From 2428770042801d1bc2b2073faea03ab10f23f558 Mon Sep 17 00:00:00 2001
From: Andreas Boltres <andreas.boltres@student.kit.edu>
Date: Wed, 24 May 2017 17:08:36 +0200
Subject: [PATCH] DebugDrawer: caching of robot visualizations now possible.
---
.../components/DebugDrawer/DebugDrawerComponent.cpp | 9 +++++++--
.../components/DebugDrawer/DebugDrawerComponent.h | 2 +-
2 files changed, 8 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
index 2da9f8701..d9d8dcfdf 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
@@ -1266,7 +1266,12 @@ namespace armarx
try
{
- result = RobotIO::loadRobot(filename, loadMode);
+ if (loadedRobots.find(filename) == loadedRobots.end())
+ {
+ loadedRobots[filename] = RobotIO::loadRobot(filename, loadMode);
+ }
+
+ result = loadedRobots[filename]->clone(d.name);
}
catch (...)
{
@@ -2477,7 +2482,7 @@ namespace armarx
}
accumulatedUpdateData.arrows.clear();
- for (auto & e : accumulatedUpdateData.triMeshes)
+ for (auto& e : accumulatedUpdateData.triMeshes)
{
drawTriMesh(e.second);
}
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
index e79605361..cee6a1c37 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
@@ -580,7 +580,7 @@ namespace armarx
Mutex timerSensorMutex;
void removeAccumulatedData(const std::string& layerName);
-
+ std::map<std::string, VirtualRobot::RobotPtr> loadedRobots;
};
--
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