From f829f65710412515d39404a585ec41b069eace2b Mon Sep 17 00:00:00 2001
From: Manfred Kroehnert <Manfred.Kroehnert@kit.edu>
Date: Fri, 29 Aug 2014 13:54:20 +0200
Subject: [PATCH] simplify/update most of the RobotAPI link dependencies
---
.../ForceTorqueObserver/CMakeLists.txt | 17 ++++-----
.../ForceTorqueUnitSimulation/CMakeLists.txt | 20 +++++------
.../HapticObserver/CMakeLists.txt | 2 +-
.../applications/HeadIKUnit/CMakeLists.txt | 11 ++----
.../applications/HeadIKUnit/HeadIKUnitApp.h | 4 +--
.../RobotAPI/applications/HeadIKUnit/main.cpp | 1 -
.../KinematicUnitObserver/CMakeLists.txt | 7 +---
.../KinematicUnitSimulation/CMakeLists.txt | 13 +++----
.../MotionControlTest/CMakeLists.txt | 10 ++----
.../MotionControlTest/MotionControlTestApp.h | 4 +--
.../applications/MovePlatform/CMakeLists.txt | 18 ++--------
.../MovePlatformToLandmark/CMakeLists.txt | 19 ++--------
.../PlatformUnitObserver/CMakeLists.txt | 8 +----
.../PlatformUnitSimulation/CMakeLists.txt | 7 +---
.../applications/RobotControl/CMakeLists.txt | 6 +---
.../RobotControlUI/CMakeLists.txt | 8 +----
.../RobotStateComponent/CMakeLists.txt | 8 +----
.../RobotStateObserver/CMakeLists.txt | 6 +---
.../TCPControlUnit/CMakeLists.txt | 11 ++----
.../applications/TCPMoverUnit/CMakeLists.txt | 14 ++++----
.../WeissHapticSensor/CMakeLists.txt | 2 +-
.../WeissHapticSensorsUnit/CMakeLists.txt | 2 +-
.../WeissHapticSensorListener/CMakeLists.txt | 5 +--
source/RobotAPI/core/CMakeLists.txt | 2 +-
.../RobotAPI/core/RobotStatechartContext.cpp | 14 ++++----
source/RobotAPI/core/RobotStatechartContext.h | 13 ++++---
.../drivers/WeissHapticSensor/CMakeLists.txt | 3 +-
source/RobotAPI/interface/CMakeLists.txt | 36 +++++++++----------
source/RobotAPI/motioncontrol/CMakeLists.txt | 2 +-
source/RobotAPI/motioncontrol/MotionControl.h | 6 ++--
source/RobotAPI/operations/CMakeLists.txt | 2 +-
source/RobotAPI/robotstate/CMakeLists.txt | 5 ++-
.../RobotAPI/robotstate/SharedRobotServants.h | 4 +--
.../RobotAPI/robotstate/remote/CMakeLists.txt | 3 +-
.../GraspingWithTorques/CMakeLists.txt | 3 +-
.../statecharts/MovePlatform/CMakeLists.txt | 8 ++---
.../MovePlatformToLandmark/CMakeLists.txt | 6 ++--
.../MovePlatformToLandmark.cpp | 10 +++---
.../MovePlatformToLandmark.h | 2 +-
.../statecharts/OpenHand/CMakeLists.txt | 2 +-
.../statecharts/OpenHand/OpenHand.cpp | 24 ++++++-------
.../RobotAPI/statecharts/OpenHand/OpenHand.h | 10 ------
.../statecharts/PlaceObject/CMakeLists.txt | 2 +-
.../statecharts/PlaceObject/PlaceObject.cpp | 15 ++++----
source/RobotAPI/units/CMakeLists.txt | 14 ++++----
45 files changed, 137 insertions(+), 252 deletions(-)
diff --git a/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt b/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
index ca55112b9..db0ee2c94 100644
--- a/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
+++ b/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
@@ -4,18 +4,13 @@ armarx_component_set_name(ForceTorqueObserver)
find_package(Eigen3 QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-find_package(Simox QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-if(Eigen3_FOUND AND Simox_FOUND)
- include_directories(${Eigen3_INCLUDE_DIR})
- include_directories(${Simox_INCLUDE_DIRS})
+if (Eigen3_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR})
endif()
-if(ARMARX_BUILD)
- set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers RobotAPIRemoteRobot)
+set(COMPONENT_LIBS RobotAPIUnits)
- set(SOURCES main.cpp ForceTorqueObserverApp.h)
+set(EXE_SOURCE main.cpp ForceTorqueObserverApp.h)
- armarx_add_component_executable("${SOURCES}")
-endif()
+armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt b/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt
index 0c51e6653..93f53429d 100644
--- a/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt
+++ b/source/RobotAPI/applications/ForceTorqueUnitSimulation/CMakeLists.txt
@@ -1,19 +1,15 @@
armarx_component_set_name(ForceTorqueUnitSimulation)
find_package(Eigen3 QUIET)
-armarx_build_if(Simox_FOUND "Eigen3 not available")
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-find_package(Simox QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-if(Eigen3_FOUND AND Simox_FOUND)
- include_directories(${Eigen3_INCLUDE_DIR})
- include_directories(${Simox_INCLUDE_DIRS})
+if (Eigen3_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR})
endif()
-if(ARMARX_BUILD)
- set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore RobotAPIUnits)
- set(SOURCES main.cpp ForceTorqueUnitSimulationApp.h)
+set(COMPONENT_LIBS RobotAPIUnits)
- armarx_add_component_executable("${SOURCES}")
-endif()
+set(SOURCES main.cpp ForceTorqueUnitSimulationApp.h)
+
+armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/HapticObserver/CMakeLists.txt b/source/RobotAPI/applications/HapticObserver/CMakeLists.txt
index 9a596db9e..f1b7f7073 100644
--- a/source/RobotAPI/applications/HapticObserver/CMakeLists.txt
+++ b/source/RobotAPI/applications/HapticObserver/CMakeLists.txt
@@ -8,7 +8,7 @@ if (Eigen3_FOUND)
${Eigen3_INCLUDE_DIR})
endif()
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants WeissHapticSensorListener RobotAPIUnits)
+set(COMPONENT_LIBS WeissHapticSensorListener RobotAPIUnits)
set(EXE_SOURCE main.cpp HapticObserverApp.h)
diff --git a/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt b/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt
index 666c2f9c6..2062804a3 100644
--- a/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt
+++ b/source/RobotAPI/applications/HeadIKUnit/CMakeLists.txt
@@ -4,17 +4,12 @@ armarx_component_set_name(HeadIKUnit)
find_package(Eigen3 QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-find_package(Simox QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-if (Eigen3_FOUND AND Simox_FOUND)
+if (Eigen3_FOUND)
include_directories(
- ${Eigen3_INCLUDE_DIR}
- ${Simox_INCLUDE_DIRS})
+ ${Eigen3_INCLUDE_DIR})
endif()
-set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers RobotAPIRemoteRobot
- ${Simox_LIBRARIES})
+set(COMPONENT_LIBS RobotAPIUnits)
set(SOURCES main.cpp HeadIKUnitApp.h)
diff --git a/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h b/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h
index 697a651cb..e7837c293 100644
--- a/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h
+++ b/source/RobotAPI/applications/HeadIKUnit/HeadIKUnitApp.h
@@ -28,8 +28,8 @@
namespace armarx
{
class HeadIKUnitApp :
- virtual public armarx::Application
- {
+ virtual public armarx::Application
+ {
void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
{
registry->addObject( Component::create<HeadIKUnit>(properties) );
diff --git a/source/RobotAPI/applications/HeadIKUnit/main.cpp b/source/RobotAPI/applications/HeadIKUnit/main.cpp
index f88f74f12..411a5eef1 100644
--- a/source/RobotAPI/applications/HeadIKUnit/main.cpp
+++ b/source/RobotAPI/applications/HeadIKUnit/main.cpp
@@ -22,7 +22,6 @@
*/
#include "HeadIKUnitApp.h"
-#include <Core/core/logging/Logging.h>
int main(int argc, char* argv[])
{
diff --git a/source/RobotAPI/applications/KinematicUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/KinematicUnitObserver/CMakeLists.txt
index 38b60d712..cea242b91 100644
--- a/source/RobotAPI/applications/KinematicUnitObserver/CMakeLists.txt
+++ b/source/RobotAPI/applications/KinematicUnitObserver/CMakeLists.txt
@@ -1,13 +1,8 @@
armarx_component_set_name(KinematicUnitObserver)
-find_package(Simox 2.3.0 QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore #ArmarXCoreUnits
- RobotAPIUnits
- ArmarXCoreObservers)
+set(COMPONENT_LIBS RobotAPIUnits)
set(SOURCES main.cpp KinematicUnitObserverApp.h)
diff --git a/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt b/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt
index 89f9c9c8f..11b478b49 100644
--- a/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt
+++ b/source/RobotAPI/applications/KinematicUnitSimulation/CMakeLists.txt
@@ -4,16 +4,11 @@ armarx_component_set_name(KinematicUnitSimulation)
find_package(Eigen3 QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-find_package(Simox 2.3.0 QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+if (Eigen3_FOUND)
+ include_directories(${Eigen3_INCLUDE_DIR})
+endif()
-
-include_directories(${Eigen3_INCLUDE_DIR})
-include_directories(${Simox_INCLUDE_DIRS})
-
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore #ArmarXCoreUnits
- RobotAPIUnits
- ${Simox_LIBRARIES})
+set(COMPONENT_LIBS RobotAPIUnits)
set(SOURCES main.cpp KinematicUnitSimulationApp.h)
diff --git a/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt b/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
index 33584e6f9..8cf024c37 100644
--- a/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
+++ b/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
@@ -4,16 +4,12 @@ armarx_component_set_name(MotionControlTest)
find_package(Eigen3 QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-find_package(Simox QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-if (Eigen3_FOUND AND Simox_FOUND)
+if (Eigen3_FOUND)
include_directories(
- ${Eigen3_INCLUDE_DIR}
- ${Simox_INCLUDE_DIRS})
+ ${Eigen3_INCLUDE_DIR})
endif()
-set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers RobotAPIRobotStateComponent ArmarXCoreStatechart RobotAPIOperations ${Simox_LIBRARIES})
+set(COMPONENT_LIBS MotionControl)
set(SOURCES main.cpp MotionControlTestApp.h)
diff --git a/source/RobotAPI/applications/MotionControlTest/MotionControlTestApp.h b/source/RobotAPI/applications/MotionControlTest/MotionControlTestApp.h
index f53f50ca6..2c04a59ba 100644
--- a/source/RobotAPI/applications/MotionControlTest/MotionControlTestApp.h
+++ b/source/RobotAPI/applications/MotionControlTest/MotionControlTestApp.h
@@ -28,8 +28,8 @@
namespace armarx
{
class MotionControlTestApp :
- virtual public armarx::Application
- {
+ virtual public armarx::Application
+ {
void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
{
registry->addObject( Component::create<MotionControl::MotionControlOfferer>(properties) );
diff --git a/source/RobotAPI/applications/MovePlatform/CMakeLists.txt b/source/RobotAPI/applications/MovePlatform/CMakeLists.txt
index 4d19006a4..62f9f4c1b 100644
--- a/source/RobotAPI/applications/MovePlatform/CMakeLists.txt
+++ b/source/RobotAPI/applications/MovePlatform/CMakeLists.txt
@@ -3,26 +3,12 @@
armarx_component_set_name(MovePlatformApp)
find_package(Eigen3 QUIET)
-find_package(Simox QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-armarx_build_if(Simox_FOUND "Simox not available")
-#armarx_build_if(MemoryX_FOUND "VisionX not available")
-include_directories(${Eigen3_INCLUDE_DIR} ${Simox_INCLUDE_DIRS})
+include_directories(${Eigen3_INCLUDE_DIR})
-set(COMPONENT_LIBS
- MovePlatform
- ArmarXInterfaces
- ArmarXCore
- ArmarXCoreStatechart
- ArmarXCoreObservers
- RobotAPIOperations
- RobotAPIRemoteRobot
- #MemoryXInterfaces
- #MemoryXCore
- #MemoryXMemoryTypes
- ${Simox_LIBRARIES})
+set(COMPONENT_LIBS MovePlatform)
set(SOURCES main.cpp
MovePlatformApp.h)
diff --git a/source/RobotAPI/applications/MovePlatformToLandmark/CMakeLists.txt b/source/RobotAPI/applications/MovePlatformToLandmark/CMakeLists.txt
index f31bd1689..a8d0c65af 100644
--- a/source/RobotAPI/applications/MovePlatformToLandmark/CMakeLists.txt
+++ b/source/RobotAPI/applications/MovePlatformToLandmark/CMakeLists.txt
@@ -3,27 +3,12 @@
armarx_component_set_name(MovePlatformToLandmarkApp)
find_package(Eigen3 QUIET)
-find_package(Simox QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-armarx_build_if(Simox_FOUND "Simox not available")
-#armarx_build_if(MemoryX_FOUND "VisionX not available")
-include_directories(${Eigen3_INCLUDE_DIR} ${Simox_INCLUDE_DIRS})
+include_directories(${Eigen3_INCLUDE_DIR})
-set(COMPONENT_LIBS
- #MovePlatform
- MovePlatformToLandmark
- ArmarXInterfaces
- ArmarXCore
- ArmarXCoreStatechart
- ArmarXCoreObservers
- RobotAPIOperations
- RobotAPIRemoteRobot
- #MemoryXInterfaces
- #MemoryXCore
- #MemoryXMemoryTypes
- ${Simox_LIBRARIES})
+set(COMPONENT_LIBS MovePlatformToLandmark)
set(SOURCES main.cpp
MovePlatformToLandmarkApp.h)
diff --git a/source/RobotAPI/applications/PlatformUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/PlatformUnitObserver/CMakeLists.txt
index 13dbfdf62..83e6e45a9 100644
--- a/source/RobotAPI/applications/PlatformUnitObserver/CMakeLists.txt
+++ b/source/RobotAPI/applications/PlatformUnitObserver/CMakeLists.txt
@@ -1,13 +1,7 @@
armarx_component_set_name(PlatformUnitObserver)
-find_package(Simox QUIET)
-armarx_build_if(Simox_FOUND "Simox VirtualRobot not found")
-
-
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers #ArmarXCoreUnits
- RobotAPIUnits
- ${Simox_LIBRARIES})
+set(COMPONENT_LIBS RobotAPIUnits)
set(SOURCES main.cpp PlatformUnitObserverApp.h)
diff --git a/source/RobotAPI/applications/PlatformUnitSimulation/CMakeLists.txt b/source/RobotAPI/applications/PlatformUnitSimulation/CMakeLists.txt
index bb60f53c0..40e5ea07c 100644
--- a/source/RobotAPI/applications/PlatformUnitSimulation/CMakeLists.txt
+++ b/source/RobotAPI/applications/PlatformUnitSimulation/CMakeLists.txt
@@ -1,12 +1,7 @@
armarx_component_set_name(PlatformUnitSimulation)
-find_package(Simox QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore #ArmarXCoreUnits
- RobotAPIUnits)
+set(COMPONENT_LIBS RobotAPIUnits)
set(SOURCES main.cpp PlatformUnitSimulationApp.h)
diff --git a/source/RobotAPI/applications/RobotControl/CMakeLists.txt b/source/RobotAPI/applications/RobotControl/CMakeLists.txt
index a65a12951..2159a85ac 100644
--- a/source/RobotAPI/applications/RobotControl/CMakeLists.txt
+++ b/source/RobotAPI/applications/RobotControl/CMakeLists.txt
@@ -1,11 +1,7 @@
armarx_component_set_name(RobotControl)
-#find_package(Simox QUIET)
-#armarx_build_if(Simox_FOUND 2.3.0 "Simox-VirtualRobot not available")
-
-
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers RobotAPIInterfaces RobotAPIRobotStateComponent ArmarXCoreStatechart RobotAPIOperations RobotAPIUnits RobotAPIRemoteRobot)
+set(COMPONENT_LIBS RobotAPIOperations)
set(SOURCES main.cpp RobotControlApp.h)
diff --git a/source/RobotAPI/applications/RobotControlUI/CMakeLists.txt b/source/RobotAPI/applications/RobotControlUI/CMakeLists.txt
index 7078f19f4..2a8fbed83 100644
--- a/source/RobotAPI/applications/RobotControlUI/CMakeLists.txt
+++ b/source/RobotAPI/applications/RobotControlUI/CMakeLists.txt
@@ -1,13 +1,7 @@
armarx_component_set_name(RobotControlUI)
-# Removed dependency on Simox 2014-08-04
-#find_package(Simox 2.3.0 QUIET)
-#armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore #ArmarXCoreUnits
- ArmarXCoreObservers ArmarXCoreStatechart RobotAPIOperations)
+set(COMPONENT_LIBS RobotAPIOperations)
set(SOURCES main.cpp
RobotControlUI.cpp
diff --git a/source/RobotAPI/applications/RobotStateComponent/CMakeLists.txt b/source/RobotAPI/applications/RobotStateComponent/CMakeLists.txt
index a1c1856f8..e19c80de0 100644
--- a/source/RobotAPI/applications/RobotStateComponent/CMakeLists.txt
+++ b/source/RobotAPI/applications/RobotStateComponent/CMakeLists.txt
@@ -4,15 +4,9 @@ armarx_component_set_name(RobotStateComponent)
find_package(Eigen3 QUIET)
armarx_build_if(Eigen3_FOUND "component disabled")
-find_package(Simox 2.3.0 QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-
include_directories(${Eigen3_INCLUDE_DIR})
-include_directories(${Simox_INCLUDE_DIRS})
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore RobotAPIUnits RobotAPIInterfaces #ArmarXCoreUnits
- RobotAPIRobotStateComponent)
+set(COMPONENT_LIBS RobotAPIRobotStateComponent)
set(SOURCES main.cpp RobotStateComponentApp.h)
diff --git a/source/RobotAPI/applications/RobotStateObserver/CMakeLists.txt b/source/RobotAPI/applications/RobotStateObserver/CMakeLists.txt
index b59006f2c..94931b7ad 100644
--- a/source/RobotAPI/applications/RobotStateObserver/CMakeLists.txt
+++ b/source/RobotAPI/applications/RobotStateObserver/CMakeLists.txt
@@ -3,14 +3,10 @@ armarx_component_set_name(RobotStateObserver)
find_package(Eigen3 QUIET)
armarx_build_if(Eigen3_FOUND "component disabled")
-find_package(Simox 2.3.0 QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
include_directories(${Eigen3_INCLUDE_DIR})
-include_directories(${Simox_INCLUDE_DIRS})
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore RobotAPIInterfaces RobotAPIUnits #ArmarXCoreUnits
- ArmarXCoreObservers RobotAPIRemoteRobot)
+set(COMPONENT_LIBS RobotAPIRemoteRobot)
set(SOURCES main.cpp RobotStateObserverApp.h)
diff --git a/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt b/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
index eabfd7b4a..fe203c509 100644
--- a/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
+++ b/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
@@ -4,17 +4,12 @@ armarx_component_set_name(TCPControlUnit)
find_package(Eigen3 QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-find_package(Simox QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-
-if (Eigen3_FOUND AND Simox_FOUND)
+if (Eigen3_FOUND)
include_directories(
- ${Eigen3_INCLUDE_DIR}
- ${Simox_INCLUDE_DIRS})
+ ${Eigen3_INCLUDE_DIR})
endif()
-set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers RobotAPIRemoteRobot
- ${Simox_LIBRARIES})
+set(COMPONENT_LIBS RobotAPIUnits)
set(SOURCES main.cpp TCPControlUnitApp.h)
diff --git a/source/RobotAPI/applications/TCPMoverUnit/CMakeLists.txt b/source/RobotAPI/applications/TCPMoverUnit/CMakeLists.txt
index c17f356fe..00b1e0807 100644
--- a/source/RobotAPI/applications/TCPMoverUnit/CMakeLists.txt
+++ b/source/RobotAPI/applications/TCPMoverUnit/CMakeLists.txt
@@ -1,15 +1,15 @@
armarx_component_set_name(TCPMoverUnit)
-find_package(Simox 2.3.0 QUIET)
-armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+find_package(Eigen3 QUIET)
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-include_directories(${Eigen3_INCLUDE_DIR})
-include_directories(${Simox_INCLUDE_DIRS})
+if (Eigen3_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR})
+endif()
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore #ArmarXCoreUnits
- RobotAPIInterfaces RobotAPIUnits
- ${Simox_LIBRARIES})
+set(COMPONENT_LIBS RobotAPIUnits)
set(SOURCES main.cpp TCPMoverUnitApp.h)
diff --git a/source/RobotAPI/applications/WeissHapticSensor/CMakeLists.txt b/source/RobotAPI/applications/WeissHapticSensor/CMakeLists.txt
index 378475a1c..7c213c1df 100644
--- a/source/RobotAPI/applications/WeissHapticSensor/CMakeLists.txt
+++ b/source/RobotAPI/applications/WeissHapticSensor/CMakeLists.txt
@@ -8,7 +8,7 @@ if (Eigen3_FOUND)
${Eigen3_INCLUDE_DIR})
endif()
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants WeissHapticSensorListener RobotAPIUnits RobotAPIInterfaces)
+set(COMPONENT_LIBS RobotAPIUnits WeissHapticSensorListener)
set(EXE_SOURCE main.cpp WeissHapticSensorApp.h)
diff --git a/source/RobotAPI/applications/WeissHapticSensorsUnit/CMakeLists.txt b/source/RobotAPI/applications/WeissHapticSensorsUnit/CMakeLists.txt
index 3f7af3cd5..ffc1889bb 100644
--- a/source/RobotAPI/applications/WeissHapticSensorsUnit/CMakeLists.txt
+++ b/source/RobotAPI/applications/WeissHapticSensorsUnit/CMakeLists.txt
@@ -8,7 +8,7 @@ if (Eigen3_FOUND)
${Eigen3_INCLUDE_DIR})
endif()
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants WeissHapticSensor RobotAPIUnits RobotAPIInterfaces)
+set(COMPONENT_LIBS RobotAPIUnits WeissHapticSensor )
set(EXE_SOURCE main.cpp WeissHapticSensorsUnitApp.h)
diff --git a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/CMakeLists.txt b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/CMakeLists.txt
index 613112f8e..bb04b5df7 100644
--- a/source/RobotAPI/armarx-objects/WeissHapticSensorListener/CMakeLists.txt
+++ b/source/RobotAPI/armarx-objects/WeissHapticSensorListener/CMakeLists.txt
@@ -8,12 +8,9 @@ if (Eigen3_FOUND)
${Eigen3_INCLUDE_DIR})
endif()
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants RobotAPIInterfaces)
+set(COMPONENT_LIBS ArmarXCoreObservers ArmarXCoreEigen3Variants RobotAPIInterfaces)
set(SOURCES WeissHapticSensorListener.cpp)
set(HEADERS WeissHapticSensorListener.h)
armarx_add_component("${SOURCES}" "${HEADERS}")
-
-# add unit tests
-#add_subdirectory(test)
diff --git a/source/RobotAPI/core/CMakeLists.txt b/source/RobotAPI/core/CMakeLists.txt
index 58a91cb8b..434dd7ea2 100644
--- a/source/RobotAPI/core/CMakeLists.txt
+++ b/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 ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreStatechart RobotAPIRobotStateComponent ${Simox_LIBRARIES})
+set(LIBS RobotAPIInterfaces RobotAPIRobotStateComponent ArmarXCoreObservers ArmarXCoreStatechart ${Simox_LIBRARIES})
set(LIB_FILES
RobotStatechartContext.cpp
diff --git a/source/RobotAPI/core/RobotStatechartContext.cpp b/source/RobotAPI/core/RobotStatechartContext.cpp
index b2b22deb8..5b94b441d 100644
--- a/source/RobotAPI/core/RobotStatechartContext.cpp
+++ b/source/RobotAPI/core/RobotStatechartContext.cpp
@@ -21,16 +21,14 @@
* GNU General Public License
*/
-#include <Core/core/Component.h>
-#include <Core/core/system/ImportExportComponent.h>
-#include <Core/statechart/Statechart.h>
+#include "RobotStatechartContext.h"
+
#include <RobotAPI/robotstate/remote/RemoteRobot.h>
#include <RobotAPI/robotstate/remote/ArmarPose.h>
-
-//#include <VirtualRobot/VirtualRobot.h>
-
-#include "RobotStatechartContext.h"
+#include <Core/core/Component.h>
+#include <Core/core/system/ImportExportComponent.h>
+#include <Core/statechart/Statechart.h>
namespace armarx
{
@@ -102,7 +100,7 @@ namespace armarx
ARMARX_LOG << eINFO << "Fetched handUnit proxy " << handUnitList.at(i) << ": " << handPrx << flush;
}
}
- // initialize remote robot
+ // initialize remote robot
remoteRobot.reset(new RemoteRobot(robotStateComponent->getSynchronizedRobot()));
ARMARX_LOG << eINFO << "Created remote robot" << flush;
}
diff --git a/source/RobotAPI/core/RobotStatechartContext.h b/source/RobotAPI/core/RobotStatechartContext.h
index 40149fc06..e214339d0 100644
--- a/source/RobotAPI/core/RobotStatechartContext.h
+++ b/source/RobotAPI/core/RobotStatechartContext.h
@@ -25,17 +25,16 @@
#ifndef ARMARX_COMPONENT_RobotApi_StatechartContext_H
#define ARMARX_COMPONENT_RobotApi_StatechartContext_H
-#include <Core/core/Component.h>
-#include <Core/core/system/ImportExportComponent.h>
-#include <Core/statechart/StatechartContext.h>
#include <RobotAPI/robotstate/remote/ArmarPose.h>
#include <RobotAPI/interface/units/KinematicUnitInterface.h>
#include <RobotAPI/interface/units/HandUnitInterface.h>
-
#include <RobotAPI/interface/units/TCPControlUnit.h>
#include <RobotAPI/interface/units/HeadIKUnit.h>
+#include <RobotAPI/interface/observers/KinematicUnitObserverInterface.h>
-#include <RobotAPI/units/KinematicUnitObserver.h>
+#include <Core/core/Component.h>
+#include <Core/core/system/ImportExportComponent.h>
+#include <Core/statechart/StatechartContext.h>
#include <IceUtil/Time.h>
@@ -88,8 +87,8 @@ namespace armarx
HandUnitInterfacePrx getHandUnit(const std::string &handUnitName);
//! Prx for the RobotState
- RobotStateComponentInterfacePrx robotStateComponent;
- KinematicUnitInterfacePrx kinematicUnitPrx;
+ RobotStateComponentInterfacePrx robotStateComponent;
+ KinematicUnitInterfacePrx kinematicUnitPrx;
KinematicUnitObserverInterfacePrx kinematicUnitObserverPrx;
TCPControlUnitInterfacePrx tcpControlPrx;
VirtualRobot::RobotPtr remoteRobot;
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CMakeLists.txt b/source/RobotAPI/drivers/WeissHapticSensor/CMakeLists.txt
index 950b6e9c3..ea86aacfe 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/CMakeLists.txt
+++ b/source/RobotAPI/drivers/WeissHapticSensor/CMakeLists.txt
@@ -1,6 +1,5 @@
armarx_set_target("WeissHapticSensor Library: WeissHapticSensor")
-
find_package(Eigen3 QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
@@ -14,7 +13,7 @@ set(LIB_NAME WeissHapticSensor)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
-set(LIBS RobotAPIUnits RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants)
+set(LIBS RobotAPIUnits ArmarXCoreObservers ArmarXCoreEigen3Variants)
set(LIB_FILES
WeissHapticSensorsUnit.cpp
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index 4fa3f1ba8..c15a6d810 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -5,27 +5,27 @@
set(ROBOTAPI_INTERFACE_DEPEND ArmarXCore)
set(SLICE_FILES
- hardware/HardwareInterface.ice
-
- observers/KinematicUnitObserverInterface.ice
- observers/PlatformUnitObserverInterface.ice
+ hardware/HardwareInterface.ice
+
+ observers/KinematicUnitObserverInterface.ice
+ observers/PlatformUnitObserverInterface.ice
+
+ robotstate/LinkedPoseBase.ice
+ robotstate/PoseBase.ice
+ robotstate/RobotState.ice
+ robotstate/RobotStateObserverInterface.ice
- robotstate/LinkedPoseBase.ice
- robotstate/PoseBase.ice
- robotstate/RobotState.ice
- robotstate/RobotStateObserverInterface.ice
-
selflocalisation/SelfLocalisationProcess.ice
- units/ForceTorqueUnit.ice
- units/HandUnitInterface.ice
- units/HapticUnit.ice
- units/HeadIKUnit.ice
- units/KinematicUnitInterface.ice
- units/PlatformUnitInterface.ice
- units/TCPControlUnit.ice
- units/TCPMoverUnitInterface.ice
- units/UnitInterface.ice
+ units/ForceTorqueUnit.ice
+ units/HandUnitInterface.ice
+ units/HapticUnit.ice
+ units/HeadIKUnit.ice
+ units/KinematicUnitInterface.ice
+ units/PlatformUnitInterface.ice
+ units/TCPControlUnit.ice
+ units/TCPMoverUnitInterface.ice
+ units/UnitInterface.ice
)
# generate the interface library
diff --git a/source/RobotAPI/motioncontrol/CMakeLists.txt b/source/RobotAPI/motioncontrol/CMakeLists.txt
index 9abf0ef3d..2d1b702d3 100644
--- a/source/RobotAPI/motioncontrol/CMakeLists.txt
+++ b/source/RobotAPI/motioncontrol/CMakeLists.txt
@@ -17,7 +17,7 @@ set(LIB_NAME MotionControl)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
-set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ${Simox_LIBRARIES})
+set(LIBS RobotAPICore ArmarXCore ArmarXCoreObservers ${Simox_LIBRARIES})
set(LIB_FILES MotionControl.cpp
ZeroForceControl.cpp)
diff --git a/source/RobotAPI/motioncontrol/MotionControl.h b/source/RobotAPI/motioncontrol/MotionControl.h
index f7a7139e0..2dd72eb88 100644
--- a/source/RobotAPI/motioncontrol/MotionControl.h
+++ b/source/RobotAPI/motioncontrol/MotionControl.h
@@ -385,8 +385,8 @@ namespace MotionControl
std::string virtualPrismaticJointName;
};
-} // namespace MotionControl
+}
-} // namespace armarx
+}
-#endif // MOTIONCONTROL_H
+#endif
diff --git a/source/RobotAPI/operations/CMakeLists.txt b/source/RobotAPI/operations/CMakeLists.txt
index d2dd65904..3c2cce08c 100644
--- a/source/RobotAPI/operations/CMakeLists.txt
+++ b/source/RobotAPI/operations/CMakeLists.txt
@@ -13,7 +13,7 @@ set(LIB_NAME RobotAPIOperations)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
-set(LIBS RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreStatechart ArmarXCoreObservers )
+set(LIBS RobotAPIUnits ArmarXCoreStatechart ArmarXCoreObservers)
set(LIB_FILES RobotControl.cpp)
set(LIB_HEADERS RobotControl.h)
diff --git a/source/RobotAPI/robotstate/CMakeLists.txt b/source/RobotAPI/robotstate/CMakeLists.txt
index 1e588b1dc..e4c185dd8 100644
--- a/source/RobotAPI/robotstate/CMakeLists.txt
+++ b/source/RobotAPI/robotstate/CMakeLists.txt
@@ -1,5 +1,5 @@
-
armarx_set_target("Core Library: ArmarXCoreRobotStateComponent")
+
find_package(Eigen3 QUIET)
find_package(Simox 2.3.0 QUIET)
@@ -13,8 +13,7 @@ set(LIB_NAME RobotAPIRobotStateComponent)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
-set(LIBS ArmarXInterfaces RobotAPIRemoteRobot
- ArmarXCore)
+set(LIBS RobotAPIRemoteRobot ArmarXCore)
set(LIB_FILES
RobotStateComponent.cpp
diff --git a/source/RobotAPI/robotstate/SharedRobotServants.h b/source/RobotAPI/robotstate/SharedRobotServants.h
index c0c78cf02..d73756d0a 100644
--- a/source/RobotAPI/robotstate/SharedRobotServants.h
+++ b/source/RobotAPI/robotstate/SharedRobotServants.h
@@ -18,7 +18,7 @@ namespace armarx {
/**
* @brief The base class for remote objects on the ice server
- *
+ *
*/
class SharedObjectBase :
@@ -80,7 +80,7 @@ namespace armarx {
* @brief The SharedRobotNodeServant class is a remote represenation of a Simox VirtualRobot::Robot
*
* @details This class is used only internally by the the RobotStateComponent. The RemoteRobot class SharedRobotInterface and SharedRobotInterfacePrx
- * classes generated by ICE.
+ * classes generated by Ice.
*/
class SharedRobotServant :
diff --git a/source/RobotAPI/robotstate/remote/CMakeLists.txt b/source/RobotAPI/robotstate/remote/CMakeLists.txt
index 8540a5d25..5fc457af8 100644
--- a/source/RobotAPI/robotstate/remote/CMakeLists.txt
+++ b/source/RobotAPI/robotstate/remote/CMakeLists.txt
@@ -15,8 +15,7 @@ set(LIB_NAME RobotAPIRemoteRobot)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
-set(LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers RobotAPIInterfaces
- ${Simox_LIBRARIES} )
+set(LIBS ArmarXCore ArmarXCoreObservers RobotAPIInterfaces ${Simox_LIBRARIES} )
set(LIB_FILES ArmarPose.cpp
LinkedPose.cpp
diff --git a/source/RobotAPI/statecharts/GraspingWithTorques/CMakeLists.txt b/source/RobotAPI/statecharts/GraspingWithTorques/CMakeLists.txt
index 3f4d1563f..62eb4d0ce 100644
--- a/source/RobotAPI/statecharts/GraspingWithTorques/CMakeLists.txt
+++ b/source/RobotAPI/statecharts/GraspingWithTorques/CMakeLists.txt
@@ -1,6 +1,5 @@
armarx_set_target("RobotAPI Library: GraspingWithTorques")
-
find_package(Eigen3 QUIET)
find_package(Simox QUIET)
@@ -17,7 +16,7 @@ set(LIB_NAME GraspingWithTorques)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
-set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
+set(LIBS RobotAPICore ArmarXCoreObservers ${Simox_LIBRARIES})
set(LIB_FILES GraspingWithTorques.cpp
)
diff --git a/source/RobotAPI/statecharts/MovePlatform/CMakeLists.txt b/source/RobotAPI/statecharts/MovePlatform/CMakeLists.txt
index 4934e7fa0..f74bc9ecc 100644
--- a/source/RobotAPI/statecharts/MovePlatform/CMakeLists.txt
+++ b/source/RobotAPI/statecharts/MovePlatform/CMakeLists.txt
@@ -17,13 +17,13 @@ set(LIB_NAME MovePlatform)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
-set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
+set(LIBS RobotAPICore ArmarXCoreObservers)
set(LIB_FILES MovePlatform.cpp
)
-set(LIB_HEADERS
- MovePlatform.h
- PlatformContext.h
+set(LIB_HEADERS
+ MovePlatform.h
+ PlatformContext.h
)
armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmark/CMakeLists.txt b/source/RobotAPI/statecharts/MovePlatformToLandmark/CMakeLists.txt
index 7fced92f0..d90432f95 100644
--- a/source/RobotAPI/statecharts/MovePlatformToLandmark/CMakeLists.txt
+++ b/source/RobotAPI/statecharts/MovePlatformToLandmark/CMakeLists.txt
@@ -17,12 +17,12 @@ set(LIB_NAME MovePlatformToLandmark)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
-set(LIBS RobotAPIRobotStateComponent RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
+set(LIBS RobotAPIRobotStateComponent RobotAPICore ArmarXCoreObservers)
set(LIB_FILES MovePlatformToLandmark.cpp
)
-set(LIB_HEADERS
- MovePlatformToLandmark.h
+set(LIB_HEADERS
+ MovePlatformToLandmark.h
)
armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp b/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp
index 072d1177a..206f5cc12 100644
--- a/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp
+++ b/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.cpp
@@ -23,16 +23,16 @@
*/
#include "MovePlatformToLandmark.h"
-//#include "../core/RobotStatechartContext.h"
-#include <Core/observers/variant/ChannelRef.h>
-#include <Core/observers/variant/SingleTypeVariantList.h>
#include <RobotAPI/robotstate/remote/ArmarPose.h>
-#include <Core/core/ManagedIceObject.h>
#include <RobotAPI/robotstate/remote/RobotStateObjectFactories.h>
+#include <RobotAPI/interface/units/PlatformUnitInterface.h>
+
+#include <Core/core/ManagedIceObject.h>
#include <Core/core/CoreObjectFactories.h>
+#include <Core/observers/variant/ChannelRef.h>
+#include <Core/observers/variant/SingleTypeVariantList.h>
#include <Core/observers/ObserverObjectFactories.h>
-#include <RobotAPI/interface/units/PlatformUnitInterface.h>
#include <boost/algorithm/string.hpp>
diff --git a/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.h b/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.h
index 85b4a5d0d..b5bd933c4 100644
--- a/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.h
+++ b/source/RobotAPI/statecharts/MovePlatformToLandmark/MovePlatformToLandmark.h
@@ -24,8 +24,8 @@
#ifndef ARMARX_COMPONENT_MOVE_PLATFORM_TO_LANDMARK_H
#define ARMARX_COMPONENT_MOVE_PLATFORM_TO_LANDMARK_H
-#include <Core/statechart/Statechart.h>
#include <RobotAPI/statecharts/MovePlatform/PlatformContext.h>
+#include <Core/statechart/Statechart.h>
/*
* This statechart is meant to bridge the gap between a user verbally specifying a target location (i.e. fridge, table, ...)
diff --git a/source/RobotAPI/statecharts/OpenHand/CMakeLists.txt b/source/RobotAPI/statecharts/OpenHand/CMakeLists.txt
index b049ee78d..61b37547f 100644
--- a/source/RobotAPI/statecharts/OpenHand/CMakeLists.txt
+++ b/source/RobotAPI/statecharts/OpenHand/CMakeLists.txt
@@ -16,7 +16,7 @@ set(LIB_NAME OpenHand)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
-set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
+set(LIBS RobotAPICore ArmarXCoreObservers)
set(LIB_FILES OpenHand.cpp
)
diff --git a/source/RobotAPI/statecharts/OpenHand/OpenHand.cpp b/source/RobotAPI/statecharts/OpenHand/OpenHand.cpp
index b448a3874..46d23d1af 100644
--- a/source/RobotAPI/statecharts/OpenHand/OpenHand.cpp
+++ b/source/RobotAPI/statecharts/OpenHand/OpenHand.cpp
@@ -23,25 +23,25 @@
*/
#include "OpenHand.h"
-//#include "Armar3GraspContext.h" //MP: Maybe necessary again later?
#include "../../core/RobotStatechartContext.h"
+#include <RobotAPI/robotstate/remote/ArmarPose.h>
+#include <RobotAPI/interface/units/KinematicUnitInterface.h>
+#include <RobotAPI/core/RobotStatechartContext.h>
+
+
#include <Core/observers/variant/ChannelRef.h>
#include <Core/observers/variant/SingleTypeVariantList.h>
-#include <RobotAPI/robotstate/remote/ArmarPose.h>
+
#include <VirtualRobot/IK/DifferentialIK.h>
#include <VirtualRobot/Robot.h>
-#include <RobotAPI/interface/units/KinematicUnitInterface.h>
-
-#include <RobotAPI/core/RobotStatechartContext.h>
-
namespace armarx
{
// ****************************************************************
// Implementation of StatechartOpenHand
// ****************************************************************
- void StatechartOpenHand::defineParameters() //(OK)TODO: Anpassen!
+ void StatechartOpenHand::defineParameters()
{
//openHand settings:
addToInput("jointAnglesOpenHand", VariantType::List(VariantType::Float), false);
@@ -55,7 +55,7 @@ namespace armarx
}
- void StatechartOpenHand::defineSubstates() //(OK)TODO: Anpassen!
+ void StatechartOpenHand::defineSubstates()
{
StatePtr stateOpenHand = addState<StateOpenHand>("stateOpenHand");
StatePtr stateSuccess = addState<SuccessState>("stateSuccess");
@@ -75,7 +75,7 @@ namespace armarx
}
- void StatechartOpenHand::onEnter() //TODO: Anpassen! ???
+ void StatechartOpenHand::onEnter()
{
ARMARX_LOG << eINFO << "Entering StatechartOpenHand";
@@ -111,7 +111,7 @@ namespace armarx
// Implementation of StateOpenHand
// ****************************************************************
- void StateOpenHand::defineParameters() //(OK)TODO: Anpassen!
+ void StateOpenHand::defineParameters()
{
addToInput("jointAnglesOpenHand", VariantType::List(VariantType::Float), false);
addToInput("timeoutOpenHandSuccess", VariantType::Float, false);
@@ -120,7 +120,7 @@ namespace armarx
//addToInput("useTorquesForGrasping", VariantType::Int, false);
}
- void StateOpenHand::onEnter() //(OK)TODO: Anpassen!
+ void StateOpenHand::onEnter()
{
ARMARX_LOG << eIMPORTANT << "Entering StateOpenHand";
@@ -150,7 +150,7 @@ namespace armarx
ARMARX_LOG << eINFO << "StateOpenHand: Done onEnter()";
}
- void StateOpenHand::onExit() //(OK)TODO: Anpassen!
+ void StateOpenHand::onExit()
{
removeTimeoutEvent(condOpenHandSuccessTimeout);
removeTimeoutEvent(condOpenHandDummyFailureTimeout);
diff --git a/source/RobotAPI/statecharts/OpenHand/OpenHand.h b/source/RobotAPI/statecharts/OpenHand/OpenHand.h
index 617c07165..3fb167f12 100644
--- a/source/RobotAPI/statecharts/OpenHand/OpenHand.h
+++ b/source/RobotAPI/statecharts/OpenHand/OpenHand.h
@@ -48,11 +48,9 @@ namespace armarx
void defineSubstates();
void onEnter();
void onExit();
-
};
-
// ****************************************************************
// Definition of StateOpenHand
// ****************************************************************
@@ -71,14 +69,6 @@ namespace armarx
StateUtility::ActionEventIdentifier condOpenHandDummyFailureTimeout;
};
-
-
-
-
-
-
-
-
}
#endif
diff --git a/source/RobotAPI/statecharts/PlaceObject/CMakeLists.txt b/source/RobotAPI/statecharts/PlaceObject/CMakeLists.txt
index 6a81c9bd8..86e2a1bc7 100644
--- a/source/RobotAPI/statecharts/PlaceObject/CMakeLists.txt
+++ b/source/RobotAPI/statecharts/PlaceObject/CMakeLists.txt
@@ -16,7 +16,7 @@ set(LIB_NAME PlaceObject)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
-set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
+set(LIBS RobotAPICore ArmarXCoreObservers)
set(LIB_FILES PlaceObject.cpp
)
diff --git a/source/RobotAPI/statecharts/PlaceObject/PlaceObject.cpp b/source/RobotAPI/statecharts/PlaceObject/PlaceObject.cpp
index 1c6913acb..dd11b2bcb 100644
--- a/source/RobotAPI/statecharts/PlaceObject/PlaceObject.cpp
+++ b/source/RobotAPI/statecharts/PlaceObject/PlaceObject.cpp
@@ -16,7 +16,7 @@
*
* @package RobotAPI::PlaceObject
* @author Nikolaus Vahrenkamp
-* @date 2014
+* @date 2014
* @copyright http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
@@ -25,16 +25,17 @@
#include "PlaceObject.h"
#include "../../core/RobotStatechartContext.h"
-#include <Core/observers/variant/ChannelRef.h>
-#include <Core/observers/variant/SingleTypeVariantList.h>
+#include <RobotAPI/interface/units/KinematicUnitInterface.h>
+#include <RobotAPI/core/RobotStatechartContext.h>
#include <RobotAPI/robotstate/remote/ArmarPose.h>
#include <RobotAPI/robotstate/remote/RemoteRobot.h>
+
+#include <Core/observers/variant/ChannelRef.h>
+#include <Core/observers/variant/SingleTypeVariantList.h>
+
#include <VirtualRobot/IK/DifferentialIK.h>
#include <VirtualRobot/Robot.h>
-#include <RobotAPI/interface/units/KinematicUnitInterface.h>
-
-#include <RobotAPI/core/RobotStatechartContext.h>
namespace armarx
{
@@ -46,7 +47,7 @@ namespace armarx
addToInput("maxHeightToMoveDown", VariantType::Float, false);
addToInput("minForceForSuccess", VariantType::Float, false);
addToInput("timeoutPlaceObject", VariantType::Int, false);
-
+
addToInput("robotNodeSetName", VariantType::String, false);
addToInput("robotBaseFrame", VariantType::String, false);
diff --git a/source/RobotAPI/units/CMakeLists.txt b/source/RobotAPI/units/CMakeLists.txt
index 60886e132..7efcac503 100644
--- a/source/RobotAPI/units/CMakeLists.txt
+++ b/source/RobotAPI/units/CMakeLists.txt
@@ -13,18 +13,16 @@ if (Eigen3_FOUND AND Simox_FOUND)
${Simox_INCLUDE_DIRS})
endif()
-
set(LIB_NAME RobotAPIUnits)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
-set(LIBS RobotAPIInterfaces
- RobotAPICore
- ArmarXInterfaces
- ArmarXCore
- ArmarXCoreObservers
- ArmarXCoreEigen3Variants
- RobotAPIRemoteRobot ${Simox_LIBRARIES})
+set(LIBS
+ RobotAPICore
+ RobotAPIRemoteRobot
+ ArmarXCoreObservers
+ ArmarXCoreEigen3Variants
+ ${Simox_LIBRARIES})
set(LIB_HEADERS
ForceTorqueObserver.h
--
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