diff --git a/CMakeLists.txt b/CMakeLists.txt
index b37ea30ea07dfc3401d5ce8491bca18ba8f892c2..45ecced7054f4fc3a750e706541b4f8269f60116 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@ PROJECT(Simox)
cmake_minimum_required(VERSION 2.8.3)
if(NOT ("${CMAKE_VERSION}" VERSION_LESS 2.8.12))
- cmake_policy(SET CMP0022 OLD) # avoid INTERFACE_LINK_LIBRARIES warnings
+ cmake_policy(SET CMP0022 OLD) # avoid INTERFACE_LINK_LIBRARIES warnings
ENDIF()
MESSAGE(STATUS "******************** Configuring Simox ************************")
@@ -30,18 +30,18 @@ if (Simox_BUILD_GraspStudio)
list(APPEND SIMOX_EXPORT_TARGET_LIST GraspStudio)
list(APPEND SIMOX_EXPORT_TARGET_LIST qhull)
list(APPEND SIMOX_EXPORT_TARGET_LIST powercrust)
- list (APPEND Simox_LIBRARIES GraspStudio)
+ list (APPEND Simox_LIBRARIES GraspStudio)
endif()
if (Simox_BUILD_SimDynamics)
add_subdirectory(SimDynamics)
list(APPEND SIMOX_EXPORT_TARGET_LIST SimDynamics)
- list (APPEND Simox_LIBRARIES SimDynamics)
- if (SimDynamics_BULLET_OpenGL)
- list(APPEND SIMOX_EXPORT_TARGET_LIST BulletOpenGLSupport)
- endif()
+ list (APPEND Simox_LIBRARIES SimDynamics)
+ if (SimDynamics_BULLET_OpenGL)
+ list(APPEND SIMOX_EXPORT_TARGET_LIST BulletOpenGLSupport)
+ endif()
- list (APPEND Simox_EXTERNAL_LIBRARIES ${Simox_SimDynamics_EXTERNAL_LIBRARIES})
- list (APPEND Simox_EXTERNAL_INCLUDE_DIRS ${Simox_SimDynamics_INCLUDE_DIRS})
+ list (APPEND Simox_EXTERNAL_LIBRARIES ${Simox_SimDynamics_EXTERNAL_LIBRARIES})
+ list (APPEND Simox_EXTERNAL_INCLUDE_DIRS ${Simox_SimDynamics_INCLUDE_DIRS})
diff --git a/VirtualRobot/Visualization/VisualizationNode.cpp b/VirtualRobot/Visualization/VisualizationNode.cpp
index 8b87177b7eae29ea2bab90a27191403cb2f578de..6cd2ac0792849b56ff9f9c541b6ea343f1f918d6 100644
--- a/VirtualRobot/Visualization/VisualizationNode.cpp
+++ b/VirtualRobot/Visualization/VisualizationNode.cpp
@@ -1,6 +1,6 @@
/**
* @package VirtualRobot
-* @author Manfred Kroehnert
+* @author Manfred Kroehnert
* @author Nikolaus Vahrenkamp
* @copyright 2010 Manfred Kroehnert
*/
@@ -24,7 +24,7 @@ VisualizationNode::VisualizationNode()
boundingBox = false;
globalPose.setIdentity();
}
-
+
VisualizationNode::~VisualizationNode()
{
attachedVisualizations.clear();
@@ -208,7 +208,7 @@ bool VisualizationNode::saveModel(const std::string &modelPath, const std::strin
void VisualizationNode::scale( Eigen::Vector3f &scaleFactor )
{
- VR_WARNING << "not implemented..." << endl;
+ VR_WARNING << "not implemented..." << endl;
}
diff --git a/VirtualRobot/Visualization/VisualizationNode.h b/VirtualRobot/Visualization/VisualizationNode.h
index 57608b8a8a58496ebc624d7836e7bda7f9eccb1b..1fb05a237c4da0858e78efdccb14ca933556381a 100644
--- a/VirtualRobot/Visualization/VisualizationNode.h
+++ b/VirtualRobot/Visualization/VisualizationNode.h
@@ -61,7 +61,7 @@ public:
/*!
Clone this visualization.
- \param deepCopy When true, the underlying visualization is copied, otherwise a reference to the existing visualization is passed.
+ \param deepCopy When true, the underlying visualization is copied, otherwise a reference to the existing visualization is passed.
\param scaling Scale Can be set to create a scaled version of this visual data.
Since the underlying implementation may be able to re-use the visualization data, a deep copy may not be necessary in some cases.
*/
@@ -96,7 +96,7 @@ public:
virtual void setupVisualization(bool showVisualization, bool showAttachedVisualizations);
/*!
- Enables/Disables the visualization updates.
+ Enables/Disables the visualization updates.
Usually if a SceneObject or a RobotNode changes its state, the visualization is automatically updated.
This behavior can be changed here.
*/
@@ -127,7 +127,7 @@ public:
std::string toXML(const std::string &basePath, const std::string &filename, int tabs);
/*!
- Create a united visualization. Behavior depends on the derived implementation,
+ Create a united visualization. Behavior depends on the derived implementation,
but usually the visualizations are copied and united to one object.
*/
static VisualizationNodePtr CreateUnitedVisualization(const std::vector<VisualizationNodePtr> &visualizations);
@@ -137,13 +137,13 @@ public:
*/
BoundingBox getBoundingBox();
- /*!
- Saves model file to model path.
+ /*!
+ Saves model file to model path.
\param modelPath The directory.
- */
+ */
virtual bool saveModel(const std::string &modelPath, const std::string &filename);
- virtual void scale(Eigen::Vector3f &scaleFactor);
+ virtual void scale(Eigen::Vector3f &scaleFactor);
protected:
bool boundingBox; //!< Indicates, if the bounding box model was used
diff --git a/VirtualRobot/XML/BaseIO.cpp b/VirtualRobot/XML/BaseIO.cpp
index 3a76f0d4931c3c21e852dcd48628b1c6333b0639..00cb8981645b99c8edbfc34cb26b906ae908adf2 100644
--- a/VirtualRobot/XML/BaseIO.cpp
+++ b/VirtualRobot/XML/BaseIO.cpp
@@ -96,9 +96,9 @@ float BaseIO::getFloatByAttributeName(rapidxml::xml_node<char>* xmlNode, const s
/**
* This method gets an optional attribute \p attributeName from xml_node \p xmlNode and
- * returns its value as float.
+ * returns its value as float.
* When no attribute \p attributeName is present the \p standardValue is returned.
- *
+ *
*/
float BaseIO::getOptionalFloatByAttributeName(rapidxml::xml_node<char>* xmlNode, const std::string& attributeName, float standardValue)
{
@@ -173,8 +173,8 @@ void BaseIO::processTransformNode(rapidxml::xml_node<char> *transformXMLNode, co
while (node)
{
std::string nodeName = getLowerCase(node->name());
-
-
+
+
// Homogeneous Matrix 4x4
//rapidxml::xml_node<> *matrixXMLNode = trXMLNode->first_node("matrix4x4",0,false);
if (nodeName=="matrix4x4")
@@ -317,33 +317,33 @@ void BaseIO::processTransformNode(rapidxml::xml_node<char> *transformXMLNode, co
void BaseIO::processDHNode(rapidxml::xml_node<char> *dhXMLNode, DHParameter &dh)
{
- rapidxml::xml_attribute<> *attr;
- std::vector< Units > unitsAttr = getUnitsAttributes(dhXMLNode);
- Units uAngle("rad");
- Units uLength("mm");
- for (size_t i=0;i<unitsAttr.size();i++)
- {
- if (unitsAttr[i].isAngle())
- uAngle = unitsAttr[i];
- if (unitsAttr[i].isLength())
- uLength = unitsAttr[i];
- }
-
- dh.isSet = true;
- bool isRadian = uAngle.isRadian();
-
- attr = dhXMLNode->first_attribute("a", 0, false);
- if (attr)
- dh.setAInMM(uLength.toMillimeter(convertToFloat(attr->value())));
- attr = dhXMLNode->first_attribute("d", 0, false);
- if (attr)
- dh.setDInMM(uLength.toMillimeter(convertToFloat(attr->value())));
- attr = dhXMLNode->first_attribute("alpha", 0, false);
- if (attr)
- dh.setAlphaRadian(convertToFloat(attr->value()), isRadian);
- attr = dhXMLNode->first_attribute("theta", 0, false);
- if (attr)
- dh.setThetaRadian(convertToFloat(attr->value()), isRadian);
+ rapidxml::xml_attribute<> *attr;
+ std::vector< Units > unitsAttr = getUnitsAttributes(dhXMLNode);
+ Units uAngle("rad");
+ Units uLength("mm");
+ for (size_t i=0;i<unitsAttr.size();i++)
+ {
+ if (unitsAttr[i].isAngle())
+ uAngle = unitsAttr[i];
+ if (unitsAttr[i].isLength())
+ uLength = unitsAttr[i];
+ }
+
+ dh.isSet = true;
+ bool isRadian = uAngle.isRadian();
+
+ attr = dhXMLNode->first_attribute("a", 0, false);
+ if (attr)
+ dh.setAInMM(uLength.toMillimeter(convertToFloat(attr->value())));
+ attr = dhXMLNode->first_attribute("d", 0, false);
+ if (attr)
+ dh.setDInMM(uLength.toMillimeter(convertToFloat(attr->value())));
+ attr = dhXMLNode->first_attribute("alpha", 0, false);
+ if (attr)
+ dh.setAlphaRadian(convertToFloat(attr->value()), isRadian);
+ attr = dhXMLNode->first_attribute("theta", 0, false);
+ if (attr)
+ dh.setThetaRadian(convertToFloat(attr->value()), isRadian);
}
bool BaseIO::hasUnitsAttribute(rapidxml::xml_node<char> *node)
@@ -369,7 +369,7 @@ void BaseIO::getAllAttributes(rapidxml::xml_node<char> *node, const std::string
{
std::string s(attr->value());
storeValues.push_back(s);
-
+
attr = attr->next_attribute(attrString.c_str(), 0, false);
}
}
@@ -389,7 +389,7 @@ std::vector< Units > BaseIO::getUnitsAttributes(rapidxml::xml_node<char> *node)
Units unitsAttribute(getLowerCase(attrStr[i].c_str()));
result.push_back(unitsAttribute);
}
-
+
return result;
}
@@ -618,21 +618,21 @@ void BaseIO::makeRelativePath( const std::string &basePath, std::string &filenam
if (filename.empty())
return;
- boost::filesystem::path diffpath;
- boost::filesystem::path tmppath = filename;
- while(tmppath != basePath)
- {
- diffpath = tmppath.filename() / diffpath;
- tmppath = tmppath.parent_path();
- if (tmppath.empty())
- {
- // no relative path found, take complete path
- diffpath = filename;
- break;
- }
- }
-
- filename = diffpath.string();
+ boost::filesystem::path diffpath;
+ boost::filesystem::path tmppath = filename;
+ while(tmppath != basePath)
+ {
+ diffpath = tmppath.filename() / diffpath;
+ tmppath = tmppath.parent_path();
+ if (tmppath.empty())
+ {
+ // no relative path found, take complete path
+ diffpath = filename;
+ break;
+ }
+ }
+
+ filename = diffpath.string();
/*
bool found = true;
@@ -775,7 +775,7 @@ VisualizationNodePtr BaseIO::processVisualizationTag(rapidxml::xml_node<char> *v
VR_WARNING << "No visualization present..." << endl;
} else
visuCoordType = attr->value();
-
+
getLowerCase(visuCoordType);
VisualizationFactoryPtr visualizationFactory = VisualizationFactory::fromName(visuCoordType, NULL);
@@ -842,7 +842,7 @@ CollisionModelPtr BaseIO::processCollisionTag(rapidxml::xml_node<char> *colXMLNo
collisionFileType = attr->value();
getLowerCase(collisionFileType);
collisionFile = processFileNode(colFileXMLNode,basePath);
-
+
attr = colFileXMLNode->first_attribute("boundingbox", 0, false);
if (attr)
{
@@ -929,8 +929,8 @@ void BaseIO::processPhysicsTag(rapidxml::xml_node<char> *physicsXMLNode, const s
}
}
-
- }
+
+ }
rapidxml::xml_node<> *inMatXMLNode = physicsXMLNode->first_node("inertiamatrix",0,false);
if (inMatXMLNode)
{
@@ -960,29 +960,29 @@ void BaseIO::processPhysicsTag(rapidxml::xml_node<char> *physicsXMLNode, const s
physics.intertiaMatrix.setZero(); // this will trigger an automatically determination of the inertia matrix during initialization
}
rapidxml::xml_node<> *ignoreColXMLNode = physicsXMLNode->first_node("ignorecollision",0,false);
- while (ignoreColXMLNode)
- {
- rapidxml::xml_attribute<> *attr = ignoreColXMLNode->first_attribute("name", 0, false);
- THROW_VR_EXCEPTION_IF(!attr, "Expecting 'name' attribute in <IgnoreCollision> tag..." << endl)
- std::string s(attr->value());
- physics.ignoreCollisions.push_back(s);
- ignoreColXMLNode = ignoreColXMLNode->next_sibling("ignorecollision",0,false);
- }
- rapidxml::xml_node<> *simulationtype = physicsXMLNode->first_node("simulationtype",0,false);
- if (simulationtype)
- {
- rapidxml::xml_attribute<> *attr = simulationtype->first_attribute("value", 0, false);
- THROW_VR_EXCEPTION_IF(!attr, "Expecting 'value' attribute in <SimulationType> tag..." << endl)
- std::string s(attr->value());
- getLowerCase(s);
- if (s=="dynamic" || s=="dynamics")
- physics.simType = VirtualRobot::SceneObject::Physics::eDynamic;
- else if (s=="static")
- physics.simType = VirtualRobot::SceneObject::Physics::eStatic;
- else if (s=="kinematic")
- physics.simType = VirtualRobot::SceneObject::Physics::eKinematic;
- // otherwise eUnknown remains
- }
+ while (ignoreColXMLNode)
+ {
+ rapidxml::xml_attribute<> *attr = ignoreColXMLNode->first_attribute("name", 0, false);
+ THROW_VR_EXCEPTION_IF(!attr, "Expecting 'name' attribute in <IgnoreCollision> tag..." << endl)
+ std::string s(attr->value());
+ physics.ignoreCollisions.push_back(s);
+ ignoreColXMLNode = ignoreColXMLNode->next_sibling("ignorecollision",0,false);
+ }
+ rapidxml::xml_node<> *simulationtype = physicsXMLNode->first_node("simulationtype",0,false);
+ if (simulationtype)
+ {
+ rapidxml::xml_attribute<> *attr = simulationtype->first_attribute("value", 0, false);
+ THROW_VR_EXCEPTION_IF(!attr, "Expecting 'value' attribute in <SimulationType> tag..." << endl)
+ std::string s(attr->value());
+ getLowerCase(s);
+ if (s=="dynamic" || s=="dynamics")
+ physics.simType = VirtualRobot::SceneObject::Physics::eDynamic;
+ else if (s=="static")
+ physics.simType = VirtualRobot::SceneObject::Physics::eStatic;
+ else if (s=="kinematic")
+ physics.simType = VirtualRobot::SceneObject::Physics::eKinematic;
+ // otherwise eUnknown remains
+ }
}
std::string BaseIO::processFileNode( rapidxml::xml_node<char> *fileNode, const std::string &basePath )
@@ -1004,26 +1004,26 @@ std::string BaseIO::processFileNode( rapidxml::xml_node<char> *fileNode, const s
}
} else
{
-
+
// check file absolute
boost::filesystem::path fn(fileName);
- try {
- if (boost::filesystem::exists(fn))
- return fileName;
- } catch (...){}
+ try {
+ if (boost::filesystem::exists(fn))
+ return fileName;
+ } catch (...){}
// check file relative
std::string absFileName = fileName;
makeAbsolutePath(basePath,absFileName);
fn = absFileName;
- try {
+ try {
if (boost::filesystem::exists(fn))
return absFileName;
- } catch (...){}
+ } catch (...){}
// check file in data paths
absFileName = fileName;
if (RuntimeEnvironment::getDataFileAbsolute(absFileName))
return absFileName;
-
+
VR_ERROR << "Could not determine valid filename from " << fileName << endl;
}
return fileName;
@@ -1252,10 +1252,10 @@ TrajectoryPtr BaseIO::processTrajectory(rapidxml::xml_node<char> *trajectoryXMLN
bool BaseIO::writeXMLFile(const std::string &filename, const std::string &content, bool overwrite)
{
- try {
+ try {
if (!overwrite && boost::filesystem::exists(filename))
return false;
- } catch (...){}
+ } catch (...){}
// save file
std::ofstream out(filename.c_str(),std::ios::out|std::ios::trunc);
@@ -1270,18 +1270,18 @@ bool BaseIO::writeXMLFile(const std::string &filename, const std::string &conten
std::string BaseIO::toXML( const Eigen::Matrix4f &m, std::string ident /*= "\t"*/ )
{
- std::stringstream ss;
- ss << ident << "<Matrix4x4 units='mm'>"<< endl;
- for (int r=1;r<=4;r++)
- {
- ss << ident << "\t<row" << r << " ";
-
- for (int i=1;i<=4;i++)
- ss << "c" << i << "='" << m(r-1,i-1) <<"' ";
- ss << "/>"<< endl;
- }
- ss << ident << "</Matrix4x4>"<< endl;
- return ss.str();
+ std::stringstream ss;
+ ss << ident << "<Matrix4x4 units='mm'>"<< endl;
+ for (int r=1;r<=4;r++)
+ {
+ ss << ident << "\t<row" << r << " ";
+
+ for (int i=1;i<=4;i++)
+ ss << "c" << i << "='" << m(r-1,i-1) <<"' ";
+ ss << "/>"<< endl;
+ }
+ ss << ident << "</Matrix4x4>"<< endl;
+ return ss.str();
}
diff --git a/VirtualRobot/examples/SceneViewer/showSceneWindow.cpp b/VirtualRobot/examples/SceneViewer/showSceneWindow.cpp
index f0d12172c216b8e49d111a11cc7915c623d65ea2..44aef3ff7056bcc0b1e37160748099802fba3dd3 100644
--- a/VirtualRobot/examples/SceneViewer/showSceneWindow.cpp
+++ b/VirtualRobot/examples/SceneViewer/showSceneWindow.cpp
@@ -39,7 +39,7 @@ showSceneWindow::showSceneWindow(std::string &sSceneFile, Qt::WFlags flags)
sceneSep->addChild(graspVisu);
setupUI();
-
+
loadScene();
viewer->viewAll();
@@ -160,7 +160,7 @@ void showSceneWindow::updateGraspVisu()
std::string t = currentGrasp->getName();
SoSeparator* visu = CoinVisualizationFactory::CreateCoordSystemVisualization(1.0f,&t);
-
+
if (visu)
graspVisu->addChild(visu);
}
@@ -183,7 +183,7 @@ void showSceneWindow::quit()
void showSceneWindow::sliderMoved(int pos)
-{
+{
if (!currentTrajectory)
return;
@@ -215,7 +215,7 @@ void showSceneWindow::loadScene()
cout << e.what();
return;
}
-
+
if (!scene)
{
cout << " ERROR while creating scene" << endl;
@@ -262,7 +262,7 @@ void showSceneWindow::loadScene()
else
selectJoint(0);
-
+
displayTriangles();
@@ -303,7 +303,7 @@ void showSceneWindow::selectRobot(int nr)
if (tr.size()>0)
UI.comboBoxTrajectory->setCurrentIndex(0);
-
+
std::vector<VirtualRobot::EndEffectorPtr> eefs = currentRobot->getEndEffectors();
for (size_t i=0;i<eefs.size();i++)
{
@@ -469,7 +469,7 @@ void showSceneWindow::closeHand()
}
void showSceneWindow::openHand()
-{
+{
if (!currentEEF)
return;
currentEEF->openActors();