From cf1264eec4538091098ebab5e7e16d4d9f9da9a1 Mon Sep 17 00:00:00 2001
From: Eren Aksoy <eren.aksoy@kit.edu>
Date: Wed, 9 Mar 2016 09:40:30 +0100
Subject: [PATCH] RobotStateComponentName is added as an optional property..It
was hard coded
---
source/RobotAPI/components/units/ForceTorqueObserver.cpp | 6 +++---
source/RobotAPI/components/units/ForceTorqueObserver.h | 2 ++
2 files changed, 5 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.cpp b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
index 756b00b15..5118f2a2e 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.cpp
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
@@ -76,13 +76,13 @@ void ForceTorqueObserver::onInitObserver()
offerConditionCheck("magnitudelarger", new ConditionCheckMagnitudeLarger());
offerConditionCheck("magnitudesmaller", new ConditionCheckMagnitudeSmaller());
- usingProxy("RobotStateComponent");
+ usingProxy(getProperty<std::string>("RobotStateComponentName").getValue());
offeringTopic("DebugDrawerUpdates");
}
void ForceTorqueObserver::onConnectObserver()
{
-
+ robot = getProxy<RobotStateComponentInterfacePrx>(getProperty<std::string>("RobotStateComponentName").getValue());
debugDrawer = getTopic<DebugDrawerInterfacePrx>("DebugDrawerUpdates");
if (getProperty<bool>("VisualizeForce").getValue())
{
@@ -125,7 +125,7 @@ void ForceTorqueObserver::visualizerFunction()
float forceFactor = getProperty<float>("ForceVisualizerFactor").getValue();
RemoteRobot::synchronizeLocalClone(localRobot, robot);
auto channels = getAvailableChannels(false);
- for (auto& channel : channels)
+ for (auto & channel : channels)
{
if (localRobot->hasRobotNode(channel.first))
{
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.h b/source/RobotAPI/components/units/ForceTorqueObserver.h
index 8cf255be2..6e17f88e8 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.h
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.h
@@ -46,6 +46,8 @@ namespace armarx
defineOptionalProperty<int>("VisualizeForceUpdateFrequency", 20, "Frequency with which the force is visualized");
defineOptionalProperty<float>("ForceVisualizerFactor", 0.01, "Factor by which the forces are scaled to fit into 0..1 (only for visulization) ");
defineOptionalProperty<float>("MaxForceArrowLength", 150, "Length of the force visu arrow in mm");
+ defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the RobotStateComponent that should be used");
+
}
};
--
GitLab