Merge branch 'master' of https://i61wiki.itec.uka.de/git/robot-api

Conflicts:
	CMakeLists.txt

CMakeLists.txt

@@ -3,9 +3,7 @@
 cmake_minimum_required(VERSION 2.8)
 
 find_package("ArmarXCore" REQUIRED
-    PATHS "$ENV{HOME}/armarx/Core/build/cmake"
-        "$ENV{HOME}/armarx-install/share/cmake/ArmarXCore"
-        "/org/share/archive/SFB588_RefDist/armarx/share/cmake/ArmarXCore"
+    PATHS "$ENV{HOME}/armarx/Core/build"
 )
 
 include(${ArmarXCore_CMAKE_DIR}/ArmarXProject.cmake)
@@ -13,6 +11,8 @@ depends_on_armarx_package(ArmarXGui)
 depends_on_armarx_package(MemoryX)
 depends_on_armarx_package(VisionX)
 
+include(${ArmarXCore_USE_FILE})
+
 armarx_project("RobotAPI")
 
 add_subdirectory(source)
@@ -21,4 +21,4 @@ add_subdirectory(interface)
 install_project()
 
 
-add_subdirectory(scenarios)
\ No newline at end of file
+add_subdirectory(scenarios)

etc/cmake/UseRobotAPI.cmake

+# This file contains macros for projects depending on RobotAPI

interface/CMakeLists.txt

@@ -4,4 +4,4 @@
 
 set(ROBOTAPI_INTERFACE_DEPEND ArmarXCore)
 # generate the interface library
-armarx_interfaces_generate_library(RobotAPI 0.1.0 0 ${ROBOTAPI_INTERFACE_DEPEND})
+armarx_interfaces_generate_library(RobotAPI 0.1.0 0 "${ROBOTAPI_INTERFACE_DEPEND}")

scenarios/MovePlatformTest/configs/MovePlatformExample.xml

@@ -40,9 +40,9 @@
             <z>0</z>
         </Item0>
     </targetPositions-->
-    <positionalAccuracy>10</positionAccuracy> <!--mm-->
-    <orientationalAccuracy>0.1</orientationAccuracy> <!--rad-->
-    <timeoutMoveTo>30000</timeoutMoveTO>
+    <positionalAccuracy>10</positionalAccuracy> <!--mm-->
+    <orientationalAccuracy>0.1</orientationalAccuracy> <!--rad-->
+    <timeoutMoveTo>30000</timeoutMoveTo>
   </StateParameters>
 </MovePlatformStateChart>
 

scenarios/MovePlatformTest/configs/MovePlatformExampleCloseToTable.xml

@@ -20,9 +20,12 @@
             <z>0</z>
         </Item0>
     </targetPositions-->
-    <positionalAccuracy>10</positionAccuracy> <!--mm-->
-    <orientationalAccuracy>0.1</orientationAccuracy> <!--rad-->
-    <timeoutMoveTo>30000</timeoutMoveTO>
+    <positionalAccuracy>10</positionalAccuracy> <!--mm-->
+    <orientationalAccuracy>0.1</orientationalAccuracy> <!--rad-->
+    <timeoutMoveTo>30000</timeoutMoveTo> <!--ms-->
+    <!-- after the last target was reached, wait a certain amount of 
+         time (should be smaller than the timeout!) -->
+    <waitAfterLast>3000</waitAfterLast> <!--ms-->
   </StateParameters>
 </MovePlatformStateChart>
 

scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml

@@ -71,7 +71,7 @@
     <!-- each edge is defined as "<nodename>;<nodename>" (";" is a delimiter between names, 
          so it shouldn't appear in any node name), all edges are bidirectional between the provided nodes -->
     <landmarkEdges>
-		<Item0>start;1</Item0>
+		<Item0>Start;1</Item0>
 		<Item1>1;2</Item1>
 		<Item2>2;Handover</Item2>
 		<Item3>2;3</Item3>

source/RobotAPI/applications/ForceTorqueObserver/ForceTorqueObserverApp.h

-/**
+/*
  * This file is part of ArmarX.
  *
  * ArmarX is free software; you can redistribute it and/or modify

source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h

-/**
+/*
  * This file is part of ArmarX.
  *
  * ArmarX is free software; you can redistribute it and/or modify

source/RobotAPI/applications/HeadIKUnit/main.cpp

-/**
+/*
  * This file is part of ArmarX.
  *
  * ArmarX is free software; you can redistribute it and/or modify

source/RobotAPI/applications/MotionControl/MotionControlApp.h

-/**
+/*
  * This file is part of ArmarX.
  *
  * ArmarX is free software; you can redistribute it and/or modify

source/RobotAPI/applications/MotionControl/main.cpp

-/**
+/*
  * This file is part of ArmarX.
  *
  * ArmarX is free software; you can redistribute it and/or modify

source/RobotAPI/applications/MotionControlTest/MotionControlTestApp.h

-/**
+/*
  * This file is part of ArmarX.
  *
  * ArmarX is free software; you can redistribute it and/or modify

source/RobotAPI/applications/MotionControlTest/main.cpp

-/**
+/*
  * This file is part of ArmarX.
  *
  * ArmarX is free software; you can redistribute it and/or modify

source/RobotAPI/applications/MovePlatform/MovePlatformApp.h

-/**
+/*
  * This file is part of ArmarX.
  *
  * ArmarX is free software; you can redistribute it and/or modify

source/RobotAPI/applications/MovePlatform/main.cpp

-/**
+/*
  * This file is part of ArmarX.
  *
  * ArmarX is free software; you can redistribute it and/or modify

source/RobotAPI/applications/MovePlatformToLandmark/MovePlatformToLandmarkApp.h

-/**
+/*
  * This file is part of ArmarX.
  *
  * ArmarX is free software; you can redistribute it and/or modify

source/RobotAPI/applications/MovePlatformToLandmark/main.cpp

-/**
+/*
  * This file is part of ArmarX.
  *
  * ArmarX is free software; you can redistribute it and/or modify

source/RobotAPI/applications/TCPControlUnit/TCPControlUnitApp.h

-/**
+/*
  * This file is part of ArmarX.
  *
  * ArmarX is free software; you can redistribute it and/or modify

source/RobotAPI/applications/TCPControlUnit/main.cpp

-/**
+/*
  * This file is part of ArmarX.
  *
  * ArmarX is free software; you can redistribute it and/or modify

source/RobotAPI/core/RobotStatechartContext.cpp

-/**
+/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify