From 8ba53c24bad896f4fa4150873c66a9efe228f229 Mon Sep 17 00:00:00 2001
From: Markus Grotz <markus.grotz@kit.edu>
Date: Wed, 11 Nov 2015 15:48:37 +0100
Subject: [PATCH] added HeadIKUnitListener
---
source/RobotAPI/components/units/HeadIKUnit.cpp | 7 +++++++
source/RobotAPI/components/units/HeadIKUnit.h | 2 ++
source/RobotAPI/interface/units/HeadIKUnit.ice | 8 ++++++++
3 files changed, 17 insertions(+)
diff --git a/source/RobotAPI/components/units/HeadIKUnit.cpp b/source/RobotAPI/components/units/HeadIKUnit.cpp
index 653a3fd7a..8e699f85c 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.cpp
+++ b/source/RobotAPI/components/units/HeadIKUnit.cpp
@@ -28,6 +28,8 @@ namespace armarx
usingProxy("RobotStateComponent");
usingTopic(getProperty<std::string>("RobotStateTopicName").getValue());
+
+
cycleTime = getProperty<int>("CycleTime").getValue();
offeringTopic("DebugDrawerUpdates");
}
@@ -46,6 +48,9 @@ namespace armarx
localRobot = RemoteRobot::createLocalClone(robotStateComponentPrx);
+ headIKUnitListener = getTopic<armarx::HeadIKUnitListenerPrx>(getProperty<std::string>("HeadIKUnitTopicName").getValue());
+
+
//std::string robotModelFile;
//ArmarXDataPath::getAbsolutePath("Armar3/robotmodel/ArmarIII.xml", robotModelFile);
//localRobot = VirtualRobot::RobotIO::loadRobot(robotModelFile.c_str(), VirtualRobot::RobotIO::eStructure);
@@ -126,6 +131,8 @@ namespace armarx
ARMARX_DEBUG << "new Head target set: " << *globalTarget;
newTargetSet = true;
+
+ headIKUnitListener->reportHeadTargetChanged();
}
diff --git a/source/RobotAPI/components/units/HeadIKUnit.h b/source/RobotAPI/components/units/HeadIKUnit.h
index c9f137bb7..01535904d 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.h
+++ b/source/RobotAPI/components/units/HeadIKUnit.h
@@ -110,6 +110,8 @@ namespace armarx
std::string robotNodeSetName;
FramedPositionPtr targetPosition;
bool newTargetSet;
+
+ armarx::HeadIKUnitListenerPrx headIKUnitListener;
};
}
diff --git a/source/RobotAPI/interface/units/HeadIKUnit.ice b/source/RobotAPI/interface/units/HeadIKUnit.ice
index fec56ec4a..a5ac1b1a7 100644
--- a/source/RobotAPI/interface/units/HeadIKUnit.ice
+++ b/source/RobotAPI/interface/units/HeadIKUnit.ice
@@ -50,6 +50,14 @@ module armarx
* @param targetPosition in x, y, and z.
**/
void setHeadTarget(string robotNodeSetName, FramedPositionBase targetPosition);
+
+ };
+
+
+
+ interface HeadIKUnitListener
+ {
+ void reportHeadTargetChanged();
};
};
--
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