From fad5ca45aa4cf2b2463e190891e054435eb4781a Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 21 Sep 2020 09:11:52 +0200
Subject: [PATCH] Move Robot to own file
---
.../RobotAPI/components/ArViz/CMakeLists.txt | 2 +
.../components/ArViz/Client/Elements.h | 60 +--------------
.../ArViz/Client/elements/Robot.cpp | 6 ++
.../components/ArViz/Client/elements/Robot.h | 75 +++++++++++++++++++
4 files changed, 85 insertions(+), 58 deletions(-)
create mode 100644 source/RobotAPI/components/ArViz/Client/elements/Robot.cpp
create mode 100644 source/RobotAPI/components/ArViz/Client/elements/Robot.h
diff --git a/source/RobotAPI/components/ArViz/CMakeLists.txt b/source/RobotAPI/components/ArViz/CMakeLists.txt
index 083847501..696d953ae 100644
--- a/source/RobotAPI/components/ArViz/CMakeLists.txt
+++ b/source/RobotAPI/components/ArViz/CMakeLists.txt
@@ -12,6 +12,7 @@ set(SOURCES
Client/Elements.cpp
Client/elements/Mesh.cpp
+ Client/elements/Robot.cpp
Coin/ElementVisualizer.cpp
@@ -69,6 +70,7 @@ set(HEADERS
Client/elements/Mesh.h
Client/elements/MeshCGALExtensions.h
Client/elements/PointCloud.h
+ Client/elements/Robot.h
Client/elements/point_cloud_type_traits.hpp
diff --git a/source/RobotAPI/components/ArViz/Client/Elements.h b/source/RobotAPI/components/ArViz/Client/Elements.h
index 175bfbe3b..ef4c6f66a 100644
--- a/source/RobotAPI/components/ArViz/Client/Elements.h
+++ b/source/RobotAPI/components/ArViz/Client/Elements.h
@@ -17,8 +17,9 @@
#include "Color.h"
#include "elements/ElementOps.h"
-#include "elements/PointCloud.h"
#include "elements/Mesh.h"
+#include "elements/PointCloud.h"
+#include "elements/Robot.h"
// The has_member macro causes compile errors if *any* other header uses
// the identifier has_member. Boost.Thread does, so this causes compile
@@ -448,63 +449,6 @@ namespace armarx::viz
};
- class Robot : public ElementOps<Robot, data::ElementRobot>
- {
- public:
- using ElementOps::ElementOps;
-
- Robot& file(std::string const& project, std::string const& filename)
- {
- data_->project = project;
- data_->filename = filename;
-
- return *this;
- }
-
- Robot& useCollisionModel()
- {
- data_->drawStyle |= data::ModelDrawStyle::COLLISION;
-
- return *this;
- }
-
- Robot& useFullModel()
- {
- data_->drawStyle &= ~data::ModelDrawStyle::COLLISION;
-
- return *this;
- }
-
- Robot& overrideColor(Color c)
- {
- data_->drawStyle |= data::ModelDrawStyle::OVERRIDE_COLOR;
-
- return color(c);
- }
-
- Robot& useOriginalColor()
- {
- data_->drawStyle &= ~data::ModelDrawStyle::OVERRIDE_COLOR;
-
- return *this;
- }
-
- Robot& joint(std::string const& name, float value)
- {
- data_->jointValues[name] = value;
-
- return *this;
- }
-
- Robot& joints(std::map<std::string, float> const& values)
- {
- data_->jointValues = values;
-
- return *this;
- }
- };
-
-
class Object : public ElementOps<Object, data::ElementObject>
{
private:
diff --git a/source/RobotAPI/components/ArViz/Client/elements/Robot.cpp b/source/RobotAPI/components/ArViz/Client/elements/Robot.cpp
new file mode 100644
index 000000000..f6f45c63b
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Client/elements/Robot.cpp
@@ -0,0 +1,6 @@
+#include "Robot.h"
+
+Robot::Robot()
+{
+
+}
diff --git a/source/RobotAPI/components/ArViz/Client/elements/Robot.h b/source/RobotAPI/components/ArViz/Client/elements/Robot.h
new file mode 100644
index 000000000..b19d92de2
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Client/elements/Robot.h
@@ -0,0 +1,75 @@
+#pragma once
+
+#include "ElementOps.h"
+
+
+namespace armarx
+{
+ ///#include <RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h>
+ class RobotNameHelper;
+ ///#include <RobotAPI/interface/core/RobotState.h>
+ class RobotInfoNode;
+ class RobotStateComponentInterfacePrx;
+}
+
+
+namespace armarx::viz
+{
+
+ class Robot : public ElementOps<Robot, data::ElementRobot>
+ {
+ public:
+ using ElementOps::ElementOps;
+
+ Robot& file(std::string const& project, std::string const& filename)
+ {
+ data_->project = project;
+ data_->filename = filename;
+
+ return *this;
+ }
+
+ Robot& useCollisionModel()
+ {
+ data_->drawStyle |= data::ModelDrawStyle::COLLISION;
+
+ return *this;
+ }
+
+ Robot& useFullModel()
+ {
+ data_->drawStyle &= ~data::ModelDrawStyle::COLLISION;
+
+ return *this;
+ }
+
+ Robot& overrideColor(Color c)
+ {
+ data_->drawStyle |= data::ModelDrawStyle::OVERRIDE_COLOR;
+
+ return color(c);
+ }
+
+ Robot& useOriginalColor()
+ {
+ data_->drawStyle &= ~data::ModelDrawStyle::OVERRIDE_COLOR;
+
+ return *this;
+ }
+
+ Robot& joint(std::string const& name, float value)
+ {
+ data_->jointValues[name] = value;
+
+ return *this;
+ }
+
+ Robot& joints(std::map<std::string, float> const& values)
+ {
+ data_->jointValues = values;
+
+ return *this;
+ }
+ };
+
+}
--
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