diff --git a/CMakeLists.txt b/CMakeLists.txt
index f7df51814750b746271c8bb54dcd41bc7eccaf67..3a0e756c1e39fe876b72bde7da7e278679942835 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,6 +30,7 @@ SET(PROJECT_DESCRIPTION "Corba server for gepetto-viewer")
SET(PROJECT_URL "")
SET(${PROJECT_NAME}_HEADERS
+ include/gepetto/viewer/corba/server.hh
include/gepetto/viewer/corba/client.hh
include/gepetto/viewer/corba/se3.hh
)
diff --git a/idl/gepetto/viewer/graphical-interface.idl b/idl/gepetto/viewer/graphical-interface.idl
index 1e5de671a9262b1adbdcf92748ed61f9c62c6cce..4accef5dc3b36d55826ea09dcbec9ea9ebe52d60 100644
--- a/idl/gepetto/viewer/graphical-interface.idl
+++ b/idl/gepetto/viewer/graphical-interface.idl
@@ -17,9 +17,9 @@ module corbaserver {
// the "refresh" function each time you want actualize position of the Viewer.
// This system is used to synchronize movement of all objects.
-typedef double Transform [7];
-typedef double Position [3];
-typedef double Color [4];
+typedef float Transform [7];
+typedef float Position [3];
+typedef float Color [4];
/// Corba exception travelling through the Corba channel
interface GraphicalInterface {
@@ -181,7 +181,7 @@ typedef double Color [4];
/// Set a new configuration to a node. THIS CONFIGURATION WILL AFFECTIVE ONLY AFTER CALLING REFRESH FUNCTION!!!
/// \param input nodeName : name of the node.
- /// \param input configuration : Double[7] new configuration.
+ /// \param input configuration : Float[7] new configuration.
boolean applyConfiguration(in string nodeName, in Transform configuration) raises (Error);
/// Add Landmark at the center of a node
diff --git a/include/gepetto/viewer/corba/client.hh b/include/gepetto/viewer/corba/client.hh
index 375e6f95126f93f45460d3e9a9f27b6f7d95a45f..b8f646d43ef5fa4a4ecb7f9dcbb28bff6c80dc48 100644
--- a/include/gepetto/viewer/corba/client.hh
+++ b/include/gepetto/viewer/corba/client.hh
@@ -24,12 +24,13 @@ private:
CORBA::ORB_var orb_;
gepetto::corbaserver::GraphicalInterface_var manager_;
- static void se3ToCorba(CORBA::Double* corbaPosition, const se3::SE3& se3position);
+ static void se3ToCorba(CORBA::Float* corbaPosition, const se3::SE3& se3position);
protected:
public:
typedef CORBA::ULong WindowID;
+ typedef float value_type;
// Default constructor
ClientCpp();
@@ -52,27 +53,27 @@ public:
bool addSceneToWindow(const char* sceneName, const WindowID windowId) ;
- bool addBox(const char* boxName, const float boxSize1, const float boxSize2, const float boxSize3, const double* color);
+ bool addBox(const char* boxName, const float boxSize1, const float boxSize2, const float boxSize3, const value_type* color);
//bool addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3) ;
//bool addCapsule(const char* capsuleName, float radius, float height) ;
- bool addCapsule(const char* capsuleName, const float radius, const float height, const double* color);
+ bool addCapsule(const char* capsuleName, const float radius, const float height, const value_type* color);
bool addMesh(const char* meshName, const char* meshPath) ;
//bool addCone(const char* coneName, float radius, float height) ;
- bool addCone(const char* coneName, const float radius, const float height, const double* color);
+ bool addCone(const char* coneName, const float radius, const float height, const value_type* color);
//bool addCylinder(const char* cylinderName, float radius, float height) ;
- bool addCylinder(const char* cylinderName, const float radius, const float height, const double* color);
+ bool addCylinder(const char* cylinderName, const float radius, const float height, const value_type* color);
//bool addSphere(const char* sphereName, float radius) ;
- bool addSphere(const char* sphereName, const float radius, const double* color);
+ bool addSphere(const char* sphereName, const float radius, const value_type* color);
- bool addLine(const char* lineName, const double* pos1, const double* pos2, const double* color);
+ bool addLine(const char* lineName, const value_type* pos1, const value_type* pos2, const value_type* color);
- bool addTriangleFace(const char* lineName, const double* pos1, const double* pos2, const double* pos3, const double* color);
- bool addSquareFace(const char* lineName, const double* pos1, const double* pos2, const double* pos3, const double* pos4, const double* color);
+ bool addTriangleFace(const char* lineName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* color);
+ bool addSquareFace(const char* lineName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* pos4, const value_type* color);
bool addURDF(const char* urdfName, const char* urdfPath, const char* urdfPackagePath);
diff --git a/include/gepetto/viewer/corba/se3.hh b/include/gepetto/viewer/corba/se3.hh
index 7ab1d4bf8c1116bd2588222bd148ccf763b61eee..f9aa02cb7eb695a024fa494e7f3eb4672b30f7ce 100644
--- a/include/gepetto/viewer/corba/se3.hh
+++ b/include/gepetto/viewer/corba/se3.hh
@@ -124,7 +124,7 @@ private:
Matrix3 rot;
Vector3 trans;
};
-typedef SE3Tpl<double,0> SE3;
+typedef SE3Tpl<float,0> SE3;
} // namespace se3
#endif // ifndef __se3_se3_hpp__
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index af4c72b066b6d94e5e5c82ef611a958039d63ca7..b093fd3181d0695cc933bfe12251b2338e16e6c3 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -33,7 +33,6 @@ ADD_LIBRARY(${LIBRARY_NAME}
graphical-interfaceSK.cc
graphical-interface.impl.cpp
graphical-interface.impl.hh
- server.hh
server.cc
server-private.cc
server-private.hh
diff --git a/src/client-cpp.cc b/src/client-cpp.cc
index d862660190fc6ae51160a027e5a8ed1d994dd4c4..cdc9727f4cae078668377c2c60bf6a1f4b4b6659 100644
--- a/src/client-cpp.cc
+++ b/src/client-cpp.cc
@@ -11,9 +11,9 @@
namespace graphics {
namespace corbaServer {
-void ClientCpp::se3ToCorba(CORBA::Double* corbaPosition, const se3::SE3& se3position)
+void ClientCpp::se3ToCorba(CORBA::Float* corbaPosition, const se3::SE3& se3position)
{
- Eigen::Quaternion<double> q(se3position.rotation());
+ Eigen::Quaternion<value_type> q(se3position.rotation());
corbaPosition[0] = se3position.translation()(0);
corbaPosition[1] = se3position.translation()(1);
corbaPosition[2] = se3position.translation()(2);
@@ -110,7 +110,7 @@ bool ClientCpp::addSceneToWindow(const char* sceneName, const ClientCpp::WindowI
return manager_->addBox(boxName, boxSize1, boxSize2, boxSize3);
}*/
-bool ClientCpp::addBox(const char* boxName, const float boxSize1, const float boxSize2, const float boxSize3, const double* color)
+bool ClientCpp::addBox(const char* boxName, const float boxSize1, const float boxSize2, const float boxSize3, const value_type* color)
{
return manager_->addBox(boxName, boxSize1, boxSize2, boxSize3, color);
}
@@ -120,7 +120,7 @@ bool ClientCpp::addBox(const char* boxName, const float boxSize1, const float bo
return manager_->addCapsule(capsuleName, radius, height);
}*/
-bool ClientCpp::addCapsule(const char* capsuleName, const float radius, const float height, const double* color)
+bool ClientCpp::addCapsule(const char* capsuleName, const float radius, const float height, const value_type* color)
{
return manager_->addCapsule(capsuleName, radius, height, color);
}
@@ -135,7 +135,7 @@ bool ClientCpp::addMesh(const char* meshName, const char* meshPath)
return manager_->addCone(coneName, radius, height);
}*/
-bool ClientCpp::addCone(const char* coneName, const float radius, const float height, const double* color)
+bool ClientCpp::addCone(const char* coneName, const float radius, const float height, const value_type* color)
{
return manager_->addCone(coneName, radius, height, color);
}
@@ -145,7 +145,7 @@ bool ClientCpp::addCone(const char* coneName, const float radius, const float he
return manager_->addCylinder(cylinderName, radius, height);
}*/
-bool ClientCpp::addCylinder(const char* cylinderName, const float radius, const float height, const double* color)
+bool ClientCpp::addCylinder(const char* cylinderName, const float radius, const float height, const value_type* color)
{
return manager_->addCylinder(cylinderName, radius, height, color);
}
@@ -155,22 +155,22 @@ bool ClientCpp::addCylinder(const char* cylinderName, const float radius, const
return manager_->addSphere(sphereName, radius);
}*/
-bool ClientCpp::addSphere(const char* sphereName, const float radius, const double* color)
+bool ClientCpp::addSphere(const char* sphereName, const float radius, const value_type* color)
{
return manager_->addSphere(sphereName, radius, color);
}
-bool ClientCpp::addLine(const char* lineName, const double* pos1, const double* pos2, const double* color)
+bool ClientCpp::addLine(const char* lineName, const value_type* pos1, const value_type* pos2, const value_type* color)
{
return manager_->addLine(lineName, pos1, pos2, color);
}
-bool ClientCpp::addTriangleFace(const char* faceName, const double* pos1, const double* pos2, const double* pos3, const double* color)
+bool ClientCpp::addTriangleFace(const char* faceName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* color)
{
return manager_->addTriangleFace(faceName, pos1, pos2, pos3, color);
}
-bool ClientCpp::addSquareFace(const char* faceName, const double* pos1, const double* pos2, const double* pos3, const double* pos4, const double* color)
+bool ClientCpp::addSquareFace(const char* faceName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* pos4, const value_type* color)
{
return manager_->addSquareFace(faceName, pos1, pos2, pos3, pos4, color);
}
@@ -192,7 +192,7 @@ bool ClientCpp::addToGroup(const char* nodeName, const char* groupName)
bool ClientCpp::applyConfiguration(const char* nodeName, const se3::SE3& se3position)
{
- CORBA::Double corbaPosition[7];
+ CORBA::Float corbaPosition[7];
ClientCpp::se3ToCorba(corbaPosition, se3position);
return manager_->applyConfiguration(nodeName, corbaPosition);
}
diff --git a/src/corbaserver.cc b/src/corbaserver.cc
index d0e33171c684d46e600db8cac7eb4a49ff21b2b5..d17bb0174d3554780a8a6a08684cdab12becfabc 100644
--- a/src/corbaserver.cc
+++ b/src/corbaserver.cc
@@ -9,14 +9,15 @@
// See the COPYING file for more information.
#include <iostream>
-#include "server.hh"
+#include "gepetto/viewer/corba/server.hh"
using graphics::corbaServer::Server;
int
main (int argc, const char* argv[])
{
- Server server (argc, argv, true);
+ graphics::WindowsManagerPtr_t wm = graphics::WindowsManager::create ();
+ Server server (wm, argc, argv, true);
server.startCorbaServer ();
server.processRequest(true);
diff --git a/src/graphical-interface.impl.cpp b/src/graphical-interface.impl.cpp
index 4b42c2eb98a9d61928e89861bfd8a4894bdeecf5..b6ab68c14d5bee70303790523ebe514314633dda 100644
--- a/src/graphical-interface.impl.cpp
+++ b/src/graphical-interface.impl.cpp
@@ -14,160 +14,14 @@ namespace graphics {
namespace impl {
GraphicalInterface::GraphicalInterface (corbaServer::Server* server) :
- windowManagers_ (), nodes_ (), groupNodes_ (), server_ (server),
- mtx_ (), rate_ (20), newNodeConfigurations_ ()
+ windowsManager_ (server->windowsManager ())
{
}
- osgVector4 GraphicalInterface::getColor (const std::string& colorName)
- {
- if (colorName == "blue")
- return osgVector4 (0.f, 0.f, 1.f, 1.f);
- else if (colorName == "green")
- return osgVector4 (0.f, 1.f, 0.f, 1.f);
- else if (colorName == "red")
- return osgVector4 (1.f, 0.f, 0.f, 1.f);
- else if (colorName == "white")
- return osgVector4 (1.f, 1.f, 1.f, 1.f);
- else
- return osgVector4 (0.f, 0.f, 0.f, 1.f);
- }
-
- osgVector4 GraphicalInterface::getColor (const double* colorCorba)
- {
- return osgVector4 (colorCorba[0], colorCorba[1], colorCorba[2],
- colorCorba[3]);
- }
-
- VisibilityMode GraphicalInterface::getVisibility
- (const std::string& visibilityName)
- {
- if (visibilityName == "OFF")
- return VISIBILITY_OFF;
- else if (visibilityName == "ALWAYS_ON_TOP")
- return ALWAYS_ON_TOP;
- else if (visibilityName == "ON")
- return VISIBILITY_ON;
- else {
- std::cout << "Visibility mode not known, visibility mode can be"
- " \"ON\",\"OFF\" or \"ALWAYS_ON_TOP\"." << std::endl;
- std::cout << "Visibility mode set to default = \"ON\"." << std::endl;
- return VISIBILITY_ON;
- }
- }
-
- WireFrameMode GraphicalInterface::getWire (const std::string& wireName)
- {
- if (wireName == "WIREFRAME")
- return WIREFRAME;
- else if (wireName == "FILL_AND_WIREFRAME")
- return FILL_AND_WIREFRAME;
- else if (wireName == "FILL")
- return FILL;
- else {
- std::cout << "Wire mode not known, wire mode can be \"FILL\","
- "\"WIREFRAME\" or \"FILL_AND_WIREFRAME\"." << std::endl;
- std::cout << "Wire mode set to default = \"FILL\"." << std::endl;
- return FILL;
- }
- }
-
- LightingMode GraphicalInterface::getLight (const std::string& lightName)
- {
- if (lightName == "OFF")
- return LIGHT_INFLUENCE_OFF;
- else if (lightName == "ON")
- return LIGHT_INFLUENCE_ON;
- else {
- std::cout << "Lighting mode not known, lighting mode can be "
- "\"ON\" or \"OFF\"." << std::endl;
- std::cout << "Lighting mode set to default = \"ON\"." << std::endl;
- return LIGHT_INFLUENCE_ON;
- }
- }
-
- std::string GraphicalInterface::parentName (const std::string& name)
- {
- std::string Name (name);
- std::string::iterator parentNameIt;
- for (std::string::iterator i = Name.end (); (*i) != char ('/') &&
- i != Name.begin (); i--) {
- parentNameIt = i;
- }
- parentNameIt--;
-
- std::string parentName;
- for (std::string::iterator i = Name.begin (); i != parentNameIt; i++) {
- parentName.push_back (*i);
- }
-
- return parentName;
- }
-
- void GraphicalInterface::initParent (const std::string& nodeName,
- NodePtr_t node)
- {
- GroupNodePtr_t groupNode = groupNodes_
- [GraphicalInterface::parentName (nodeName)];
- if (groupNode) {
- groupNode->addChild (node);
- }
- }
-
- void GraphicalInterface::addNode (const std::string& nodeName,
- NodePtr_t node)
- {
- nodes_[nodeName] = node;
- }
-
- void GraphicalInterface::addGroup (const std::string& groupName,
- GroupNodePtr_t group)
- {
- groupNodes_[groupName] = group;
- nodes_[groupName] = group;
- }
-
- void GraphicalInterface::threadRefreshing (WindowManagerPtr_t window)
- {
- while (!window->done ())
- {
- mtx_.lock ();
- window->frame ();
- mtx_.unlock ();
- boost::this_thread::sleep (boost::posix_time::milliseconds (rate_));
- }
- }
-
- osgQuat GraphicalInterface::corbaConfToOsgQuat
- (const double* configurationCorba)
- {
- // configurationCorba = trans (x, y, z), quat (w, x, y, z)
- // osgQuat = quat (x, y, z, w)
- return osgQuat (configurationCorba[4], configurationCorba[5],
- configurationCorba[6], configurationCorba[3]);
- }
-
- osgVector3 GraphicalInterface::corbaConfToOsgVec3
- (const double* configurationCorba)
- {
- return osgVector3 (configurationCorba[0], configurationCorba[1],
- configurationCorba[2]);
- }
-
-
- //Public functions
-
bool GraphicalInterface::setRate (CORBA::Long rate) throw (Error)
{
try {
- if (rate <= 0) {
- std::cout << "You should specify a positive rate" << std::endl;
- return false;
- }
- else {
- rate_ = rate;
- return true;
- }
+ return windowsManager_->setRate (rate);
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
@@ -177,14 +31,7 @@ namespace graphics {
throw (Error)
{
try {
- std::string windowName (windowNameCorba);
- WindowManagerPtr_t newWindow = WindowManager::create ();
- WindowID windowId = windowManagers_.size ();
- windowManagers_.push_back (newWindow);
- boost::thread refreshThread (boost::bind
- (&GraphicalInterface::threadRefreshing,
- this, newWindow));
- return windowId;
+ return windowsManager_->createWindow (windowNameCorba);
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
@@ -193,320 +40,151 @@ namespace graphics {
void GraphicalInterface::refresh () throw (Error)
{
try {
- mtx_.lock ();
- //refresh scene with the new configuration
- for (std::list<NodeConfiguration>::iterator it =
- newNodeConfigurations_.begin ();
- it != newNodeConfigurations_.end (); it++) {
- (*it).node->applyConfiguration ( (*it).position, (*it).quat);
- }
- for (WindowManagers_t::iterator it = windowManagers_.begin ();
- it!=windowManagers_.end (); ++it)
- (*it)->frame ();
- mtx_.unlock ();
- newNodeConfigurations_.clear ();
+ return windowsManager_->refresh ();
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
}
void GraphicalInterface::createScene (const char* sceneNameCorba)
- throw (Error)
+ throw (Error)
{
try {
- std::string sceneName (sceneNameCorba);
- if (nodes_.find (sceneName) != nodes_.end ()) {
- std::ostringstream oss;
- oss << "A scene with name, \"" << sceneName << "\" already exists.";
- throw std::runtime_error (oss.str ());
- }
- else {
- GroupNodePtr_t mainNode = GroupNode::create (sceneName);
- addGroup (sceneName, mainNode);
- }
+ return windowsManager_->createScene (sceneNameCorba);
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
}
- void GraphicalInterface::createSceneWithFloor
- (const char* sceneNameCorba) throw (Error)
-
- {
- try {
- std::string sceneName (sceneNameCorba);
- if (nodes_.find (sceneName) != nodes_.end ()) {
- std::ostringstream oss;
- oss << "A scene with name, \"" << sceneName << "\" already exists.";
- throw std::runtime_error (oss.str ());
- }
- else {
- GroupNodePtr_t mainNode = GroupNode::create (sceneName);
- addGroup (sceneName, mainNode);
- std::string floorName = sceneName + "/floor";
- LeafNodeGroundPtr_t floor = LeafNodeGround::create (floorName);
- addNode (floorName, floor);
- mainNode->addChild (floor);
- }
- } catch (const std::exception& exc) {
- throw Error (exc.what ());
- }
- }
+ void GraphicalInterface::createSceneWithFloor (const char* sceneNameCorba)
+ throw (Error)
+ {
+ try {
+ return windowsManager_->createSceneWithFloor (sceneNameCorba);
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
bool GraphicalInterface::addSceneToWindow (const char* sceneNameCorba,
- WindowID windowId)
- throw (Error)
+ WindowID windowId) throw (Error)
{
- try {
- std::string sceneName (sceneNameCorba);
- if ((windowId >= 0 || windowId < windowManagers_.size ()) &&
- groupNodes_.find (sceneName) != groupNodes_.end () ) {
- windowManagers_[windowId]->addNode (groupNodes_[sceneName]);
- return true;
- }
- else {
- std::cout << "Window ID \"" << windowId
- << "\" and/or scene name \"" << sceneName
- << "\" doesn't exist." << std::endl;
- return false;
- }
- } catch (const std::exception& exc) {
- throw Error (exc.what ());
- }
+ try {
+ return windowsManager_->addSceneToWindow (sceneNameCorba, windowId);
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
}
bool GraphicalInterface::addBox (const char* boxNameCorba,
const float boxSize1,
const float boxSize2,
const float boxSize3,
- const double* colorCorba) throw (Error)
+ const value_type* colorCorba) throw (Error)
{
- try {
- std::string boxName (boxNameCorba);
- if (nodes_.find (boxName) != nodes_.end ()) {
- std::cout << "You need to chose an other name, \"" << boxName
- << "\" already exist." << std::endl;
- return false;
- }
- else {
- LeafNodeBoxPtr_t box = LeafNodeBox::create
- (boxName, osgVector3 (boxSize1, boxSize2, boxSize3),
- getColor (colorCorba));
- GraphicalInterface::initParent (boxName, box);
- addNode (boxName, box);
- return true;
- }
- } catch (const std::exception& exc) {
- throw Error (exc.what ());
- }
+ try {
+ return windowsManager_->addBox (boxNameCorba, boxSize1, boxSize2, boxSize3,
+ colorCorba);
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
}
bool GraphicalInterface::addCapsule (const char* capsuleNameCorba,
- const float radius,
- const float height,
- const double* colorCorba)
- throw (Error)
+ const float radius,
+ const float height,
+ const value_type* colorCorba) throw (Error)
{
- try {
- const std::string capsuleName (capsuleNameCorba);
- if (nodes_.find (capsuleName) != nodes_.end ()) {
- std::cout << "You need to chose an other name, \""
- << capsuleName << "\" already exist." << std::endl;
- return false;
- }
- else {
- LeafNodeCapsulePtr_t capsule = LeafNodeCapsule::create
- (capsuleName, radius, height, getColor (colorCorba));
- GraphicalInterface::initParent (capsuleName, capsule);
- addNode (capsuleName, capsule);
- return true;
- }
- } catch (const std::exception& exc) {
- throw Error (exc.what ());
- }
+ try {
+ return windowsManager_->addCapsule (capsuleNameCorba, radius, height,
+ colorCorba);
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
}
bool GraphicalInterface::addMesh (const char* meshNameCorba,
const char* meshPathCorba) throw (Error)
{
- try {
- std::string meshName (meshNameCorba);
- std::string meshPath (meshPathCorba);
- if (nodes_.find (meshName) != nodes_.end ()) {
- std::cout << "You need to chose an other name, \"" << meshName
- << "\" already exist." << std::endl;
- return false;
- }
- else {
- try {
- LeafNodeColladaPtr_t mesh = LeafNodeCollada::create
- (meshName, meshPath);
- GraphicalInterface::initParent (meshName, mesh);
- addNode (meshName, mesh);
- return true;
- } catch (const std::exception& exc) {
- std::cout << "Mesh \"" << meshPath << "\" not found." << std::endl;
- return false;
- }
- }
- } catch (const std::exception& exc) {
- throw Error (exc.what ());
- }
+ try {
+ return windowsManager_->addMesh (meshNameCorba, meshPathCorba);
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
}
bool GraphicalInterface::addCone (const char* coneNameCorba,
const float radius, const float height,
- const double*) throw (Error)
+ const value_type* colorCorba) throw (Error)
{
- try {
- std::string coneName (coneNameCorba);
- if (nodes_.find (coneName) != nodes_.end ()) {
- std::cout << "You need to chose an other name, \"" << coneName
- << "\" already exist." << std::endl;
- return false;
- }
- else {
- LeafNodeConePtr_t cone = LeafNodeCone::create
- (coneName, radius, height);
- GraphicalInterface::initParent (coneName, cone);
- addNode (coneName, cone);
- return true;
- }
- } catch (const std::exception& exc) {
- throw Error (exc.what ());
- }
+ try {
+ return windowsManager_->addCone (coneNameCorba, radius, height,
+ colorCorba);
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
}
bool GraphicalInterface::addCylinder (const char* cylinderNameCorba,
const float radius,
const float height,
- const double* colorCorba)
- throw (Error)
+ const value_type* colorCorba)
+ throw (Error)
{
- try {
- std::string cylinderName (cylinderNameCorba);
- if (nodes_.find (cylinderName) != nodes_.end ()) {
- std::cout << "You need to chose an other name, \"" << cylinderName
- << "\" already exist." << std::endl;
- return false;
- }
- else {
- LeafNodeCylinderPtr_t cylinder = LeafNodeCylinder::create
- (cylinderName, radius, height, getColor (colorCorba));
- GraphicalInterface::initParent (cylinderName, cylinder);
- addNode (cylinderName, cylinder);
- return true;
- }
- } catch (const std::exception& exc) {
- throw Error (exc.what ());
- }
+ try {
+ return windowsManager_->addCylinder (cylinderNameCorba, radius, height,
+ colorCorba);
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
}
bool GraphicalInterface::addSphere (const char* sphereNameCorba,
const float radius,
- const double* colorCorba)
- throw (Error)
+ const value_type* colorCorba)
+ throw (Error)
{
- try {
- std::string sphereName (sphereNameCorba);
- if (nodes_.find (sphereName) != nodes_.end ()) {
- std::cout << "You need to chose an other name, \"" << sphereName
- << "\" already exist." << std::endl;
- return false;
- }
- else {
- LeafNodeSpherePtr_t sphere = LeafNodeSphere::create
- (sphereName, radius, getColor (colorCorba));
- GraphicalInterface::initParent (sphereName, sphere);
- addNode (sphereName, sphere);
- return true;
- }
- } catch (const std::exception& exc) {
- throw Error (exc.what ());
- }
+ try {
+ return windowsManager_->addSphere (sphereNameCorba, radius, colorCorba);
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
}
bool GraphicalInterface::addLine (const char* lineNameCorba,
- const double* posCorba1,
- const double* posCorba2,
- const double* colorCorba) throw (Error)
+ const value_type* posCorba1,
+ const value_type* posCorba2,
+ const value_type* colorCorba) throw (Error)
{
- try {
- std::string lineName (lineNameCorba);
- if (nodes_.find (lineName) != nodes_.end ()) {
- std::cout << "You need to chose an other name, \"" << lineName
- << "\" already exist." << std::endl;
- return false;
- }
- else {
- osgVector3 pos1 (posCorba1[0], posCorba1[1], posCorba1[2]);
- osgVector3 pos2 (posCorba2[0], posCorba2[1], posCorba2[2]);
- LeafNodeLinePtr_t line = LeafNodeLine::create
- (lineName, pos1, pos2, getColor (colorCorba));
- GraphicalInterface::initParent (lineName, line);
- addNode (lineName, line);
- return true;
- }
- } catch (const std::exception& exc) {
- throw Error (exc.what ());
- }
+ try {
+ return addLine ( lineNameCorba, posCorba1, posCorba2, colorCorba) ;
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
}
bool GraphicalInterface::addTriangleFace (const char* faceNameCorba,
- const double* posCorba1,
- const double* posCorba2,
- const double* posCorba3,
- const double* colorCorba)
- throw (Error)
+ const value_type* posCorba1,
+ const value_type* posCorba2,
+ const value_type* posCorba3,
+ const value_type* colorCorba) throw (Error)
{
try {
- std::string faceName (faceNameCorba);
- if (nodes_.find (faceName) != nodes_.end ()) {
- std::cout << "You need to chose an other name, \"" << faceName
- << "\" already exist." << std::endl;
- return false;
- }
- else {
- osgVector3 pos1 (posCorba1[0], posCorba1[1], posCorba1[2]);
- osgVector3 pos2 (posCorba2[0], posCorba2[1], posCorba2[2]);
- osgVector3 pos3 (posCorba3[0], posCorba3[1], posCorba3[2]);
- LeafNodeFacePtr_t face = LeafNodeFace::create
- (faceName, pos1, pos2, pos3, getColor (colorCorba));
- GraphicalInterface::initParent (faceName, face);
- addNode (faceName, face);
- return true;
- }
+ return addTriangleFace ( faceNameCorba, posCorba1, posCorba2, posCorba3, colorCorba) ;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
}
bool GraphicalInterface::addSquareFace (const char* faceNameCorba,
- const double* posCorba1,
- const double* posCorba2,
- const double* posCorba3,
- const double* posCorba4,
- const double* colorCorba)
- throw (Error)
+ const value_type* posCorba1,
+ const value_type* posCorba2,
+ const value_type* posCorba3,
+ const value_type* posCorba4,
+ const value_type* colorCorba) throw (Error)
{
try {
- std::string faceName (faceNameCorba);
- if (nodes_.find (faceName) != nodes_.end ()) {
- std::cout << "You need to chose an other name, \"" << faceName
- << "\" already exist." << std::endl;
- return false;
- }
- else {
- osgVector3 pos1 (posCorba1[0], posCorba1[1], posCorba1[2]);
- osgVector3 pos2 (posCorba2[0], posCorba2[1], posCorba2[2]);
- osgVector3 pos3 (posCorba3[0], posCorba3[1], posCorba3[2]);
- osgVector3 pos4 (posCorba4[0], posCorba4[1], posCorba4[2]);
- LeafNodeFacePtr_t face = LeafNodeFace::create
- (faceName, pos1, pos2, pos3, pos3, getColor (colorCorba));
- GraphicalInterface::initParent (faceName, face);
- addNode (faceName, face);
- return true;
- }
+ return addSquareFace ( faceNameCorba, posCorba1, posCorba2, posCorba3, posCorba4, colorCorba) ;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
@@ -515,14 +193,7 @@ namespace graphics {
void GraphicalInterface::getNodeList () throw (Error)
{
try {
- std::cout << "List of Nodes :" << std::endl;
- for (std::map<std::string, NodePtr_t>::iterator it=nodes_.begin ();
- it!=nodes_.end (); ++it)
- std::cout << " " << it->first << std::endl;
- std::cout << "List of GroupNodes :" << std::endl;
- for (std::map<std::string, GroupNodePtr_t>::iterator it=
- groupNodes_.begin (); it!=groupNodes_.end (); ++it)
- std::cout << " " << it->first << std::endl;
+ return getNodeList ();
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
@@ -531,11 +202,7 @@ namespace graphics {
void GraphicalInterface::getWindowList () throw (Error)
{
try {
- std::cout << "List of Windows :" << std::endl;
- size_t rank = 0;
- for (WindowManagers_t::iterator it = windowManagers_.begin ();
- it!=windowManagers_.end (); ++it)
- std::cout << rank << " - " << (*it)->getViewerClone ()->getSlave (0)._camera->getGraphicsContext ()->getTraits ()->windowName << std::endl;
+ return getWindowList ();
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
@@ -544,18 +211,7 @@ namespace graphics {
bool GraphicalInterface::createGroup (const char* groupNameCorba) throw (Error)
{
try {
- const std::string groupName (groupNameCorba);
- if (nodes_.find (groupName) != nodes_.end ()) {
- std::cout << "You need to chose an other name, \"" << groupName
- << "\" already exist." << std::endl;
- return false;
- }
- else {
- GroupNodePtr_t groupNode = GroupNode::create (groupName);
- GraphicalInterface::initParent (groupName, groupNode);
- addGroup (groupName, groupNode);
- return true;
- }
+ return createGroup ( groupNameCorba) ;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
@@ -563,60 +219,20 @@ namespace graphics {
bool GraphicalInterface::addURDF (const char* urdfNameCorba,
const char* urdfPathCorba,
- const char* urdfPackagePathCorba)
- throw (Error)
+ const char* urdfPackagePathCorba) throw (Error)
{
try {
- const std::string urdfName (urdfNameCorba);
- const std::string urdfPath (urdfPathCorba);
- const std::string urdfPackagePath (urdfPackagePathCorba);
- if (nodes_.find (urdfName) != nodes_.end ()) {
- std::cout << "You need to chose an other name, \"" << urdfName
- << "\" already exist." << std::endl;
- return false;
- }
- else {
- GroupNodePtr_t urdf = urdfParser::parse
- (urdfName, urdfPath, urdfPackagePath);
- NodePtr_t link;
- for (int i=0; i< urdf->getNumOfChildren (); i++) {
- link = urdf->getChild (i);
- nodes_[link->getID ()] = link;
- }
- GraphicalInterface::initParent (urdfName, urdf);
- addGroup (urdfName, urdf);
- return true;
- }
+ return addURDF ( urdfNameCorba, urdfPathCorba, urdfPackagePathCorba) ;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
}
- bool GraphicalInterface::addUrdfCollision
- (const char* urdfNameCorba, const char* urdfPathCorba,
+ bool GraphicalInterface::addUrdfCollision (const char* urdfNameCorba, const char* urdfPathCorba,
const char* urdfPackagePathCorba) throw (Error)
{
try {
- const std::string urdfName (urdfNameCorba);
- const std::string urdfPath (urdfPathCorba);
- const std::string urdfPackagePath (urdfPackagePathCorba);
- if (nodes_.find (urdfName) != nodes_.end ()) {
- std::cout << "You need to chose an other name, \"" << urdfName
- << "\" already exist." << std::endl;
- return false;
- }
- else {
- GroupNodePtr_t urdf = urdfParser::parse
- (urdfName, urdfPath, urdfPackagePath, "collision");
- NodePtr_t link;
- for (int i=0; i< urdf->getNumOfChildren (); i++) {
- link = urdf->getChild (i);
- nodes_[link->getID ()] = link;
- }
- GraphicalInterface::initParent (urdfName, urdf);
- addGroup (urdfName, urdf);
- return true;
- }
+ return addUrdfCollision ( urdfNameCorba, urdfPathCorba, urdfPackagePathCorba) ;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
@@ -625,88 +241,29 @@ namespace graphics {
void GraphicalInterface::addUrdfObjects (const char* urdfNameCorba,
const char* urdfPathCorba,
const char* urdfPackagePathCorba,
- bool visual)
- throw (Error)
+ bool visual) throw (Error)
{
try {
- const std::string urdfName (urdfNameCorba);
- const std::string urdfPath (urdfPathCorba);
- const std::string urdfPackagePath (urdfPackagePathCorba);
- if (urdfName == "") {
- throw std::runtime_error ("Parameter nodeName cannot be empty in "
- "idl request addUrdfObjects.");
- }
- if (nodes_.find (urdfName) != nodes_.end ()) {
- std::ostringstream oss;
- oss << "You need to chose an other name, \"" << urdfName
- << "\" already exist.";
- throw std::runtime_error (oss.str ());
- }
- GroupNodePtr_t urdf = urdfParser::parse
- (urdfName, urdfPath, urdfPackagePath,
- visual ? "visual" : "collision", "object");
- NodePtr_t link;
- for (int i=0; i< urdf->getNumOfChildren (); i++) {
- link = urdf->getChild (i);
- nodes_[link->getID ()] = link;
- }
- GraphicalInterface::initParent (urdfName, urdf);
- addGroup (urdfName, urdf);
+ return addUrdfObjects ( urdfNameCorba, urdfPathCorba, urdfPackagePathCorba, visual) ;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
}
bool GraphicalInterface::addToGroup (const char* nodeNameCorba,
- const char* groupNameCorba)
- throw (Error)
+ const char* groupNameCorba) throw (Error)
{
try {
- const std::string nodeName (nodeNameCorba);
- const std::string groupName (groupNameCorba);
- if (nodes_.find (nodeName) == nodes_.end () ||
- groupNodes_.find (groupName) == groupNodes_.end ()) {
- std::cout << "Node name \"" << nodeName << "\" and/or groupNode \""
- << groupName << "\" doesn't exist." << std::endl;
- return false;
- }
- else {
- groupNodes_[groupName]->addChild (nodes_[nodeName]);
- return true;
- }
+ return addToGroup ( nodeNameCorba, groupNameCorba) ;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
}
- bool GraphicalInterface::applyConfiguration
- (const char* nodeNameCorba, const double* configurationCorba)
- throw (Error)
+ bool GraphicalInterface::applyConfiguration (const char* nodeNameCorba, const value_type* configurationCorba) throw (Error)
{
try {
- const std::string nodeName (nodeNameCorba);
- if (nodes_.find (nodeName) == nodes_.end ()) {
- //no node named nodeName
- std::cout << "No Node named \"" << nodeName << "\"" << std::endl;
- return false;
- }
- else {
- NodeConfiguration newNodeConfiguration;
- newNodeConfiguration.node = nodes_[nodeName];
- try {
- newNodeConfiguration.position =
- GraphicalInterface::corbaConfToOsgVec3 (configurationCorba);
- newNodeConfiguration.quat =
- GraphicalInterface::corbaConfToOsgQuat (configurationCorba);
- } catch (const std::exception& exc) {
- std::cout << "Error when converting configuration, configuration "
- "should be DOUBLE[7] = [transX, transY, transZ, quatW, quatX,"
- "quatY, quatZ]" <<std::endl;
- return false;
- }
- newNodeConfigurations_.push_back (newNodeConfiguration);
- return true;
- }
+ return applyConfiguration ( nodeNameCorba, configurationCorba) ;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
@@ -716,147 +273,75 @@ namespace graphics {
float size) throw (Error)
{
try {
- const std::string nodeName (nodeNameCorba);
- if (nodes_.find (nodeName) == nodes_.end ()) {
- std::cout << "Node \"" << nodeName << "\" doesn't exist."
- << std::endl;
- return false;
- }
- nodes_[nodeName]->addLandmark (size);
- return true;
+ return addLandmark ( nodeNameCorba, size) ;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
}
- bool GraphicalInterface::deleteLandmark (const char* nodeNameCorba)
- throw (Error)
+ bool GraphicalInterface::deleteLandmark (const char* nodeNameCorba) throw (Error)
{
try {
- const std::string nodeName (nodeNameCorba);
- if (nodes_.find (nodeName) == nodes_.end ()) {
- std::cout << "Node \"" << nodeName << "\" doesn't exist."
- << std::endl;
- return false;
- }
- nodes_[nodeName]->deleteLandmark ();
- return true;
+ return deleteLandmark ( nodeNameCorba) ;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
}
bool GraphicalInterface::setVisibility (const char* nodeNameCorba,
- const char* visibilityModeCorba)
- throw (Error)
+ const char* visibilityModeCorba) throw (Error)
{
try {
- const std::string nodeName (nodeNameCorba);
- const std::string visibilityMode (visibilityModeCorba);
- VisibilityMode visibility = getVisibility (visibilityMode);
- if (nodes_.find (nodeName) == nodes_.end ()) {
- std::cout << "Node \"" << nodeName << "\" doesn't exist."
- << std::endl;
- return false;
- }
- nodes_[nodeName]->setVisibilityMode (visibility);
- return true;
+ return setVisibility ( nodeNameCorba, visibilityModeCorba) ;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
}
bool GraphicalInterface::setWireFrameMode (const char* nodeNameCorba,
- const char* wireFrameModeCorba)
- throw (Error)
+ const char* wireFrameModeCorba) throw (Error)
{
try {
- const std::string nodeName (nodeNameCorba);
- const std::string wireFrameMode (wireFrameModeCorba);
- WireFrameMode wire = getWire (wireFrameMode);
- if (nodes_.find (nodeName) == nodes_.end ()) {
- std::cout << "Node \"" << nodeName << "\" doesn't exist."
- << std::endl;
- return false;
- }
- nodes_[nodeName]->setWireFrameMode (wire);
- return true;
+ return setWireFrameMode ( nodeNameCorba, wireFrameModeCorba) ;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
}
bool GraphicalInterface::setLightingMode (const char* nodeNameCorba,
- const char* lightingModeCorba)
- throw (Error)
+ const char* lightingModeCorba) throw (Error)
{
try {
- const std::string nodeName (nodeNameCorba);
- const std::string lightingMode (lightingModeCorba);
- LightingMode light = getLight (lightingMode);
- if (nodes_.find (nodeName) == nodes_.end ()) {
- std::cout << "Node \"" << nodeName << "\" doesn't exist."
- << std::endl;
- return false;
- }
- nodes_[nodeName]->setLightingMode (light);
- return true;
+ return setLightingMode ( nodeNameCorba, lightingModeCorba) ;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
}
bool GraphicalInterface::startCapture (const WindowID windowId, const char* filename,
- const char* extension)
- throw (Error)
+ const char* extension) throw (Error)
{
try {
- if (windowId >= 0 || windowId < windowManagers_.size ()) {
- windowManagers_[windowId]->startCapture
- (std::string (filename), std::string (extension));
- return true;
- }
- else {
- std::cout << "Window ID " << windowId
- << " doesn't exist." << std::endl;
- return false;
- }
+ return startCapture ( windowId, filename, extension) ;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
}
- bool GraphicalInterface::stopCapture (const WindowID windowId)
- throw (Error)
+ bool GraphicalInterface::stopCapture (const WindowID windowId) throw (Error)
{
try {
- if (windowId >= 0 || windowId < windowManagers_.size ()) {
- windowManagers_[windowId]->stopCapture ();
- return true;
- }
- else {
- std::cout << "Window ID " << windowId
- << " doesn't exist." << std::endl;
- return false;
- }
+ return stopCapture ( windowId) ;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
}
- bool GraphicalInterface::writeNodeFile (const WindowID windowId, const char* filename)
- throw (Error)
+ bool GraphicalInterface::writeNodeFile (const WindowID windowId, const char* filename) throw (Error)
{
try {
- if (windowId >= 0 || windowId < windowManagers_.size ()) {
- return windowManagers_[windowId]->writeNodeFile (std::string (filename));
- }
- else {
- std::cout << "Window ID " << windowId
- << " doesn't exist." << std::endl;
- return false;
- }
+ return writeNodeFile ( windowId, filename) ;
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
diff --git a/src/graphical-interface.impl.hh b/src/graphical-interface.impl.hh
index 628b1e007a96de871c609123a21562ed2c8b2794..2aa9c45f7e6abbd35ae23b7ebac754382a1bae82 100644
--- a/src/graphical-interface.impl.hh
+++ b/src/graphical-interface.impl.hh
@@ -10,26 +10,8 @@
#define SCENEVIEWER_CORBASERVER_GRAPHICALINTERFACE_HH
#include <omniORB4/CORBA.h>
-#include <boost/thread.hpp>
-#include <boost/thread/mutex.hpp>
-
-#include <gepetto/viewer/window-manager.h>
-#include <gepetto/viewer/node.h>
-#include <gepetto/viewer/group-node.h>
-#include <gepetto/viewer/leaf-node-box.h>
-#include <gepetto/viewer/leaf-node-capsule.h>
-#include <gepetto/viewer/leaf-node-cone.h>
-#include <gepetto/viewer/leaf-node-cylinder.h>
-#include <gepetto/viewer/leaf-node-line.h>
-#include <gepetto/viewer/leaf-node-face.h>
-#include <gepetto/viewer/leaf-node-sphere.h>
-#include <gepetto/viewer/macros.h>
-#include <gepetto/viewer/config-osg.h>
-#include <gepetto/viewer/leaf-node-ground.h>
-#include <gepetto/viewer/leaf-node-collada.h>
-#include <gepetto/viewer/urdf-parser.h>
-
-#include "server.hh"
+
+#include "gepetto/viewer/corba/server.hh"
#include "graphical-interface.hh"
namespace graphics {
@@ -42,35 +24,15 @@ struct NodeConfiguration {
osgQuat quat;
};
+using graphics::WindowsManagerPtr_t;
class GraphicalInterface :
public virtual POA_gepetto::corbaserver::GraphicalInterface
{
private:
+ WindowsManagerPtr_t windowsManager_;
typedef gepetto::Error Error;
typedef CORBA::ULong WindowID;
- typedef std::vector <WindowManagerPtr_t> WindowManagers_t;
- WindowManagers_t windowManagers_;
- std::map<std::string, NodePtr_t> nodes_;
- std::map<std::string, GroupNodePtr_t> groupNodes_;
- corbaServer::Server* server_;
- boost::mutex mtx_;
- int rate_;
- std::list<NodeConfiguration> newNodeConfigurations_;
-
- static osgVector4 getColor(const std::string& colorName);
- static osgVector4 getColor(const double* color);
- static std::string parentName(const std::string& name);
- static VisibilityMode getVisibility(const std::string& visibilityName);
- static WireFrameMode getWire(const std::string& wireName);
- static LightingMode getLight(const std::string& lightName);
- void initParent(const std::string& nodeName, NodePtr_t node);
- void addNode(const std::string& nodeName, NodePtr_t node);
- void addGroup(const std::string& groupName, GroupNodePtr_t group);
- void threadRefreshing(WindowManagerPtr_t window);
- static osgQuat corbaConfToOsgQuat(const double* configurationCorba);
- static osgVector3 corbaConfToOsgVec3(const double* configurationCorba);
-
-protected:
+ typedef graphics::WindowsManager::value_type value_type;
public:
/**
@@ -91,22 +53,22 @@ public:
virtual bool addSceneToWindow(const char* sceneNameCorba, const WindowID windowId) throw (Error);
- virtual bool addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3, const double* color) throw (Error);
+ virtual bool addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3, const value_type* color) throw (Error);
- virtual bool addCapsule(const char* capsuleName, float radius, float height, const double* color) throw (Error);
+ virtual bool addCapsule(const char* capsuleName, float radius, float height, const value_type* color) throw (Error);
virtual bool addMesh(const char* meshNameCorba, const char* meshPathCorba) throw (Error);
- virtual bool addCone(const char* coneName, float radius, float height, const double* color) throw (Error);
+ virtual bool addCone(const char* coneName, float radius, float height, const value_type* color) throw (Error);
- virtual bool addCylinder(const char* cylinderName, float radius, float height, const double* color) throw (Error);
+ virtual bool addCylinder(const char* cylinderName, float radius, float height, const value_type* color) throw (Error);
- virtual bool addSphere(const char* sphereName, float radius, const double* color) throw (Error);
+ virtual bool addSphere(const char* sphereName, float radius, const value_type* color) throw (Error);
- virtual bool addLine(const char* lineName, const double* pos1, const double* pos2, const double* color) throw (Error);
+ virtual bool addLine(const char* lineName, const value_type* pos1, const value_type* pos2, const value_type* color) throw (Error);
- virtual bool addSquareFace(const char* faceName, const double* pos1, const double* pos2, const double* pos3, const double* pos4, const double* color) throw (Error);
- virtual bool addTriangleFace(const char* faceName, const double* pos1, const double* pos2, const double* pos3, const double* color) throw (Error);
+ virtual bool addSquareFace(const char* faceName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* pos4, const value_type* color) throw (Error);
+ virtual bool addTriangleFace(const char* faceName, const value_type* pos1, const value_type* pos2, const value_type* pos3, const value_type* color) throw (Error);
virtual bool addURDF(const char* urdfNameCorba, const char* urdfPathCorba, const char* urdfPackagePathCorba) throw (Error);
@@ -124,7 +86,7 @@ public:
virtual bool createGroup(const char* groupNameCorba) throw (Error);
virtual bool addToGroup(const char* nodeNameCorba, const char* groupNameCorba) throw (Error);
- virtual bool applyConfiguration(const char* nodeNameCorba, const double* configuration) throw (Error);
+ virtual bool applyConfiguration(const char* nodeNameCorba, const value_type* configuration) throw (Error);
virtual bool addLandmark(const char* nodeNameCorba, float size) throw (Error);
virtual bool deleteLandmark(const char* nodeNameCorba) throw (Error);
diff --git a/src/server-private.cc b/src/server-private.cc
index e70e97d301f049000d32ae66cfc1f6fb8218f438..ea5db2c16c3474a97a17e749649c7910e4094561 100644
--- a/src/server-private.cc
+++ b/src/server-private.cc
@@ -13,7 +13,7 @@
#include "graphical-interface.impl.hh"
#include "server-private.hh"
-#include "fwd.hh"
+#include "gepetto/viewer/corba/fwd.hh"
namespace graphics
{
diff --git a/src/server-private.hh b/src/server-private.hh
index 396ca6baffb1694260f611b15fb770dad1315570..6961fbe7f417d7ece7348ff1369641c9777a7dd9 100644
--- a/src/server-private.hh
+++ b/src/server-private.hh
@@ -12,7 +12,7 @@
# define SCENVIEWER_CORBASERVER_SERVER_PRIVATE_HH
# include "graphical-interface.impl.hh"
-# include "fwd.hh"
+# include "gepetto/viewer/corba/fwd.hh"
namespace graphics
{
diff --git a/src/server.cc b/src/server.cc
index 783a83afb4b16a56a5938ab050025fdfdd1aedaf..9a959408092c3796183bb94cdefd35a5ea750a08 100644
--- a/src/server.cc
+++ b/src/server.cc
@@ -12,11 +12,10 @@
#include <pthread.h>
#include <iostream>
#include <stdexcept>
-#include "server.hh"
+#include "gepetto/viewer/corba/server.hh"
#include "server-private.hh"
-
namespace graphics
{
namespace corbaServer
@@ -42,7 +41,8 @@ namespace graphics
//} // end of anonymous namespace.
- Server::Server(int argc, const char *argv[], bool inMultiThread)
+ Server::Server(WindowsManagerPtr_t wm, int argc, const char *argv[],
+ bool inMultiThread) : windowsManager_ (wm)
{
private_ = new impl::Server;
diff --git a/src/server.hh b/src/server.hh
index 65d418b37e0033d9a74cb054679e89554b3eb42d..54c614f3d89ea2cd73c7aeb813932981aff4ec13 100644
--- a/src/server.hh
+++ b/src/server.hh
@@ -11,13 +11,16 @@
#ifndef SCENEVIEWER_CORBASERVER_SERVER_HH
# define SCENEVIEWER_CORBASERVER_SERVER_HH
-
-#include "fwd.hh"
+#include "gepetto/viewer/corba/fwd.hh"
+#include <gepetto/viewer/windows-manager.h>
namespace graphics
{
namespace corbaServer
{
+ using graphics::WindowsManager;
+ using graphics::WindowsManagerPtr_t;
+
/// Implementation of Hpp module Corba server.
/// This class initializes the Corba server and starts the following Corba interface implementations.
@@ -50,6 +53,7 @@ namespace graphics
{
public:
/// Constructor
+ /// \param the object that handles CORBA requests.
/// \param argc, argv parameter to feed ORB initialization.
/// \param multiThread whether the server may process request using
/// multithred policy.
@@ -59,7 +63,8 @@ namespace graphics
/// \note It is highly recommended not to enable multi-thread policy in
/// CORBA request processing if this library is run from an openGL
/// based GUI, since OpenGL does not support multithreading.
- Server (int argc, const char* argv[], bool multiThread = false);
+ Server (WindowsManagerPtr_t windowsManager, int argc,
+ const char* argv[], bool multiThread = false);
/// \brief Shutdown CORBA server
~Server ();
@@ -74,8 +79,10 @@ namespace graphics
/// returns.
int processRequest (bool loop);
- //core::ProblemSolverPtr_t problemSolver () const;
- //core::ProblemSolverPtr_t problemSolver ();
+ WindowsManagerPtr_t windowsManager () const
+ {
+ return windowsManager_;
+ }
private:
@@ -92,6 +99,7 @@ namespace graphics
impl::Server* private_;
+ WindowsManagerPtr_t windowsManager_;
};
} // end of namespace corbaServer.
diff --git a/src/test-client-cpp.cc b/src/test-client-cpp.cc
index 8690b2fff61d5521691269984891cb9ef71c6be3..4dfb52e4c154d0d94321b5ec06ea8b149c725791 100644
--- a/src/test-client-cpp.cc
+++ b/src/test-client-cpp.cc
@@ -29,12 +29,12 @@ int main(int, const char **)
sleep(5);
- //vector<double> tri01 (3);
+ //vector<float> tri01 (3);
- double pos1[3]= {1.,0.,0.};
- double pos2[3] = {0.,1.,0.};
- double pos3[3]= {0.,1.,1.};
- double color[4] = {1.,1.,1.,1.};
+ float pos1[3]= {1.,0.,0.};
+ float pos2[3] = {0.,1.,0.};
+ float pos3[3]= {0.,1.,1.};
+ float color[4] = {1.,1.,1.,1.};
client.addTriangleFace("scene1/triangle", pos1, pos2, pos3, color);
sleep(15);