dataValueLen);
+
+ // Return if file opened
+ if (m_fileOpen)
+ {
+ return (m_retVal = MTRV_OK);
+ }
+
+ // Keep reading until an Ack or Error message is received (or timeout)
+ clock_t clkStart , clkOld;
+ bool msgRead = false;
+
+ clkStart = clockms(); // Get current processor time
+ clkOld = m_clkEnd;
+
+ if (clkOld == 0)
+ {
+ m_clkEnd = m_timeOut + clkStart;
+ }
+
+ while (m_clkEnd >= clockms() || (m_timeOut == 0))
+ {
+ if (readMessageRaw(buffer, &msgLen) == MTRV_OK)
+ {
+ // Message received
+ msgRead = true;
+
+ if (buffer[IND_MID] == (mid + 1))
+ {
+ m_clkEnd = clkOld;
+ return (m_retVal = MTRV_OK); // Acknowledge received
+ }
+ else if (buffer[IND_MID] == MID_ERROR)
+ {
+ m_deviceError = buffer[IND_DATA0];
+ m_clkEnd = clkOld;
+ return (m_retVal = MTRV_RECVERRORMSG); // Error message received
+ }
+ }
+ }
+
+ m_clkEnd = clkOld;
+
+ if (msgRead)
+ {
+ return (m_retVal = MTRV_TIMEOUT);
+ }
+ else
+ {
+ return (m_retVal = MTRV_TIMEOUTNODATA);
+ }
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // writeMessage (data array)
+ //
+ // Sends a message and in case of an serial port interface it checks
+ // if the return message (ack, error or timeout). See return value
+ // In case an file is opened the functions returns directly after
+ // 'sending' the message
+ //
+ // Input
+ // mid : MessageID of message to send
+ // data : array pointer to data bytes
+ // dataLen : number of bytes to include in message
+ // bid : BID or address to use in message to send (default = 0xFF)
+ //
+ // Output
+ // = MTRV_OK if an Ack message received
+ // = MTRV_RECVERRORMSG if an error message received
+ // = MTRV_TIMEOUT if timeout occurred
+ // = MTRV_NOINPUTINITIALIZED
+ //
+ short CXsensMTiModule::writeMessage(const unsigned char mid, const unsigned char data[], const unsigned short& dataLen, const unsigned char bid)
+ {
+ unsigned char buffer[MAXMSGLEN ];
+ short msgLen;
+ short headerLength;
+
+ if (!(m_fileOpen || m_portOpen))
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ // Build message to send
+ buffer[IND_PREAMBLE] = PREAMBLE;
+ buffer[IND_BID] = bid;
+ buffer[IND_MID] = mid;
+
+ if (dataLen < EXTLENCODE)
+ {
+ buffer[IND_LEN] = (unsigned char) dataLen;
+ headerLength = LEN_MSGHEADER;
+ }
+ else
+ {
+ buffer[IND_LEN] = EXTLENCODE;
+ buffer[IND_LENEXTH] = (unsigned char)(dataLen >> 8);
+ buffer[IND_LENEXTL] = (unsigned char)(dataLen & 0x00FF);
+ headerLength = LEN_MSGEXTHEADER;
+ }
+
+ memcpy(&buffer[headerLength], data, dataLen);
+ calcChecksum(buffer, headerLength + dataLen);
+
+ // Send message
+ writeData(buffer, headerLength + dataLen + LEN_CHECKSUM);
+
+ // Return if file opened
+ if (m_fileOpen)
+ {
+ return (m_retVal = MTRV_OK);
+ }
+
+ // Keep reading until an Ack or Error message is received (or timeout)
+ bool msgRead = false;
+ clock_t clkStart , clkOld;
+
+ clkStart = clockms(); // Get current processor time
+ clkOld = m_clkEnd;
+
+ if (clkOld == 0)
+ {
+ m_clkEnd = m_timeOut + clkStart;
+ }
+
+ while (m_clkEnd >= clockms() || (m_timeOut == 0))
+ {
+ if (readMessageRaw(buffer, &msgLen) == MTRV_OK)
+ {
+ // Message received
+ msgRead = true;
+
+ if (buffer[IND_MID] == (mid + 1))
+ {
+ m_clkEnd = clkOld;
+ return (m_retVal = MTRV_OK); // Acknowledge received
+ }
+ else if (buffer[IND_MID] == MID_ERROR)
+ {
+ m_deviceError = buffer[IND_DATA0];
+ m_clkEnd = clkOld;
+ return (m_retVal = MTRV_RECVERRORMSG); // Error message received
+ }
+ }
+ }
+
+ m_clkEnd = clkOld;
+
+ if (msgRead)
+ {
+ return (m_retVal = MTRV_TIMEOUT);
+ }
+ else
+ {
+ return (m_retVal = MTRV_TIMEOUTNODATA);
+ }
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // waitForMessage
+ //
+ // Read messages from serial port or file using the current timeout period
+ // until the received message is equal to a specific message identifier
+ // By default the timeout period by file input is set to infinity (= until
+ // end of file is reached)
+ //
+ // Input/Output
+ // mid : message identifier of message that should be returned
+ // data : pointer to buffer in which the data of the requested msg will be stored
+ // dataLen : integer to number of data bytes
+ // bid : optional, pointer which holds the bid of the returned message
+ // Output
+ // returns MTRV_OK if the message has been read else != MTRV_OK
+ //
+ // Remarks
+ // allocate enough memory for data message buffer
+ // use setTimeOut for different timeout value
+ short CXsensMTiModule::waitForMessage(const unsigned char mid, unsigned char data[], short* dataLen, unsigned char* bid)
+ {
+ unsigned char buffer[MAXMSGLEN ];
+ short buflen;
+
+ clock_t clkStart , clkOld;
+
+ if (!(m_fileOpen || m_portOpen))
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ clkStart = clockms(); // Get current processor time
+ clkOld = m_clkEnd;
+
+ if (clkOld == 0)
+ {
+ m_clkEnd = m_timeOut + clkStart;
+ }
+
+ while (m_clkEnd >= clockms() || (m_timeOut == 0))
+ {
+ if (readMessageRaw(buffer, &buflen) == MTRV_OK)
+ {
+ if (buffer[IND_MID] == mid)
+ {
+ if (bid != NULL)
+ {
+ *bid = buffer[IND_BID];
+ }
+
+ if (data != NULL && dataLen != NULL)
+ {
+ if (buffer[IND_LEN] != EXTLENCODE)
+ {
+ *dataLen = buffer[IND_LEN];
+ memcpy(data, &buffer[IND_DATA0], *dataLen);
+ }
+ else
+ {
+ *dataLen = buffer[IND_LENEXTH] * 256 + buffer[IND_LENEXTL];
+ memcpy(data, &buffer[IND_DATAEXT0], *dataLen);
+ }
+ }
+ else if (dataLen != NULL)
+ {
+ dataLen = 0;
+ }
+
+ m_clkEnd = clkOld;
+ return (m_retVal = MTRV_OK);
+ }
+ }
+ else if (m_retVal == MTRV_ENDOFFILE)
+ {
+ m_clkEnd = clkOld;
+ return (m_retVal = MTRV_ENDOFFILE);
+ }
+ }
+
+ m_clkEnd = clkOld;
+ return (m_retVal = MTRV_TIMEOUT);
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // reqSetting (integer & no param variant)
+ //
+ // Request a integer setting from the device. This setting
+ // can be an unsigned 1,2 or 4 bytes setting. Only valid
+ // for serial port connections
+ //
+ // Input
+ // mid : Message ID of message to send
+ // bid : Bus ID of message to send (def 0xFF)
+ //
+ // Output
+ // = MTRV_OK if an Ack message is received
+ // = MTRV_RECVERRORMSG if an error message is received
+ // = MTRV_TIMEOUT if timeout occurred
+ //
+ // value contains the integer value of the data field of the ack message
+ //
+ short CXsensMTiModule::reqSetting(const unsigned char mid, unsigned long& value, const unsigned char bid)
+ {
+ unsigned char buffer[MAXMSGLEN ];
+ short msgLen;
+
+ if (m_fileOpen)
+ {
+ return (m_retVal = MTRV_INVALIDFORFILEINPUT);
+ }
+
+ if (!m_portOpen)
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ buffer[IND_PREAMBLE] = PREAMBLE;
+ buffer[IND_BID] = bid;
+ buffer[IND_MID] = mid;
+ buffer[IND_LEN] = 0;
+ calcChecksum(buffer, LEN_MSGHEADER + buffer[IND_LEN]);
+
+ // Send message
+ writeData(buffer, LEN_MSGHEADERCS + buffer[IND_LEN]);
+
+ // Read next message or else timeout
+ if (readMessageRaw(buffer, &msgLen) == MTRV_OK)
+ {
+ // Message received
+ if (buffer[IND_MID] == (mid + 1))
+ {
+ // Acknowledge received
+ value = 0;
+ swapEndian(&buffer[IND_DATA0], (unsigned char*) &value, buffer[IND_LEN]);
+ return (m_retVal = MTRV_OK);
+ }
+ else if (buffer[IND_MID] == MID_ERROR)
+ {
+ m_deviceError = buffer[IND_DATA0];
+ return (m_retVal = MTRV_RECVERRORMSG); // Error message received
+ }
+ else
+ {
+ return (m_retVal = MTRV_UNEXPECTEDMSG); // Unexpected message
+ }
+ }
+
+ return m_retVal;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // reqSetting (integer & param variant)
+ //
+ // Request a integer setting from the device. This setting
+ // can be an unsigned 1,2 or 4 bytes setting. Only valid
+ // for serial port connections.
+ //
+ // Input
+ // mid : Message ID of message to send
+ // param : For messages that need a parameter
+ // bid : Bus ID of message to send (def 0xFF)
+ //
+ // Output
+ // = MTRV_OK if an Ack message is received
+ // = MTRV_RECVERRORMSG if an error message is received
+ // = MTRV_TIMEOUT if timeout occurred
+ //
+ // value contains the integer value of the data field of the ack message
+ //
+ short CXsensMTiModule::reqSetting(const unsigned char mid, const unsigned char param, unsigned long& value, const unsigned char bid)
+ {
+ unsigned char buffer[MAXMSGLEN ];
+ short msgLen;
+
+ if (m_fileOpen)
+ {
+ return (m_retVal = MTRV_INVALIDFORFILEINPUT);
+ }
+
+ if (!m_portOpen)
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ buffer[IND_PREAMBLE] = PREAMBLE;
+ buffer[IND_BID] = bid;
+ buffer[IND_MID] = mid;
+
+ if (param != 0xFF)
+ {
+ buffer[IND_LEN] = 1;
+ buffer[IND_DATA0] = param;
+ }
+ else
+ {
+ buffer[IND_LEN] = 0;
+ }
+
+ calcChecksum(buffer, LEN_MSGHEADER + buffer[IND_LEN]);
+
+ // Send message
+ writeData(buffer, LEN_MSGHEADERCS + buffer[IND_LEN]);
+
+ // Read next message or else timeout
+ if (readMessageRaw(buffer, &msgLen) == MTRV_OK)
+ {
+ // Message received
+ if (buffer[IND_MID] == (mid + 1))
+ {
+ // Acknowledge received
+ value = 0;
+
+ if (param == 0xFF)
+ {
+ swapEndian(&buffer[IND_DATA0], (unsigned char*) &value, buffer[IND_LEN]);
+ }
+ else
+ {
+ swapEndian(&buffer[IND_DATA0] + 1, (unsigned char*) &value, buffer[IND_LEN] - 1);
+ }
+
+ return (m_retVal = MTRV_OK);
+ }
+ else if (buffer[IND_MID] == MID_ERROR)
+ {
+ m_deviceError = buffer[IND_DATA0];
+ return (m_retVal = MTRV_RECVERRORMSG); // Error message received
+ }
+ else
+ {
+ return (m_retVal = MTRV_UNEXPECTEDMSG); // Unexpected message
+ }
+ }
+
+ return m_retVal;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // reqSetting (float & no param variant)
+ //
+ // Request a float setting from the device. Only valid
+ // for serial port connections.
+ //
+ // Input
+ // mid : Message ID of message to send
+ // bid : Bus ID of message to send (def 0xFF)
+ //
+ // Output
+ // = MTRV_OK if an Ack message is received
+ // = MTRV_RECVERRORMSG if an error message is received
+ // = MTRV_TIMEOUT if timeout occurred
+ //
+ // value contains the float value of the acknowledge data field
+ //
+ short CXsensMTiModule::reqSetting(const unsigned char mid, float& value, const unsigned char bid)
+ {
+ unsigned char buffer[MAXMSGLEN ];
+ short msgLen;
+
+ if (m_fileOpen)
+ {
+ return (m_retVal = MTRV_INVALIDFORFILEINPUT);
+ }
+
+ if (!m_portOpen)
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ buffer[IND_PREAMBLE] = PREAMBLE;
+ buffer[IND_BID] = bid;
+ buffer[IND_MID] = mid;
+ buffer[IND_LEN] = 0;
+ calcChecksum(buffer, LEN_MSGHEADER + buffer[IND_LEN]);
+
+ // Send message
+ writeData(buffer, LEN_MSGHEADERCS + buffer[IND_LEN]);
+
+ // Read next message or else timeout
+ if (readMessageRaw(buffer, &msgLen) == MTRV_OK)
+ {
+ // Message received
+ if (buffer[IND_MID] == (mid + 1))
+ {
+ // Acknowledge received
+ value = 0;
+ swapEndian(&buffer[IND_DATA0], (unsigned char*) &value, buffer[IND_LEN]);
+ return (m_retVal = MTRV_OK);
+ }
+ else if (buffer[IND_MID] == MID_ERROR)
+ {
+ m_deviceError = buffer[IND_DATA0];
+ return (m_retVal = MTRV_RECVERRORMSG); // Error message received
+ }
+ else
+ {
+ return (m_retVal = MTRV_UNEXPECTEDMSG); // Unexpected message
+ }
+ }
+
+ return m_retVal;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // reqSetting (float & param variant)
+ //
+ // Request a float setting from the device. Only valid
+ // for serial port connections.
+ //
+ // Input
+ // mid : Message ID of message to send
+ // param : For messages that need a parameter (optional)
+ // bid : Bus ID of message to send (def 0xFF)
+ //
+ // Output
+ // = MTRV_OK if an Ack message is received
+ // = MTRV_RECVERRORMSG if an error message is received
+ // = MTRV_TIMEOUT if timeout occurred
+ //
+ // value contains the float value of the acknowledge data field
+ //
+ short CXsensMTiModule::reqSetting(const unsigned char mid, const unsigned char param, float& value, const unsigned char bid)
+ {
+ unsigned char buffer[MAXMSGLEN ];
+ short msgLen;
+
+ if (m_fileOpen)
+ {
+ return (m_retVal = MTRV_INVALIDFORFILEINPUT);
+ }
+
+ if (!m_portOpen)
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ buffer[IND_PREAMBLE] = PREAMBLE;
+ buffer[IND_BID] = bid;
+ buffer[IND_MID] = mid;
+
+ if (param != 0xFF)
+ {
+ buffer[IND_LEN] = 1;
+ buffer[IND_DATA0] = param;
+ }
+ else
+ {
+ buffer[IND_LEN] = 0;
+ }
+
+ calcChecksum(buffer, LEN_MSGHEADER + buffer[IND_LEN]);
+
+ // Send message
+ writeData(buffer, LEN_MSGHEADERCS + buffer[IND_LEN]);
+
+ // Read next message or else timeout
+ if (readMessageRaw(buffer, &msgLen) == MTRV_OK)
+ {
+ // Message received
+ if (buffer[IND_MID] == (mid + 1))
+ {
+ // Acknowledge received
+ value = 0;
+
+ if (param == 0xFF)
+ {
+ swapEndian(&buffer[IND_DATA0], (unsigned char*) &value, buffer[IND_LEN]);
+ }
+ else
+ {
+ swapEndian(&buffer[IND_DATA0] + 1, (unsigned char*) &value, buffer[IND_LEN] - 1);
+ }
+
+ return (m_retVal = MTRV_OK);
+ }
+ else if (buffer[IND_MID] == MID_ERROR)
+ {
+ m_deviceError = buffer[IND_DATA0];
+ return (m_retVal = MTRV_RECVERRORMSG); // Error message received
+ }
+ else
+ {
+ return (m_retVal = MTRV_UNEXPECTEDMSG); // Unexpected message
+ }
+ }
+
+ return m_retVal;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // reqSetting (byte array & no param variant)
+ //
+ // Send a message to the device and the data of acknowledge message
+ // will be returned. Only valid for serial port connections
+ //
+ // Input
+ // mid : Message ID of message to send
+ // bid : Bus ID of message to send (def 0xFF)
+ //
+ // Output
+ // = MTRV_OK if an Ack message is received
+ // = MTRV_RECVERRORMSG if an error message is received
+ // = MTRV_TIMEOUT if timeout occurred
+ //
+ // data[] contains the data of the acknowledge message
+ // dataLen contains the number bytes returned
+ //
+ short CXsensMTiModule::reqSetting(const unsigned char mid, unsigned char data[], short& dataLen, const unsigned char bid)
+ {
+ unsigned char buffer[MAXMSGLEN ];
+ short msgLen;
+
+ if (m_fileOpen)
+ {
+ return (m_retVal = MTRV_INVALIDFORFILEINPUT);
+ }
+
+ if (!m_portOpen)
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ buffer[IND_PREAMBLE] = PREAMBLE;
+ buffer[IND_BID] = bid;
+ buffer[IND_MID] = mid;
+ buffer[IND_LEN] = 0;
+ calcChecksum(buffer, LEN_MSGHEADER + buffer[IND_LEN]);
+
+ // Send message
+ writeData(buffer, LEN_MSGHEADERCS + buffer[IND_LEN]);
+
+ dataLen = 0;
+
+ // Read next message or else timeout
+ if (readMessageRaw(buffer, &msgLen) == MTRV_OK)
+ {
+ // Message received
+ if (buffer[IND_MID] == (mid + 1))
+ {
+ // Acknowledge received
+ if (buffer[IND_LEN] != EXTLENCODE)
+ {
+ dataLen = buffer[IND_LEN];
+ memcpy(data, &buffer[IND_DATA0], dataLen);
+ }
+ else
+ {
+ dataLen = buffer[IND_LENEXTH] * 256 + buffer[IND_LENEXTL];
+ memcpy(data, &buffer[IND_DATAEXT0], dataLen);
+ }
+
+ return (m_retVal = MTRV_OK);
+ }
+ else if (buffer[IND_MID] == MID_ERROR)
+ {
+ m_deviceError = buffer[IND_DATA0];
+ return (m_retVal = MTRV_RECVERRORMSG); // Error message received
+ }
+ else
+ {
+ return (m_retVal = MTRV_UNEXPECTEDMSG); // Unexpected message
+ }
+ }
+
+ return m_retVal;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // reqSetting (byte array in + out & no param variant)
+ //
+ // Send a message to the device and the data of acknowledge message
+ // will be returned. Only valid for serial port connections
+ //
+ // Input
+ // mid : Message ID of message to send
+ // bid : Bus ID of message to send (def 0xFF)
+ // dataIn : Data to be included in request
+ // dataInLen : Number of bytes in dataIn
+ //
+ // Output
+ // = MTRV_OK if an Ack message is received
+ // = MTRV_RECVERRORMSG if an error message is received
+ // = MTRV_TIMEOUT if timeout occurred
+ //
+ // dataOut[] contains the data of the acknowledge message
+ // dataOutLen contains the number bytes returned
+ //
+ short CXsensMTiModule::reqSetting(const unsigned char mid, unsigned char dataIn[], short dataInLen, unsigned char dataOut[], short& dataOutLen, const unsigned char bid)
+ {
+ unsigned char buffer[MAXMSGLEN ];
+ short headerLength;
+ short msgLen;
+
+ if (m_fileOpen)
+ {
+ return (m_retVal = MTRV_INVALIDFORFILEINPUT);
+ }
+
+ if (!m_portOpen)
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ buffer[IND_PREAMBLE] = PREAMBLE;
+ buffer[IND_BID] = bid;
+ buffer[IND_MID] = mid;
+
+ if (dataInLen < EXTLENCODE)
+ {
+ buffer[IND_LEN] = (unsigned char) dataInLen;
+ headerLength = LEN_MSGHEADER;
+ }
+ else
+ {
+ buffer[IND_LEN] = EXTLENCODE;
+ buffer[IND_LENEXTH] = (unsigned char)(dataInLen >> 8);
+ buffer[IND_LENEXTL] = (unsigned char)(dataInLen & 0x00FF);
+ headerLength = LEN_MSGEXTHEADER;
+ }
+
+ memcpy(&buffer[headerLength], dataIn, dataInLen);
+ calcChecksum(buffer, headerLength + dataInLen);
+
+ // Send message
+ writeData(buffer, headerLength + dataInLen + LEN_CHECKSUM);
+
+ dataOutLen = 0;
+
+ // Read next message or else timeout
+ if (readMessageRaw(buffer, &msgLen) == MTRV_OK)
+ {
+ // Message received
+ if (buffer[IND_MID] == (mid + 1))
+ {
+ // Acknowledge received
+ if (buffer[IND_LEN] != EXTLENCODE)
+ {
+ dataOutLen = buffer[IND_LEN];
+ memcpy(dataOut, &buffer[IND_DATA0], dataOutLen);
+ }
+ else
+ {
+ dataOutLen = buffer[IND_LENEXTH] * 256 + buffer[IND_LENEXTL];
+ memcpy(dataOut, &buffer[IND_DATAEXT0], dataOutLen);
+ }
+
+ return (m_retVal = MTRV_OK);
+ }
+ else if (buffer[IND_MID] == MID_ERROR)
+ {
+ m_deviceError = buffer[IND_DATA0];
+ return (m_retVal = MTRV_RECVERRORMSG); // Error message received
+ }
+ else
+ {
+ return (m_retVal = MTRV_UNEXPECTEDMSG); // Unexpected message
+ }
+ }
+
+ return m_retVal;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // reqSetting (byte array & param variant)
+ //
+ // Send a message to the device and the data of acknowledge message
+ // will be returned. Only valid for serial port connections
+ //
+ // Input
+ // mid : Message ID of message to send
+ // param : For messages that need a parameter (optional)
+ // bid : Bus ID of message to send (def 0xFF)
+ //
+ // Output
+ // = MTRV_OK if an Ack message is received
+ // = MTRV_RECVERRORMSG if an error message is received
+ // = MTRV_TIMEOUT if timeout occurred
+ //
+ // data[] contains the data of the acknowledge message (including param!!)
+ // dataLen contains the number bytes returned
+ //
+ short CXsensMTiModule::reqSetting(const unsigned char mid, const unsigned char param, unsigned char data[], short& dataLen, const unsigned char bid)
+ {
+ unsigned char buffer[MAXMSGLEN ];
+ short msgLen;
+
+ if (m_fileOpen)
+ {
+ return (m_retVal = MTRV_INVALIDFORFILEINPUT);
+ }
+
+ if (!m_portOpen)
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ buffer[IND_PREAMBLE] = PREAMBLE;
+ buffer[IND_BID] = bid;
+ buffer[IND_MID] = mid;
+
+ if (param != 0xFF)
+ {
+ buffer[IND_LEN] = 1;
+ buffer[IND_DATA0] = param;
+ }
+ else
+ {
+ buffer[IND_LEN] = 0;
+ }
+
+ calcChecksum(buffer, LEN_MSGHEADER + buffer[IND_LEN]);
+
+ // Send message
+ writeData(buffer, LEN_MSGHEADERCS + buffer[IND_LEN]);
+
+ dataLen = 0;
+
+ // Read next message or else timeout
+ if (readMessageRaw(buffer, &msgLen) == MTRV_OK)
+ {
+ // Message received
+ if (buffer[IND_MID] == (mid + 1))
+ {
+ // Acknowledge received
+ if (buffer[IND_LEN] != EXTLENCODE)
+ {
+ dataLen = buffer[IND_LEN];
+ memcpy(data, &buffer[IND_DATA0], dataLen);
+ }
+ else
+ {
+ dataLen = buffer[IND_LENEXTH] * 256 + buffer[IND_LENEXTL];
+ memcpy(data, &buffer[IND_DATAEXT0], dataLen);
+ }
+
+ return (m_retVal = MTRV_OK);
+ }
+ else if (buffer[IND_MID] == MID_ERROR)
+ {
+ m_deviceError = buffer[IND_DATA0];
+ return (m_retVal = MTRV_RECVERRORMSG); // Error message received
+ }
+ else
+ {
+ return (m_retVal = MTRV_UNEXPECTEDMSG); // Unexpected message
+ }
+ }
+
+ return m_retVal;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // setSetting (integer & no param variant)
+ //
+ // Sets a integer setting of the device. This setting
+ // can be an unsigned 1,2 or 4 bytes setting. Only valid
+ // for serial port connections.
+ //
+ // Input
+ // mid : Message ID of message to send
+ // bid : Bus ID of message to send (def 0xFF)
+ // value : Contains the integer value to be used
+ // valuelen : Length in bytes of the value
+ //
+ // Output
+ // = MTRV_OK if an Ack message is received
+ // = MTRV_RECVERRORMSG if an error message is received
+ // = MTRV_TIMEOUT if timeout occurred
+ //
+ //
+ short CXsensMTiModule::setSetting(const unsigned char mid, const unsigned long value, const unsigned short valuelen, const unsigned char bid)
+ {
+ unsigned char buffer[MAXMSGLEN ];
+ short msgLen;
+
+ if (m_fileOpen)
+ {
+ return (m_retVal = MTRV_INVALIDFORFILEINPUT);
+ }
+
+ if (!m_portOpen)
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ msgLen = LEN_MSGHEADER;
+ buffer[IND_PREAMBLE] = PREAMBLE;
+ buffer[IND_BID] = bid;
+ buffer[IND_MID] = mid;
+ buffer[IND_LEN] = (unsigned char) valuelen;
+ swapEndian((unsigned char*) &value, &buffer[msgLen], valuelen);
+ calcChecksum(buffer, LEN_MSGHEADER + buffer[IND_LEN]);
+
+ // Send message
+ writeData(buffer, LEN_MSGHEADERCS + buffer[IND_LEN]);
+
+ // Read next received message
+ if (readMessageRaw(buffer, &msgLen) == MTRV_OK)
+ {
+ // Message received
+ if (buffer[IND_MID] == (mid + 1))
+ {
+ return (m_retVal = MTRV_OK); // Acknowledge received
+ }
+ else if (buffer[IND_MID] == MID_ERROR)
+ {
+ m_deviceError = buffer[IND_DATA0];
+ return (m_retVal = MTRV_RECVERRORMSG); // Error message received
+ }
+ }
+
+ return m_retVal;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // setSetting (integer & param variant)
+ //
+ // Sets a integer setting of the device. This setting
+ // can be an unsigned 1,2 or 4 bytes setting. Only valid
+ // for serial port connections.
+ //
+ // Input
+ // mid : Message ID of message to send
+ // param : For messages that need a parameter (optional)
+ // bid : Bus ID of message to send (def 0xFF)
+ // value : Contains the integer value to be used
+ // valuelen : Length in bytes of the value
+ //
+ // Output
+ // = MTRV_OK if an Ack message is received
+ // = MTRV_RECVERRORMSG if an error message is received
+ // = MTRV_TIMEOUT if timeout occurred
+ //
+ //
+ short CXsensMTiModule::setSetting(const unsigned char mid, const unsigned char param, const unsigned long value, const unsigned short valuelen, const unsigned char bid)
+ {
+ unsigned char buffer[MAXMSGLEN ];
+ short msgLen;
+
+ if (m_fileOpen)
+ {
+ return (m_retVal = MTRV_INVALIDFORFILEINPUT);
+ }
+
+ if (!m_portOpen)
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ msgLen = LEN_MSGHEADER;
+ buffer[IND_PREAMBLE] = PREAMBLE;
+ buffer[IND_BID] = bid;
+ buffer[IND_MID] = mid;
+
+ if (param != 0xFF)
+ {
+ msgLen++;
+ buffer[IND_LEN] = valuelen + 1;
+ buffer[IND_DATA0] = param;
+ }
+ else
+ {
+ buffer[IND_LEN] = (unsigned char) valuelen;
+ }
+
+ swapEndian((unsigned char*) &value, &buffer[msgLen], valuelen);
+ calcChecksum(buffer, LEN_MSGHEADER + buffer[IND_LEN]);
+
+ // Send message
+ writeData(buffer, LEN_MSGHEADERCS + buffer[IND_LEN]);
+
+ // Read next received message
+ if (readMessageRaw(buffer, &msgLen) == MTRV_OK)
+ {
+ // Message received
+ if (buffer[IND_MID] == (mid + 1))
+ {
+ return (m_retVal = MTRV_OK); // Acknowledge received
+ }
+ else if (buffer[IND_MID] == MID_ERROR)
+ {
+ m_deviceError = buffer[IND_DATA0];
+ return (m_retVal = MTRV_RECVERRORMSG); // Error message received
+ }
+ }
+
+ return m_retVal;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // setSetting (float & no param variant)
+ //
+ // Sets a float setting of the device. Only valid
+ // for serial port connections.
+ //
+ // Input
+ // mid : Message ID of message to send
+ // bid : Bus ID of message to send (def 0xFF)
+ // value : Contains the float value to be used
+ //
+ // Output
+ // = MTRV_OK if an Ack message is received
+ // = MTRV_RECVERRORMSG if an error message is received
+ // = MTRV_TIMEOUT if timeout occurred
+ //
+ short CXsensMTiModule::setSetting(const unsigned char mid, const float value, const unsigned char bid)
+ {
+ unsigned char buffer[MAXMSGLEN ];
+ short msgLen;
+
+ if (m_fileOpen)
+ {
+ return (m_retVal = MTRV_INVALIDFORFILEINPUT);
+ }
+
+ if (!m_portOpen)
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ msgLen = LEN_MSGHEADER;
+ buffer[IND_PREAMBLE] = PREAMBLE;
+ buffer[IND_BID] = bid;
+ buffer[IND_MID] = mid;
+ buffer[IND_LEN] = LEN_FLOAT;
+ swapEndian((unsigned char*) &value, &buffer[msgLen], LEN_FLOAT);
+ calcChecksum(buffer, LEN_MSGHEADER + LEN_FLOAT);
+
+ // Send message
+ writeData(buffer, LEN_MSGHEADERCS + LEN_FLOAT);
+
+ // Read next received message
+ if (readMessageRaw(buffer, &msgLen) == MTRV_OK)
+ {
+ // Message received
+ if (buffer[IND_MID] == (mid + 1))
+ {
+ return (m_retVal = MTRV_OK); // Acknowledge received
+ }
+ else if (buffer[IND_MID] == MID_ERROR)
+ {
+ m_deviceError = buffer[IND_DATA0];
+ return (m_retVal = MTRV_RECVERRORMSG); // Error message received
+ }
+ }
+
+ return m_retVal;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // setSetting (float & param variant)
+ //
+ // Sets a float setting of the device. Only valid
+ // for serial port connections.
+ //
+ // Input
+ // mid : Message ID of message to send
+ // param : For messages that need a parameter (optional)
+ // bid : Bus ID of message to send (def 0xFF)
+ // value : Contains the float value to be used
+ //
+ // Output
+ // = MTRV_OK if an Ack message is received
+ // = MTRV_RECVERRORMSG if an error message is received
+ // = MTRV_TIMEOUT if timeout occurred
+ //
+ //
+ short CXsensMTiModule::setSetting(const unsigned char mid, const unsigned char param, const float value, const unsigned char bid)
+ {
+ unsigned char buffer[MAXMSGLEN ];
+ short msgLen;
+
+ if (m_fileOpen)
+ {
+ return (m_retVal = MTRV_INVALIDFORFILEINPUT);
+ }
+
+ if (!m_portOpen)
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ msgLen = LEN_MSGHEADER;
+ buffer[IND_PREAMBLE] = PREAMBLE;
+ buffer[IND_BID] = bid;
+ buffer[IND_MID] = mid;
+
+ if (param != 0xFF)
+ {
+ msgLen++;
+ buffer[IND_LEN] = LEN_FLOAT + 1;
+ buffer[IND_DATA0] = param;
+ }
+ else
+ {
+ buffer[IND_LEN] = LEN_FLOAT;
+ }
+
+ swapEndian((unsigned char*) &value, &buffer[msgLen], LEN_FLOAT);
+ calcChecksum(buffer, LEN_MSGHEADER + buffer[IND_LEN]);
+
+ // Send message
+ writeData(buffer, LEN_MSGHEADERCS + buffer[IND_LEN]);
+
+ // Read next received message
+ if (readMessageRaw(buffer, &msgLen) == MTRV_OK)
+ {
+ // Message received
+ if (buffer[IND_MID] == (mid + 1))
+ {
+ return (m_retVal = MTRV_OK); // Acknowledge received
+ }
+ else if (buffer[IND_MID] == MID_ERROR)
+ {
+ m_deviceError = buffer[IND_DATA0];
+ return (m_retVal = MTRV_RECVERRORMSG); // Error message received
+ }
+ }
+
+ return m_retVal;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // setSetting (float & param & store variant)
+ //
+ // Sets a float setting of the device and with the Store field.
+ // Only valid for serial port connections
+ //
+ // Input
+ // mid : Message ID of message to send
+ // param : For messages that need a parameter (optional)
+ // value : Contains the float value to be used
+ // store ; Store in non-volatile memory (1) or not (0)
+ // bid : Bus ID of message to send (def 0xFF)
+ //
+ // Output
+ // = MTRV_OK if an Ack message is received
+ // = MTRV_RECVERRORMSG if an error message is received
+ // = MTRV_TIMEOUT if timeout occurred
+ //
+ //
+ short CXsensMTiModule::setSetting(const unsigned char mid, const unsigned char param, const float value, const bool store, const unsigned char bid)
+ {
+ unsigned char buffer[MAXMSGLEN ];
+ short msgLen;
+
+ if (m_fileOpen)
+ {
+ return (m_retVal = MTRV_INVALIDFORFILEINPUT);
+ }
+
+ if (!m_portOpen)
+ {
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ msgLen = LEN_MSGHEADER;
+ buffer[IND_PREAMBLE] = PREAMBLE;
+ buffer[IND_BID] = bid;
+ buffer[IND_MID] = mid;
+
+ if (param != 0xFF)
+ {
+ msgLen++;
+ buffer[IND_LEN] = LEN_FLOAT + 2;
+ buffer[IND_DATA0] = param;
+ }
+ else
+ {
+ buffer[IND_LEN] = LEN_FLOAT + 1;
+ }
+
+ swapEndian((unsigned char*) &value, &buffer[msgLen], LEN_FLOAT);
+ buffer[msgLen + LEN_FLOAT ] = store;
+ calcChecksum(buffer, LEN_MSGHEADER + buffer[IND_LEN]);
+
+ // Send message
+ writeData(buffer, LEN_MSGHEADERCS + buffer[IND_LEN]);
+
+ // Read next received message
+ if (readMessageRaw(buffer, &msgLen) == MTRV_OK)
+ {
+ // Message received
+ if (buffer[IND_MID] == (mid + 1))
+ {
+ return (m_retVal = MTRV_OK); // Acknowledge received
+ }
+ else if (buffer[IND_MID] == MID_ERROR)
+ {
+ m_deviceError = buffer[IND_DATA0];
+ return (m_retVal = MTRV_RECVERRORMSG); // Error message received
+ }
+ }
+
+ return m_retVal;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // getDeviceMode
+ //
+ // Requests the current output mode/setting of input (file or serialport)
+ // the Outputmode, Outputsettings, DataLength & number of devices
+ // are stored in member variables of the MTComm class. These values
+ // are needed for the GetValue functions.
+ // The function optionally returns the number of devices
+ //
+ // File: expects the Configuration message at the start of the file
+ // which holds the OutputMode & OutputSettings. File position
+ // is after the first message
+ //
+ // Input
+ // Output
+ // numDevices : [optional] number of devices connected to port or
+ // found in configuration file
+ //
+ // returns MTRV_OK if the mode & settings are read
+ //
+ short CXsensMTiModule::getDeviceMode(unsigned short* numDevices)
+ {
+ unsigned char mid = 0 , data[MAXMSGLEN ];
+ short datalen;
+
+ if (numDevices != NULL)
+ {
+ *numDevices = 0;
+ }
+
+ // In case serial port is used (live device / XM or MT)
+ if (m_portOpen)
+ {
+ if (reqSetting(MID_INITBUS, data, datalen) != MTRV_OK)
+ {
+ return m_retVal;
+ }
+
+ // Retrieve outputmode + outputsettings
+ for (int i = 0 ; i < datalen / LEN_DEVICEID ; i++)
+ {
+ if (reqSetting(MID_REQOUTPUTMODE, m_storedOutputMode[BID_MT + i], BID_MT + i) != MTRV_OK)
+ {
+ return m_retVal;
+ }
+
+ if (reqSetting(MID_REQOUTPUTSETTINGS, m_storedOutputSettings[BID_MT + i], BID_MT + i) != MTRV_OK)
+ {
+ return m_retVal;
+ }
+
+ if (reqSetting(MID_REQDATALENGTH, m_storedDataLength[BID_MT + i], BID_MT + i) != MTRV_OK)
+ {
+ return m_retVal;
+ }
+ }
+
+ if (numDevices != NULL)
+ {
+ *numDevices = datalen / LEN_DEVICEID;
+ }
+
+ unsigned char masterDID[4];
+ short DIDlen;
+
+ if (reqSetting(MID_REQDID, masterDID, DIDlen) != MTRV_OK)
+ {
+ return m_retVal;
+ }
+
+ if (memcmp(masterDID, data, LEN_DEVICEID) != 0)
+ {
+ // Using an XbusMaster
+ m_storedOutputMode[0] = OUTPUTMODE_XM;
+ m_storedOutputSettings[0] = OUTPUTSETTINGS_XM;
+ m_storedDataLength[0] = LEN_SAMPLECNT;
+ }
+ else
+ {
+ m_storedOutputMode[0] = m_storedOutputMode[BID_MT ];
+ m_storedOutputSettings[0] = m_storedOutputSettings[BID_MT ];
+ m_storedDataLength[0] = m_storedDataLength[BID_MT ];
+ }
+
+ return (m_retVal = MTRV_OK);
+ }
+ else if (m_fileOpen)
+ {
+ // Configuration message should be the first message in the file
+ setFilePos(0);
+
+ if (readMessage(mid, data, datalen) == MTRV_OK)
+ {
+ if (mid == MID_CONFIGURATION)
+ {
+ unsigned short _numDevices = 0;
+ swapEndian(data + CONF_NUMDEVICES, (unsigned char*) &_numDevices, CONF_NUMDEVICESLEN);
+
+ for (unsigned int i = 0 ; i < _numDevices ; i++)
+ {
+ m_storedOutputMode[BID_MT + i] = 0;
+ swapEndian(data + CONF_OUTPUTMODE + i * CONF_BLOCKLEN, (unsigned char*)(m_storedOutputMode + BID_MT + i),
+ CONF_OUTPUTMODELEN);
+ m_storedOutputSettings[BID_MT + i] = 0;
+ swapEndian(data + CONF_OUTPUTSETTINGS + i * CONF_BLOCKLEN, (unsigned char*)(m_storedOutputSettings + BID_MT + i),
+ CONF_OUTPUTSETTINGSLEN);
+ m_storedDataLength[BID_MT + i] = 0;
+ swapEndian(data + CONF_DATALENGTH + i * CONF_BLOCKLEN, (unsigned char*)(m_storedDataLength + BID_MT + i),
+ CONF_DATALENGTHLEN);
+ }
+
+ if (numDevices != NULL)
+ {
+ *numDevices = _numDevices;
+ }
+
+ if (memcmp(data + CONF_MASTERDID, data + CONF_DID, LEN_DEVICEID) != 0)
+ {
+ // Using an XbusMaster
+ m_storedOutputMode[0] = OUTPUTMODE_XM;
+ m_storedOutputSettings[0] = OUTPUTSETTINGS_XM;
+ m_storedDataLength[0] = LEN_SAMPLECNT;
+ }
+ else
+ {
+ m_storedOutputMode[0] = m_storedOutputMode[BID_MT ];
+ m_storedOutputSettings[0] = m_storedOutputSettings[BID_MT ];
+ m_storedDataLength[0] = m_storedDataLength[BID_MT ];
+ }
+
+ return (m_retVal = MTRV_OK);
+ }
+ }
+
+ return (m_retVal = MTRV_NOTSUCCESSFUL);
+ }
+
+ return (m_retVal = MTRV_NOINPUTINITIALIZED);
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // setDeviceMode
+ //
+ // Sets the current output mode/setting of input (not for file-based
+ // inputs)
+ //
+ // Input
+ // OutputMode : OutputMode to be set in device & stored in MTComm
+ // class member variable
+ // OutputSettings : OutputSettings to be set in device & stored in
+ // MTComm class member variable
+ // Output
+ //
+ // returns MTRV_OK if the mode & settings are read
+ //
+ short CXsensMTiModule::setDeviceMode(unsigned long OutputMode, unsigned long OutputSettings, const unsigned char bid)
+ {
+ // In case serial port is used (live XM / MT)
+ if (m_portOpen)
+ {
+ // Set OutputMode
+ if (setSetting(MID_SETOUTPUTMODE, OutputMode, LEN_OUTPUTMODE, bid) != MTRV_OK)
+ {
+ return m_retVal;
+ }
+
+ if (bid == BID_MASTER || (bid == BID_MT && m_storedOutputMode[0] != OUTPUTMODE_XM))
+ {
+ m_storedOutputMode[0] = m_storedOutputMode[BID_MT ] = OutputMode;
+ }
+ else
+ {
+ m_storedOutputMode[bid] = OutputMode;
+ }
+
+ // Set OutputSettings
+ if (setSetting(MID_SETOUTPUTSETTINGS, OutputSettings, LEN_OUTPUTSETTINGS, bid) != MTRV_OK)
+ {
+ return m_retVal;
+ }
+
+ if (bid == BID_MASTER || (bid == BID_MT && m_storedOutputMode[0] != OUTPUTMODE_XM))
+ {
+ m_storedOutputSettings[0] = m_storedOutputSettings[BID_MT ] = OutputSettings;
+ }
+ else
+ {
+ m_storedOutputSettings[bid] = OutputSettings;
+ }
+
+ // Get DataLength from device
+ if (OutputMode != OUTPUTMODE_XM)
+ {
+ unsigned long value;
+
+ if (reqSetting(MID_REQDATALENGTH, value, bid) == MTRV_OK)
+ {
+ if ((bid == BID_MASTER) || ((bid == BID_MT) && (m_storedOutputMode[0] != OUTPUTMODE_XM)))
+ {
+ m_storedDataLength[0] = m_storedDataLength[BID_MT ] = value;
+ }
+ else
+ {
+ m_storedDataLength[bid] = value;
+ }
+ }
+ }
+ else
+ {
+ m_storedDataLength[0] = LEN_SAMPLECNT;
+ }
+
+ return (m_retVal = MTRV_OK);
+ }
+
+ return (m_retVal = MTRV_INVALIDFORFILEINPUT);
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // getMode
+ //
+ // Gets the output mode/setting used in MTComm class and the corresponding
+ // datalength. These variables are set by the functions GetDeviceMode,
+ // SetDeviceMode or SetMode
+ //
+ // Input
+ // Output
+ // OutputMode : OutputMode stored in MTComm class member variable
+ // OutputSettings : OutputSettings stored in MTComm class member variable
+ //
+ // returns always MTRV_OK
+ //
+ short CXsensMTiModule::getMode(unsigned long& OutputMode, unsigned long& OutputSettings, unsigned short& dataLength, const unsigned char bid)
+ {
+ unsigned char nbid = (bid == BID_MASTER) ? 0 : bid;
+ OutputMode = m_storedOutputMode[nbid];
+ OutputSettings = m_storedOutputSettings[nbid];
+ dataLength = (unsigned short) m_storedDataLength[nbid];
+ return (m_retVal = MTRV_OK);
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // setMode
+ //
+ // Sets the output mode/setting used in MTComm class. Use the function
+ // GetDeviceMode to retrieve the current values of file/device.
+ // This function will also calculate the data length field
+ //
+ // Input
+ // OutputMode : OutputMode to be stored in MTComm class member variable
+ // OutputSettings : OutputSettings to be stored in MTComm class member variable
+ // Output
+ //
+ // returns always MTRV_OK
+ //
+ short CXsensMTiModule::setMode(unsigned long OutputMode, unsigned long OutputSettings, const unsigned char bid)
+ {
+ unsigned char nbid = bid;
+
+ if (nbid == BID_MASTER)
+ {
+ nbid = 0;
+ }
+
+ m_storedOutputMode[nbid] = OutputMode;
+ m_storedOutputSettings[nbid] = OutputSettings;
+
+ if (OutputMode == INVALIDSETTINGVALUE || OutputSettings == INVALIDSETTINGVALUE)
+ {
+ m_storedDataLength[nbid] = 0;
+ }
+ else
+ {
+ unsigned short dataLength = 0;
+
+ if (OutputMode & OUTPUTMODE_MT9)
+ {
+ dataLength = ((OutputSettings & OUTPUTSETTINGS_TIMESTAMP_MASK) == OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT) ? LEN_SAMPLECNT : 0 + LEN_RAWDATA;
+ }
+ else if (OutputMode == OUTPUTMODE_XM)
+ {
+ // XbusMaster concatenates sample counter
+ dataLength = LEN_SAMPLECNT;
+ }
+ else
+ {
+ if (OutputMode & OUTPUTMODE_RAW)
+ {
+ dataLength = LEN_RAWDATA;
+ }
+ else
+ {
+ if (OutputMode & OUTPUTMODE_CALIB)
+ {
+ dataLength = LEN_CALIBDATA;
+ }
+
+ if (OutputMode & OUTPUTMODE_ORIENT)
+ {
+ switch (OutputSettings & OUTPUTSETTINGS_ORIENTMODE_MASK)
+ {
+ case OUTPUTSETTINGS_ORIENTMODE_QUATERNION:
+ dataLength += LEN_ORIENT_QUATDATA;
+ break;
+
+ case OUTPUTSETTINGS_ORIENTMODE_EULER:
+ dataLength += LEN_ORIENT_EULERDATA;
+ break;
+
+ case OUTPUTSETTINGS_ORIENTMODE_MATRIX:
+ dataLength += LEN_ORIENT_MATRIXDATA;
+ break;
+
+ default:
+ break;
+ }
+ }
+ }
+
+ switch (OutputSettings & OUTPUTSETTINGS_TIMESTAMP_MASK)
+ {
+ case OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT:
+ dataLength += LEN_SAMPLECNT;
+ break;
+
+ default:
+ break;
+ }
+ }
+
+ m_storedDataLength[nbid] = dataLength;
+ }
+
+ // If not XbusMaster store also in BID_MT
+ if (bid == BID_MASTER && OutputMode != OUTPUTMODE_XM)
+ {
+ m_storedOutputMode[BID_MT ] = m_storedOutputMode[0];
+ m_storedOutputSettings[BID_MT ] = m_storedOutputSettings[0];
+ m_storedDataLength[BID_MT ] = m_storedDataLength[0];
+ }
+
+ return (m_retVal = MTRV_OK);
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // getValue (unsigned short variant)
+ //
+ // Retrieves a unsigned short value from the data input parameter
+ // This function is valid for the following value specifiers:
+ // VALUE_RAW_TEMP
+ // VALUE_SAMPLECNT
+ //
+ // Use getDeviceMode or setMode to initialize the Outputmode
+ // and Outputsettings member variables used to retrieve the correct
+ // value
+ //
+ // Input
+ // valueSpec : Specifier of the value to be retrieved
+ // data[] : Data field of a MTData / BusData message
+ // bid : bus identifier of the device of which the
+ // value should be returned (default = BID_MT)
+ // Output
+ // value : reference to unsigned short in which the retrieved
+ // value will be returned
+ //
+ // Return value
+ // MTRV_OK : value is successfully retrieved
+ // != MTRV_OK : not successful
+ //
+ short CXsensMTiModule::getValue(const unsigned long valueSpec, unsigned short& value, const unsigned char data[], const unsigned char bid)
+ {
+ short offset = 0;
+ unsigned char nbid = bid;
+
+ if (nbid == BID_MASTER)
+ {
+ nbid = 0;
+ }
+
+ // Check for invalid mode/settings
+ if (m_storedOutputMode[nbid] == INVALIDSETTINGVALUE || m_storedOutputSettings[nbid] == INVALIDSETTINGVALUE)
+ {
+ return (m_retVal = MTRV_NOVALIDMODESPECIFIED);
+ }
+
+ // Calculate offset for XM input
+ if (m_storedOutputMode[0] == OUTPUTMODE_XM)
+ {
+ int i = 0;
+
+ while (i < nbid)
+ {
+ offset += (short) m_storedDataLength[i++];
+ }
+ }
+
+ // Check if data is unsigned short & available in data
+ m_retVal = MTRV_INVALIDVALUESPEC;
+
+ if (valueSpec == VALUE_RAW_TEMP)
+ {
+ if (m_storedOutputMode[nbid] & (OUTPUTMODE_RAW | OUTPUTMODE_MT9))
+ {
+ offset += (m_storedOutputMode[nbid] == OUTPUTMODE_MT9 && m_storedOutputSettings[nbid] == OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT) ? LEN_SAMPLECNT : 0;
+ swapEndian(data + offset + valueSpec * LEN_UNSIGSHORT * 3, (unsigned char*) &value, LEN_RAW_TEMP);
+ m_retVal = MTRV_OK;
+ }
+ }
+ else if (valueSpec == VALUE_SAMPLECNT)
+ {
+ if ((m_storedOutputSettings[nbid] & OUTPUTSETTINGS_TIMESTAMP_MASK) == OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT)
+ {
+ if (!(m_storedOutputMode[nbid] == OUTPUTMODE_MT9))
+ {
+ offset += (short) m_storedDataLength[nbid] - LEN_SAMPLECNT;
+ }
+
+ swapEndian(data + offset, (unsigned char*) &value, LEN_SAMPLECNT);
+ m_retVal = MTRV_OK;
+ }
+ }
+
+ return m_retVal;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // getValue (array of unsigned short variant)
+ //
+ // Retrieves an array of unsigned short values from the data input
+ // parameter. This function is valid for the following value specifiers:
+ // VALUE_RAW_ACC
+ // VALUE_RAW_GYR
+ // VALUE_RAW_MAG
+ //
+ // Use getDeviceMode or setMode to initialize the Outputmode
+ // and Outputsettings member variables used to retrieve the correct
+ // value
+ //
+ // Input
+ // valueSpec : Specifier of the value to be retrieved
+ // data[] : Data field of a MTData / BusData message
+ // bid : bus identifier of the device of which the
+ // value should be returned (default = BID_MT)
+ // Output
+ // value[] : pointer to array of unsigned shorts in which the
+ // retrieved values will be returned
+ //
+ // Return value
+ // MTRV_OK : value is successfully retrieved
+ // != MTRV_OK : not successful
+ //
+ short CXsensMTiModule::getValue(const unsigned long valueSpec, unsigned short value[], const unsigned char data[], const unsigned char bid)
+ {
+ short offset = 0;
+ unsigned char nbid = bid;
+
+ if (nbid == BID_MASTER)
+ {
+ nbid = 0;
+ }
+
+ // Check for invalid mode/settings
+ if (m_storedOutputMode[nbid] == INVALIDSETTINGVALUE || m_storedOutputSettings[nbid] == INVALIDSETTINGVALUE)
+ {
+ return (m_retVal = MTRV_NOVALIDMODESPECIFIED);
+ }
+
+ // Calculate offset for XM input
+ if (m_storedOutputMode[0] == OUTPUTMODE_XM)
+ {
+ int i = 0;
+
+ while (i < nbid)
+ {
+ offset += (short) m_storedDataLength[i++];
+ }
+ }
+
+ // Check if data is unsigned short, available in data & retrieve data
+ m_retVal = MTRV_INVALIDVALUESPEC;
+
+ //if (valueSpec >= VALUE_RAW_ACC && valueSpec <= VALUE_RAW_MAG)
+ if (valueSpec <= VALUE_RAW_MAG)
+ {
+ if (m_storedOutputMode[nbid] & (OUTPUTMODE_RAW | OUTPUTMODE_MT9))
+ {
+ offset += (short)(valueSpec * LEN_UNSIGSHORT * 3);
+ offset += (m_storedOutputMode[nbid] == OUTPUTMODE_MT9 && m_storedOutputSettings[nbid] == OUTPUTSETTINGS_TIMESTAMP_SAMPLECNT) ? LEN_SAMPLECNT : 0;
+
+ for (int i = 0 ; i < 3 ; i++)
+ {
+ swapEndian(data + offset + i * LEN_UNSIGSHORT, (unsigned char*) value + i * LEN_UNSIGSHORT, LEN_UNSIGSHORT);
+ }
+
+ m_retVal = MTRV_OK;
+ }
+ }
+
+ return m_retVal;
+ }
+
+ ////////////////////////////////////////////////////////////////////
+ // getValue (array of floats variant)
+ //
+ // Retrieves an array of float values from the data input parameter.
+ // This function is valid for the following value specifiers:
+ // VALUE_TEMP
+ // VALUE_CALIB_ACC
+ // VALUE_CALIB_GYR
+ // VALUE_CALIB_MAG
+ // VALUE_ORIENT_QUAT
+ // VALUE_ORIENT_EULER
+ // VALUE_ORIENT_MATRIX
+ //
+ // Use getDeviceMode or setMode to initialize the Outputmode
+ // and Outputsettings member variables used to retrieve the correct
+ // value
+ //
+ // Input
+ // valueSpec : Specifier of the value to be retrieved
+ // data[] : Data field of a MTData / BusData message
+ // bid : bus identifier of the device of which the
+ // value should be returned (default = BID_MT)
+ // Output
+ // value[] : pointer to array of floats in which the
+ // retrieved values will be returned
+ //
+ // Return value
+ // MTRV_OK : value is successfully retrieved
+ // != MTRV_OK : not successful
+ //
+ short CXsensMTiModule::getValue(const unsigned long valueSpec, float value[], const unsigned char data[], const unsigned char bid)
+ {
+ short offset = 0;
+ int nElements = 0;
+ unsigned char nbid = bid;
+
+ if (nbid == BID_MASTER)
+ {
+ nbid = 0;
+ }
+
+ // Check for invalid mode/settings
+ if (m_storedOutputMode[nbid] == INVALIDSETTINGVALUE || m_storedOutputSettings[nbid] == INVALIDSETTINGVALUE)
+ {
+ return (m_retVal = MTRV_NOVALIDMODESPECIFIED);
+ }
+
+ // Calculate offset for XM input
+ if (m_storedOutputMode[0] == OUTPUTMODE_XM)
+ {
+ int i = 0;
+
+ while (i < nbid)
+ {
+ offset += (short) m_storedDataLength[i++];
+ }
+ }
+
+ // Check if data is float & available in data
+ m_retVal = MTRV_INVALIDVALUESPEC;
+
+ if (valueSpec == VALUE_TEMP)
+ {
+ if (m_storedOutputMode[nbid] & OUTPUTMODE_TEMP)
+ {
+ nElements = LEN_TEMPDATA / LEN_FLOAT;
+ m_retVal = MTRV_OK;
+ }
+ }
+ else if (valueSpec == VALUE_CALIB_ACC)
+ {
+ offset += ((m_storedOutputMode[nbid] & OUTPUTMODE_TEMP) != 0) ? LEN_TEMPDATA : 0;
+
+ if ((m_storedOutputMode[nbid] & OUTPUTMODE_CALIB) && (m_storedOutputSettings[nbid] & OUTPUTSETTINGS_CALIBMODE_ACC_MASK) == 0)
+ {
+ nElements = LEN_CALIB_ACCDATA / LEN_FLOAT;
+ m_retVal = MTRV_OK;
+ }
+ }
+ else if (valueSpec == VALUE_CALIB_GYR)
+ {
+ offset += ((m_storedOutputMode[nbid] &