MovePlatformToLandmarkTest - changed node names in example graph to better...

MovePlatformToLandmarkTest - changed node names in example graph to better reflect the names in the memdb

scenarios/MovePlatformTest/startPlatformOnly.sh

-
-export CORE_PATH=../../../Core
-export GUI_PATH=../../../Gui
-export VISIONX_PATH=../..././VisionX
-export ARMAR4_PATH=../../../Armar4
-export HUMANOIDROBOTAPI_PATH=../../../RobotAPI
-export SCRIPT_PATH=$CORE_PATH/build/bin
-export SIMULATION_PATH=../../../SimulationX
-
-export CORE_BIN_PATH=$CORE_PATH/build/bin
-export GUI_BIN_PATH=$GUI_PATH/build/bin
-export VISIONX_BIN_PATH=$VISIONX_PATH/build/bin
-export ARMAR4_BIN_PATH=$ARMAR4_PATH/build/bin
-export HUMANOIDROBOTAPI_BIN_PATH=$HUMANOIDROBOTAPI_PATH/build/bin
-
-export GLOBAL_CONFIG=./configs/Global.cfg
-
-# armarx components
-#$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/PlatformUnitObserverRun --Ice.Config=$GLOBAL_CONFIG,./configs/PlatformUnitObserver.cfg &
-#$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/SystemObserverRun --Ice.Config=$GLOBAL_CONFIG &
-#$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/RobotControlRun --Ice.Config=$GLOBAL_CONFIG &
-#$SCRIPT_PATH/startApplication.sh $CORE_BIN_PATH/ConditionHandlerRun --Ice.Config=$GLOBAL_CONFIG &
-$SCRIPT_PATH/startApplication.sh $HUMANOIDROBOTAPI_BIN_PATH/MovePlatformAppRun --Ice.Config=$GLOBAL_CONFIG &

scenarios/MovePlatformToLandmarkTest/configs/MovePlatformToLandmarkExampleGraph.xml

@@ -4,13 +4,14 @@
     x/y are in mm
     for now z=rotation around z axis in radian (values from about -PI to +PI)
     -->
-    <targetLandmark>oven</targetLandmark>
+    <targetLandmark>TableWithRolls</targetLandmark>
+    <!-- frame serves as a node name -->
     <landmarkNodes>
 		<Item0>
 			<x>0</x>
 			<y>0</y>
 			<z>0</z>
-			<frame>start</frame>
+			<frame>Start</frame>
 		</Item0>
 		<Item1>
 			<x>4200</x>
@@ -28,7 +29,7 @@
 			<x>4200</x>
 			<y>4000</y>
 			<z>3</z>
-			<frame>handover</frame>
+			<frame>Handover</frame>
 		</Item3>
 		<Item4>
 			<x>3100</x>
@@ -46,39 +47,41 @@
 			<x>2600</x>
 			<y>7600</y>
 			<z>0.8</z>
-			<frame>oven</frame>
+			<frame>Oven</frame>
 		</Item6>
 		<Item7>
 			<x>3300</x>
 			<y>7150</y>
 			<z>-1.6</z>
-			<frame>table</frame>
+			<frame>TableWithRolls</frame>
 		</Item7>
 		<Item8>
 			<x>2600</x>
 			<y>9600</y>
 			<z>0.1</z>
-			<frame>sink</frame>
+			<frame>Sink</frame>
 		</Item8>
 		<Item9>
 			<x>4500</x>
 			<y>9400</y>
 			<z>0</z>
-			<frame>cupboard</frame>
+			<frame>Cupboard7Door</frame>
 		</Item9>
     </landmarkNodes>
+    <!-- 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>
-		<Item1>1-2</Item1>
-		<Item2>2-handover</Item2>
-		<Item3>2-3</Item3>
-		<Item4>3-4</Item4>
-		<Item5>3-oven</Item5>
-		<Item6>3-table</Item6>
-		<Item7>4-oven</Item7>
-		<Item8>4-table</Item8>
-		<Item9>4-sink</Item9>
-		<Item10>4-cupboard</Item10>
+		<Item0>start;1</Item0>
+		<Item1>1;2</Item1>
+		<Item2>2;Handover</Item2>
+		<Item3>2;3</Item3>
+		<Item4>3;4</Item4>
+		<Item5>3;Oven</Item5>
+		<Item6>3;TableWithRolls</Item6>
+		<Item7>4;Oven</Item7>
+		<Item8>4;TableWithRolls</Item8>
+		<Item9>4;Sink</Item9>
+		<Item10>4;Cupboard7Door</Item10>
     </landmarkEdges>
     <positionalAccuracy>10</positionalAccuracy> <!--mm-->
     <orientationalAccuracy>0.1</orientationalAccuracy> <!--rad-->

source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp

@@ -125,7 +125,7 @@ namespace armarx
         for (int i = 0; i < landmarkEdges->getSize(); i++) {
             std::string edge = landmarkEdges->getVariant(i)->getString();
             std::vector<std::string> edgeNodes;
-            boost::split(edgeNodes, edge, boost::is_any_of("-"), boost::token_compress_on);
+            boost::split(edgeNodes, edge, boost::is_any_of(";"), boost::token_compress_on);
             NodePtr left = nameToNodeMap[edgeNodes[0]];
             NodePtr right = nameToNodeMap[edgeNodes[1]];
             left->successors.push_back(right);