Added optional default layer

source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.cpp

@@ -38,6 +38,16 @@ namespace armarx
         setTopic(component.getTopic<DebugDrawerInterfacePrx>(TOPIC_NAME));
     }
 
+    const std::string& DebugDrawerTopic::getLayer() const
+    {
+        return layerDefault;
+    }
+
+    void DebugDrawerTopic::setLayer(const std::string& layer)
+    {
+        this->layerDefault = layer;
+    }
+
     float DebugDrawerTopic::getPoseScale() const
     {
         return poseScale;
@@ -70,6 +80,11 @@ namespace armarx
         }
     }
 
+    void DebugDrawerTopic::clearLayer(bool sleep)
+    {
+        clearLayer(layerDefault, sleep);
+    }
+
     void DebugDrawerTopic::clearLayer(const std::string& layer, bool sleep)
     {
         if (topic)
@@ -94,7 +109,7 @@ namespace armarx
     {
         if (topic)
         {
-            topic->setBoxVisu(layer, name, new Pose(new Vector3(position), new Quaternion(orientation)),
+            topic->setBoxVisu(theLayer(layer), name, new Pose(new Vector3(position), new Quaternion(orientation)),
                               new Vector3(extents), color);
         }
     }
@@ -137,7 +152,7 @@ namespace armarx
     {
         if (topic)
         {
-            topic->setArrowVisu(layer, name, new armarx::Vector3(position),
+            topic->setArrowVisu(theLayer(layer), name, new armarx::Vector3(position),
                                 new armarx::Vector3(direction), color, length, width);
         }
     }
@@ -157,6 +172,11 @@ namespace armarx
         this->sleepFor(shortSleepDuration);
     }
 
+    const std::string& DebugDrawerTopic::theLayer(const std::string& passedLayer) const
+    {
+        return passedLayer.empty() ? layerDefault : passedLayer;
+    }
+
     DebugDrawerTopic::operator bool() const
     {
         return topic;

source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h

@@ -53,6 +53,11 @@ namespace armarx
         /// Get the topic by calling getTopic([topicName]) on the given component.
         void getTopic(ManagedIceObject& component);
 
+        /// Get the default layer (used if no layer is passed to the method).
+        const std::string& getLayer() const;
+        /// Set the default layer (used if no layer is passed to the method).
+        void setLayer(const std::string& layerDefault);
+
 
         /// Get the scale for pose visualization.
         float getPoseScale() const;
@@ -72,9 +77,15 @@ namespace armarx
         /// Set the duration for "short sleeps".
         void setShortSleepDuration(const std::chrono::milliseconds& duration);
 
+
         /// Clear all layers.
         /// @param sleep If true, do a short sleep clearing.
         void clearAll(bool sleep = false);
+
+        /// Clear the (set default) layer.
+        /// @param sleep If true, do a short sleep clearing.
+        void clearLayer(bool sleep = false);
+
         /// Clear the given layer.
         /// @param sleep If true, do a short sleep clearing.
         void clearLayer(const std::string& layer, bool sleep = false);
@@ -83,20 +94,21 @@ namespace armarx
 
         void drawBox(const Eigen::Vector3f& position, const Eigen::Quaternionf& orientation,
                      const Eigen::Vector3f& extents,
-                     const DrawColor& color, const std::string& name, const std::string& layer);
+                     const DrawColor& color, const std::string& name, const std::string& layer = "");
         void drawBox(const Eigen::Matrix4f& pose, const Eigen::Vector3f& extents,
-                     const DrawColor& color, const std::string& name, const std::string& layer);
+                     const DrawColor& color, const std::string& name, const std::string& layer = "");
 
         void drawPose(const Eigen::Matrix4f& pose,
-                      const std::string& name, const std::string& layer = "pose");
+                      const std::string& name, const std::string& layer = "");
         void drawPose(const Eigen::Vector3f& pos, const Eigen::Quaternionf& ori,
-                      const std::string& name, const std::string& layer = "pose");
+                      const std::string& name, const std::string& layer = "");
+
 
         void drawArrow(const Eigen::Vector3f& position, const Eigen::Vector3f& direction,
                        float length, float width, const DrawColor& color,
-                       const std::string& name, const std::string& layer);
+                       const std::string& name, const std::string& layer = "");
         void drawArrowFromTo(const Eigen::Vector3f& from, const Eigen::Vector3f& to, float width,
-                             const DrawColor& color, const std::string& name, const std::string& layer);
+                             const DrawColor& color, const std::string& name, const std::string& layer = "");
 
 
         /// Indicate whether a topic is set, i.e. visualization is enabled.
@@ -115,6 +127,9 @@ namespace armarx
         /// Sleep for the shortSleepDuration. Useful after clearing.
         void shortSleep();
 
+        /// Get the layer to draw on. (passedLayer if not empty, otherwise layerDefault).
+        const std::string& theLayer(const std::string& passedLayer) const;
+
 
         /// The name of the debug drawer topic.
         static const std::string TOPIC_NAME;
@@ -122,6 +137,9 @@ namespace armarx
         /// The debug drawer topic.
         DebugDrawerInterfacePrx topic = nullptr;
 
+        /// The default layer (used if none is passed to the method).
+        std::string layerDefault = "debug";
+
         /// Scaling for pose visualization (1 is good when drawing in millimeters).
         float poseScale = 1;