Merge branch 'master' of https://i61wiki.itec.uka.de/git/robot-api

etc/doxygen/pages/RobotApi-Gui-plugins.dox

+/**
+ * \defgroup ArmarXGuiPlugins-RobotAPI RobotAPI GUI plugins
+ * \ingroup ArmarXGuiPlugins
+ */
\ No newline at end of file

source/RobotAPI/components/units/ForceTorqueObserver.cpp

@@ -5,6 +5,7 @@
 #include <Core/observers/checks/ConditionCheckInRange.h>
 #include <Core/observers/checks/ConditionCheckLarger.h>
 #include <Core/observers/checks/ConditionCheckSmaller.h>
+#include <Core/observers/checks/ConditionCheckEqualsWithTolerance.h>
 #include <RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h>
 #include <RobotAPI/libraries/core/observerfilters/OffsetFilter.h>
 #include <Core/observers/variant/DatafieldRef.h>
@@ -44,6 +45,7 @@ void ForceTorqueObserver::onInitObserver()
     offerConditionCheck("equals", new ConditionCheckEquals());
     offerConditionCheck("smaller", new ConditionCheckSmaller());
     offerConditionCheck("magnitudeinrange", new ConditionCheckMagnitudeInRange());
+    offerConditionCheck("approx", new ConditionCheckEqualsWithTolerance());
     offerConditionCheck("magnitudelarger", new ConditionCheckMagnitudeLarger());
     offerConditionCheck("magnitudesmaller", new ConditionCheckMagnitudeSmaller());
 

source/RobotAPI/components/units/KinematicUnitObserver.cpp

@@ -36,6 +36,7 @@
 #include <VirtualRobot/XML/RobotIO.h>
 #include <VirtualRobot/RobotNodeSet.h>
 #include <VirtualRobot/Nodes/RobotNode.h>
+#include <Core/observers/checks/ConditionCheckEqualsWithTolerance.h>
 
 using namespace armarx;
 
@@ -51,6 +52,7 @@ void KinematicUnitObserver::onInitObserver()
     offerConditionCheck("updated", new ConditionCheckUpdated());
     offerConditionCheck("equals", new ConditionCheckEquals());
     offerConditionCheck("inrange", new ConditionCheckInRange());
+    offerConditionCheck("approx", new ConditionCheckEqualsWithTolerance());
     offerConditionCheck("larger", new ConditionCheckLarger());
     offerConditionCheck("smaller", new ConditionCheckSmaller());
 

source/RobotAPI/components/units/PlatformUnitObserver.cpp

@@ -31,6 +31,7 @@
 #include <Core/observers/checks/ConditionCheckLarger.h>
 #include <Core/observers/checks/ConditionCheckSmaller.h>
 #include <Core/observers/checks/ConditionCheckValid.h>
+#include <Core/observers/checks/ConditionCheckEqualsWithTolerance.h>
 
 
 using namespace armarx;
@@ -49,6 +50,7 @@ void PlatformUnitObserver::onInitObserver()
     offerConditionCheck("updated", new ConditionCheckUpdated());
     offerConditionCheck("equals", new ConditionCheckEquals());
     offerConditionCheck("inrange", new ConditionCheckInRange());
+    offerConditionCheck("approx", new ConditionCheckEqualsWithTolerance());
     offerConditionCheck("larger", new ConditionCheckLarger());
     offerConditionCheck("smaller", new ConditionCheckSmaller());
 

source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.h

@@ -46,8 +46,18 @@ namespace armarx
     /**
       \class HandUnitGuiPlugin
       \brief With this plugin the HandUnit can be controlled.
-      \ingroup ArmarXGuiPlugins
-
+      \image html HandUnitGUI.png
+    
+      When you add the widget to the Gui, you need to specify the following parameters:
+     
+      Parameter Name   | Example Value     | Required?     | Description
+       :----------------  | :-------------:   | :-------------- |:--------------------
+      Proxy     | LeftHandUnit   | Yes | The hand unit you want to control.
+              
+      You can either select a preshape from the drop-down-menu on top or set each
+      joint individually.
+
+      \ingroup ArmarXGuiPlugins-RobotAPI
       \see HandUnitWidget
       */
     class HandUnitGuiPlugin :

source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h

@@ -49,7 +49,7 @@ namespace armarx
     /**
       \class HapticUnitGuiPlugin
       \brief With this plugin the HapticUnit can be controlled.
-      \ingroup ArmarXGuiPlugins
+      \ingroup ArmarXGuiPlugins-RobotAPI
 
       \see HapticUnitWidget
       */

source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h

@@ -67,12 +67,27 @@ namespace armarx
     class KinematicUnitConfigDialog;
 
     /**
-      \class KinematicUnitGuiPlugin
-      \brief This plugin provides a generic widget showing position and velocity of all joints. Optionally a 3d robot model can be visualized.
-      \ingroup ArmarXGuiPlugins
-
-      \see KinematicUnitWidget
-      */
+     \class KinematicUnitGuiPlugin
+     \brief This plugin provides a generic widget showing position and velocity of all joints. Optionally a 3d robot model can be visualized.
+
+     \image html KinematicUnitGUI.png
+     When you add the widget to the Gui, you need to specify the following parameters:
+     
+     Parameter Name   | Example Value     | Required?     | Description
+      :----------------  | :-------------:   | :-------------- |:--------------------
+     Robot model filepath     | $ArmarX_Core/Armar3/data/Armar3/robotmodel/ArmarIII.xml  | Yes | The robot model to use. This needs to be the same model the kinematic unit is using.
+     Robot nodeset name     | Robot          | Yes | ?
+     Kinematic unit name - Proxy | Armar3KinematicUnit | Yes | The kinematic unit you wish to observe/control. 
+     RobotState Topic Name | RobotState | ? | ?
+    
+    This plugin allows you to both observe and control a kinematic unit. All joints are listed in 
+    the table in the center of the widget. The 3D viewer shows the current state of the robot. 
+
+    On the top you can select the joint you wish to control and the control mode. You can control
+    a joint with the slider below.
+     \see KinematicUnitWidget
+    \ingroup ArmarXGuiPlugins-RobotAPI
+    */
     class KinematicUnitGuiPlugin :
             public ArmarXGuiPlugin
     {

source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h

@@ -48,14 +48,22 @@ namespace armarx
     /**
       \class PlatformUnitGuiPlugin
       \brief With this plugin the PlatformUnit can be controlled.
-      \ingroup ArmarXGuiPlugins
+      \ingroup ArmarXGuiPlugins-RobotAPI
 
       \see PlatformUnitWidget
 
-      \image html PlatformUnitGuiPlugin_widgetpng.png "The plugin's ui." width=300px
+      \image html PlatformUnitGUI.png "The plugin's ui." width=300px
             -# The current position and rotation, fields to enter a new target and a button to set the platform in motion.
-            -# A joystick like control widget to move the platform. It has two speed level. The platform does not rotate to move in a direction. Up moves the platform forward.
+            -# A joystick like control widget to move the platform. The platform does not rotate to move in a direction. Up moves the platform forward.
             -# A joystick like control widget to rotate the platform.
+            -# Be careful to set a maximum velocity before using the joysticks.
+
+     When you add the widget to the Gui, you need to specify the following parameters:
+     
+     Parameter Name   | Example Value     | Required?     | Description
+     :----------------  | :-------------:   | :-------------- |:--------------------
+     PlatformUnit - Proxy     | PlatformUnit   | Yes | The name of the platform unit.
+     Platform | Platform | Yes | The name of the platform.
       */
     class PlatformUnitGuiPlugin :
             public ArmarXGuiPlugin

source/RobotAPI/gui_plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h

@@ -60,8 +60,15 @@ namespace armarx
       \brief This plugin provides a generic widget showing a 3D model of the robot. The robot is articulated and moved according to the corresponding RemoteRobot.
       Further, DebugDrawer methods are available.
 
-      \ingroup ArmarXGuiPlugins
+      \image html RobotViewerGUI.png
 
+     When you add the widget to the Gui, you need to specify the following parameters:
+     
+     Parameter Name   | Example Value     | Required?     | Description
+     :----------------  | :-------------:   | :-------------- |:--------------------
+     Proxy     | RobotStateComponent   | Yes | The name of the robot state component.
+
+      \ingroup ArmarXGuiPlugins-RobotAPI
       \see RobotViewerWidget
       */
     class RobotViewerGuiPlugin :

source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h

@@ -32,8 +32,12 @@
 namespace armarx
 {
     /**
-     * @brief The MdiPlugin class
-     * @ingroup ArmarXGuiPlugins
+     * @brief The SensorActorWidgetPlugin offers the widgets Plotter and TCPMover.
+     * @ingroup ArmarXGuiPlugins-RobotAPI
+     * 
+     * The plotter widget allows the user to plot any sensor channel:
+     * \image Plotter.png
+     * A sensor channel can be selected for plotting by clicking the wrench button at the bottom.
      *
      * @see ArmarXPlotter
      */

source/RobotAPI/libraries/core/LinkedPose.cpp

@@ -48,6 +48,11 @@ namespace armarx {
         FramedPose(other)
     {
         this->referenceRobot = referenceRobot;
+        if(referenceRobot)
+        {
+            //ARMARX_WARNING_S << "Calling referenceRobot->ref() in cctor of LinkedPose";
+            referenceRobot->ref();
+        }
 
     }
 
@@ -56,7 +61,7 @@ namespace armarx {
         FramedPose(m, v, s, referenceRobot->getName())
     {
         referenceRobot->ref();
-        this->referenceRobot = referenceRobot;
+        this->referenceRobot = referenceRobot;        
     }
 
     LinkedPose::LinkedPose(const Eigen::Matrix4f& m, const std::string& s, const SharedRobotInterfacePrx& referenceRobot) :
@@ -189,6 +194,11 @@ namespace armarx {
         FramedVector3(source)
     {
         referenceRobot = source.referenceRobot;
+        if(referenceRobot)
+        {
+            //ARMARX_WARNING_S << "Calling referenceRobot->ref() in cctor of LinkedPose";
+            referenceRobot->ref();
+        }
     }
 
     LinkedVector3::LinkedVector3(const Eigen::Vector3f &v, const std::string &frame, const SharedRobotInterfacePrx &referenceRobot) :