diff --git a/idl/gepetto/viewer/graphical-interface.idl b/idl/gepetto/viewer/graphical-interface.idl
index b0b3febd9d0fffa4a1daa9bd179fff4e54435497..0e6aeb78c2873ba2fe08b1417d13b88e3872f519 100644
--- a/idl/gepetto/viewer/graphical-interface.idl
+++ b/idl/gepetto/viewer/graphical-interface.idl
@@ -1,5 +1,11 @@
// file graphicalinterface.idl
module gepetto {
+ /// Corba exception travelling through the Corba channel
+ exception Error
+ {
+ string msg;
+ };
+
module corbaserver {
// Comments :
@@ -9,7 +15,7 @@ module corbaserver {
// SceneViewer-corbaserver window for more information)
// 3) applyConfiguration doesn't move object straigh forward, you need to used
// the "refresh" function each time you want actualize position of the Viewer.
-// This system is used to synchronize movement of all objects.
+// This system is used to synchronize movement of all objects.
typedef double Transform [7];
typedef double Position [3];
@@ -20,39 +26,36 @@ typedef double Color [4];
/// Set time between window frames
/// \param input rate : waiting time (ms) between two frames.
- boolean setRate(in long rate);
+ boolean setRate(in long rate) raises (Error);
/// Change configurations according to the last applyConfigurations.d
- void refresh();
+ void refresh() raises (Error);
/// Create a new window.
/// \param input name : name of the new window.
- boolean createWindow(in string name);
+ boolean createWindow(in string name) raises (Error);
/// Print names of nodes on the SceneViewer-corbaserver terminal.
- void getNodeList();
+ void getNodeList() raises (Error);
/// Print names of windows on the SceneViewer-corbaserver terminal.
- void getWindowList();
-
- //void createWindow(in string name, in unsigned long x, in unsigned long y, in unsigned long width, in unsigned long height) ;
-
+ void getWindowList() raises (Error);
/// Create a group node.
/// \param input sceneName : name of the group.
- boolean createScene(in string sceneName) ;
+ boolean createScene(in string sceneName) raises (Error);
/// Create a group node and a GroudNode ("sceneName/floor") as child
/// \param input sceneName : name of the group
- boolean createSceneWithFloor(in string sceneName) ;
+ boolean createSceneWithFloor(in string sceneName) raises (Error);
/// Add groupNode sceneName to the WindowManager windowName so
/// sceneName and all its children will be displayed in the window windowName.
/// \param input sceneName : name of the groupNode.
/// \param input windowName : name of rhe window.
- boolean addSceneToWindow(in string sceneName, in string windowName) ;
+ boolean addSceneToWindow(in string sceneName, in string windowName) raises (Error);
/// create a box called boxName.
/// \param input boxName : name of the box.
@@ -60,112 +63,103 @@ typedef double Color [4];
/// \param input boxSize2 : lenght of the box (y axis).
/// \param input boxSize3 : lenght of the box (z axis).
/// \param input RGBAcolor : Color of the box.
- boolean addBox(in string boxName, in float boxSize1, in float boxSize2, in float boxSize3, in Color RGBAcolor) ;
-
- //boolean addBox(in string boxName, in float boxSize1, in float boxSize2, in float boxSize3) ;
-
- //boolean addCapsule(in string capsuleName, in float radius, in float height) ;
+ boolean addBox(in string boxName, in float boxSize1, in float boxSize2, in float boxSize3, in Color RGBAcolor) raises (Error);
/// create a box called CapsuleName.
/// \param input CapsuleName : name of the capsule.
/// \param input radius : radius of the capsule.
/// \param input height : lenght of the segment that generates the capsule.
/// \param input RGBAcolor : Color of the capsule.
- boolean addCapsule(in string capsuleName, in float radius, in float height, in Color RGBAcolorid) ;
+ boolean addCapsule(in string capsuleName, in float radius, in float height, in Color RGBAcolorid) raises (Error);
/// create a node to display a mesh (works for .dae, .obj and some other formats)
/// \param input meshName : name of the new meshNode.
/// \param input meshPath : full path to the mesh file.
- boolean addMesh(in string meshName, in string meshPath) ;
-
- //boolean addCone(in string coneName, in float radius, in float height) ;
+ boolean addMesh(in string meshName, in string meshPath) raises (Error);
/// create a node to display a mesh (works for .dae, .obj and some other formats)
/// \param input meshName : name of the new meshNode.
/// \param input meshPath : full path to the mesh file.
- boolean addCone(in string coneName, in float radius, in float height, in Color RGBAcolor) ;
-
- //boolean addCylinder(in string cylinderName, in float radius, in float height) ;
+ boolean addCone(in string coneName, in float radius, in float height, in Color RGBAcolor) raises (Error);
/// create a Cyllinder called cylinderName
/// \param input cylinderName : name of the cylinder.
/// \param input radius : radius of the cylinder.
/// \param input height : lenght of the cylinder.
/// \param input RGBAcolor : color of the cylinder.
- boolean addCylinder(in string cylinderName, in float radius, in float height, in Color RGBAcolor) ;
-
- //boolean addSphere(in string sphereName, in float radius) ;
+ boolean addCylinder(in string cylinderName, in float radius, in float height, in Color RGBAcolor) raises (Error);
/// create a sphere called sphereName
/// \param input sphereName : name of the sphere.
/// \param input radius : radius of the sphere.
/// \param input RGBAcolor : color of the sphere.
- boolean addSphere(in string sphereName, in float radius, in Color RGBAcolor) ;
+ boolean addSphere(in string sphereName, in float radius, in Color RGBAcolor) raises (Error);
/// create a line called lineName.
/// \param input lineName : name of the line.
/// \param input pos1 : position one extremity of the line.
/// \param input pos2 : position the other extremity of the line.
/// \param input RGBAcolor : color of the line.
- boolean addLine(in string lineName, in Position pos1, in Position pos2, in Color RGBAcolor) ;
+ boolean addLine(in string lineName, in Position pos1, in Position pos2, in Color RGBAcolor) raises (Error);
/// create a four vertices face called faceName.
/// \param input faceName : name of the face.
/// \param input pos1, pos2, pos3, pos4 : position of the vertices.
/// \param input RGBAcolor : color of the face.
- boolean addSquareFace(in string faceName, in Position pos1, in Position pos2, in Position pos3, in Position pos4, in Color RGBAcolor) ;
+ boolean addSquareFace(in string faceName, in Position pos1, in Position pos2, in Position pos3, in Position pos4, in Color RGBAcolor) raises (Error);
/// create a three vertices face called faceName.
/// \param input faceName : name of the face.
/// \param input pos1, pos2, pos3 : position of the vertices.
/// \param input RGBAcolor : color of the face.
- boolean addTriangleFace(in string faceName, in Position pos1, in Position pos2, in Position pos3, in Color RGBAcolor) ;
+ boolean addTriangleFace(in string faceName, in Position pos1, in Position pos2, in Position pos3, in Color RGBAcolor) raises (Error);
/// parse an URDF model
/// a groupNode will be created and each link will be child node of this node.
- /// Links will be named "urdfName/linkName", linkName is the name of the link in the URDF file.
- /// \param input urdfName : name of the groupNode that will be created.
+ /// Links will be named "prefix/linkName", linkName is the name of the link
+ /// in the URDF file.
+ /// \param input prefix: name of the groupNode that will be created.
/// \param input urdfPath : full path to the URDF file.
- /// \param input urddfPackage : path of the package to the package folder of the robot (this path should finish by "/").
- boolean addURDF(in string urdfName, in string urdfPath, in string urdfPackage) ;
+ /// \param input urdfPackage : path of the package to the package folder of the robot (this path should finish by "/").
+ boolean addURDF(in string prefix, in string urdfPath, in string urdfPackage) raises (Error);
/// create a groupNode called groupName
/// \param input groupName : name of the group.
- boolean createGroup(in string groupName) ;
+ boolean createGroup(in string groupName) raises (Error);
/// set a node as child to a group node.
/// \param input nodeName : name of the child node.
- /// \param input groupName : name of the mother node (=group node).
- boolean addToGroup(in string nodeName, in string groupName) ;
+ /// \param input groupName : name of the mother node (=group node).
+ boolean addToGroup(in string nodeName, in string groupName) raises (Error);
/// 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.
- boolean applyConfiguration(in string nodeName, in Transform configuration) ;
+ boolean applyConfiguration(in string nodeName, in Transform configuration) raises (Error);
/// Add Landmark at the center of a node (x=blue, y=green, z=red).
/// \param input nodeName : name of the node
/// \param input size : lenght of axises.
- boolean addLandmark(in string nodeName, in float size) ;
+ boolean addLandmark(in string nodeName, in float size) raises (Error);
/// delete Landmark of a node.
/// \param input nodeName : name of the node
- boolean deleteLandmark(in string nodeName) ;
+ boolean deleteLandmark(in string nodeName) raises (Error);
/// Change the visibility of a node. If this node is a group node, visibility mode will be apply to all children.
/// \param input nodeName : name of the node.
/// \param input visibilityMode : visibility mode can be "ON", "OFF" or "ALWAYS_ON_TOP".
- boolean setVisibility(in string nodeName, in string visibilityMode) ;
+ boolean setVisibility(in string nodeName, in string visibilityMode) raises (Error);
/// Change wireframe mode of a node. If this node is a group node, wireframe mode will be apply to all children.
/// \param input nodeName : name of the node.
/// \param input wireframeMode : wiredframe mode can be "FILL", "WIREFRAME" or "FILL_AND_WIREFRAME".
- boolean setWireFrameMode(in string nodeName, in string wireFrameMode) ;
+ boolean setWireFrameMode(in string nodeName, in string wireFrameMode) raises (Error);
/// Change lighting mode of a node. If this node is a group node, lighting mode will be apply to all children.
/// \param input nodeName : name of the node.
/// \param input lightingMode : lighting mode can be "ON" or "OFF".
- boolean setLightingMode(in string nodeName, in string lightingMode) ;
+ boolean setLightingMode(in string nodeName, in string lightingMode) raises (Error);
};
};
};
diff --git a/src/graphical-interface.impl.cpp b/src/graphical-interface.impl.cpp
index ae3b775a1e8a289c4fbe3fd212429facded45a26..f55a7f701e9e441c7044d505e55d0e8f2b8e765e 100644
--- a/src/graphical-interface.impl.cpp
+++ b/src/graphical-interface.impl.cpp
@@ -8,611 +8,714 @@
#include "graphical-interface.impl.hh"
-namespace graphics {
-namespace corbaServer {
-namespace impl {
-
-GraphicalInterface::GraphicalInterface(corbaServer::Server* server) :
- windowManagers_(), nodes_(), groupNodes_(), server_(server), mtx_(), rate_(20), newNodeConfigurations_()
-{
-}
-
-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 (1)
- {
- 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)
-{
- if ( rate <= 0 ) {
- std::cout << "You should specify a positive rate" << std::endl;
- return false;
- }
- else {
- rate_ = rate;
- return true;
- }
-}
-
-bool GraphicalInterface::createWindow(const char* windowNameCorba)
-{
- std::string windowName(windowNameCorba);
- if ( windowManagers_.find(windowName) != windowManagers_.end()) {
- std::cout << "You need to chose an other name, \"" << windowName << "\" already exist." << std::endl;
- return false;
- }
- else {
- WindowManagerPtr_t newWindow = WindowManager::create();
- windowManagers_[windowName] = newWindow;
- boost::thread refreshThread(boost::bind(&GraphicalInterface::threadRefreshing, this, newWindow));
- return true;
- }
-}
-
-void GraphicalInterface::refresh()
-{
- 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);
- }
- mtx_.unlock();
- newNodeConfigurations_.clear();
-}
-
-/*void GraphicalInterface::createWindow(const char* name, const unsigned int& x, const unsigned int& y, const unsigned int& width, const unsigned int& height)
-
- {
- WindowManagerPtr_t newWindow = WindowManager::create(x, y, width, height);
- windowManagers_[name] = newWindow;
- }*/
-
-bool GraphicalInterface::createScene(const char* sceneNameCorba)
-{
- std::string sceneName(sceneNameCorba);
- if (nodes_.find(sceneName) != nodes_.end()) {
- std::cout << "You need to chose an other name, \"" << sceneName << "\" already exist." << std::endl;
- return false;
- }
- else {
- GroupNodePtr_t mainNode = GroupNode::create(sceneName);
- addGroup(sceneName, mainNode);
- return true;
- }
-}
-
-bool GraphicalInterface::createSceneWithFloor(const char* sceneNameCorba)
-
-{
- std::string sceneName(sceneNameCorba);
- if (nodes_.find(sceneName) != nodes_.end()) {
- std::cout << "You need to chose an other name, \"" << sceneName << "\" already exist." << std::endl;
- return false;
- }
- 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);
- return true;
- }
-}
-
-bool GraphicalInterface::addSceneToWindow(const char* sceneNameCorba,const char* windowNameCorba)
-
-{
- std::string sceneName(sceneNameCorba);
- std::string windowName(windowNameCorba);
- if (windowManagers_.find(windowName) != windowManagers_.end() && groupNodes_.find(sceneName) != groupNodes_.end() ) {
- windowManagers_[windowName]->addNode(groupNodes_[sceneName]);
- return true;
- }
- else {
- std::cout << "Window name \"" << windowName << "\" and/or scene name \"" << sceneName << "\" doesn't exist." << std::endl;
- return false;
- }
-}
-
-bool GraphicalInterface::addBox(const char* boxNameCorba, const float boxSize1, const float boxSize2, const float boxSize3, const double* colorCorba)
-{
- 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;
- }
-}
-
-/*bool GraphicalInterface::addBox(const char* boxNameCorba, const float boxSize1, const float boxSize2, const float boxSize3)
-{
- std::string boxName(boxNameCorba);
- if (nodes_.find(boxName) != nodes_.end()) {
+namespace graphics {
+ namespace corbaServer {
+ namespace impl {
+
+ GraphicalInterface::GraphicalInterface(corbaServer::Server* server) :
+ windowManagers_(), nodes_(), groupNodes_(), server_(server), mtx_(), rate_(20), newNodeConfigurations_()
+ {
+ }
+
+ 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 (1)
+ {
+ 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;
+ }
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+ bool GraphicalInterface::createWindow(const char* windowNameCorba) throw (Error)
+ {
+ try {
+ std::string windowName(windowNameCorba);
+ if ( windowManagers_.find(windowName) != windowManagers_.end()) {
+ std::cout << "You need to chose an other name, \"" << windowName << "\" already exist." << std::endl;
+ return false;
+ }
+ else {
+ WindowManagerPtr_t newWindow = WindowManager::create();
+ windowManagers_[windowName] = newWindow;
+ boost::thread refreshThread(boost::bind(&GraphicalInterface::threadRefreshing, this, newWindow));
+ return true;
+ }
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+ 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);
+ }
+ mtx_.unlock();
+ newNodeConfigurations_.clear();
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+ /*void GraphicalInterface::createWindow(const char* name, const unsigned int& x, const unsigned int& y, const unsigned int& width, const unsigned int& height)
+
+ {
+ WindowManagerPtr_t newWindow = WindowManager::create(x, y, width, height);
+ windowManagers_[name] = newWindow;
+ }*/
+
+ bool GraphicalInterface::createScene(const char* sceneNameCorba) throw (Error)
+ {
+ try {
+ std::string sceneName(sceneNameCorba);
+ if (nodes_.find(sceneName) != nodes_.end()) {
+ std::cout << "You need to chose an other name, \"" << sceneName << "\" already exist." << std::endl;
+ return false;
+ }
+ else {
+ GroupNodePtr_t mainNode = GroupNode::create(sceneName);
+ addGroup(sceneName, mainNode);
+ return true;
+ }
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+ bool GraphicalInterface::createSceneWithFloor(const char* sceneNameCorba) throw (Error)
+
+ {
+ try {
+ std::string sceneName(sceneNameCorba);
+ if (nodes_.find(sceneName) != nodes_.end()) {
+ std::cout << "You need to chose an other name, \"" << sceneName << "\" already exist." << std::endl;
+ return false;
+ }
+ 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);
+ return true;
+ }
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+ bool GraphicalInterface::addSceneToWindow(const char* sceneNameCorba,const char* windowNameCorba) throw (Error)
+ {
+ try {
+ std::string sceneName(sceneNameCorba);
+ std::string windowName(windowNameCorba);
+ if (windowManagers_.find(windowName) != windowManagers_.end() && groupNodes_.find(sceneName) != groupNodes_.end() ) {
+ windowManagers_[windowName]->addNode(groupNodes_[sceneName]);
+ return true;
+ }
+ else {
+ std::cout << "Window name \"" << windowName << "\" and/or scene name \"" << sceneName << "\" doesn't exist." << std::endl;
+ return false;
+ }
+ } 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)
+ {
+ 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 ());
+ }
+ }
+
+ /*bool GraphicalInterface::addBox(const char* boxNameCorba, const float boxSize1, const float boxSize2, const float boxSize3)
+ {
+ 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 {
+ }
+ else {
LeafNodeBoxPtr_t box = LeafNodeBox::create(boxName, osgVector3(boxSize1, boxSize2, boxSize3));
GraphicalInterface::initParent(boxName, box);
addNode(boxName, box);
return true;
- }
-}*/
+ }
+ }*/
-/*bool GraphicalInterface::addCapsule(const char* capsuleNameCorba, const float radius, const float height)
-{
- const std::string capsuleName(capsuleNameCorba);
- if (nodes_.find(capsuleName) != nodes_.end()) {
+ /*bool GraphicalInterface::addCapsule(const char* capsuleNameCorba, const float radius, const float height)
+ {
+ 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 {
+ }
+ else {
LeafNodeCapsulePtr_t capsule = LeafNodeCapsule::create(capsuleName, radius, height);
GraphicalInterface::initParent(capsuleName, capsule);
addNode(capsuleName, capsule);
return true;
- }
-}*/
-
-bool GraphicalInterface::addCapsule(const char* capsuleNameCorba, const float radius, const float height, const double* colorCorba)
-{
- 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;
- }
-}
-
-bool GraphicalInterface::addMesh(const char* meshNameCorba, const char* meshPathCorba)
-{
- 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 {
+ }
+ }*/
+
+ bool GraphicalInterface::addCapsule(const char* capsuleNameCorba, const float radius, const float height, const double* 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 ());
+ }
+ }
+
+ 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) {
+ } catch (const std::exception& exc) {
std::cout << "Mesh \"" << meshPath << "\" not found." << std::endl;
return false;
- }
- }
-}
-
-/*bool GraphicalInterface::addCone(const char* coneNameCorba, const float radius, const float height)
-{
- std::string coneName(coneNameCorba);
- if (nodes_.find(coneName) != nodes_.end()) {
+ }
+ }
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+ /*bool GraphicalInterface::addCone(const char* coneNameCorba, const float radius, const float height)
+ {
+ 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 {
+ }
+ else {
LeafNodeConePtr_t cone = LeafNodeCone::create(coneName, radius, height);
GraphicalInterface::initParent(coneName, cone);
addNode(coneName, cone);
return true;
- }
-}*/
-
-bool GraphicalInterface::addCone(const char* coneNameCorba, const float radius, const float height, const double* colorCorba)
-{
- 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;
- }
-}
-
-/*bool GraphicalInterface::addCylinder(const char* cylinderNameCorba, const float radius, const float height)
-
-{
- std::string cylinderName(cylinderNameCorba);
- if (nodes_.find(cylinderName) != nodes_.end()) {
+ }
+ }*/
+
+ bool GraphicalInterface::addCone(const char* coneNameCorba, const float radius, const float height, const double*) 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 ());
+ }
+ }
+
+ /*bool GraphicalInterface::addCylinder(const char* cylinderNameCorba, const float radius, const float height)
+
+ {
+ 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 {
+ }
+ else {
LeafNodeCylinderPtr_t cylinder = LeafNodeCylinder::create(cylinderName, radius, height);
GraphicalInterface::initParent(cylinderName, cylinder);
addNode(cylinderName, cylinder);
return true;
- }
-}*/
-
-bool GraphicalInterface::addCylinder(const char* cylinderNameCorba, const float radius, const float height, const double* colorCorba)
-{
- 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;
- }
-}
-
-/*bool GraphicalInterface::addSphere(const char* sphereNameCorba, const float radius)
-{
- std::string sphereName(sphereNameCorba);
- if (nodes_.find(sphereName) != nodes_.end()) {
+ }
+ }*/
+
+ bool GraphicalInterface::addCylinder(const char* cylinderNameCorba, const float radius, const float height, const double* 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 ());
+ }
+ }
+
+ /*bool GraphicalInterface::addSphere(const char* sphereNameCorba, const float radius)
+ {
+ 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 {
+ }
+ else {
LeafNodeSpherePtr_t sphere = LeafNodeSphere::create(sphereName, radius);
GraphicalInterface::initParent(sphereName, sphere);
addNode(sphereName, sphere);
return true;
- }
-}*/
-
-bool GraphicalInterface::addSphere(const char* sphereNameCorba, const float radius, const double* colorCorba)
-{
- 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;
- }
-}
-
-bool GraphicalInterface::addLine(const char* lineNameCorba, const double* posCorba1, const double* posCorba2, const double* colorCorba)
-{
- 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;
- }
-}
-
-bool GraphicalInterface::addTriangleFace(const char* faceNameCorba, const double* posCorba1, const double* posCorba2, const double* posCorba3, const double* colorCorba)
-{
- 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;
- }
-}
-
-bool GraphicalInterface::addSquareFace(const char* faceNameCorba, const double* posCorba1, const double* posCorba2, const double* posCorba3, const double* posCorba4, const double* colorCorba)
-{
- 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;
- }
-}
-
-void GraphicalInterface::getNodeList()
-{
- 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;
-}
-
-void GraphicalInterface::getWindowList()
-{
- std::cout << "List of Windows :" << std::endl;
- for (std::map<std::string, WindowManagerPtr_t>::iterator it=windowManagers_.begin(); it!=windowManagers_.end(); ++it)
- std::cout << " " << it->first << std::endl;
-}
-
-bool GraphicalInterface::createGroup(const char* groupNameCorba)
-{
- 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;
- }
-}
-
-bool GraphicalInterface::addURDF(const char* urdfNameCorba, const char* urdfPathCorba, const char* urdfPackagePathCorba)
-{
- 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;
- }
-}
-
-bool GraphicalInterface::addToGroup(const char* nodeNameCorba, const char* groupNameCorba)
-{
- 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;
- }
-}
-
-bool GraphicalInterface::applyConfiguration(const char* nodeNameCorba, const double* configurationCorba)
-{
- 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;
- }
-}
-
-bool GraphicalInterface::addLandmark(const char* nodeNameCorba, float size)
-{
- 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;
-}
-
-
-bool GraphicalInterface::deleteLandmark(const char* nodeNameCorba)
-{
- 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;
-}
-
-bool GraphicalInterface::setVisibility(const char* nodeNameCorba, const char* visibilityModeCorba)
-{
- 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;
-}
-
-bool GraphicalInterface::setWireFrameMode(const char* nodeNameCorba, const char* wireFrameModeCorba)
-{
- 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;
-}
-
-bool GraphicalInterface::setLightingMode(const char* nodeNameCorba, const char* lightingModeCorba)
-{
- 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;
-}
-} //end namespace impl
-} //end namespace corbaServer
+ }
+ }*/
+
+ bool GraphicalInterface::addSphere(const char* sphereNameCorba, const float radius, const double* 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 ());
+ }
+ }
+
+ bool GraphicalInterface::addLine(const char* lineNameCorba, const double* posCorba1, const double* posCorba2, const double* 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 ());
+ }
+ }
+
+ bool GraphicalInterface::addTriangleFace(const char* faceNameCorba, const double* posCorba1, const double* posCorba2, const double* posCorba3, const double* 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;
+ }
+ } 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)
+ {
+ 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;
+ }
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+ 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;
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+ void GraphicalInterface::getWindowList() throw (Error)
+ {
+ try {
+ std::cout << "List of Windows :" << std::endl;
+ for (std::map<std::string, WindowManagerPtr_t>::iterator it=windowManagers_.begin(); it!=windowManagers_.end(); ++it)
+ std::cout << " " << it->first << std::endl;
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+ 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;
+ }
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+ bool GraphicalInterface::addURDF(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);
+ 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;
+ }
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+ bool GraphicalInterface::addToGroup(const char* nodeNameCorba, 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;
+ }
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+ bool GraphicalInterface::applyConfiguration(const char* nodeNameCorba, const double* 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;
+ }
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+ bool GraphicalInterface::addLandmark(const char* nodeNameCorba, 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;
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+
+ 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;
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+ bool GraphicalInterface::setVisibility(const char* nodeNameCorba, 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;
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+ bool GraphicalInterface::setWireFrameMode(const char* nodeNameCorba, 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;
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
+ bool GraphicalInterface::setLightingMode(const char* nodeNameCorba, 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;
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+ } //end namespace impl
+ } //end namespace corbaServer
} //end namespace graphics
diff --git a/src/graphical-interface.impl.hh b/src/graphical-interface.impl.hh
index 8f2f7630201a9d03850542d2a5413e5c7fbc5f2a..934e2b62e975fff6b0e60752566a05fdaa28c699 100644
--- a/src/graphical-interface.impl.hh
+++ b/src/graphical-interface.impl.hh
@@ -46,6 +46,7 @@ class GraphicalInterface :
public virtual POA_gepetto::corbaserver::GraphicalInterface
{
private:
+ typedef gepetto::Error Error;
std::map<std::string, WindowManagerPtr_t> windowManagers_;
std::map<std::string, NodePtr_t> nodes_;
std::map<std::string, GroupNodePtr_t> groupNodes_;
@@ -75,55 +76,49 @@ public:
*/
GraphicalInterface (corbaServer::Server* server);
- virtual void getNodeList();
- virtual void getWindowList();
+ virtual void getNodeList() throw (Error);
+ virtual void getWindowList() throw (Error);
- virtual bool setRate(CORBA::Long rate);
- virtual void refresh();
+ virtual bool setRate(CORBA::Long rate) throw (Error);
+ virtual void refresh() throw (Error);
- virtual bool createWindow(const char* windowNameCorba);
- //virtual void createWindow(const char* name, CORBA::ULong x, CORBA::ULong y, CORBA::ULong width, CORBA::ULong height) ;
+ virtual bool createWindow(const char* windowNameCorba) throw (Error);
- virtual bool createScene(const char* sceneNameCorba) ;
- virtual bool createSceneWithFloor(const char* sceneNameCorba) ;
- virtual bool addSceneToWindow(const char* sceneNameCorba, const char* windowNameCorba) ;
+ virtual bool createScene(const char* sceneNameCorba) throw (Error);
+ virtual bool createSceneWithFloor(const char* sceneNameCorba) throw (Error);
+ virtual bool addSceneToWindow(const char* sceneNameCorba, const char* windowNameCorba) throw (Error);
- virtual bool addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3, const double* color);
- //virtual bool addBox(const char* boxNameCorba, float boxSize1, float boxSize2, float boxSize3) ;
+ virtual bool addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3, const double* color) throw (Error);
- //virtual bool addCapsule(const char* capsuleNameCorba, float radius, float height) ;
- virtual bool addCapsule(const char* capsuleName, float radius, float height, const double* color);
+ virtual bool addCapsule(const char* capsuleName, float radius, float height, const double* color) throw (Error);
- virtual bool addMesh(const char* meshNameCorba, const char* meshPathCorba) ;
+ virtual bool addMesh(const char* meshNameCorba, const char* meshPathCorba) throw (Error);
- //virtual bool addCone(const char* coneNameCorba, float radius, float height) ;
- virtual bool addCone(const char* coneName, float radius, float height, const double* color);
+ virtual bool addCone(const char* coneName, float radius, float height, const double* color) throw (Error);
- //virtual bool addCylinder(const char* cylinderNameCorba, float radius, float height) ;
- virtual bool addCylinder(const char* cylinderName, float radius, float height, const double* color);
+ virtual bool addCylinder(const char* cylinderName, float radius, float height, const double* color) throw (Error);
- //virtual bool addSphere(const char* sphereNameCorba, float radius) ;
- virtual bool addSphere(const char* sphereName, float radius, const double* color);
+ virtual bool addSphere(const char* sphereName, float radius, const double* color) throw (Error);
- virtual bool addLine(const char* lineName, const double* pos1, const double* pos2, const double* color);
+ virtual bool addLine(const char* lineName, const double* pos1, const double* pos2, const double* color) throw (Error);
- virtual bool addSquareFace(const char* faceName, const double* pos1, const double* pos2, const double* pos3, const double* pos4, const double* color);
- virtual bool addTriangleFace(const char* faceName, const double* pos1, const double* pos2, const double* pos3, const double* color);
+ 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 addURDF(const char* urdfNameCorba, const char* urdfPathCorba, const char* urdfPackagePathCorba);
+ virtual bool addURDF(const char* urdfNameCorba, const char* urdfPathCorba, const char* urdfPackagePathCorba) throw (Error);
- virtual bool createGroup(const char* groupNameCorba) ;
- virtual bool addToGroup(const char* nodeNameCorba, const char* groupNameCorba) ;
+ 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) ;
+ virtual bool applyConfiguration(const char* nodeNameCorba, const double* configuration) throw (Error);
- virtual bool addLandmark(const char* nodeNameCorba, float size);
- virtual bool deleteLandmark(const char* nodeNameCorba);
+ virtual bool addLandmark(const char* nodeNameCorba, float size) throw (Error);
+ virtual bool deleteLandmark(const char* nodeNameCorba) throw (Error);
- virtual bool setVisibility(const char* nodeNameCorba, const char* visibilityModeCorba) ;
- virtual bool setWireFrameMode(const char* nodeNameCorba, const char* wireFrameModeCorba) ;
- virtual bool setLightingMode(const char* nodeNameCorba, const char* lightingModeCorba) ;
+ virtual bool setVisibility(const char* nodeNameCorba, const char* visibilityModeCorba) throw (Error);
+ virtual bool setWireFrameMode(const char* nodeNameCorba, const char* wireFrameModeCorba) throw (Error);
+ virtual bool setLightingMode(const char* nodeNameCorba, const char* lightingModeCorba) throw (Error);
}; // end of class