diff --git a/source/RobotAPI/components/ArViz/CMakeLists.txt b/source/RobotAPI/components/ArViz/CMakeLists.txt
index d79d9a4ba4e3ee75d0860328997112e864c008d3..23bc568751839f9758cd09597b2b4f58b8b5e419 100644
--- a/source/RobotAPI/components/ArViz/CMakeLists.txt
+++ b/source/RobotAPI/components/ArViz/CMakeLists.txt
@@ -16,6 +16,7 @@ set(SOURCES
Client/elements/Robot.cpp
Client/elements/RobotHand.cpp
Client/drawer/ArVizDrawerBase.cpp
+ Client/ScopedClient.cpp
Coin/ElementVisualizer.cpp
@@ -65,6 +66,7 @@ set(HEADERS
Client/Layer.h
Client/Elements.h
Client/Client.h
+ Client/ScopedClient.h
Client/ClientCGALExtensions.h
Client/Color.h
diff --git a/source/RobotAPI/components/ArViz/Client/Client.h b/source/RobotAPI/components/ArViz/Client/Client.h
index cc8e7289a57f4302b65fae48574d04f8931d4bc5..71e4197cc71b0ec094ecec84b47a4e35f0a3854a 100644
--- a/source/RobotAPI/components/ArViz/Client/Client.h
+++ b/source/RobotAPI/components/ArViz/Client/Client.h
@@ -51,7 +51,7 @@ namespace armarx::viz
// ////////////////////////////////////////////////////////////////// //
//layer
- Layer layer(std::string const& name) const
+ virtual Layer layer(std::string const& name) const
{
return Layer(componentName, name);
}
diff --git a/source/RobotAPI/components/ArViz/Client/Elements.h b/source/RobotAPI/components/ArViz/Client/Elements.h
index 297a22469d52be8b7cda3c71438f6ee0617c0091..66f07992e0ba2dc0c382b3a9742a5413c9f192b6 100644
--- a/source/RobotAPI/components/ArViz/Client/Elements.h
+++ b/source/RobotAPI/components/ArViz/Client/Elements.h
@@ -122,6 +122,13 @@ namespace armarx::viz
)
: Box(name, b)
{}
+
+ Box(std::string const& id)
+ : ElementOps(id)
+ {
+ pose(Eigen::Matrix4f::Identity());
+ }
+
};
diff --git a/source/RobotAPI/components/ArViz/Client/ScopedClient.cpp b/source/RobotAPI/components/ArViz/Client/ScopedClient.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2e968ca7dd19298ac9eff6080370edb73a5138ca
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Client/ScopedClient.cpp
@@ -0,0 +1,43 @@
+/*
+ * 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/>.
+ *
+ * @author Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+
+#include "ScopedClient.h"
+
+namespace armarx::viz
+{
+
+ Layer ScopedClient::layer(std::string const& name) const
+ {
+ layers.insert(name);
+
+ return Client::layer(name);
+ }
+
+ ScopedClient::~ScopedClient()
+ {
+ for (const auto& layer : layers)
+ {
+ Client::commitDeleteLayer(layer);
+ }
+ }
+
+} // namespace armarx::viz
diff --git a/source/RobotAPI/components/ArViz/Client/ScopedClient.h b/source/RobotAPI/components/ArViz/Client/ScopedClient.h
new file mode 100644
index 0000000000000000000000000000000000000000..23271b5ba6de545b183728ba04fdaa86f7938e0a
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Client/ScopedClient.h
@@ -0,0 +1,52 @@
+/*
+ * 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/>.
+ *
+ * @author Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <set>
+
+#include "Client.h"
+
+namespace armarx::viz
+{
+ /**
+ * @brief `viz::Client` that will delete (clear) committed layers when destroyed.
+ *
+ * Note that, as a consequence, a network call be performed in the destructor.
+ *
+ * This might be useful if you have a class `MyTask` perform visualizing while performing some task,
+ * but whose visualization should be removed when the task finished.
+ * In this case, `MyTask` can have a `viz::ScopedClient` (which can be created from a regular `viz::Client`).
+ * When destructing the instance of `MyTask`, all visualization done by `MyTask` will be cleared
+ * (as `viz::ScopedClient` will go out of scope as well).
+ *
+ */
+ class ScopedClient: virtual public Client
+ {
+ public:
+ using Client::Client;
+
+ Layer layer(std::string const& name) const override;
+
+ virtual ~ScopedClient();
+
+ private:
+ mutable std::set<std::string> layers;
+ };
+} // namespace armarx::viz
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp
index 456671e79cc764fc577121082967fcc52e341361..4fcd3e452040b179aa92e8a3928d32d05abaaf60 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp
@@ -57,7 +57,7 @@ namespace armarx
controller->activateController();
}
- void VelocityControllerHelper::setTargetVelocity(const Eigen::VectorXf& cv)
+ void VelocityControllerHelper::setTargetVelocity(const Eigen::Vector6f& cv)
{
controller->setTargetVelocity(cv(0), cv(1), cv(2), cv(3), cv(4), cv(5));
}
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h
index c93de51afea1f663deda3e5f458cfe9f65acf8d7..ab47ffaccc480f999f214df3f5dbb908549f1ad7 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h
@@ -43,7 +43,7 @@ namespace armarx
void init();
- void setTargetVelocity(const Eigen::VectorXf& cv);
+ void setTargetVelocity(const Eigen::Vector6f& cv);
void setNullSpaceControl(bool enabled);
diff --git a/source/RobotAPI/libraries/armem/util/util.h b/source/RobotAPI/libraries/armem/util/util.h
index 44a32b8317022bbcee867413de19b6f6688a853b..16da9f1709528dc7b9c7d484be494a2f1e6da851 100644
--- a/source/RobotAPI/libraries/armem/util/util.h
+++ b/source/RobotAPI/libraries/armem/util/util.h
@@ -21,10 +21,11 @@
#pragma once
-#include "ArmarXCore/core/logging/Logging.h"
#include <vector>
#include <optional>
+#include "ArmarXCore/core/logging/Logging.h"
+
#include <RobotAPI/libraries/armem/core/workingmemory/Entity.h>
#include <RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h>
#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h>
diff --git a/source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.h b/source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.h
index ff1ff84535fad72d2fd3ef06e3adda8b7c9d08ba..1a73b84900971b6cafe810bedd219998362a29a4 100644
--- a/source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.h
+++ b/source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.h
@@ -49,7 +49,7 @@ namespace armarx
CartesianVelocityControllerWithRamp(CartesianVelocityControllerWithRamp&&) = default;
CartesianVelocityControllerWithRamp& operator=(CartesianVelocityControllerWithRamp&&) = default;
- [[deprecated("compued null space velocity does not match pseudo inverse svd method in simox. never use this function.")]]
+ [[deprecated("computed null space velocity does not match pseudo inverse svd method in simox. never use this function.")]]
void setCurrentJointVelocity(const Eigen::Ref<const Eigen::VectorXf>& currentJointVelocity);
void switchMode(const Eigen::VectorXf& currentJointVelocity, VirtualRobot::IKSolver::CartesianSelection mode);