From e6119573336c89188ce1cb509e8d0cb6aaf74654 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <waechter@kit.edu>
Date: Thu, 16 Oct 2014 18:40:12 +0200
Subject: [PATCH] Moved data files into subdirectory for unique names Adapted
all configs
---
data/{ => RobotAPI}/VariantInfo-RobotAPI.xml | 0
.../MotionControlTest/config/KinematicUnitObserver.cfg | 2 +-
.../MotionControlTest/config/KinematicUnitSimulation.cfg | 2 +-
scenarios/MotionControlTest/config/RobotStateComponent.cfg | 2 +-
scenarios/RemoteRobotTest/configs/HeadUnit.cfg | 2 +-
scenarios/RemoteRobotTest/configs/HeadUnitObserver.cfg | 2 +-
scenarios/RemoteRobotTest/configs/RobotStateComponent.cfg | 2 +-
scenarios/TCPMoverScenario/configs/ArmarXGui.cfg | 2 +-
scenarios/TCPMoverScenario/configs/HeadUnit.cfg | 2 +-
scenarios/TCPMoverScenario/configs/RobotUnit.cfg | 2 +-
scenarios/TCPMoverScenario/configs/RobotUnitObserver.cfg | 2 +-
source/RobotAPI/components/units/HeadIKUnit.cpp | 2 +-
source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp | 6 +++---
13 files changed, 14 insertions(+), 14 deletions(-)
rename data/{ => RobotAPI}/VariantInfo-RobotAPI.xml (100%)
diff --git a/data/VariantInfo-RobotAPI.xml b/data/RobotAPI/VariantInfo-RobotAPI.xml
similarity index 100%
rename from data/VariantInfo-RobotAPI.xml
rename to data/RobotAPI/VariantInfo-RobotAPI.xml
diff --git a/scenarios/MotionControlTest/config/KinematicUnitObserver.cfg b/scenarios/MotionControlTest/config/KinematicUnitObserver.cfg
index ff20d3f9f..c65656adb 100644
--- a/scenarios/MotionControlTest/config/KinematicUnitObserver.cfg
+++ b/scenarios/MotionControlTest/config/KinematicUnitObserver.cfg
@@ -60,7 +60,7 @@
# Attributes:
# - Case sensitivity: no
# - Required: yes
-ArmarX.KinematicUnitObserver.RobotFileName = /Armar4/data/robotmodel/ArmarIV.xml
+ArmarX.KinematicUnitObserver.RobotFileName = Armar4/robotmodel/ArmarIV.xml
# ArmarX.KinematicUnitObserver.RobotNodeSetName: Robot node name
diff --git a/scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg b/scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg
index 6ade9a04d..f60ff6fe4 100644
--- a/scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg
+++ b/scenarios/MotionControlTest/config/KinematicUnitSimulation.cfg
@@ -68,7 +68,7 @@
# Attributes:
# - Case sensitivity: no
# - Required: yes
-ArmarX.KinematicUnitSimulation.RobotFileName = /Armar4/data/robotmodel/ArmarIV.xml
+ArmarX.KinematicUnitSimulation.RobotFileName = Armar4/robotmodel/ArmarIV.xml
# ArmarX.KinematicUnitSimulation.RobotNodeSetName: Robot node name
diff --git a/scenarios/MotionControlTest/config/RobotStateComponent.cfg b/scenarios/MotionControlTest/config/RobotStateComponent.cfg
index ab75dab24..2ef0e94eb 100644
--- a/scenarios/MotionControlTest/config/RobotStateComponent.cfg
+++ b/scenarios/MotionControlTest/config/RobotStateComponent.cfg
@@ -1,4 +1,4 @@
-ArmarX.RobotStateComponent.RobotFileName=/Armar4/data/robotmodel/ArmarIV.xml # model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.RobotStateComponent.RobotFileName=Armar4/robotmodel/ArmarIV.xml # model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
ArmarX.RobotStateComponent.RobotNodeSetName=Robot # node set name
ArmarX.RobotStateComponent.ObjectName=RobotStateComponent # name of the ICE adapter
diff --git a/scenarios/RemoteRobotTest/configs/HeadUnit.cfg b/scenarios/RemoteRobotTest/configs/HeadUnit.cfg
index 4d5461f65..bb8a9072d 100644
--- a/scenarios/RemoteRobotTest/configs/HeadUnit.cfg
+++ b/scenarios/RemoteRobotTest/configs/HeadUnit.cfg
@@ -1,5 +1,5 @@
# test config file for KinematicUnit configured to be a Head
-ArmarX.KinematicUnitSimulation.RobotFileName=${ArmarXHome_DIR}/Armar3/data/robotmodel/ArmarIII-Head.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitSimulation.RobotFileName=Armar3/data/robotmodel/ArmarIII-Head.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
ArmarX.KinematicUnitSimulation.RobotNodeSetName=Head # node set name
ArmarX.KinematicUnitSimulation.AdapterName=HeadKinematicUnit # name of the Ice adapter
diff --git a/scenarios/RemoteRobotTest/configs/HeadUnitObserver.cfg b/scenarios/RemoteRobotTest/configs/HeadUnitObserver.cfg
index 39353728c..4e6024cdf 100644
--- a/scenarios/RemoteRobotTest/configs/HeadUnitObserver.cfg
+++ b/scenarios/RemoteRobotTest/configs/HeadUnitObserver.cfg
@@ -1,5 +1,5 @@
# test config file for KinematicUnit configured to be a Head
-ArmarX.KinematicUnitObserver.RobotFileName=${ArmarXHome_DIR}/Armar3/data/robotmodel/ArmarIII-Head.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitObserver.RobotFileName=Armar3/data/robotmodel/ArmarIII-Head.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
ArmarX.KinematicUnitObserver.RobotNodeSetName=Head # node set name
ArmarX.KinematicUnitObserver.AdapterName=HeadKinematicUnitObserver # name of the Ice adapter
diff --git a/scenarios/RemoteRobotTest/configs/RobotStateComponent.cfg b/scenarios/RemoteRobotTest/configs/RobotStateComponent.cfg
index 46260981c..d1c56fea0 100644
--- a/scenarios/RemoteRobotTest/configs/RobotStateComponent.cfg
+++ b/scenarios/RemoteRobotTest/configs/RobotStateComponent.cfg
@@ -1,5 +1,5 @@
# test config file for KinematicUnit configured to be a Head
-ArmarX.RobotStateComponent.RobotFileName=${ArmarXHome_DIR}/Armar3/data/robotmodel/ArmarIII-LeftArm.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.RobotStateComponent.RobotFileName=Armar3/data/robotmodel/ArmarIII-LeftArm.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
ArmarX.RobotStateComponent.RobotNodeSetName=LeftArm # node set name
ArmarX.RobotStateComponent.AdapterName=RobotStateComponent # name of the Ice adapter
diff --git a/scenarios/TCPMoverScenario/configs/ArmarXGui.cfg b/scenarios/TCPMoverScenario/configs/ArmarXGui.cfg
index 510feb9a8..5b3fa85c7 100644
--- a/scenarios/TCPMoverScenario/configs/ArmarXGui.cfg
+++ b/scenarios/TCPMoverScenario/configs/ArmarXGui.cfg
@@ -5,7 +5,7 @@ ArmarX.DisableLogging=False
ArmarX.KinematicUnitGuiPlugin.MinimumLoggingLevel=Info
-ArmarX.KinematicUnitGuiPlugin.RobotFileName=${ArmarXHome_DIR}/Armar4/data/robotmodel/ArmarIV.xml
+ArmarX.KinematicUnitGuiPlugin.RobotFileName=Armar4/robotmodel/ArmarIV.xml
ArmarX.KinematicUnitGuiPlugin.RobotNodeSetName=Robot
ArmarX.KinematicUnitGuiPlugin.KinematicUnitName=RobotKinematicUnit
#ArmarX.MdiPlugin.Profile=TCPMover
diff --git a/scenarios/TCPMoverScenario/configs/HeadUnit.cfg b/scenarios/TCPMoverScenario/configs/HeadUnit.cfg
index fdc083485..950a3fc0d 100644
--- a/scenarios/TCPMoverScenario/configs/HeadUnit.cfg
+++ b/scenarios/TCPMoverScenario/configs/HeadUnit.cfg
@@ -1,6 +1,6 @@
# test config file for KinematicUnit configured to be a Head
-ArmarX.KinematicUnitSimulation.RobotFileName=${ArmarXHome_DIR}/Armar4/data/robotmodel/ArmarIV.xml
+ArmarX.KinematicUnitSimulation.RobotFileName=Armar4/robotmodel/ArmarIV.xml
ArmarX.KinematicUnitSimulation.RobotNodeSetName=Robot # node set name vorher Head
ArmarX.KinematicUnitSimulation.AdapterName=RobotKinematicUnit # name of the Ice adapter vorher HeadKinematicUnit
diff --git a/scenarios/TCPMoverScenario/configs/RobotUnit.cfg b/scenarios/TCPMoverScenario/configs/RobotUnit.cfg
index 570dc025f..d77b04851 100644
--- a/scenarios/TCPMoverScenario/configs/RobotUnit.cfg
+++ b/scenarios/TCPMoverScenario/configs/RobotUnit.cfg
@@ -1,6 +1,6 @@
# A test config file for KinematicUnit configured to be a Head
-ArmarX.KinematicUnitSimulation.RobotFileName=${ArmarXHome_DIR}/Armar4/data/robotmodel/ArmarIV.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitSimulation.RobotFileName=Armar4/robotmodel/ArmarIV.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
ArmarX.KinematicUnitSimulation.RobotNodeSetName=Robot # node set name vorher Head
ArmarX.KinematicUnitSimulation.AdapterName=RobotKinematicUnit # name of the Ice adapter vorher HeadKinematicUnit
diff --git a/scenarios/TCPMoverScenario/configs/RobotUnitObserver.cfg b/scenarios/TCPMoverScenario/configs/RobotUnitObserver.cfg
index 9b84969c5..887470087 100644
--- a/scenarios/TCPMoverScenario/configs/RobotUnitObserver.cfg
+++ b/scenarios/TCPMoverScenario/configs/RobotUnitObserver.cfg
@@ -1,5 +1,5 @@
# test config file for KinematicUnit configured to be a Head
-ArmarX.KinematicUnitObserver.RobotFileName=${ArmarXHome_DIR}/Armar4/data/robotmodel/ArmarIV.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
+ArmarX.KinematicUnitObserver.RobotFileName=Armar4/robotmodel/ArmarIV.xml # (absolut path required) model XML file path containing a VirtualRobot RobotNodeSet that defines the joints
ArmarX.KinematicUnitObserver.RobotNodeSetName=Robot # node set name
ArmarX.KinematicUnitObserver.AdapterName=RobotKinematicUnitObserver # name of the Ice adapter
diff --git a/source/RobotAPI/components/units/HeadIKUnit.cpp b/source/RobotAPI/components/units/HeadIKUnit.cpp
index 8be25d158..3cb080ad5 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.cpp
+++ b/source/RobotAPI/components/units/HeadIKUnit.cpp
@@ -44,7 +44,7 @@ namespace armarx
//std::string robotModelFile;
- //ArmarXDataPath::getAbsolutePath("Armar3/data/robotmodel/ArmarIII.xml", robotModelFile);
+ //ArmarXDataPath::getAbsolutePath("data/Armar3/robotmodel/ArmarIII.xml", robotModelFile);
//localRobot = VirtualRobot::RobotIO::loadRobot(robotModelFile.c_str(), VirtualRobot::RobotIO::eStructure);
//VirtualRobot::RobotPtr robotSnapshot(new RemoteRobot(remoteRobotPrx));
//localRobot->setConfig(robotSnapshot->getConfig());
diff --git a/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp b/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
index 2a7e0d771..eae6c79d0 100644
--- a/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
+++ b/source/RobotAPI/statecharts/motioncontrol/MotionControl.cpp
@@ -500,8 +500,8 @@ void CalculateJointAngleConfiguration::run()
// TODO: with the following line, the IK doesn't find a solution, so this terrible hack must be used. Fix it!!!
//VirtualRobot::RobotPtr robot = robotPtr->clone("CalculateTCPPoseClone");
//std::string robotModelFile;
- //ArmarXDataPath::getAbsolutePath("Armar4/data/Armar4/ArmarIV.xml", robotModelFile);
- //ArmarXDataPath::getAbsolutePath("Armar3/data/robotmodel/ArmarIII.xml", robotModelFile);
+ //ArmarXDataPath::getAbsolutePath("Armar4/robotmodel/ArmarIV.xml", robotModelFile);
+ //ArmarXDataPath::getAbsolutePath("data/Armar3/robotmodel/ArmarIII.xml", robotModelFile);
//VirtualRobot::RobotPtr robot = VirtualRobot::RobotIO::loadRobot(robotModelFile.c_str());
std::string kinChainName = getInput<std::string>("kinematicChainName");
@@ -1043,7 +1043,7 @@ void CalculateHeadIK::run()
//VirtualRobot::RobotPtr robot = robotPtr->clone("CalculateTCPPoseClone");
VirtualRobot::RobotConfigPtr robotSnapshotConfig = robotSnapshot->getConfig();
std::string robotModelFile;
- ArmarXDataPath::getAbsolutePath("Armar3/data/robotmodel/ArmarIII.xml", robotModelFile);
+ ArmarXDataPath::getAbsolutePath("Armar3/robotmodel/ArmarIII.xml", robotModelFile);
VirtualRobot::RobotPtr robot = VirtualRobot::RobotIO::loadRobot(robotModelFile.c_str(), VirtualRobot::RobotIO::eStructure);
robot->setConfig(robotSnapshotConfig);
--
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