From f3558f0aef511a8c5bca6795340fce0a24ab904f Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Fri, 29 Aug 2014 14:39:59 +0200
Subject: [PATCH] Fixed Virtual Robot includes
---
.../RobotAPI/applications/HeadIKUnit/CMakeLists.txt | 6 ++++++
.../KinematicUnitSimulation/CMakeLists.txt | 6 ++++++
.../applications/MovePlatform/CMakeLists.txt | 6 ++++++
.../MovePlatformToLandmark/CMakeLists.txt | 6 ++++++
.../applications/TCPControlUnit/CMakeLists.txt | 6 ++++++
.../applications/TCPMoverUnit/CMakeLists.txt | 6 ++++++
source/RobotAPI/core/CMakeLists.txt | 2 +-
source/RobotAPI/robotstate/RobotStateComponent.cpp | 1 +
source/RobotAPI/robotstate/SharedRobotServants.cpp | 4 ++++
source/RobotAPI/robotstate/SharedRobotServants.h | 13 +++++++++----
source/RobotAPI/robotstate/remote/CMakeLists.txt | 3 ++-
.../robotstate/remote/RobotStateObserver.cpp | 1 +
.../RobotAPI/robotstate/remote/RobotStateObserver.h | 11 ++++++++---
13 files changed, 62 insertions(+), 9 deletions(-)
diff --git a/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt b/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt
index 2062804a3..7def4d89f 100644
--- a/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt
+++ b/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt
@@ -9,6 +9,12 @@ if (Eigen3_FOUND)
${Eigen3_INCLUDE_DIR})
endif()
+if (NOT Simox_FOUND)
+ find_package(Simox 2.3.0 QUIET)
+endif()
+armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+include_directories(${Simox_INCLUDE_DIRS})
+
set(COMPONENT_LIBS RobotAPIUnits)
set(SOURCES main.cpp HeadIKUnitApp.h)
diff --git a/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt b/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt
index 11b478b49..4c74a3e44 100644
--- a/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt
+++ b/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt
@@ -8,6 +8,12 @@ if (Eigen3_FOUND)
include_directories(${Eigen3_INCLUDE_DIR})
endif()
+if (NOT Simox_FOUND)
+ find_package(Simox 2.3.0 QUIET)
+endif()
+armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+include_directories(${Simox_INCLUDE_DIRS})
+
set(COMPONENT_LIBS RobotAPIUnits)
set(SOURCES main.cpp KinematicUnitSimulationApp.h)
diff --git a/source/RobotAPI/applications/MovePlatform/CMakeLists.txt b/source/RobotAPI/applications/MovePlatform/CMakeLists.txt
index 62f9f4c1b..9c9c63e79 100644
--- a/source/RobotAPI/applications/MovePlatform/CMakeLists.txt
+++ b/source/RobotAPI/applications/MovePlatform/CMakeLists.txt
@@ -8,6 +8,12 @@ armarx_build_if(Eigen3_FOUND "Eigen3 not available")
include_directories(${Eigen3_INCLUDE_DIR})
+if (NOT Simox_FOUND)
+ find_package(Simox 2.3.0 QUIET)
+endif()
+armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+include_directories(${Simox_INCLUDE_DIRS})
+
set(COMPONENT_LIBS MovePlatform)
set(SOURCES main.cpp
diff --git a/source/RobotAPI/applications/MovePlatformToLandmark/CMakeLists.txt b/source/RobotAPI/applications/MovePlatformToLandmark/CMakeLists.txt
index a8d0c65af..a368cd102 100644
--- a/source/RobotAPI/applications/MovePlatformToLandmark/CMakeLists.txt
+++ b/source/RobotAPI/applications/MovePlatformToLandmark/CMakeLists.txt
@@ -8,6 +8,12 @@ armarx_build_if(Eigen3_FOUND "Eigen3 not available")
include_directories(${Eigen3_INCLUDE_DIR})
+if (NOT Simox_FOUND)
+ find_package(Simox 2.3.0 QUIET)
+endif()
+armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+include_directories(${Simox_INCLUDE_DIRS})
+
set(COMPONENT_LIBS MovePlatformToLandmark)
set(SOURCES main.cpp
diff --git a/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt b/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
index fe203c509..9f18a5c81 100644
--- a/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
+++ b/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
@@ -9,6 +9,12 @@ if (Eigen3_FOUND)
${Eigen3_INCLUDE_DIR})
endif()
+if (NOT Simox_FOUND)
+ find_package(Simox 2.3.0 QUIET)
+endif()
+armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+include_directories(${Simox_INCLUDE_DIRS})
+
set(COMPONENT_LIBS RobotAPIUnits)
set(SOURCES main.cpp TCPControlUnitApp.h)
diff --git a/source/RobotAPI/applications/TCPMoverUnit/CMakeLists.txt b/source/RobotAPI/applications/TCPMoverUnit/CMakeLists.txt
index 00b1e0807..5e2d27cc9 100644
--- a/source/RobotAPI/applications/TCPMoverUnit/CMakeLists.txt
+++ b/source/RobotAPI/applications/TCPMoverUnit/CMakeLists.txt
@@ -9,6 +9,12 @@ if (Eigen3_FOUND)
${Eigen3_INCLUDE_DIR})
endif()
+if (NOT Simox_FOUND)
+ find_package(Simox 2.3.0 QUIET)
+endif()
+armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+include_directories(${Simox_INCLUDE_DIRS})
+
set(COMPONENT_LIBS RobotAPIUnits)
set(SOURCES main.cpp TCPMoverUnitApp.h)
diff --git a/source/RobotAPI/core/CMakeLists.txt b/source/RobotAPI/core/CMakeLists.txt
index 434dd7ea2..840451b97 100644
--- a/source/RobotAPI/core/CMakeLists.txt
+++ b/source/RobotAPI/core/CMakeLists.txt
@@ -17,7 +17,7 @@ set(LIB_NAME RobotAPICore)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
-set(LIBS RobotAPIInterfaces RobotAPIRobotStateComponent ArmarXCoreObservers ArmarXCoreStatechart ${Simox_LIBRARIES})
+set(LIBS RobotAPIInterfaces RobotAPIRobotStateComponent ArmarXCoreObservers ArmarXCoreStatechart)
set(LIB_FILES
RobotStatechartContext.cpp
diff --git a/source/RobotAPI/robotstate/RobotStateComponent.cpp b/source/RobotAPI/robotstate/RobotStateComponent.cpp
index 5726bd529..cc50f66c1 100644
--- a/source/RobotAPI/robotstate/RobotStateComponent.cpp
+++ b/source/RobotAPI/robotstate/RobotStateComponent.cpp
@@ -25,6 +25,7 @@
#include <boost/foreach.hpp>
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
#include <boost/format.hpp>
#include <boost/foreach.hpp>
#include <Core/core/system/ArmarXDataPath.h>
diff --git a/source/RobotAPI/robotstate/SharedRobotServants.cpp b/source/RobotAPI/robotstate/SharedRobotServants.cpp
index 8cfcadad2..fe78f4a15 100644
--- a/source/RobotAPI/robotstate/SharedRobotServants.cpp
+++ b/source/RobotAPI/robotstate/SharedRobotServants.cpp
@@ -10,6 +10,10 @@
#include <VirtualRobot/Nodes/RobotNodeRevolute.h>
#include <VirtualRobot/Nodes/RobotNodePrismatic.h>
#include <VirtualRobot/RobotConfig.h>
+#include <VirtualRobot/VirtualRobot.h>
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/RobotNodeSet.h>
+
using namespace std;
using namespace VirtualRobot;
diff --git a/source/RobotAPI/robotstate/SharedRobotServants.h b/source/RobotAPI/robotstate/SharedRobotServants.h
index d73756d0a..e52797cd9 100644
--- a/source/RobotAPI/robotstate/SharedRobotServants.h
+++ b/source/RobotAPI/robotstate/SharedRobotServants.h
@@ -5,14 +5,19 @@
#include <Core/core/system/ImportExportComponent.h>
#include <RobotAPI/robotstate/remote/ArmarPose.h>
-#include <VirtualRobot/VirtualRobot.h>
-#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/RobotNodeSet.h>
-#include <VirtualRobot/Nodes/RobotNode.h>
+
#include <RobotAPI/interface/robotstate/RobotState.h>
#include <boost/thread.hpp>
+namespace VirtualRobot
+{
+ class Robot;
+ typedef boost::shared_ptr<Robot> RobotPtr;
+ class RobotNode;
+ typedef boost::shared_ptr<RobotNode> RobotNodePtr;
+}
+
namespace armarx {
// Zugriff muss mutex geschuetzt werden!
diff --git a/source/RobotAPI/robotstate/remote/CMakeLists.txt b/source/RobotAPI/robotstate/remote/CMakeLists.txt
index 5fc457af8..06d72d311 100644
--- a/source/RobotAPI/robotstate/remote/CMakeLists.txt
+++ b/source/RobotAPI/robotstate/remote/CMakeLists.txt
@@ -17,7 +17,8 @@ set(LIB_SOVERSION 0)
set(LIBS ArmarXCore ArmarXCoreObservers RobotAPIInterfaces ${Simox_LIBRARIES} )
-set(LIB_FILES ArmarPose.cpp
+set(LIB_FILES
+ ArmarPose.cpp
LinkedPose.cpp
RobotStateObserver.cpp
RemoteRobot.cpp
diff --git a/source/RobotAPI/robotstate/remote/RobotStateObserver.cpp b/source/RobotAPI/robotstate/remote/RobotStateObserver.cpp
index f7de02605..fb9d0b347 100644
--- a/source/RobotAPI/robotstate/remote/RobotStateObserver.cpp
+++ b/source/RobotAPI/robotstate/remote/RobotStateObserver.cpp
@@ -33,6 +33,7 @@
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/RobotNodeSet.h>
#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/VirtualRobot.h>
using namespace armarx;
diff --git a/source/RobotAPI/robotstate/remote/RobotStateObserver.h b/source/RobotAPI/robotstate/remote/RobotStateObserver.h
index 16c6698ee..6c375013f 100644
--- a/source/RobotAPI/robotstate/remote/RobotStateObserver.h
+++ b/source/RobotAPI/robotstate/remote/RobotStateObserver.h
@@ -35,8 +35,13 @@
#include <string>
-
-#include <VirtualRobot/VirtualRobot.h>
+namespace VirtualRobot
+{
+ class Robot;
+ typedef boost::shared_ptr<Robot> RobotPtr;
+ class RobotNode;
+ typedef boost::shared_ptr<RobotNode> RobotNodePtr;
+}
namespace armarx
{
@@ -70,7 +75,7 @@ namespace armarx
virtual PropertyDefinitionsPtr createPropertyDefinitions();
- virtual std::string getDefaultName() const { return "RobotStateObserver"; };
+ virtual std::string getDefaultName() const { return "RobotStateObserver"; }
protected:
void updateRobotModel(const NameValueMap& nameValueMap);
--
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