diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
index 6c497ad448abe57b43fbe4d4bc56153807bd6d0b..9176c4481965c7e5f9ab6e3944b0c3e1927dcd08 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
@@ -248,7 +248,7 @@ namespace armarx
removeSelectionCallbacks();
selectionNode->deselectAll();
- for (auto& e : selectedElements)
+ for (auto & e : selectedElements)
{
SoNode* n = SoSelection::getByName(SELECTION_NAME(e.layerName, e.elementName));
if (n)
@@ -288,7 +288,7 @@ namespace armarx
name = name.substr(index + strlen(SELECTION_NAME_SPLITTER));
// Check if selected element is 'selectable'
- for (auto& l : layers)
+ for (auto & l : layers)
{
std::string layer = l.first;
if (layers[layer].addedBoxVisualizations.find(name) != layers[layer].addedBoxVisualizations.end()
@@ -1083,11 +1083,21 @@ namespace armarx
// load robot
std::string filename = d.robotFile;
ArmarXDataPath::getAbsolutePath(filename, filename);
+
+ VirtualRobot::SceneObject::VisualizationType visuType = VirtualRobot::SceneObject::Full;
+ VirtualRobot::RobotIO::RobotDescription loadMode = VirtualRobot::RobotIO::eFull;
+
+ if (d.drawStyle == DrawStyle::CollisionModel)
+ {
+ visuType = VirtualRobot::SceneObject::Collision;
+ loadMode = VirtualRobot::RobotIO::eCollisionModel;
+ }
+
ARMARX_INFO << "Loading robot from " << filename;
try
{
- result = RobotIO::loadRobot(filename);
+ result = RobotIO::loadRobot(filename, loadMode);
}
catch (...)
{
@@ -1107,15 +1117,6 @@ namespace armarx
m->setOverride(false);
sep->addChild(m);
-
-
- VirtualRobot::SceneObject::VisualizationType visuType = VirtualRobot::SceneObject::Full;
-
- if (d.drawStyle == DrawStyle::CollisionModel)
- {
- visuType = VirtualRobot::SceneObject::Collision;
- }
-
boost::shared_ptr<CoinVisualization> robVisu = result->getVisualization<CoinVisualization>(visuType);
if (robVisu)
@@ -1947,7 +1948,7 @@ namespace armarx
d.layerName = layerName;
d.name = robotName;
- for (auto& it : configuration)
+ for (auto & it : configuration)
{
d.configuration[it.first] = it.second;
}
@@ -1994,7 +1995,7 @@ namespace armarx
void DebugDrawerComponent::clearAll(const Ice::Current&)
{
- for (auto& i : layers)
+ for (auto & i : layers)
{
clearLayer(i.first);
}
@@ -2037,72 +2038,72 @@ namespace armarx
Layer& layer = layers.at(layerName);
- for (const auto& i : layer.addedCoordVisualizations)
+ for (const auto & i : layer.addedCoordVisualizations)
{
removePoseVisu(layerName, i.first);
}
- for (const auto& i : layer.addedLineVisualizations)
+ for (const auto & i : layer.addedLineVisualizations)
{
removeLineVisu(layerName, i.first);
}
- for (const auto& i : layer.addedLineSetVisualizations)
+ for (const auto & i : layer.addedLineSetVisualizations)
{
removeLineSetVisu(layerName, i.first);
}
- for (const auto& i : layer.addedBoxVisualizations)
+ for (const auto & i : layer.addedBoxVisualizations)
{
removeBoxVisu(layerName, i.first);
}
- for (const auto& i : layer.addedTextVisualizations)
+ for (const auto & i : layer.addedTextVisualizations)
{
removeTextVisu(layerName, i.first);
}
- for (const auto& i : layer.addedSphereVisualizations)
+ for (const auto & i : layer.addedSphereVisualizations)
{
removeSphereVisu(layerName, i.first);
}
- for (const auto& i : layer.addedCylinderVisualizations)
+ for (const auto & i : layer.addedCylinderVisualizations)
{
removeCylinderVisu(layerName, i.first);
}
- for (const auto& i : layer.addedPointCloudVisualizations)
+ for (const auto & i : layer.addedPointCloudVisualizations)
{
removePointCloudVisu(layerName, i.first);
}
- for (const auto& i : layer.addedPolygonVisualizations)
+ for (const auto & i : layer.addedPolygonVisualizations)
{
removePolygonVisu(layerName, i.first);
}
- for (const auto& i : layer.addedTriMeshVisualizations)
+ for (const auto & i : layer.addedTriMeshVisualizations)
{
removeTriMeshVisu(layerName, i.first);
}
- for (const auto& i : layer.added24BitColoredPointCloudVisualizations)
+ for (const auto & i : layer.added24BitColoredPointCloudVisualizations)
{
remove24BitColoredPointCloudVisu(layerName, i.first);
}
- for (const auto& i : layer.addedArrowVisualizations)
+ for (const auto & i : layer.addedArrowVisualizations)
{
removeArrowVisu(layerName, i.first);
}
- for (const auto& i : layer.addedRobotVisualizations)
+ for (const auto & i : layer.addedRobotVisualizations)
{
removeRobotVisu(layerName, i.first);
}
- for (const auto& i : layer.addedCustomVisualizations)
+ for (const auto & i : layer.addedCustomVisualizations)
{
removeCustomVisu(layerName, i.first);
}
@@ -2175,74 +2176,74 @@ namespace armarx
// check for clear&remove
//(updates only contain elements to add for each layer after the last clear for this layer was executed)
//this prevents a sequence add,clear,add to result in an empty layer
- for (const auto& layer : accumulatedUpdateData.clearLayers)
+ for (const auto & layer : accumulatedUpdateData.clearLayers)
{
clearLayerQt(layer);
}
accumulatedUpdateData.clearLayers.clear();
- for (const auto& layer : accumulatedUpdateData.removeLayers)
+ for (const auto & layer : accumulatedUpdateData.removeLayers)
{
removeLayerQt(layer);
}
accumulatedUpdateData.removeLayers.clear();
//add elements
- for (auto& e : accumulatedUpdateData.coord)
+ for (auto & e : accumulatedUpdateData.coord)
{
drawCoordSystem(e.second);
}
accumulatedUpdateData.coord.clear();
- for (auto& e : accumulatedUpdateData.box)
+ for (auto & e : accumulatedUpdateData.box)
{
drawBox(e.second);
}
accumulatedUpdateData.box.clear();
- for (auto& e : accumulatedUpdateData.line)
+ for (auto & e : accumulatedUpdateData.line)
{
drawLine(e.second);
}
accumulatedUpdateData.line.clear();
- for (auto& e : accumulatedUpdateData.lineSet)
+ for (auto & e : accumulatedUpdateData.lineSet)
{
drawLineSet(e.second);
}
accumulatedUpdateData.lineSet.clear();
- for (auto& e : accumulatedUpdateData.sphere)
+ for (auto & e : accumulatedUpdateData.sphere)
{
drawSphere(e.second);
}
accumulatedUpdateData.sphere.clear();
- for (auto& e : accumulatedUpdateData.cylinder)
+ for (auto & e : accumulatedUpdateData.cylinder)
{
drawCylinder(e.second);
}
accumulatedUpdateData.cylinder.clear();
- for (auto& e : accumulatedUpdateData.text)
+ for (auto & e : accumulatedUpdateData.text)
{
drawText(e.second);
}
accumulatedUpdateData.text.clear();
- for (auto& e : accumulatedUpdateData.pointcloud)
+ for (auto & e : accumulatedUpdateData.pointcloud)
{
drawPointCloud(e.second);
}
accumulatedUpdateData.pointcloud.clear();
- for (auto& e : accumulatedUpdateData.polygons)
+ for (auto & e : accumulatedUpdateData.polygons)
{
drawPolygon(e.second);
}
accumulatedUpdateData.polygons.clear();
- for (auto& e : accumulatedUpdateData.arrows)
+ for (auto & e : accumulatedUpdateData.arrows)
{
drawArrow(e.second);
}
@@ -2254,7 +2255,7 @@ namespace armarx
}
accumulatedUpdateData.triMeshes.clear();
- for (auto& e : accumulatedUpdateData.robots)
+ for (auto & e : accumulatedUpdateData.robots)
{
ARMARX_DEBUG << "update visu / drawRobot for robot " << e.first;
ensureExistingRobotNodes(e.second);
@@ -2263,13 +2264,13 @@ namespace armarx
}
accumulatedUpdateData.robots.clear();
- for (auto& e : accumulatedUpdateData.coloredpointcloud)
+ for (auto & e : accumulatedUpdateData.coloredpointcloud)
{
drawColoredPointCloud(e.second);
}
accumulatedUpdateData.coloredpointcloud.clear();
- for (auto& e : accumulatedUpdateData.colored24Bitpointcloud)
+ for (auto & e : accumulatedUpdateData.colored24Bitpointcloud)
{
draw24BitColoredPointCloud(e.second);
}
@@ -2374,7 +2375,7 @@ namespace armarx
ScopedRecursiveLockPtr l = getScopedVisuLock();
Ice::StringSeq seq {};
- for (const auto& layer : layers)
+ for (const auto & layer : layers)
{
seq.push_back(layer.first);
}
@@ -2387,7 +2388,7 @@ namespace armarx
::armarx::LayerInformationSequence seq {};
ScopedRecursiveLockPtr l = getScopedVisuLock();
- for (const auto& layer : layers)
+ for (const auto & layer : layers)
{
int count = layer.second.addedCoordVisualizations.size() +
layer.second.addedLineVisualizations.size() +