From 57d01dfce3ccb636d45c7c0e9546399d889031ba Mon Sep 17 00:00:00 2001
From: Markus Grotz <markus.grotz@kit.edu>
Date: Wed, 23 Sep 2020 10:38:51 +0200
Subject: [PATCH] update RobotToArViz
- add parameter for collision model
---
.../components/RobotToArViz/RobotToArViz.cpp | 26 +++++++++++++++++++
.../components/RobotToArViz/RobotToArViz.h | 5 ++++
2 files changed, 31 insertions(+)
diff --git a/source/RobotAPI/components/RobotToArViz/RobotToArViz.cpp b/source/RobotAPI/components/RobotToArViz/RobotToArViz.cpp
index 63311003d..05ea12147 100644
--- a/source/RobotAPI/components/RobotToArViz/RobotToArViz.cpp
+++ b/source/RobotAPI/components/RobotToArViz/RobotToArViz.cpp
@@ -38,6 +38,8 @@ namespace armarx
// defs->optional(updateFrequency, "updateFrequency", "Target number of updates per second.");
defs->defineOptionalProperty("updateFrequency", updateFrequency, "Target number of updates per second.");
+ defs->optional(gui.useCollisionModel, "UseCollisionModel", "Use the collision model for visualization");
+
defs->optional(gui.showRobotNodeFrames, "ShowRobotNodeFrames",
"If true, show frames of robot nodes (can be changed in RemoteGui).");
@@ -65,6 +67,11 @@ namespace armarx
// Initialize robot visu element.
this->robotViz = viz::Robot(robot->getName()).file("", robot->getFilename());
+ if (gui.useCollisionModel)
+ {
+ this->robotViz.useCollisionModel();
+ }
+
createRemoteGuiTab();
RemoteGui_startRunningTask();
@@ -98,6 +105,11 @@ namespace armarx
root.add(Label("Show Robot Node Frames"), {row, 0});
root.add(tab.showRobotNodeFrames, {row, 1});
row += 1;
+
+ tab.useCollisionModel.setValue(gui.useCollisionModel);
+ root.add(Label("Use Collision Model"), {row, 0});
+ root.add(tab.useCollisionModel, {row, 1});
+ row += 1;
}
RemoteGui_createTab(getName(), root, &tab);
}
@@ -109,6 +121,20 @@ namespace armarx
{
gui.showRobotNodeFrames = newShowRobotNodeFrames;
}
+
+ bool newUseCollisionmodel = tab.useCollisionModel.getValue();
+ if (newUseCollisionmodel != gui.useCollisionModel)
+ {
+ gui.useCollisionModel = newUseCollisionmodel;
+ if (newUseCollisionmodel)
+ {
+ robotViz.useCollisionModel();
+ }
+ else
+ {
+ robotViz.useFullModel();
+ }
+ }
}
diff --git a/source/RobotAPI/components/RobotToArViz/RobotToArViz.h b/source/RobotAPI/components/RobotToArViz/RobotToArViz.h
index c289de35f..ebf9ba011 100644
--- a/source/RobotAPI/components/RobotToArViz/RobotToArViz.h
+++ b/source/RobotAPI/components/RobotToArViz/RobotToArViz.h
@@ -116,6 +116,8 @@ namespace armarx
struct Tab : RemoteGui::Client::Tab
{
RemoteGui::Client::CheckBox showRobotNodeFrames;
+
+ RemoteGui::Client::CheckBox useCollisionModel;
// Todo: add spin box for scale
};
Tab tab;
@@ -123,6 +125,9 @@ namespace armarx
struct Gui
{
bool showRobotNodeFrames = false;
+
+ bool useCollisionModel = false;
+
};
Gui gui;
--
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