diff --git a/source/RobotAPI/components/ArViz/ArVizStorage.cpp b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
index 2b27537f1a3c0cd903b360b271ad7b02b94459ef..b0b29f25911e2899083979af9b94987dd7b70bc8 100644
--- a/source/RobotAPI/components/ArViz/ArVizStorage.cpp
+++ b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
@@ -169,7 +169,7 @@ namespace armarx
- viz::data::LayerUpdates armarx::ArVizStorage::pullUpdatesSince(Ice::Long revision, const Ice::Current&)
+ viz::data::LayerUpdates ArVizStorage::pullUpdatesSince(Ice::Long revision, const Ice::Current&)
{
viz::data::LayerUpdates result;
diff --git a/source/RobotAPI/components/KITProstheticHandUnit/CMakeLists.txt b/source/RobotAPI/components/KITProstheticHandUnit/CMakeLists.txt
index 92bc44f64073b1a26ceb15782207265f7bbdcad0..7becda0cb17dca65fb607f7c518a2d2a12302078 100644
--- a/source/RobotAPI/components/KITProstheticHandUnit/CMakeLists.txt
+++ b/source/RobotAPI/components/KITProstheticHandUnit/CMakeLists.txt
@@ -4,6 +4,7 @@ find_package(Qt5 COMPONENTS Core Bluetooth QUIET)
armarx_build_if(Qt5_FOUND "Qt5 Core or Bluetooth not available")
set(COMPONENT_LIBS
+ RemoteGui
RobotAPIUnits
KITProstheticHandDriver
)
diff --git a/source/RobotAPI/components/units/KinematicUnitObserver.cpp b/source/RobotAPI/components/units/KinematicUnitObserver.cpp
index c1796936e47e97e06b6a923a4ca6832bcdf81f40..1dacd798cc3feb30b0fb04b283b0d9ebb3eb2ae4 100644
--- a/source/RobotAPI/components/units/KinematicUnitObserver.cpp
+++ b/source/RobotAPI/components/units/KinematicUnitObserver.cpp
@@ -297,7 +297,7 @@ namespace armarx
if (aValueChanged || newChannel)
{
- boost::unordered_map< ::std::string, ::armarx::VariantBasePtr> map;
+ std::unordered_map< ::std::string, ::armarx::VariantBasePtr> map;
if (timestamp < 0)
{
for (const auto& it : nameValueMap)
diff --git a/source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp b/source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp
index 0ec81ab3895bc1037141ee6798c01effcbee45eb..e106a9dbb943dabd9bd23a05e9d8320b6e415b82 100644
--- a/source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp
@@ -1419,7 +1419,7 @@ namespace armarx
auto min_jerk = [&](double t, double tf, double s0, double v0, double a0, double xf = 0, double t0 = 0.0)
{
double D = tf - t0;
- BOOST_ASSERT(D != 0.0);
+ ARMARX_CHECK(D != 0.0);
double D2 = D * D;
double tau = (t - t0) / D;
double b0 = s0;
diff --git a/source/RobotAPI/libraries/ControllerUIUtility/CartesianWaypointControllerConfig/RemoteGui.cpp b/source/RobotAPI/libraries/ControllerUIUtility/CartesianWaypointControllerConfig/RemoteGui.cpp
index 92005dea9a32122b5e447d60436332286e1625dd..a568893eb8448825f471ceb44f31944e3bdab56b 100644
--- a/source/RobotAPI/libraries/ControllerUIUtility/CartesianWaypointControllerConfig/RemoteGui.cpp
+++ b/source/RobotAPI/libraries/ControllerUIUtility/CartesianWaypointControllerConfig/RemoteGui.cpp
@@ -155,28 +155,25 @@ namespace armarx::RemoteGui
.addChild(new RemoteGui::HSpacer)
);
}
-}
-namespace armarx::RemoteGui::detail::_getValue
-{
- void GetValueOutputParameter <CartesianWaypointControllerConfig, void>::call(
- CartesianWaypointControllerConfig& cfg,
- RemoteGui::ValueMap const& values, std::string const& name)
+
+ void getValueFromMap(CartesianWaypointControllerConfig& cfg,
+ RemoteGui::ValueMap const& values, std::string const& name)
{
- cfg.maxPositionAcceleration = getValue<float>(values, name + "_maxAcc_Pos");
- cfg.maxOrientationAcceleration = getValue<float>(values, name + "_maxAcc_Ori");
- cfg.maxNullspaceAcceleration = getValue<float>(values, name + "_maxAcc_Null");
+ getValueFromMap(cfg.maxPositionAcceleration, values, name + "_maxAcc_Pos");
+ getValueFromMap(cfg.maxOrientationAcceleration, values, name + "_maxAcc_Ori");
+ getValueFromMap(cfg.maxNullspaceAcceleration, values, name + "_maxAcc_Null");
- cfg.kpJointLimitAvoidance = getValue<float>(values, name + "_JointLimitAvoidance_KP");
- cfg.jointLimitAvoidanceScale = getValue<float>(values, name + "_JointLimitAvoidance_Scale");
+ getValueFromMap(cfg.kpJointLimitAvoidance, values, name + "_JointLimitAvoidance_KP");
+ getValueFromMap(cfg.jointLimitAvoidanceScale, values, name + "_JointLimitAvoidance_Scale");
- cfg.thresholdOrientationNear = getValue<float>(values, name + "_Thresholds_Ori_Near");
- cfg.thresholdOrientationReached = getValue<float>(values, name + "_Thresholds_Ori_Reached");
- cfg.thresholdPositionNear = getValue<float>(values, name + "_Thresholds_Pos_Near");
- cfg.thresholdPositionReached = getValue<float>(values, name + "_Thresholds_Pos_Reached");
+ getValueFromMap(cfg.thresholdOrientationNear, values, name + "_Thresholds_Ori_Near");
+ getValueFromMap(cfg.thresholdOrientationReached, values, name + "_Thresholds_Ori_Reached");
+ getValueFromMap(cfg.thresholdPositionNear, values, name + "_Thresholds_Pos_Near");
+ getValueFromMap(cfg.thresholdPositionReached, values, name + "_Thresholds_Pos_Reached");
- cfg.maxOriVel = getValue<float>(values, name + "_Max_vel_ori");
- cfg.maxPosVel = getValue<float>(values, name + "_Max_vel_pos");
- cfg.kpOri = getValue<float>(values, name + "_KP_ori");
- cfg.kpPos = getValue<float>(values, name + "_KP_pos");
+ getValueFromMap(cfg.maxOriVel, values, name + "_Max_vel_ori");
+ getValueFromMap(cfg.maxPosVel, values, name + "_Max_vel_pos");
+ getValueFromMap(cfg.kpOri, values, name + "_KP_ori");
+ getValueFromMap(cfg.kpPos, values, name + "_KP_pos");
}
}
diff --git a/source/RobotAPI/libraries/ControllerUIUtility/CartesianWaypointControllerConfig/RemoteGui.h b/source/RobotAPI/libraries/ControllerUIUtility/CartesianWaypointControllerConfig/RemoteGui.h
index ca43720fa07154d3067941a7f9ec496f2e43bd26..238ba2ae38f1f20aeba20604c62c86f1e432488b 100644
--- a/source/RobotAPI/libraries/ControllerUIUtility/CartesianWaypointControllerConfig/RemoteGui.h
+++ b/source/RobotAPI/libraries/ControllerUIUtility/CartesianWaypointControllerConfig/RemoteGui.h
@@ -31,15 +31,7 @@ namespace armarx::RemoteGui
detail::GroupBoxBuilder makeConfigGui(
const std::string& name,
const CartesianWaypointControllerConfig& val);
-}
-namespace armarx::RemoteGui::detail::_getValue
-{
- template<>
- struct GetValueOutputParameter <CartesianWaypointControllerConfig, void> : std::true_type
- {
- static void call(
- CartesianWaypointControllerConfig& cfg,
- RemoteGui::ValueMap const& values, std::string const& name);
- };
+ void getValueFromMap(CartesianWaypointControllerConfig& cfg,
+ RemoteGui::ValueMap const& values, std::string const& name);
}
diff --git a/source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.cpp b/source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.cpp
index fece7f9254cc646114adec271f5c931a92b47432..dc6aadb5ad0b72d8ebe19ad8e8f1b21b3a8b7d9b 100644
--- a/source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.cpp
+++ b/source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.cpp
@@ -49,16 +49,13 @@ namespace armarx::RemoteGui
return builder;
}
-}
-namespace armarx::RemoteGui::detail::_getValue
-{
- void GetValueOutputParameter <NJointCartesianWaypointControllerRuntimeConfig, void>::call(
- NJointCartesianWaypointControllerRuntimeConfig& cfg,
- RemoteGui::ValueMap const& values, std::string const& name)
+
+ void getValueFromMap(NJointCartesianWaypointControllerRuntimeConfig& cfg,
+ RemoteGui::ValueMap const& values, std::string const& name)
{
- getValue(cfg.wpCfg, values, name);
- getValue(cfg.forceThreshold, values, name + "_forceThreshold");
- getValue(cfg.forceThresholdInRobotRootZ, values, name + "_forceThresholdInRobotRootZ");
- getValue(cfg.optimizeNullspaceIfTargetWasReached, values, name + "_optimizeNullspaceIfTargetWasReached");
+ getValueFromMap(cfg.wpCfg, values, name);
+ getValueFromMap(cfg.forceThreshold, values, name + "_forceThreshold");
+ getValueFromMap(cfg.forceThresholdInRobotRootZ, values, name + "_forceThresholdInRobotRootZ");
+ getValueFromMap(cfg.optimizeNullspaceIfTargetWasReached, values, name + "_optimizeNullspaceIfTargetWasReached");
}
}
diff --git a/source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.h b/source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.h
index f06371d4fe96ec51fcafbf80fb9a999e86f697f3..f8b06a1a00c52963ff590e196ba95c97bdb3cefb 100644
--- a/source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.h
+++ b/source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.h
@@ -32,19 +32,7 @@ namespace armarx::RemoteGui
const std::string& name,
const NJointCartesianWaypointControllerRuntimeConfig& val);
- template <>
- NJointCartesianWaypointControllerRuntimeConfig getValue<NJointCartesianWaypointControllerRuntimeConfig>(
- ValueMap const& values,
- std::string const& name);
-}
-namespace armarx::RemoteGui::detail::_getValue
-{
- template<>
- struct GetValueOutputParameter <NJointCartesianWaypointControllerRuntimeConfig, void> : std::true_type
- {
- static void call(
- NJointCartesianWaypointControllerRuntimeConfig& cfg,
- RemoteGui::ValueMap const& values, std::string const& name);
- };
+ void getValueFromMap(NJointCartesianWaypointControllerRuntimeConfig& cfg,
+ RemoteGui::ValueMap const& values, std::string const& name);
}
diff --git a/source/RobotAPI/libraries/core/PIDController.cpp b/source/RobotAPI/libraries/core/PIDController.cpp
index 0b2dd67089394ee5c219ec66d919eb4d07a4f927..d3b4eb51940bfdf8dbefb2daf7809c1e9d27c7a4 100644
--- a/source/RobotAPI/libraries/core/PIDController.cpp
+++ b/source/RobotAPI/libraries/core/PIDController.cpp
@@ -26,6 +26,7 @@
#include <ArmarXCore/core/time/TimeUtil.h>
#include <RobotAPI/libraries/core/math/MathUtils.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/observers/filters/rtfilters/RTFilterBase.h>
#include <ArmarXCore/observers/filters/rtfilters/ButterworthFilter.h>
#include <memory>
diff --git a/source/RobotAPI/libraries/core/PIDController.h b/source/RobotAPI/libraries/core/PIDController.h
index 4e17ef0d016a6c12400b4192e993f4e9b10993ae..9e183e77050ab09abf3a5e1b1daa309b087eccf5 100644
--- a/source/RobotAPI/libraries/core/PIDController.h
+++ b/source/RobotAPI/libraries/core/PIDController.h
@@ -27,7 +27,6 @@
#include "MultiDimPIDController.h"
#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/observers/filters/rtfilters/RTFilterBase.h>
#include <Eigen/Core>
@@ -36,6 +35,11 @@
namespace armarx
{
+ namespace rtfilters
+ {
+ class RTFilterBase;
+ }
+
class PIDController :
public Logging
{
@@ -77,8 +81,8 @@ namespace armarx
bool firstRun;
bool limitless;
bool threadSafe = true;
- rtfilters::RTFilterBasePtr differentialFilter;
- rtfilters::RTFilterBasePtr pdOutputFilter;
+ std::shared_ptr<rtfilters::RTFilterBase> differentialFilter;
+ std::shared_ptr<rtfilters::RTFilterBase> pdOutputFilter;
private:
using ScopedRecursiveLock = std::unique_lock<std::recursive_mutex>;
using ScopedRecursiveLockPtr = std::unique_ptr<ScopedRecursiveLock>;
diff --git a/source/RobotAPI/libraries/core/math/MathUtils.h b/source/RobotAPI/libraries/core/math/MathUtils.h
index 7a7fb5c8dd21363e246ad3a45bfbcdb304640f8b..4944430b100596e3336d6feeb2b45870b5258d8c 100644
--- a/source/RobotAPI/libraries/core/math/MathUtils.h
+++ b/source/RobotAPI/libraries/core/math/MathUtils.h
@@ -22,9 +22,9 @@
#pragma once
-#include <math.h>
-#include <Eigen/Eigen>
+#include <Eigen/Core>
#include <vector>
+#include <math.h>
namespace armarx::math
{