added scenario and applications for Xsens IMU

scenarios/tests/CMakeLists.txt

-
 add_subdirectory(statecharttestscenario)
 add_subdirectory(WeissHapticSensorsUnitTest)
-
-
-
+add_subdirectory(InertialMeasurementUnit)

scenarios/tests/InertialMeasurementUnit/CMakeLists.txt

+# Add your components below as shown in the following example:
+#
+# set(SCENARIO_COMPONENTS
+#    ConditionHandler
+#    Observer
+#    PickAndPlaceComponent)
+
+set(SCENARIO_COMPONENTS
+    XsensIMUApp
+    InertialMeasurementUnitObserverApp
+    )
+
+# optional 3rd parameter: "path/to/global/config.cfg"
+armarx_scenario("InertialMeasurementUnit" "${SCENARIO_COMPONENTS}")
+
+#set(SCENARIO_CONFIGS
+#    config/ComponentName.optionalString.cfg
+#    )
+# optional 3rd parameter: "path/to/global/config.cfg"
+#armarx_scenario_from_configs("InertialMeasurementUnit" "${SCENARIO_CONFIGS}")

source/RobotAPI/applications/CMakeLists.txt

@@ -22,3 +22,6 @@ add_subdirectory(ForceTorqueUnitSimulation)
 
 
 add_subdirectory(MMMPlayer)
+
+add_subdirectory(XsensIMU)
+add_subdirectory(InertialMeasurementUnitObserver)

source/RobotAPI/applications/InertialMeasurementUnitObserver/CMakeLists.txt

+armarx_component_set_name("InertialMeasurementUnitObserverApp")
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+#
+# all include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+#    include_directories(${MyLib_INCLUDE_DIRS})
+#endif()
+
+set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers  RobotAPIUnits)
+
+set(EXE_SOURCE InertialMeasurementUnitObserverApp.h main.cpp)
+
+armarx_add_component_executable("${EXE_SOURCE}")

source/RobotAPI/applications/InertialMeasurementUnitObserver/InertialMeasurementUnitObserverApp.h

+/*
+ * 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::application::InertialMeasurementUnitObserver
+ * @author     Markus Grotz ( markus-grotz at web dot de )
+ * @date       2015
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_APPLICATION_RobotAPI_InertialMeasurementUnitObserver_H
+#define _ARMARX_APPLICATION_RobotAPI_InertialMeasurementUnitObserver_H
+
+
+#include <RobotAPI/components/units/InertialMeasurementUnitObserver.h>
+
+#include <Core/core/application/Application.h>
+#include <Core/core/Component.h>
+
+
+namespace armarx
+{
+    /**
+     * @class InertialMeasurementUnitObserverApp
+     * @brief A brief description
+     *
+     * Detailed Description
+     */
+    class InertialMeasurementUnitObserverApp :
+        virtual public armarx::Application
+    {
+        /**
+         * @see armarx::Application::setup()
+         */
+        void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
+                   Ice::PropertiesPtr properties)
+        {
+            registry->addObject( Component::create<InertialMeasurementUnitObserver>(properties) );
+        }
+    };
+}
+
+#endif

source/RobotAPI/applications/InertialMeasurementUnitObserver/main.cpp

+/*
+ * 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::application::InertialMeasurementUnitObserver
+ * @author     Markus Grotz ( markus-grotz at web dot de )
+ * @date       2015
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#include "InertialMeasurementUnitObserverApp.h"
+#include <Core/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+    armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::InertialMeasurementUnitObserverApp > ();
+    app->setName("InertialMeasurementUnitObserver");
+
+    return app->main(argc, argv);
+}

source/RobotAPI/applications/XsensIMU/CMakeLists.txt

+armarx_component_set_name("XsensIMUApp")
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+#
+# all include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+#    include_directories(${MyLib_INCLUDE_DIRS})
+#endif()
+
+set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore XsensIMU)
+
+set(EXE_SOURCE XsensIMUApp.h main.cpp)
+
+armarx_add_component_executable("${EXE_SOURCE}")

source/RobotAPI/applications/XsensIMU/XsensIMUApp.h

+/*
+ * 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::application::XsensIMU
+ * @author     Markus Grotz ( markus-grotz at web dot de )
+ * @date       2015
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_APPLICATION_RobotAPI_XsensIMU_H
+#define _ARMARX_APPLICATION_RobotAPI_XsensIMU_H
+
+
+#include <RobotAPI/libraries/drivers/XsensIMU/XsensIMU.h>
+
+#include <Core/core/application/Application.h>
+#include <Core/core/Component.h>
+
+
+namespace armarx
+{
+    /**
+     * @class XsensIMUApp
+     * @brief A brief description
+     *
+     * Detailed Description
+     */
+    class XsensIMUApp :
+        virtual public armarx::Application
+    {
+        /**
+         * @see armarx::Application::setup()
+         */
+        void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
+                   Ice::PropertiesPtr properties)
+        {
+            registry->addObject( Component::create<XsensIMU>(properties) );
+        }
+    };
+}
+
+#endif

source/RobotAPI/applications/XsensIMU/main.cpp

+/*
+ * 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::application::XsensIMU
+ * @author     Markus Grotz ( markus-grotz at web dot de )
+ * @date       2015
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#include "XsensIMUApp.h"
+#include <Core/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+    armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::XsensIMUApp > ();
+    app->setName("XsensIMU");
+
+    return app->main(argc, argv);
+}