From 3d1f007e438e9c6221d27671b65d2843dcf294ec Mon Sep 17 00:00:00 2001
From: Nikolaus Vahrenkamp <vahrenkamp@kit.edu>
Date: Tue, 10 Nov 2015 10:34:16 +0100
Subject: [PATCH] removed julia preshape from robot model increased simox
version number dependency added deactivate spam in SensorActorWidget warning
---
CMakeLists.txt | 2 +-
.../robots/Armar3/ArmarIII-RightHand.xml | 39 +++++++------------
.../ArmarXPlotter/ArmarXPlotter.cpp | 8 ++--
3 files changed, 18 insertions(+), 31 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 29c32bcf0..85daf2b53 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,7 +14,7 @@ set(ARMARX_ENABLE_AUTO_CODE_FORMATTING TRUE)
armarx_project("RobotAPI")
depends_on_armarx_package(ArmarXGui "OPTIONAL")
-set(ArmarX_Simox_VERSION 2.3.9)
+set(ArmarX_Simox_VERSION 2.3.13)
add_subdirectory(source)
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml
index 204c04237..9c4c9be1f 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml
@@ -451,7 +451,7 @@
<Node name="Pinky R J1"/>
</RobotNodeSet>
- <Endeffector name="TCP R" base="Hand R Base" tcp="TCP R" gcp="GCP R">
+ <Endeffector name="TCP R" base="Hand R Base" tcp="TCP R" gcp="GCP R">
<Preshape name="Open Preshape">
<Node name="Thumb R J0" unit="radian" value="0"/>
<Node name="Thumb R J1" unit="radian" value="0"/>
@@ -464,31 +464,18 @@
<Node name="Pinky R J0" unit="radian" value="0"/>
<Node name="Pinky R J1" unit="radian" value="0"/>
</Preshape>
- <Preshape name="Close Preshape">
- <Node name="Thumb R J0" unit="radian" value="1"/>
- <Node name="Thumb R J1" unit="radian" value="1"/>
- <Node name="Index R J0" unit="radian" value="1"/>
- <Node name="Index R J1" unit="radian" value="1"/>
- <Node name="Middle R J0" unit="radian" value="1"/>
- <Node name="Middle R J1" unit="radian" value="1"/>
- <Node name="Ring R J0" unit="radian" value="1"/>
- <Node name="Ring R J1" unit="radian" value="1"/>
- <Node name="Pinky R J0" unit="radian" value="1"/>
- <Node name="Pinky R J1" unit="radian" value="1"/>
- </Preshape>
- <Preshape name="Julia Preshape">
- <Node name="Thumb R J0" unit="radian" value="0"/>
- <Node name="Thumb R J1" unit="radian" value="0"/>
- <Node name="Index R J0" unit="radian" value="0"/>
- <Node name="Index R J1" unit="radian" value="0"/>
- <Node name="Middle R J0" unit="radian" value="1.5"/>
- <Node name="Middle R J1" unit="radian" value="1.5"/>
- <Node name="Ring R J0" unit="radian" value="1.5"/>
- <Node name="Ring R J1" unit="radian" value="1.5"/>
- <Node name="Pinky R J0" unit="radian" value="0"/>
- <Node name="Pinky R J1" unit="radian" value="0"/>
- </Preshape>
-
+ <Preshape name="Close Preshape">
+ <Node name="Thumb R J0" unit="radian" value="1"/>
+ <Node name="Thumb R J1" unit="radian" value="1"/>
+ <Node name="Index R J0" unit="radian" value="1"/>
+ <Node name="Index R J1" unit="radian" value="1"/>
+ <Node name="Middle R J0" unit="radian" value="1"/>
+ <Node name="Middle R J1" unit="radian" value="1"/>
+ <Node name="Ring R J0" unit="radian" value="1"/>
+ <Node name="Ring R J1" unit="radian" value="1"/>
+ <Node name="Pinky R J0" unit="radian" value="1"/>
+ <Node name="Pinky R J1" unit="radian" value="1"/>
+ </Preshape>
<Static>
<Node name="Hand Palm 1 R"/>
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
index a0618adeb..b154267a3 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
@@ -215,7 +215,7 @@ namespace armarx
{
logstream << "Timestamp";
- for (auto& channel : selectedChannels)
+ for (auto & channel : selectedChannels)
{
logstream << "," << channel.toStdString();
}
@@ -324,7 +324,7 @@ namespace armarx
}
else
{
- ARMARX_WARNING << "uninitialized field: " << it->first;
+ ARMARX_WARNING << deactivateSpam(3) << "uninitialized field: " << it->first;
}
}
@@ -591,7 +591,7 @@ namespace armarx
// ARMARX_IMPORTANT << id;
auto dict = JSONObject::ConvertToBasicVariantMap(json, var);
- for (const auto& e : dict)
+ for (const auto & e : dict)
{
std::string key = id + "." + e.first;
// ARMARX_INFO << key << ": " << *VariantPtr::dynamicCast(e.second);
@@ -631,7 +631,7 @@ namespace armarx
{
logstream << (time - logStartTime).toMilliSecondsDouble();
- for (const auto& elem : dataMaptoAppend)
+ for (const auto & elem : dataMaptoAppend)
{
logstream << "," /*<< elem.first << ","*/ << elem.second->getOutputValueOnly();
}
--
GitLab