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Commit fd418c8a authored by Mirko Wächter's avatar Mirko Wächter
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Merge branch 'master' of https://i61wiki.itec.uka.de/git/robot-api 

Conflicts:
	source/RobotAPI/motioncontrol/CMakeLists.txt
parents 99464e34 a48f36f5
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source/RobotAPI/GraspingWithTorques/CMakeLists.txt
+ 14
− 18
View file @ fd418c8a
......@@ -7,25 +7,21 @@ find_package(Simox QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
if (ARMARX_BUILD)
include_directories(${Eigen3_INCLUDE_DIR})
include_directories(${Simox_INCLUDE_DIRS})
set(LIB_NAME GraspingWithTorques)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
if (Eigen3_FOUND AND Simox_FOUND)
include_directories(
${Eigen3_INCLUDE_DIR}
${Simox_INCLUDE_DIRS})
endif()
set(LIB_FILES GraspingWithTorques.cpp
)
set(LIB_HEADERS GraspingWithTorques.h
)
set(LIB_NAME GraspingWithTorques)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
add_library(${LIB_NAME} SHARED ${LIB_FILES} ${LIB_HEADERS})
set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
library_settings("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_HEADERS}")
target_link_ice(${LIB_NAME})
target_link_libraries(${LIB_NAME} ${LIBS})
endif()
set(LIB_FILES GraspingWithTorques.cpp
)
set(LIB_HEADERS GraspingWithTorques.h
)
armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
source/RobotAPI/GraspingWithTorques/GraspingWithTorques.cpp
+ 2
− 1
View file @ fd418c8a
......@@ -381,7 +381,8 @@ namespace armarx
//rsContext->kinematicUnitPrx->setJointTorques(jointNamesAndValues);
rsContext->kinematicUnitPrx->setJointVelocities(jointNamesAndValues);
//rsContext->kinematicUnitPrx->setJointVelocities(jointNamesAndValues); //Auskommentiert nach letztem Test MP 2014-02-20
......
source/RobotAPI/OpenHand/CMakeLists.txt
+ 14
− 19
View file @ fd418c8a
armarx_set_target("RobotAPI Library: OpenHand")
find_package(Eigen3 QUIET)
find_package(Simox QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
if (ARMARX_BUILD)
include_directories(${Eigen3_INCLUDE_DIR})
include_directories(${Simox_INCLUDE_DIRS})
set(LIB_NAME OpenHand)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
if (Eigen3_FOUND AND Simox_FOUND)
include_directories(
${Eigen3_INCLUDE_DIR}
${Simox_INCLUDE_DIRS})
endif()
set(LIB_FILES OpenHand.cpp
)
set(LIB_HEADERS OpenHand.h
)
set(LIB_NAME OpenHand)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
add_library(${LIB_NAME} SHARED ${LIB_FILES} ${LIB_HEADERS})
set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
library_settings("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_HEADERS}")
target_link_ice(${LIB_NAME})
target_link_libraries(${LIB_NAME} ${LIBS})
endif()
set(LIB_FILES OpenHand.cpp
)
set(LIB_HEADERS OpenHand.h
)
armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
+ 5
− 16
View file @ fd418c8a
armarx_component_set_name(ForceTorqueObserver)
set(COMPONENT_BUILD TRUE)
find_package(Eigen3 QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
find_package(Simox QUIET)
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
armarx_build_if(COMPONENT_BUILD "component disabled")
# check if ArmarXCoreUnits library gets built
# LOCATION is NOT-FOUND (equal to FALSE) if library is disabled
GET_TARGET_PROPERTY(ArmarXCoreUnits_ENABLED ArmarXCoreUnits LOCATION)
armarx_build_if(ArmarXCoreUnits_ENABLED "ArmarXCoreUnits library disabled")
set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot)
GET_TARGET_PROPERTY(ArmarXCoreObservers_ENABLED ArmarXCoreObservers LOCATION)
armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disabled")
set(SOURCES main.cpp ForceTorqueObserverApp.h)
if (ARMARX_BUILD)
set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot)
set(SOURCES main.cpp ForceTorqueObserverApp.h)
armarx_add_component_executable("${SOURCES}")
endif()
armarx_add_component_executable("${SOURCES}")
source/RobotAPI/applications/MotionControl/CMakeLists.txt
+ 5
− 16
View file @ fd418c8a
armarx_component_set_name(MotionControl)
set(COMPONENT_BUILD TRUE)
find_package(Eigen3 QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
find_package(Simox QUIET)
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
armarx_build_if(COMPONENT_BUILD "component disabled")
# check if ArmarXCoreUnits library gets built
# LOCATION is NOT-FOUND (equal to FALSE) if library is disabled
GET_TARGET_PROPERTY(ArmarXCoreUnits_ENABLED ArmarXCoreUnits LOCATION)
armarx_build_if(ArmarXCoreUnits_ENABLED "ArmarXCoreUnits library disabled")
set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations)
GET_TARGET_PROPERTY(ArmarXCoreObservers_ENABLED ArmarXCoreObservers LOCATION)
armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disabled")
set(SOURCES main.cpp MotionControlApp.h)
if (ARMARX_BUILD)
set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations)
set(SOURCES main.cpp MotionControlApp.h)
armarx_add_component_executable("${SOURCES}")
endif()
armarx_add_component_executable("${SOURCES}")
source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
+ 10
− 18
View file @ fd418c8a
armarx_component_set_name(MotionControlTest)
set(COMPONENT_BUILD TRUE)
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")
armarx_build_if(COMPONENT_BUILD "component disabled")
# check if ArmarXCoreUnits library gets built
# LOCATION is NOT-FOUND (equal to FALSE) if library is disabled
GET_TARGET_PROPERTY(ArmarXCoreUnits_ENABLED ArmarXCoreUnits LOCATION)
armarx_build_if(ArmarXCoreUnits_ENABLED "ArmarXCoreUnits library disabled")
GET_TARGET_PROPERTY(ArmarXCoreObservers_ENABLED ArmarXCoreObservers LOCATION)
armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disabled")
if (Eigen3_FOUND AND Simox_FOUND)
include_directories(
${Eigen3_INCLUDE_DIR}
${Simox_INCLUDE_DIRS})
endif()
if (ARMARX_BUILD)
include_directories(${Eigen3_INCLUDE_DIR})
include_directories(${Simox_INCLUDE_DIRS})
set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations ${Simox_LIBRARIES})
set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations ${Simox_LIBRARIES})
set(SOURCES main.cpp MotionControlTestApp.h)
set(SOURCES main.cpp MotionControlTestApp.h)
armarx_add_component_executable("${SOURCES}")
endif()
armarx_add_component_executable("${SOURCES}")
source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
+ 10
− 18
View file @ fd418c8a
armarx_component_set_name(TCPControlUnit)
set(COMPONENT_BUILD TRUE)
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")
armarx_build_if(COMPONENT_BUILD "component disabled")
# check if ArmarXCoreUnits library gets built
# LOCATION is NOT-FOUND (equal to FALSE) if library is disabled
GET_TARGET_PROPERTY(ArmarXCoreUnits_ENABLED ArmarXCoreUnits LOCATION)
armarx_build_if(ArmarXCoreUnits_ENABLED "ArmarXCoreUnits library disabled")
GET_TARGET_PROPERTY(ArmarXCoreObservers_ENABLED ArmarXCoreObservers LOCATION)
armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disabled")
if (Eigen3_FOUND AND Simox_FOUND)
include_directories(
${Eigen3_INCLUDE_DIR}
${Simox_INCLUDE_DIRS})
endif()
if (ARMARX_BUILD)
include_directories(${Eigen3_INCLUDE_DIR})
include_directories(${Simox_INCLUDE_DIRS})
set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot ${Simox_LIBRARIES})
set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot ${Simox_LIBRARIES})
set(SOURCES main.cpp TCPControlUnitApp.h)
set(SOURCES main.cpp TCPControlUnitApp.h)
armarx_add_component_executable("${SOURCES}")
endif()
armarx_add_component_executable("${SOURCES}")
source/RobotAPI/core/CMakeLists.txt
+ 14
− 19
View file @ fd418c8a
......@@ -7,26 +7,21 @@ find_package(Simox QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
if (ARMARX_BUILD)
include_directories(${Eigen3_INCLUDE_DIR})
include_directories(${Simox_INCLUDE_DIRS})
set(LIB_NAME RobotAPICore)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
set(LIBS RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreStatechart ArmarXCoreRobotStateComponent ${Simox_LIBRARIES})
set(LIB_FILES RobotStatechartContext.cpp
)
set(LIB_HEADERS RobotStatechartContext.h
)
if (Eigen3_FOUND AND Simox_FOUND)
include_directories(
${Eigen3_INCLUDE_DIR}
${Simox_INCLUDE_DIRS})
endif()
set(LIB_NAME RobotAPICore)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
add_library(${LIB_NAME} SHARED ${LIB_FILES} ${LIB_HEADERS})
set(LIBS RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreStatechart ArmarXCoreRobotStateComponent ${Simox_LIBRARIES})
library_settings("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_HEADERS}")
target_link_ice(${LIB_NAME})
target_link_libraries(${LIB_NAME} ${LIBS})
endif()
set(LIB_FILES RobotStatechartContext.cpp
)
set(LIB_HEADERS RobotStatechartContext.h
)
armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
source/RobotAPI/motioncontrol/CMakeLists.txt
+ 14
− 20
View file @ fd418c8a
......@@ -7,28 +7,22 @@ find_package(Simox QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
if (ARMARX_BUILD)
include_directories(${Eigen3_INCLUDE_DIR})
include_directories(${Simox_INCLUDE_DIRS})
set(LIB_NAME MotionControl)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ${Simox_LIBRARIES})
set(LIB_FILES MotionControl.cpp
ZeroForceControl.cpp)
set(LIB_HEADERS MotionControl.h
ZeroForceControl.h)
if (Eigen3_FOUND AND Simox_FOUND)
include_directories(
${Eigen3_INCLUDE_DIR}
${Simox_INCLUDE_DIRS})
endif()
add_library(${LIB_NAME} SHARED ${LIB_FILES} ${LIB_HEADERS})
set(LIB_NAME MotionControl)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
library_settings("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_HEADERS}")
target_link_ice(${LIB_NAME})
target_link_libraries(${LIB_NAME} ${LIBS})
set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ${Simox_LIBRARIES})
set(LIB_FILES MotionControl.cpp
ZeroForceControl.cpp)
set(LIB_HEADERS MotionControl.h
ZeroForceControl.h)
endif()
armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
add_subdirectory(DMPControl)
source/RobotAPI/units/CMakeLists.txt
+ 20
− 25
View file @ fd418c8a
......@@ -7,33 +7,28 @@ find_package(Simox QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
if (ARMARX_BUILD)
include_directories(${Eigen3_INCLUDE_DIR})
include_directories(${Simox_INCLUDE_DIRS})
set(LIB_NAME RobotAPIUnits)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
set(LIBS RobotAPIInterfaces RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot ${Simox_LIBRARIES})
set(LIB_HEADERS
ForceTorqueObserver.h
TCPControlUnit.h
TCPControlUnitObserver.h
if (Eigen3_FOUND AND Simox_FOUND)
include_directories(
${Eigen3_INCLUDE_DIR}
${Simox_INCLUDE_DIRS})
endif()
)
set(LIB_FILES
ForceTorqueObserver.cpp
TCPControlUnit.cpp
TCPControlUnitObserver.cpp
)
set(LIB_NAME RobotAPIUnits)
set(LIB_VERSION 0.1.0)
set(LIB_SOVERSION 0)
set(LIBS RobotAPIInterfaces RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot ${Simox_LIBRARIES})
add_library(${LIB_NAME} SHARED ${LIB_FILES} ${LIB_HEADERS})
set(LIB_HEADERS
ForceTorqueObserver.h
TCPControlUnit.h
TCPControlUnitObserver.h
library_settings("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_HEADERS}")
target_link_ice(${LIB_NAME})
target_link_libraries(${LIB_NAME} ${LIBS})
endif()
)
set(LIB_FILES
ForceTorqueObserver.cpp
TCPControlUnit.cpp
TCPControlUnitObserver.cpp
)
armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
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