diff --git a/source/RobotAPI/components/ArViz/Client/elements/RobotHand.cpp b/source/RobotAPI/components/ArViz/Client/elements/RobotHand.cpp
index ea0966ff156625fedc0c1287771a32e29b2cb9e9..b4926f0d369e93bd64897a1b8a33313986a1699d 100644
--- a/source/RobotAPI/components/ArViz/Client/elements/RobotHand.cpp
+++ b/source/RobotAPI/components/ArViz/Client/elements/RobotHand.cpp
@@ -9,8 +9,8 @@ namespace armarx::viz
RobotHand& RobotHand::fileBySide(const std::string& side, RobotInfoNodePtr robotInfo)
{
ARMARX_CHECK_NOT_NULL(robotInfo);
- RobotNameHelper nh(robotInfo, nullptr);
- return this->fileBySide(side, nh);
+ RobotNameHelperPtr nh = RobotNameHelper::Create(robotInfo, nullptr);
+ return this->fileBySide(side, *nh);
}
RobotHand& RobotHand::fileBySide(const std::string& side, const RobotNameHelper& nameHelper)
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
index bf0ae91ddc2dd48cd7368254c58cb80258d04d3f..e02312f388610108db2caccf4d81e31a80000a06 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationRobot.cpp
@@ -90,6 +90,7 @@ namespace armarx::viz::coin
bool VisualizationRobot::update(ElementType const& element)
{
IceUtil::Time time_start = IceUtil::Time::now();
+ (void) time_start;
bool robotChanged = loaded.project != element.project || loaded.filename != element.filename;
if (robotChanged)
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui b/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui
index 00e1d435e4567cca000291e074d2f566d397d144..b5dc5e5dd125a004758a383ad4c431517bd3f1d2 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidget.ui
@@ -102,10 +102,16 @@
</layout>
</item>
<item>
- <widget class="QGroupBox" name="groupBox">
+ <widget class="QGroupBox" name="layerInfoTreeGroupBox">
<property name="title">
<string>Layer Information</string>
</property>
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ <property name="checked">
+ <bool>false</bool>
+ </property>
<layout class="QVBoxLayout" name="verticalLayout_6">
<property name="leftMargin">
<number>3</number>
diff --git a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
index c893f73b6927c28cbb6db2641e890155989d6235..006be56ad97d2f3f9fa7b1947df08f002bb52d09 100644
--- a/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp
@@ -32,7 +32,7 @@
#include <ArmarXCore/observers/variant/Variant.h>
-#define ENABLE_INTROSPECTION 0
+#define ENABLE_INTROSPECTION 1
namespace armarx
@@ -93,13 +93,17 @@ namespace armarx
// Layer info tree.
connect(widget.layerTree, &QTreeWidget::currentItemChanged, this, &This::updateSelectedLayer);
+
#if ENABLE_INTROSPECTION
+ connect(widget.layerInfoTreeGroupBox, &QGroupBox::toggled, &layerInfoTree, &LayerInfoTree::setEnabled);
connect(widget.defaultShowLimitSpinBox, qOverload<int>(&QSpinBox::valueChanged),
&layerInfoTree, &LayerInfoTree::setMaxElementCountDefault);
layerInfoTree.setMaxElementCountDefault(widget.defaultShowLimitSpinBox->value());
layerInfoTree.setWidget(widget.layerInfoTree);
+ layerInfoTree.setEnabled(widget.layerInfoTreeGroupBox->isChecked());
layerInfoTree.registerVisualizerCallbacks(visualizer);
+
#endif
diff --git a/source/RobotAPI/gui-plugins/ArViz/LayerInfoTree.cpp b/source/RobotAPI/gui-plugins/ArViz/LayerInfoTree.cpp
index aeecddbef7737399b08182c9e067f1ee8e01ebc8..3245ae66c52e75bc663f5dae8128a7d102a0c6af 100644
--- a/source/RobotAPI/gui-plugins/ArViz/LayerInfoTree.cpp
+++ b/source/RobotAPI/gui-plugins/ArViz/LayerInfoTree.cpp
@@ -72,6 +72,22 @@ namespace armarx
this->maxElementCountDefault = max;
}
+ void LayerInfoTree::setEnabled(bool value)
+ {
+ if (this->enabled != value)
+ {
+ this->enabled = value;
+ if (value)
+ {
+ update();
+ }
+ else
+ {
+ clearLayerElements();
+ }
+ }
+ }
+
void LayerInfoTree::setSelectedLayer(viz::CoinLayerID id, viz::CoinLayer* layer)
{
this->layerID = id;
@@ -92,7 +108,20 @@ namespace armarx
void LayerInfoTree::update()
{
- updateLayerElements(layer->elements);
+ if (enabled && layer)
+ {
+ updateLayerElements(layer->elements);
+ }
+ }
+
+
+ void LayerInfoTree::clearLayerElements()
+ {
+ if (widget)
+ {
+ widget->clear();
+ showMoreItem = nullptr;
+ }
}
@@ -169,7 +198,8 @@ namespace armarx
int index, const std::string& name, const viz::data::ElementPtr& element)
{
QTreeWidgetItem* item = new QTreeWidgetItem(QStringList { name.c_str(), getTypeName(element).c_str() });
- item->setCheckState(0, Qt::CheckState::Unchecked);
+ // To be used when we can hide specific elements.
+ // item->setCheckState(0, Qt::CheckState::Unchecked);
widget->insertTopLevelItem(index, item);
return item;
}
@@ -300,7 +330,8 @@ namespace armarx
QTreeWidgetItem* LayerInfoTree::addJsonChild(QTreeWidgetItem* parent, const std::string& key)
{
QTreeWidgetItem* child = new QTreeWidgetItem(QStringList { key.c_str(), "" });
- child->setCheckState(0, Qt::CheckState::Unchecked);
+ // To be used when we can actually change the values (enabled = use value from GUI).
+ // child->setCheckState(0, Qt::CheckState::Unchecked);
parent->addChild(child);
return child;
diff --git a/source/RobotAPI/gui-plugins/ArViz/LayerInfoTree.h b/source/RobotAPI/gui-plugins/ArViz/LayerInfoTree.h
index eeb169e5c4cf59b12d9e5721cbd9237d28a49a5c..a5289ac8b10aa7a7d184c3e4922c26fed5dabcc4 100644
--- a/source/RobotAPI/gui-plugins/ArViz/LayerInfoTree.h
+++ b/source/RobotAPI/gui-plugins/ArViz/LayerInfoTree.h
@@ -26,6 +26,13 @@ namespace armarx
void registerVisualizerCallbacks(viz::CoinVisualizer& visualizer);
void setMaxElementCountDefault(int max);
+ /**
+ * @brief Enable or disable the layer info tree.
+ *
+ * When enabled, the tree will be filled on the first update.
+ * When disabled, the tree is cleared and will not be updated.
+ */
+ void setEnabled(bool enabled);
/// Set the selected layer.
void setSelectedLayer(viz::CoinLayerID id, viz::CoinLayer* layer);
@@ -43,6 +50,8 @@ namespace armarx
private:
+ void clearLayerElements();
+
/**
* @brief Updates the list of layer elements.
*
@@ -102,10 +111,12 @@ namespace armarx
private:
- QTreeWidget* widget;
+ QTreeWidget* widget = nullptr;
/// Connections to the current widget.
QVector<QMetaObject::Connection> widgetConnections;
+ bool enabled = true;
+
QTreeWidgetItem* showMoreItem = nullptr;
int maxElementCountDefault = 25;
int maxElementCount = maxElementCountDefault;
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
index a02b6bd1031836da23ce9617e7e5f55d7075d2d3..089bd030b541b0938f3d4f944fac4c3ce0b83440 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
@@ -25,7 +25,7 @@ namespace armarx
if (packageDataDir.empty())
{
ARMARX_WARNING << "Could not find package '" << packageName << "'.";
- throw LocalException() << "Could not find package '" << packageName << "'.";
+ // throw LocalException() << "Could not find package '" << packageName << "'.";
}
else
{
@@ -38,6 +38,10 @@ namespace armarx
std::optional<ObjectInfo> ObjectFinder::findObject(const std::string& dataset, const std::string& name) const
{
init();
+ if (!_ready())
+ {
+ return std::nullopt;
+ }
if (!dataset.empty())
{
return ObjectInfo(packageName, packageDataDir, dataset, name);
@@ -88,6 +92,10 @@ namespace armarx
std::vector<ObjectFinder::path> ObjectFinder::getDatasetDirectories() const
{
init();
+ if (!_ready())
+ {
+ return {};
+ }
const bool local = false;
std::vector<path> dirs = simox::fs::list_directory(_rootDirAbs(), local);
std::vector<path> datasetDirs;
@@ -104,6 +112,10 @@ namespace armarx
std::vector<ObjectInfo> ObjectFinder::findAllObjects(bool checkPaths) const
{
init();
+ if (!_ready())
+ {
+ return {};
+ }
const bool local = true;
std::vector<ObjectInfo> objects;
for (const path& datasetDir : simox::fs::list_directory(_rootDirAbs(), local))
@@ -135,6 +147,10 @@ namespace armarx
std::vector<ObjectInfo> ObjectFinder::findAllObjectsOfDataset(const std::string& dataset, bool checkPaths) const
{
init();
+ if (!_ready())
+ {
+ return {};
+ }
path datasetDir = _rootDirAbs() / dataset;
if (!fs::is_directory(datasetDir))
{
@@ -169,5 +185,10 @@ namespace armarx
return packageName;
}
+ bool ObjectFinder::_ready() const
+ {
+ return !packageDataDir.empty();
+ }
+
}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
index 3c56afba7a8bba669d95b3afd14438ebeaa00e9f..411edb339943cb7c2334ebfcfb6612009ee0274a 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
@@ -44,13 +44,18 @@ namespace armarx
path _rootDirAbs() const;
path _rootDirRel() const;
+ bool _ready() const;
+
private:
/// Name of package containing the object models (ArmarXObjects by default).
mutable std::string packageName;
- /// Absolute path to data directory (e.g. "/.../repos/ArmarXObjects/data").
+ /**
+ * @brief Absolute path to data directory (e.g. "/.../repos/ArmarXObjects/data").
+ * Empty if package could not be found.
+ */
mutable path packageDataDir;
};
diff --git a/source/RobotAPI/libraries/core/CMakeLists.txt b/source/RobotAPI/libraries/core/CMakeLists.txt
index 6cb265f6f7e319be9bd6e4043cc10b9ffd0fbf59..5743f098b27b9de73ed56047ee020089a046af22 100644
--- a/source/RobotAPI/libraries/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/core/CMakeLists.txt
@@ -108,6 +108,8 @@ set(LIB_HEADERS
#diffik/NaturalDiffIK.h
#diffik/SimpleDiffIK.h
+
+ json_conversions.h
)
add_subdirectory(test)
diff --git a/source/RobotAPI/libraries/core/json_conversions.h b/source/RobotAPI/libraries/core/json_conversions.h
new file mode 100644
index 0000000000000000000000000000000000000000..bccd85c6884cb75930932cec64a4480742191b20
--- /dev/null
+++ b/source/RobotAPI/libraries/core/json_conversions.h
@@ -0,0 +1,64 @@
+/*
+ * 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/>.
+ *
+ * @package RobotAPI::Core
+ * @author Christian R. G. Dreher <c.dreher@kit.edu>
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+
+#pragma once
+
+
+// Simox
+#include <SimoxUtility/json.h>
+
+// RobotAPI
+#include <RobotAPI/libraries/core/FramedPose.h>
+
+
+namespace armarx
+{
+ void to_json(nlohmann::json& j, const FramedPose& fp)
+ {
+ j = nlohmann::json
+ {
+ {"agent", fp.agent},
+ {"frame", fp.frame},
+ {"qw", fp.orientation->qw},
+ {"qx", fp.orientation->qx},
+ {"qy", fp.orientation->qy},
+ {"qz", fp.orientation->qz},
+ {"x", fp.position->x},
+ {"y", fp.position->y},
+ {"z", fp.position->z}
+ };
+ }
+
+ void from_json(const nlohmann::json& j, FramedPose& fp)
+ {
+ j.at("agent").get_to(fp.agent);
+ j.at("frame").get_to(fp.frame);
+ j.at("qw").get_to(fp.orientation->qw);
+ j.at("qx").get_to(fp.orientation->qx);
+ j.at("qy").get_to(fp.orientation->qy);
+ j.at("qz").get_to(fp.orientation->qz);
+ j.at("x").get_to(fp.position->x);
+ j.at("y").get_to(fp.position->y);
+ j.at("z").get_to(fp.position->z);
+ }
+}