Fixed Virtual Robot includes

source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt

@@ -9,6 +9,12 @@ if (Eigen3_FOUND)
         ${Eigen3_INCLUDE_DIR})
 endif()
 
+if (NOT Simox_FOUND)
+    find_package(Simox 2.3.0 QUIET)
+endif()
+armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+include_directories(${Simox_INCLUDE_DIRS})
+
 set(COMPONENT_LIBS RobotAPIUnits)
 
 set(SOURCES main.cpp HeadIKUnitApp.h)

source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt

@@ -8,6 +8,12 @@ if (Eigen3_FOUND)
     include_directories(${Eigen3_INCLUDE_DIR})
 endif()
 
+if (NOT Simox_FOUND)
+    find_package(Simox 2.3.0 QUIET)
+endif()
+armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+include_directories(${Simox_INCLUDE_DIRS})
+
 set(COMPONENT_LIBS RobotAPIUnits)
 
 set(SOURCES main.cpp KinematicUnitSimulationApp.h)

source/RobotAPI/applications/MovePlatform/CMakeLists.txt

@@ -8,6 +8,12 @@ armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 
 include_directories(${Eigen3_INCLUDE_DIR})
 
+if (NOT Simox_FOUND)
+    find_package(Simox 2.3.0 QUIET)
+endif()
+armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+include_directories(${Simox_INCLUDE_DIRS})
+
 set(COMPONENT_LIBS MovePlatform)
 
 set(SOURCES main.cpp

source/RobotAPI/applications/MovePlatformToLandmark/CMakeLists.txt

@@ -8,6 +8,12 @@ armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 
 include_directories(${Eigen3_INCLUDE_DIR})
 
+if (NOT Simox_FOUND)
+    find_package(Simox 2.3.0 QUIET)
+endif()
+armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+include_directories(${Simox_INCLUDE_DIRS})
+
 set(COMPONENT_LIBS MovePlatformToLandmark)
 
 set(SOURCES main.cpp

source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt

@@ -9,6 +9,12 @@ if (Eigen3_FOUND)
         ${Eigen3_INCLUDE_DIR})
 endif()
 
+if (NOT Simox_FOUND)
+    find_package(Simox 2.3.0 QUIET)
+endif()
+armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+include_directories(${Simox_INCLUDE_DIRS})
+
 set(COMPONENT_LIBS RobotAPIUnits)
 
 set(SOURCES main.cpp TCPControlUnitApp.h)

source/RobotAPI/applications/TCPMoverUnit/CMakeLists.txt

@@ -9,6 +9,12 @@ if (Eigen3_FOUND)
         ${Eigen3_INCLUDE_DIR})
 endif()
 
+if (NOT Simox_FOUND)
+    find_package(Simox 2.3.0 QUIET)
+endif()
+armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+include_directories(${Simox_INCLUDE_DIRS})
+
 set(COMPONENT_LIBS RobotAPIUnits)
 
 set(SOURCES main.cpp TCPMoverUnitApp.h)

source/RobotAPI/core/CMakeLists.txt

@@ -17,7 +17,7 @@ set(LIB_NAME       RobotAPICore)
 set(LIB_VERSION    0.1.0)
 set(LIB_SOVERSION  0)
 
-set(LIBS RobotAPIInterfaces RobotAPIRobotStateComponent ArmarXCoreObservers ArmarXCoreStatechart ${Simox_LIBRARIES})
+set(LIBS RobotAPIInterfaces RobotAPIRobotStateComponent ArmarXCoreObservers ArmarXCoreStatechart)
 
 set(LIB_FILES
     RobotStatechartContext.cpp

source/RobotAPI/robotstate/RobotStateComponent.cpp

@@ -25,6 +25,7 @@
 #include <boost/foreach.hpp>
 #include <VirtualRobot/XML/RobotIO.h>
 #include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
 #include <boost/format.hpp>
 #include <boost/foreach.hpp>
 #include <Core/core/system/ArmarXDataPath.h>

source/RobotAPI/robotstate/SharedRobotServants.cpp

@@ -10,6 +10,10 @@
 #include <VirtualRobot/Nodes/RobotNodeRevolute.h>
 #include <VirtualRobot/Nodes/RobotNodePrismatic.h>
 #include <VirtualRobot/RobotConfig.h>
+#include <VirtualRobot/VirtualRobot.h>
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/RobotNodeSet.h>
+
 
 using namespace std;
 using namespace VirtualRobot;

source/RobotAPI/robotstate/SharedRobotServants.h

@@ -5,14 +5,19 @@
 #include <Core/core/system/ImportExportComponent.h>
 #include <RobotAPI/robotstate/remote/ArmarPose.h>
 
-#include <VirtualRobot/VirtualRobot.h>
-#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/RobotNodeSet.h>
-#include <VirtualRobot/Nodes/RobotNode.h>
+
 #include <RobotAPI/interface/robotstate/RobotState.h>
 
 #include <boost/thread.hpp>
 
+namespace VirtualRobot
+{
+    class Robot;
+    typedef boost::shared_ptr<Robot> RobotPtr;
+    class RobotNode;
+    typedef boost::shared_ptr<RobotNode> RobotNodePtr;
+}
+
 namespace armarx {
     // Zugriff muss mutex geschuetzt werden!
 

source/RobotAPI/robotstate/remote/CMakeLists.txt

@@ -17,7 +17,8 @@ set(LIB_SOVERSION  0)
 
 set(LIBS ArmarXCore ArmarXCoreObservers RobotAPIInterfaces ${Simox_LIBRARIES} )
 
-set(LIB_FILES ArmarPose.cpp
+set(LIB_FILES
+            ArmarPose.cpp
             LinkedPose.cpp
             RobotStateObserver.cpp
             RemoteRobot.cpp

source/RobotAPI/robotstate/remote/RobotStateObserver.cpp

@@ -33,6 +33,7 @@
 #include <VirtualRobot/VirtualRobot.h>
 #include <VirtualRobot/RobotNodeSet.h>
 #include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/VirtualRobot.h>
 
 
 using namespace armarx;

source/RobotAPI/robotstate/remote/RobotStateObserver.h

@@ -35,8 +35,13 @@
 
 #include <string>
 
-
-#include <VirtualRobot/VirtualRobot.h>
+namespace VirtualRobot
+{
+    class Robot;
+    typedef boost::shared_ptr<Robot> RobotPtr;
+    class RobotNode;
+    typedef boost::shared_ptr<RobotNode> RobotNodePtr;
+}
 
 namespace armarx
 {
@@ -70,7 +75,7 @@ namespace armarx
 
         virtual PropertyDefinitionsPtr createPropertyDefinitions();
 
-        virtual std::string getDefaultName() const { return "RobotStateObserver"; };
+        virtual std::string getDefaultName() const { return "RobotStateObserver"; }
 
     protected:
 		void updateRobotModel(const NameValueMap& nameValueMap);