From c374713675688d5c3d082d340ea0ce592c35f6ad Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@student.kit.edu>
Date: Fri, 15 Mar 2019 16:48:27 +0100
Subject: [PATCH] Added enabled()
---
.../libraries/core/visualization/DebugDrawerTopic.cpp | 10 +++++-----
.../libraries/core/visualization/DebugDrawerTopic.h | 6 ++++++
2 files changed, 11 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.cpp b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.cpp
index a338427b7..04154b58e 100644
--- a/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.cpp
+++ b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.cpp
@@ -70,7 +70,7 @@ namespace armarx
void DebugDrawerTopic::clearAll(bool sleep)
{
- if (topic)
+ if (enabled())
{
topic->clearAll();
if (sleep)
@@ -87,7 +87,7 @@ namespace armarx
void DebugDrawerTopic::clearLayer(const std::string& layer, bool sleep)
{
- if (topic)
+ if (enabled())
{
topic->clearLayer(layer);
if (sleep)
@@ -107,7 +107,7 @@ namespace armarx
const Eigen::Vector3f& extents,
const DrawColor& color, const std::string& name, const std::string& layer)
{
- if (topic)
+ if (enabled())
{
topic->setBoxVisu(theLayer(layer), name, new Pose(new Vector3(position), new Quaternion(orientation)),
new Vector3(extents), color);
@@ -126,7 +126,7 @@ namespace armarx
void DebugDrawerTopic::drawPose(
const Eigen::Matrix4f& pose, const std::string& name, const std::string& layer)
{
- if (topic)
+ if (enabled())
{
if (poseScale >= 1 && poseScale <= 1) // squelch compiler warning that == is unsafe
{
@@ -150,7 +150,7 @@ namespace armarx
const Eigen::Vector3f& position, const Eigen::Vector3f& direction, float length,
float width, const DrawColor& color, const std::string& name, const std::string& layer)
{
- if (topic)
+ if (enabled())
{
topic->setArrowVisu(theLayer(layer), name, new armarx::Vector3(position),
new armarx::Vector3(direction), color, length, width);
diff --git a/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h
index dd8217ed2..103e9991f 100644
--- a/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h
+++ b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h
@@ -111,9 +111,15 @@ namespace armarx
const DrawColor& color, const std::string& name, const std::string& layer = "");
+ /// Indicate whether a topic is set, i.e. visualization is enabled.
+ bool enabled() const
+ {
+ return topic;
+ }
/// Indicate whether a topic is set, i.e. visualization is enabled.
operator bool() const;
+ /// Conversion operator to DebugDrawerInterfacePrx.
operator DebugDrawerInterfacePrx& ();
operator const DebugDrawerInterfacePrx& () const;
--
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