Refactor...

source/RobotAPI/components/ArViz/Coin/ElementVisualizer.cpp

@@ -19,16 +19,31 @@ namespace armarx
                 transform = new SoTransform;
                 material = new SoMaterial;
 
-                seperator = new SoSeparator;
-                seperator->addChild(units);
-                seperator->addChild(transform);
-                seperator->addChild(material);
+                separator = new SoSeparator;
+                separator->addChild(units);
+                separator->addChild(transform);
+                separator->addChild(material);
+            }
+
+            void ElementVisualization::updateBase(Element const& element)
+            {
+                auto& p = element.pose;
+                transform->translation.setValue(p.x, p.y, p.z);
+                transform->rotation.setValue(p.qx, p.qy, p.qz, p.qw);
+                transform->scaleFactor.setValue(element.scale, element.scale, element.scale);
+
+                auto color = element.color;
+                const float conv = 1.0f / 255.0f;
+                SbColor coinColor(conv * color.r, conv * color.g, conv * color.b);
+                material->ambientColor.setValue(coinColor);
+                material->diffuseColor.setValue(coinColor);
+                material->transparency.setValue(1.0f - conv * color.a);
+
             }
 
             std::unique_ptr<ElementVisualization> ElementVisualizer::create(const Element& element)
             {
-                std::unique_ptr<ElementVisualization> result(createElement_());
-                result->seperator->addChild(result->getNode());
+                std::unique_ptr<ElementVisualization> result(createDerived());
                 update(element, result.get());
 
                 return result;
@@ -36,24 +51,8 @@ namespace armarx
 
             bool ElementVisualizer::update(Element const& element, ElementVisualization* visu)
             {
-                if (visu->transform)
-                {
-                    auto& p = element.pose;
-                    visu->transform->translation.setValue(p.x, p.y, p.z);
-                    visu->transform->rotation.setValue(p.qx, p.qy, p.qz, p.qw);
-                    visu->transform->scaleFactor.setValue(element.scale, element.scale, element.scale);
-                }
-                if (visu->material)
-                {
-                    auto color = element.color;
-                    const float conv = 1.0f / 255.0f;
-                    SbColor coinColor(conv * color.r, conv * color.g, conv * color.b);
-                    visu->material->ambientColor.setValue(coinColor);
-                    visu->material->diffuseColor.setValue(coinColor);
-                    visu->material->transparency.setValue(1.0f - conv * color.a);
-                }
-
-                return updateElement_(element, visu);
+                visu->updateBase(element);
+                return updateDerived(element, visu);
             }
         }
     }

source/RobotAPI/components/ArViz/Coin/ElementVisualizer.h

@@ -22,12 +22,12 @@ namespace armarx
 
                 virtual ~ElementVisualization() = default;
 
-                virtual SoNode* getNode() = 0;
+                void updateBase(Element const& element);
 
-                SoSeparator* seperator = nullptr;
-                SoUnits* units = nullptr;
-                SoTransform* transform = nullptr;
-                SoMaterial* material = nullptr;
+                SoSeparator* separator;
+                SoUnits* units;
+                SoTransform* transform;
+                SoMaterial* material;
             };
 
             template <typename NodeT>
@@ -40,11 +40,6 @@ namespace armarx
                     node = new NodeType;
                 }
 
-                NodeType* getNode() final
-                {
-                    return node;
-                }
-
                 NodeType* node;
             };
 
@@ -53,31 +48,34 @@ namespace armarx
             public:
                 virtual ~ElementVisualizer() = default;
 
-                virtual std::unique_ptr<ElementVisualization> create(Element const& element) final;
-                virtual bool update(Element const& element, ElementVisualization* visu) final;
+                std::unique_ptr<ElementVisualization> create(Element const& element);
+                bool update(Element const& element, ElementVisualization* visu);
 
-                virtual ElementVisualization* createElement_() = 0;
-                virtual bool updateElement_(Element const& element, ElementVisualization* data) = 0;
+                virtual ElementVisualization* createDerived() = 0;
+                virtual bool updateDerived(Element const& element, ElementVisualization* data) = 0;
             };
 
             template <typename DataT>
-            class TypedElementVisualizer2 : public ElementVisualizer
+            class TypedElementVisualizer : public ElementVisualizer
             {
             public:
                 using DataType = DataT;
                 using ElementType = typename DataType::ElementType;
 
-                DataType* createElement_() override
+                DataType* createDerived() final
                 {
-                    return new DataType;
+                    DataType* result = new DataType;
+                    result->separator->addChild(result->node);
+                    return result;
                 }
 
-                bool updateElement_(Element const& element_, ElementVisualization* data_) override
+                bool updateDerived(Element const& element_, ElementVisualization* data_) final
                 {
                     auto const& element = static_cast<ElementType const&>(element_);
                     auto* data = dynamic_cast<DataType*>(data_);
                     if (data)
                     {
+                        // We want to call  update with the correctly downcasted arguments
                         return data->update(element);
                     }
                     return false;

source/RobotAPI/components/ArViz/Coin/Visualizer.cpp

@@ -155,7 +155,7 @@ namespace armarx
                         case Element_ADD:
                         {
                             // Remove old element and create a new one below
-                            layer.node->removeChild(oldElement.seperator);
+                            layer.node->removeChild(oldElement.separator);
                         }
                         break;
                         case Element_UPDATE:
@@ -168,14 +168,14 @@ namespace armarx
                             else
                             {
                                 // Types are different, so we delete the old element and create a new one
-                                layer.node->removeChild(oldElement.seperator);
+                                layer.node->removeChild(oldElement.separator);
                             }
                         }
                         break;
                         case Element_DELETE:
                         {
                             layer.elements.erase(oldElementIter);
-                            layer.node->removeChild(oldElement.seperator);
+                            layer.node->removeChild(oldElement.separator);
                             continue;
                         }
                         break;
@@ -193,9 +193,9 @@ namespace armarx
                     continue;
                 }
                 auto elementVisu = visualizer.create(updatedElement);
-                if (elementVisu->seperator)
+                if (elementVisu->separator)
                 {
-                    layer.node->addChild(elementVisu->seperator);
+                    layer.node->addChild(elementVisu->separator);
                     layer.elements[updatedElement.id] = std::move(elementVisu);
                 }
                 else

source/RobotAPI/components/ArViz/Coin/VisualizerArrow.h

@@ -53,7 +53,7 @@ namespace armarx::viz::coin
         SoCone* cone;
     };
 
-    struct VisualizerArrow : TypedElementVisualizer2<VisualizationArrow>
+    struct VisualizerArrow : TypedElementVisualizer<VisualizationArrow>
     {
     };
 }

source/RobotAPI/components/ArViz/Coin/VisualizerArrowCircle.h

@@ -66,7 +66,7 @@ namespace armarx::viz::coin
         }
     };
 
-    struct VisualizerArrowCircle: TypedElementVisualizer2<VisualizationArrowCircle>
+    struct VisualizerArrowCircle: TypedElementVisualizer<VisualizationArrowCircle>
     {
     };
 }

source/RobotAPI/components/ArViz/Coin/VisualizerBox.h

@@ -21,7 +21,7 @@ namespace armarx::viz::coin
         }
     };
 
-    class VisualizerBox : public TypedElementVisualizer2<VisualizationBox>
+    class VisualizerBox : public TypedElementVisualizer<VisualizationBox>
     {
     };
 }

source/RobotAPI/components/ArViz/Coin/VisualizerCylinder.h

@@ -20,7 +20,7 @@ namespace armarx::viz::coin
         }
     };
 
-    class VisualizerCylinder : public TypedElementVisualizer2<VisualizationCylinder>
+    class VisualizerCylinder : public TypedElementVisualizer<VisualizationCylinder>
     {
     };
 }

source/RobotAPI/components/ArViz/Coin/VisualizerLine.h

@@ -43,7 +43,7 @@ namespace armarx::viz::coin
         SoCoordinate3* coordinate3;
     };
 
-    struct VisualizerLine: TypedElementVisualizer2<VisualizationLine>
+    struct VisualizerLine: TypedElementVisualizer<VisualizationLine>
     {
     };
 }

source/RobotAPI/components/ArViz/Coin/VisualizerMesh.h

@@ -131,7 +131,7 @@ namespace armarx::viz::coin
         std::vector<int32_t> matInx;
     };
 
-    struct VisualizerMesh: TypedElementVisualizer2<VisualizationMesh>
+    struct VisualizerMesh: TypedElementVisualizer<VisualizationMesh>
     {
     };
 }

source/RobotAPI/components/ArViz/Coin/VisualizerPointCloud.h

@@ -69,7 +69,7 @@ namespace armarx::viz::coin
         std::vector<SbVec3f> coords;
     };
 
-    struct VisualizerPointCloud: TypedElementVisualizer2<VisualizationPointCloud>
+    struct VisualizerPointCloud: TypedElementVisualizer<VisualizationPointCloud>
     {
 
     };

source/RobotAPI/components/ArViz/Coin/VisualizerPolygon.h

@@ -93,7 +93,7 @@ namespace armarx::viz::coin
         SoMaterial* lineMaterial;
     };
 
-    struct VisualizerPolygon : TypedElementVisualizer2<VisualizationPolygon>
+    struct VisualizerPolygon : TypedElementVisualizer<VisualizationPolygon>
     {
     };
 }

source/RobotAPI/components/ArViz/Coin/VisualizerPose.h

@@ -154,7 +154,7 @@ namespace armarx::viz::coin
         std::array<SoTransform*, 3> t2_;
     };
 
-    struct VisualizerPose: TypedElementVisualizer2<VisualizationPose>
+    struct VisualizerPose: TypedElementVisualizer<VisualizationPose>
     {
 
     };

source/RobotAPI/components/ArViz/Coin/VisualizerRobot.h

@@ -23,7 +23,7 @@ namespace armarx::viz::coin
         }
     };
 
-    struct VisualizerRobot: TypedElementVisualizer2<VisualizationRobot>
+    struct VisualizerRobot: TypedElementVisualizer<VisualizationRobot>
     {
     };
 }

source/RobotAPI/components/ArViz/Coin/VisualizerSphere.h

@@ -19,7 +19,7 @@ namespace armarx::viz::coin
         }
     };
 
-    struct VisualizerSphere: TypedElementVisualizer2<VisualizationSphere>
+    struct VisualizerSphere: TypedElementVisualizer<VisualizationSphere>
     {
 
     };

source/RobotAPI/components/ArViz/Coin/VisualizerText.h

@@ -20,7 +20,7 @@ namespace armarx::viz::coin
         }
     };
 
-    struct VisualizerText: TypedElementVisualizer2<VisualizationText>
+    struct VisualizerText: TypedElementVisualizer<VisualizationText>
     {
     };
 }