diff --git a/CMakeLists.txt b/CMakeLists.txt
index d72852b9b4897da8b31d4f1d087cd34a565cbf43..f7df51814750b746271c8bb54dcd41bc7eccaf67 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,18 +1,18 @@
-# Copyright (c) 2012 CNRS
-# Author: Florent Lamiraux
+# Copyright (c) 2014 CNRS
+# Author: Mathieu Geisert, Florent Lamiraux
#
-# This file is part of hpp-corbaserver.
-# hpp-corbaserver is free software: you can redistribute it
+# This file is part of gepetto-viewer-corba.
+# gepetto-viewer-corba is free software: you can redistribute it
# and/or modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation, either version
# 3 of the License, or (at your option) any later version.
#
-# hpp-corbaserver is distributed in the hope that it will be
+# gepetto-viewer-corba is distributed in the hope that it will be
# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
-# hpp-corbaserver. If not, see
+# gepetto-viewer-corba. If not, see
# <http://www.gnu.org/licenses/>.
# Requires at least CMake 2.6 to configure the package.
@@ -21,17 +21,17 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
SET(CXX_DISABLE_WERROR true)
INCLUDE(cmake/base.cmake)
-INCLUDE(cmake/cpack.cmake)
INCLUDE(cmake/idl.cmake)
INCLUDE(cmake/python.cmake)
INCLUDE(cmake/boost.cmake)
-SET(PROJECT_NAME SceneViewer-corba)
-SET(PROJECT_DESCRIPTION "Corba server for SceneViewer")
+SET(PROJECT_NAME gepetto-viewer-corba)
+SET(PROJECT_DESCRIPTION "Corba server for gepetto-viewer")
SET(PROJECT_URL "")
SET(${PROJECT_NAME}_HEADERS
- src/client-cpp.hh
+ include/gepetto/viewer/corba/client.hh
+ include/gepetto/viewer/corba/se3.hh
)
SET(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
@@ -41,9 +41,8 @@ SETUP_PROJECT ()
# Dependencies
ADD_REQUIRED_DEPENDENCY("omniORB4 >= 4.1.4")
-ADD_REQUIRED_DEPENDENCY("openscenegraph >= 3.2")
ADD_REQUIRED_DEPENDENCY("openthreads >= 3.2")
-ADD_REQUIRED_DEPENDENCY("SceneViewer")
+ADD_REQUIRED_DEPENDENCY("gepetto-viewer")
ADD_REQUIRED_DEPENDENCY("urdfdom")
ADD_REQUIRED_DEPENDENCY("eigen3 >= v3.0.5")
SEARCH_FOR_BOOST()
@@ -53,4 +52,3 @@ INCLUDE_DIRECTORIES(SYSTEM ${EIGEN3_INCLUDE_DIRS})
ADD_SUBDIRECTORY(src)
SETUP_PROJECT_FINALIZE()
-#SETUP_PROJECT_CPACK()
diff --git a/idl/Graphics/corbaserver/graphicalinterface.idl b/idl/gepetto/viewer/graphical-interface.idl
similarity index 99%
rename from idl/Graphics/corbaserver/graphicalinterface.idl
rename to idl/gepetto/viewer/graphical-interface.idl
index 6341ac546fc1660196aba6ec5741e023bff4de3a..b0b3febd9d0fffa4a1daa9bd179fff4e54435497 100644
--- a/idl/Graphics/corbaserver/graphicalinterface.idl
+++ b/idl/gepetto/viewer/graphical-interface.idl
@@ -1,5 +1,5 @@
// file graphicalinterface.idl
-module Graphics {
+module gepetto {
module corbaserver {
// Comments :
@@ -16,7 +16,7 @@ typedef double Position [3];
typedef double Color [4];
/// Corba exception travelling through the Corba channel
- interface Graphicalinterface {
+ interface GraphicalInterface {
/// Set time between window frames
/// \param input rate : waiting time (ms) between two frames.
diff --git a/src/client-cpp.hh b/include/gepetto/viewer/corba/client.hh
similarity index 93%
rename from src/client-cpp.hh
rename to include/gepetto/viewer/corba/client.hh
index 7361b9adf5e05fec9070fd8df13089b0982e3fff..f40f0993b95a6058c3f9b6733c8c740fddd44c21 100644
--- a/src/client-cpp.hh
+++ b/include/gepetto/viewer/corba/client.hh
@@ -11,18 +11,18 @@
#include <iostream>
#include <omniORB4/CORBA.h>
-#include "se3.hpp"
-#include "graphicalinterface.hh"
+#include <gepetto/viewer/corba/se3.hh>
+#include <gepetto/viewer/corba/graphical-interface.hh>
-namespace Graphics {
+namespace graphics {
namespace corbaServer {
class ClientCpp
{
private:
CORBA::ORB_var orb_;
- Graphics::corbaserver::Graphicalinterface_var manager_;
+ gepetto::corbaserver::GraphicalInterface_var manager_;
static void se3ToCorba(CORBA::Double* corbaPosition, const se3::SE3& se3position);
@@ -86,6 +86,6 @@ public:
}; //end of class ClientCpp
} //end of namespace corbaserver
-} //end of namespace Graphics
+} //end of namespace graphics
#endif // SCENEVIEWER_CORBASERVER_CLIENTCPP_HH
diff --git a/src/se3.hpp b/include/gepetto/viewer/corba/se3.hh
similarity index 100%
rename from src/se3.hpp
rename to include/gepetto/viewer/corba/se3.hh
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 5eac5764e52df085bac5ee9e2107257919d87b22..949ec3c283d430c82fe7aaca8b5aa117ee141ff6 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -17,102 +17,116 @@
SET(LIBRARY_NAME ${PROJECT_NAME})
SET(IDL_SOURCES
- graphicalinterface
+ graphical-interface
)
OMNIIDL_INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/idl)
INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/src)
FOREACH(IDL ${IDL_SOURCES})
GENERATE_IDL_FILE (${IDL}
- ${CMAKE_SOURCE_DIR}/idl/Graphics/corbaserver)
+ ${CMAKE_SOURCE_DIR}/idl/gepetto/viewer)
+ FILE(MAKE_DIRECTORY gepetto/viewer/corba)
ENDFOREACH()
ADD_LIBRARY(${LIBRARY_NAME}
SHARED
- graphicalinterface.hh
- graphicalinterfaceSK.cc
- GraphicalInterface.impl.cpp
- GraphicalInterface.impl.hh
+ graphical-interfaceSK.cc
+ graphical-interface.impl.cpp
+ graphical-interface.impl.hh
server.hh
server.cc
server-private.cc
server-private.hh
client-cpp.cc
- client-cpp.hh
- se3.hpp
- ${CMAKE_CURRENT_BINARY_DIR}/Graphics/corbaserver/graphicalinterface_idl.py
+ ${CMAKE_CURRENT_BINARY_DIR}/gepetto/corbaserver/graphical-interface_idl.py
+ ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/graphical-interface.hh
)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} omniORB4)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} openscenegraph)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} openthreads)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} SceneViewer)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} gepetto-viewer)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} urdfdom)
-#PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} eigen3)
-#PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} boost)
+TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${Boost_LIBRARIES})
INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)
# search for python
FINDPYTHON()
+MAKE_DIRECTORY(${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba)
+
FOREACH (IDL ${IDL_SOURCES})
ADD_CUSTOM_COMMAND(
OUTPUT
- ${CMAKE_CURRENT_BINARY_DIR}/Graphics/corbaserver/${IDL}_idl.py
+ ${CMAKE_CURRENT_BINARY_DIR}/gepetto/corbaserver/${IDL}_idl.py
COMMAND ${OMNIIDL}
ARGS -bpython -Wbpackage="" -I${CMAKE_SOURCE_DIR}/idl
- ${CMAKE_SOURCE_DIR}/idl/Graphics/corbaserver/${IDL}.idl
+ ${CMAKE_SOURCE_DIR}/idl/gepetto/viewer/${IDL}.idl
+ MAIN_DEPENDENCY
+ ${CMAKE_SOURCE_DIR}/idl/gepetto/viewer/${IDL}.idl
+ )
+ ADD_CUSTOM_COMMAND(
+ OUTPUT
+ ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/${IDL}.hh
+ COMMAND ${OMNIIDL}
+ ARGS -bcxx -C${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba
+ -I${CMAKE_SOURCE_DIR}/idl
+ ${CMAKE_SOURCE_DIR}/idl/gepetto/viewer/${IDL}.idl
MAIN_DEPENDENCY
- ${CMAKE_SOURCE_DIR}/idl/Graphics/corbaserver/${IDL}.idl
+ ${CMAKE_SOURCE_DIR}/idl/gepetto/viewer/${IDL}.idl
)
SET_SOURCE_FILES_PROPERTIES(
${CMAKE_CURRENT_BINARY_DIR}/${IDL}_idl.py
+ ${CMAKE_CURRENT_BINARY_DIR}/${IDL}.hh
+ ${CMAKE_CURRENT_BINARY_DIR}/gepetto/viewer/corba/${IDL}.hh
GENERATED=ON
)
+ INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${IDL}.hh
+ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gepetto/viewer/corba)
+
+ STRING(REGEX REPLACE "-" "_"
+ IDL_UNDERSCORE "${IDL}")
+
INSTALL(
FILES
- ${CMAKE_CURRENT_BINARY_DIR}/${IDL}_idl.py
- DESTINATION ${PYTHON_SITELIB}/Graphics/corbaserver
+ ${CMAKE_CURRENT_BINARY_DIR}/${IDL_UNDERSCORE}_idl.py
+ DESTINATION ${PYTHON_SITELIB}/gepetto/corbaserver
)
ENDFOREACH()
INSTALL(
FILES
- ${CMAKE_CURRENT_SOURCE_DIR}/Graphics/__init__.py
- ${CMAKE_CURRENT_SOURCE_DIR}/Graphics/quaternion.py
- DESTINATION ${PYTHON_SITELIB}/Graphics
+ ${CMAKE_CURRENT_SOURCE_DIR}/gepetto/__init__.py
+ ${CMAKE_CURRENT_SOURCE_DIR}/gepetto/quaternion.py
+ DESTINATION ${PYTHON_SITELIB}/gepetto
)
INSTALL(
FILES
- ${CMAKE_CURRENT_SOURCE_DIR}/Graphics/corbaserver/__init__.py
- DESTINATION ${PYTHON_SITELIB}/Graphics/corbaserver
+ ${CMAKE_CURRENT_SOURCE_DIR}/gepetto/corbaserver/__init__.py
+ DESTINATION ${PYTHON_SITELIB}/gepetto/corbaserver
)
INSTALL(
FILES
- ${CMAKE_CURRENT_SOURCE_DIR}/Graphics/corbaserver/client.py
- DESTINATION ${PYTHON_SITELIB}/Graphics/corbaserver
+ ${CMAKE_CURRENT_SOURCE_DIR}/gepetto/corbaserver/client.py
+ DESTINATION ${PYTHON_SITELIB}/gepetto/corbaserver
)
INSTALL(
FILES
- ${CMAKE_SOURCE_DIR}/idl/Graphics/corbaserver/graphicalinterface.idl
- DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/idl/Graphics/corbaserver
+ ${CMAKE_SOURCE_DIR}/idl/gepetto/viewer/graphical-interface.idl
+ DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/idl/gepetto/corbaserver
)
-# Standalone corba server
-ADD_EXECUTABLE (SceneViewercorbaserver SceneViewer-corbaserver.cc)
-TARGET_LINK_LIBRARIES(SceneViewercorbaserver ${LIBRARY_NAME})
-TARGET_LINK_LIBRARIES(SceneViewercorbaserver SceneViewer)
-TARGET_LINK_LIBRARIES(SceneViewercorbaserver urdfdom_model)
-TARGET_LINK_LIBRARIES(SceneViewercorbaserver ${Boost_LIBRARIES})
+INSTALL (FILES ${CMAKE_CURRENT_BINARY_DIR}/graphical-interface.hh
+ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gepetto/viewer/corba
+ )
+# Standalone corba server
+ADD_EXECUTABLE (gepetto-viewer-server corbaserver.cc)
+TARGET_LINK_LIBRARIES(gepetto-viewer-server ${LIBRARY_NAME})
+#TARGET_LINK_LIBRARIES(gepetto-viewer-server ${Boost_LIBRARIES})
-ADD_EXECUTABLE (clientTest ../test/test-client-cpp.cc)
-TARGET_LINK_LIBRARIES(clientTest ${LIBRARY_NAME})
-TARGET_LINK_LIBRARIES(clientTest SceneViewer)
-TARGET_LINK_LIBRARIES(clientTest urdfdom_model)
-TARGET_LINK_LIBRARIES(clientTest ${Boost_LIBRARIES})
-#TARGET_LINK_LIBRARIES(clientTest eigen3)
+ADD_EXECUTABLE (client-test test-client-cpp.cc)
+TARGET_LINK_LIBRARIES(client-test ${LIBRARY_NAME})
+PKG_CONFIG_USE_DEPENDENCY(client-test gepetto-viewer)
-INSTALL (TARGETS SceneViewercorbaserver DESTINATION bin)
-INSTALL (TARGETS clientTest DESTINATION bin)
+INSTALL (TARGETS gepetto-viewer-server DESTINATION bin)
+INSTALL (TARGETS client-test DESTINATION bin)
diff --git a/src/Graphics/corbaserver/__init__.py b/src/Graphics/corbaserver/__init__.py
deleted file mode 100644
index c6115dd6f3195e9a7cdb0c287adaccbd964108f6..0000000000000000000000000000000000000000
--- a/src/Graphics/corbaserver/__init__.py
+++ /dev/null
@@ -1,7 +0,0 @@
-import omniORB
-omniORB.updateModule("Graphics.corbaserver")
-
-import graphicalinterface_idl
-
-from client import Client
-
diff --git a/src/Graphics/corbaserver/__init__.py~ b/src/Graphics/corbaserver/__init__.py~
deleted file mode 100644
index 5bba82f9659a12e267958a4f83b5d88ddba79d46..0000000000000000000000000000000000000000
--- a/src/Graphics/corbaserver/__init__.py~
+++ /dev/null
@@ -1,7 +0,0 @@
-import omniORB
-omniORB.updateModule("Graphics.corbaserver")
-
-import sceneViewer_idl
-
-from client import Client
-
diff --git a/src/Graphics/corbaserver/client.py~ b/src/Graphics/corbaserver/client.py~
deleted file mode 100644
index 7cdd9bfb2541a533cd602019872ee02e5e44eb35..0000000000000000000000000000000000000000
--- a/src/Graphics/corbaserver/client.py~
+++ /dev/null
@@ -1,65 +0,0 @@
-"""
-Provide a client for CORBA services which initialize CORBA automatically and
-create client to wanted HPP services.
-"""
-from omniORB import CORBA
-import CosNaming
-
-import Graphics.corbaserver
-
-class CorbaError(Exception):
- """
- Raised when a CORBA error occurs.
- """
- def __init__(self, value):
- self.value = value
- def __str__(self):
- return repr(self.value)
-
-class Client:
- """
- Connect and create clients for all HPP services.
- """
-
- defaultClients = ['graphicalinterface']
-
- def makeClient(self, serviceName):
- """
- Create a client to a new CORBA service and add it to this class.
- """
- serviceName = serviceName.lower ()
- name = [CosNaming.NameComponent ("Graphics", "corbaserver"),
- CosNaming.NameComponent ("basic", serviceName)]
-
- try:
- obj = self.rootContext.resolve (name)
- except CosNaming.NamingContext.NotFound, ex:
- raise CorbaError (
- 'failed to find the service ``{0}\'\''.format (serviceName))
-
- try:
- client = obj._narrow (Graphics.corbaserver.__dict__[serviceName.capitalize ()])
- except KeyError:
- raise CorbaError ('invalid service name ``{0}\'\''.format (serviceName))
-
- if client is None:
- # This happens when stubs from client and server are not synchronized.
- raise CorbaError (
- 'failed to narrow client for service named ``{0}\'\''.format
- (serviceName))
- self.__dict__[serviceName] = client
-
-
- def __init__(self, clients = defaultClients):
- """
- Initialize CORBA and create default clients.
- """
- import sys
- self.orb = CORBA.ORB_init (sys.argv, CORBA.ORB_ID)
- obj = self.orb.resolve_initial_references("NameService")
- self.rootContext = obj._narrow(CosNaming.NamingContext)
- if self.rootContext is None:
- raise CorbaError ('failed to narrow the root context')
-
- for client in clients:
- self.makeClient (client)
diff --git a/src/Graphics/corbaserver/parser.py~ b/src/Graphics/corbaserver/parser.py~
deleted file mode 100644
index 5e68be99410e751075da06681ab77f8b7fd21d26..0000000000000000000000000000000000000000
--- a/src/Graphics/corbaserver/parser.py~
+++ /dev/null
@@ -1,49 +0,0 @@
-from xml.dom.minidom import parse
-
-def isFloat (string):
- try:
- float (string)
- return True
- except ValueError:
- return False
-
-class Parser (object):
- """
- Parser of srdf file that looks for robot grippers.
- """
- def __init__ (self, client, objectName, filename):
- """
- Constructor takes a client to corba server.
- """
- self.objectName = objectName
- self.filename = filename
- self.client = client
- self.tree = parse (filename)
-
-def parseGrippers (self):
- nodeList = self.tree.getElementsByTagName ('robot')
- if nodeList.length is 0:
- raise RuntimeError ("file " +
- self.filename + ' has no node "robot"')
- robotElement = nodeList [0]
- # Parse grippers
- grippers = robotElement.getElementsByTagName ('gripper')
- for h in grippers:
- gripperName = str (h.attributes ['name'].nodeValue)
- handlePositionsInJoint = h.getElementsByTagName ('handle_position_in_joint')
- if not handlePositionsInJoint.length is 1:
- raise RuntimeError ('expected 1 tag "local_position", ' +
- 'but found %i.'%handlePositionsInJoint.length)
- handlePositionInJoint = handlePositionsInJoint [0]
- position = handlePositionInJoint.childNodes [0].nodeValue
- handlePositionInJoint = map (float, (filter (isFloat,
- position.split (' '))))
- links = h.getElementsByTagName ('link')
- if not links.length is 1:
- raise RuntimeError ('expected 1 tag "link", ' +
- 'but found %i.'%links.length)
- link = links [0]
- linkName = str (link.attributes ['name'].nodeValue)
-
- self.client.robot.addGripper (self.objectName, linkName, gripperName,
- handlePositionInJoint)
diff --git a/src/Graphics/corbaserver/robot.py~ b/src/Graphics/corbaserver/robot.py~
deleted file mode 100644
index 30e283a7548f18af2ccb95f1b304b0d1b387a634..0000000000000000000000000000000000000000
--- a/src/Graphics/corbaserver/robot.py~
+++ /dev/null
@@ -1,174 +0,0 @@
-#!/usr/bin/env python
-# Copyright (c) 2014 CNRS
-# Author: Florent Lamiraux
-#
-# This file is part of hpp-corbaserver.
-# hpp-corbaserver is free software: you can redistribute it
-# and/or modify it under the terms of the GNU Lesser General Public
-# License as published by the Free Software Foundation, either version
-# 3 of the License, or (at your option) any later version.
-#
-# hpp-corbaserver is distributed in the hope that it will be
-# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-# General Lesser Public License for more details. You should have
-# received a copy of the GNU Lesser General Public License along with
-# hpp-corbaserver. If not, see
-# <http://www.gnu.org/licenses/>.
-
-from hpp.corbaserver.client import Client
-from srdf_parser import Parser as SrdfPerser
-
-class Robot (object):
- def __init__ (self, robotName, rootJointType):
- self.tf_root = "base_link"
- self.rootJointType = rootJointType
- self.client = Client ()
- self.loadModel (robotName, rootJointType)
- self.jointNames = self.client.robot.getJointNames ()
- self.rankInConfiguration = dict ()
- self.rankInVelocity = dict ()
- rankInConfiguration = rankInVelocity = 0
- for j in self.jointNames:
- self.rankInConfiguration [j] = rankInConfiguration
- rankInConfiguration += self.client.robot.getJointConfigSize (j)
- self.rankInVelocity [j] = rankInVelocity
- rankInVelocity += self.client.robot.getJointNumberDof (j)
-
- def loadModel (self, robotName, rootJointType):
- self.client.robot.loadRobotModel (robotName, rootJointType,
- self.packageName, self.urdfName,
- self.urdfSuffix, self.srdfSuffix)
- self.ParseGrippers(robotName)
-
- def ParseGrippers(self, robotName):
- # Read srdf file for object specific informations (gripper).
- # Build filename from ROS_PACKAGE_PATH
- import os
- ros_package_path = os.getenv ('ROS_PACKAGE_PATH').split(":")
- path = None
- for p in ros_package_path:
- if os.path.exists (p + '/' + self.packageName):
- path = p + '/' + self.packageName
- break
- if not path:
- raise IOError ("package " + self.packageName + " not found")
- filename = path + '/' + 'srdf/' + self.urdfName + self.srdfSuffix + '.srdf'
- parser = SrdfParser (self.client, robotName, filename)
- parser.parseGrippers ()
-
- ## Get size of configuration
- # \return size of configuration
- def getConfigSize (self):
- return self.client.robot.getConfigSize ()
-
- # Get size of velocity
- # \return size of velocity
- def getNumberDof (self):
- return self.client.robot.getNumberDof ()
- ## \}
-
- ## \name Joints
- #\{
-
- ## Get joint names in the same order as in the configuration.
- def getJointNames (self):
- return self.client.robot.getJointNames ()
-
- ## Get joint position.
- def getJointPosition (self, jointName):
- return self.client.robot.getJointPosition (jointName)
-
- ## Get joint number degrees of freedom.
- def getJointNumberDof (self, jointName):
- return self.client.robot.getJointNumberDof (jointName)
-
- ## Get joint number config size.
- def getJointConfigSize (self, jointName):
- return self.client.robot.getJointConfigSize (jointName)
-
- ## set bounds for the joint
- def setJointBounds (self, jointName, inJointBound):
- return self.client.robot.setJointBounds (jointName, inJointBound)
-
- ## Set bounds on the translation part of the freeflyer joint.
- #
- # Valid only if the robot has a freeflyer joint.
- def setTranslationBounds (self, xmin, xmax, ymin, ymax, zmin, zmax):
- self.client.robot.setJointBounds ("base_joint_x", [xmin, xmax])
- self.client.robot.setJointBounds ("base_joint_y", [ymin, ymax])
- self.client.robot.setJointBounds ("base_joint_z", [zmin, zmax])
- ## \}
-
- ## \name Configurations
- #\{
-
- ## Set current configuration of composite robot
- #
- # \param q configuration of the composite robot
- def setCurrentConfig (self, q):
- self.client.robot.setCurrentConfig (q)
-
- ## Get current configuration of composite robot
- #
- # \return configuration of the composite robot
- def getCurrentConfig (self):
- return self.client.robot.getCurrentConfig ()
-
- ## Shoot random configuration
- # \return dofArray Array of degrees of freedom.
- def shootRandomConfig(self):
- return self.client.robot.shootRandomConfig ()
-
- ## \}
-
- ## \name Collision checking and distance computation
- # \{
-
- ## Test collision with obstacles and auto-collision.
- #
- # Check whether current configuration of robot is valid by calling
- # CkwsDevice::collisionTest ().
- # \return whether configuration is valid
- def collisionTest (self):
- return self.client.robot.collisionTest ()
-
- ## Compute distances between bodies and obstacles
- #
- # \return list of distances,
- # \return names of the objects belonging to a body
- # \return names of the objects tested with inner objects,
- # \return closest points on the body,
- # \return closest points on the obstacles
- # \note outer objects for a body can also be inner objects of another
- # body.
- def distancesToCollision (self):
- return self.client.robot.distancesToCollision ()
- ## \}
- ## \name Mass and inertia
- # \{
-
- ## Get mass of robot
- def getMass (self):
- return self.client.robot.getMass ()
-
- ## Get position of center of mass
- def getCenterOfMass (self):
- return self.client.robot.getCenterOfMass ()
- ## Get Jacobian of the center of mass
- def getJacobianCenterOfMass (self):
- return self.client.robot.getJacobianCenterOfMass ()
- ##\}
-
-## Humanoid robot
-#
-# Method loadModel builds a humanoid robot.
-class HumanoidRobot (Robot):
-
- def __init__ (self, robotName, rootJointType):
- Robot.__init__ (self, robotName, rootJointType)
- def loadModel (self, robotName, rootJointType):
- self.client.robot.loadHumanoidModel (robotName, rootJointType,
- self.packageName, self.urdfName,
- self.urdfSuffix, self.srdfSuffix)
- self.ParseGrippers(robotName)
diff --git a/src/client-cpp.cc b/src/client-cpp.cc
index 9ceec770d21d48cb14d241455946178f9f08567c..fde7f70ab449e8c4976826ce207ebea5f2688e20 100644
--- a/src/client-cpp.cc
+++ b/src/client-cpp.cc
@@ -6,9 +6,9 @@
// Copyright (c) 2014 LAAS-CNRS. All rights reserved.
//
-#include "client-cpp.hh"
+#include <gepetto/viewer/corba/client.hh>
-namespace Graphics {
+namespace graphics {
namespace corbaServer {
void ClientCpp::se3ToCorba(CORBA::Double* corbaPosition, const se3::SE3& se3position)
@@ -37,14 +37,15 @@ ClientCpp::ClientCpp()
CosNaming::Name name;
name.length(2);
- name[0].id = (const char *) "Graphics";
- name[0].kind = (const char *) "corbaserver";
- name[1].id = (const char *) "basic";
- name[1].kind = (const char *) "graphicalinterface";
+ name[0].id = (const char *) "gepetto";
+ name[0].kind = (const char *) "viewer";
+ name[1].id = (const char *) "corbaserver";
+ name[1].kind = (const char *) "gui";
// Invoke the root context to retrieve the object reference
CORBA::Object_var managerObj = nc->resolve(name);
// Narrow the previous object to obtain the correct type
- manager_ = Graphics::corbaserver::Graphicalinterface::_narrow(managerObj.in());
+ manager_ =
+ gepetto::corbaserver::GraphicalInterface::_narrow(managerObj.in());
}
ClientCpp::~ClientCpp()
@@ -211,4 +212,4 @@ bool ClientCpp::setLightingMode(const char* nodeName, const char* lightingMode)
}
} // end of namespace corbaserver
-} // end of namespace Graphics
+} // end of namespace graphics
diff --git a/src/SceneViewer-corbaserver.cc b/src/corbaserver.cc
similarity index 93%
rename from src/SceneViewer-corbaserver.cc
rename to src/corbaserver.cc
index 8ecb0cdec7e55ade997b46c36675bab59c1a98fb..d0e33171c684d46e600db8cac7eb4a49ff21b2b5 100644
--- a/src/SceneViewer-corbaserver.cc
+++ b/src/corbaserver.cc
@@ -11,7 +11,7 @@
#include <iostream>
#include "server.hh"
-using Graphics::corbaServer::Server;
+using graphics::corbaServer::Server;
int
main (int argc, const char* argv[])
diff --git a/src/fwd.hh b/src/fwd.hh
index a04b44dd96ed45ca713979a9e3e0ee7f7d847b0f..f3686f207fbbf76ab180a7043ce80628026e666d 100644
--- a/src/fwd.hh
+++ b/src/fwd.hh
@@ -14,7 +14,7 @@
//FIXME: should be replaced by CORBA base types forward declarations.
# include <omniORB4/CORBA.h>
-namespace Graphics
+namespace graphics
{
namespace corbaServer
{
diff --git a/src/Graphics/__init__.py b/src/gepetto/__init__.py
similarity index 100%
rename from src/Graphics/__init__.py
rename to src/gepetto/__init__.py
diff --git a/src/gepetto/corbaserver/__init__.py b/src/gepetto/corbaserver/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..7b40fdd1f95d57590b9279274f126ff31c900bfe
--- /dev/null
+++ b/src/gepetto/corbaserver/__init__.py
@@ -0,0 +1,7 @@
+import omniORB
+omniORB.updateModule("gepetto.corbaserver")
+
+import graphical_interface_idl
+
+from client import Client
+
diff --git a/src/Graphics/corbaserver/client.py b/src/gepetto/corbaserver/client.py
similarity index 77%
rename from src/Graphics/corbaserver/client.py
rename to src/gepetto/corbaserver/client.py
index 93e6e3826022b29f74d75170bd1e1a1d1afc0f0d..ed630b4de42537d1ca2e502896b0f978f6a8f779 100644
--- a/src/Graphics/corbaserver/client.py
+++ b/src/gepetto/corbaserver/client.py
@@ -5,7 +5,7 @@ create client to wanted HPP services.
from omniORB import CORBA
import CosNaming
-import Graphics.corbaserver
+import gepetto.corbaserver
class CorbaError(Exception):
"""
@@ -21,33 +21,34 @@ class Client:
Connect and create clients for all HPP services.
"""
- defaultClients = ["graphicalinterface"]
+ defaultClients = [('gui', 'GraphicalInterface')]
def makeClient(self, serviceName):
"""
Create a client to a new CORBA service and add it to this class.
"""
- serviceName = serviceName.lower ()
- name = [CosNaming.NameComponent ("Graphics", "corbaserver"),
- CosNaming.NameComponent ("basic", serviceName)]
+ name = [CosNaming.NameComponent ("gepetto", "viewer"),
+ CosNaming.NameComponent ("corbaserver", serviceName [0])]
try:
obj = self.rootContext.resolve (name)
except CosNaming.NamingContext.NotFound, ex:
raise CorbaError (
- 'failed to find the service ``{0}\'\''.format (serviceName))
+ 'failed to find the service ``{0}\'\''.format (serviceName [0]))
try:
- client = obj._narrow (Graphics.corbaserver.__dict__[serviceName.capitalize ()])
+ client = obj._narrow (gepetto.corbaserver.__dict__
+ [serviceName [1]])
except KeyError:
- raise CorbaError ('invalid service name ``{0}\'\''.format (serviceName))
+ raise CorbaError ('invalid service name ``{0}\'\''.format \
+ (serviceName [0]))
if client is None:
# This happens when stubs from client and server are not synchronized.
raise CorbaError (
'failed to narrow client for service named ``{0}\'\''.format
- (serviceName))
- self.__dict__[serviceName] = client
+ (serviceName [0]))
+ self.__dict__[serviceName [0]] = client
def __init__(self, clients = defaultClients):
diff --git a/src/Graphics/quaternion.py b/src/gepetto/quaternion.py
similarity index 100%
rename from src/Graphics/quaternion.py
rename to src/gepetto/quaternion.py
diff --git a/src/GraphicalInterface.impl.cpp b/src/graphical-interface.impl.cpp
similarity index 99%
rename from src/GraphicalInterface.impl.cpp
rename to src/graphical-interface.impl.cpp
index 474b04979abe3f2daf645dd6a3fa2215dbda79aa..ae3b775a1e8a289c4fbe3fd212429facded45a26 100644
--- a/src/GraphicalInterface.impl.cpp
+++ b/src/graphical-interface.impl.cpp
@@ -6,9 +6,9 @@
// Copyright (c) 2014 LAAS-CNRS. All rights reserved.
//
-#include "GraphicalInterface.impl.hh"
+#include "graphical-interface.impl.hh"
-namespace Graphics {
+namespace graphics {
namespace corbaServer {
namespace impl {
@@ -502,7 +502,8 @@ bool GraphicalInterface::addURDF(const char* urdfNameCorba, const char* urdfPath
return false;
}
else {
- GroupNodePtr_t urdf = URDFparser::parse(urdfName, urdfPath, urdfPackagePath);
+ GroupNodePtr_t urdf = urdfParser::parse
+ (urdfName, urdfPath, urdfPackagePath);
NodePtr_t link;
for (int i=0 ; i< urdf->getNumOfChildren() ; i++) {
link = urdf->getChild(i);
@@ -614,4 +615,4 @@ bool GraphicalInterface::setLightingMode(const char* nodeNameCorba, const char*
}
} //end namespace impl
} //end namespace corbaServer
-} //end namespace Graphics
+} //end namespace graphics
diff --git a/src/GraphicalInterface.impl.hh b/src/graphical-interface.impl.hh
similarity index 85%
rename from src/GraphicalInterface.impl.hh
rename to src/graphical-interface.impl.hh
index 2d127b2bfc50ce5f2ee7afdd3a5d1d9012f002ba..8f2f7630201a9d03850542d2a5413e5c7fbc5f2a 100644
--- a/src/GraphicalInterface.impl.hh
+++ b/src/graphical-interface.impl.hh
@@ -13,26 +13,26 @@
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>
-#include <Graphics/WindowManager.h>
-#include <Graphics/Node.h>
-#include <Graphics/GroupNode.h>
-#include <Graphics/LeafNodeBox.h>
-#include <Graphics/LeafNodeCapsule.h>
-#include <Graphics/LeafNodeCone.h>
-#include <Graphics/LeafNodeCylinder.h>
-#include <Graphics/LeafNodeLine.h>
-#include <Graphics/LeafNodeFace.h>
-#include <Graphics/LeafNodeSphere.h>
-#include <Graphics/macros.h>
-#include <Graphics/config.h>
-#include <Graphics/LeafNodeGround.h>
-#include <Graphics/LeafNodeCollada.h>
-#include <Graphics/URDFparser.h>
+#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 "graphicalinterface.hh"
+#include "graphical-interface.hh"
-namespace Graphics {
+namespace graphics {
namespace corbaServer {
namespace impl {
@@ -42,7 +42,8 @@ struct NodeConfiguration {
osgQuat quat;
};
-class GraphicalInterface : public virtual POA_Graphics::corbaserver::Graphicalinterface
+class GraphicalInterface :
+ public virtual POA_gepetto::corbaserver::GraphicalInterface
{
private:
std::map<std::string, WindowManagerPtr_t> windowManagers_;
@@ -128,6 +129,6 @@ public:
} /* namespace impl */
} /* namespace corbaServer */
-} /* namespace Graphics */
+} /* namespace graphics */
#endif /* SCENEVIEWER_CORBASERVER_GRAPHICALINTERFACE_HH */
diff --git a/src/server-private.cc b/src/server-private.cc
index 99f040ff77047d5ae04161096c755f47e3dde948..e70e97d301f049000d32ae66cfc1f6fb8218f438 100644
--- a/src/server-private.cc
+++ b/src/server-private.cc
@@ -11,11 +11,11 @@
#include <iostream>
#include <stdexcept>
-#include "GraphicalInterface.impl.hh"
+#include "graphical-interface.impl.hh"
#include "server-private.hh"
#include "fwd.hh"
-namespace Graphics
+namespace graphics
{
namespace corbaServer
{
@@ -74,8 +74,8 @@ namespace Graphics
}
// Bind a context called "Graphics" to the root context:
contextName.length(1);
- contextName[0].id = (const char*) "Graphics"; // string copied
- contextName[0].kind = (const char*) "corbaserver"; // string copied
+ contextName[0].id = (const char*) "gepetto"; // string copied
+ contextName[0].kind = (const char*) "viewer"; // string copied
// Note on kind: The kind field is used to indicate the type
// of the object. This is to avoid conventions such as that used
// by files (name.type -- e.g. Graphics.ps = postscript etc.)
@@ -115,4 +115,4 @@ namespace Graphics
}
} // end of namespace impl.
} // end of namespace corbaServer.
-} // end of namespace Graphics.
+} // end of namespace graphics.
diff --git a/src/server-private.hh b/src/server-private.hh
index 480c280e64e26dffc5990bcfe59c95f44c57b91b..396ca6baffb1694260f611b15fb770dad1315570 100644
--- a/src/server-private.hh
+++ b/src/server-private.hh
@@ -11,10 +11,10 @@
#ifndef SCENEVIEWER_CORBASERVER_SERVER_PRIVATE_HH
# define SCENVIEWER_CORBASERVER_SERVER_PRIVATE_HH
-#include "GraphicalInterface.impl.hh"
-#include "fwd.hh"
+# include "graphical-interface.impl.hh"
+# include "fwd.hh"
-namespace Graphics
+namespace graphics
{
namespace corbaServer
{
@@ -26,7 +26,7 @@ namespace Graphics
~Server ();
/// \brief Create and activate the Corba servers.
- void createAndActivateServers (Graphics::corbaServer::Server* server);
+ void createAndActivateServers (graphics::corbaServer::Server* server);
private:
CORBA::ORB_var orb_;
@@ -58,6 +58,6 @@ namespace Graphics
} // end of namespace impl.
} // end of namespace corbaServer.
-} // end of namespace Graphics.
+} // end of namespace graphics.
#endif // SCENEVIEWER_CORBASERVER_SERVER_PRIVATE_HH
diff --git a/src/server.cc b/src/server.cc
index 42b3cc58bd1f5b0ebc688717b9f3d43744c2b174..783a83afb4b16a56a5938ab050025fdfdd1aedaf 100644
--- a/src/server.cc
+++ b/src/server.cc
@@ -17,7 +17,7 @@
#include "server-private.hh"
-namespace Graphics
+namespace graphics
{
namespace corbaServer
{
@@ -113,8 +113,8 @@ namespace Graphics
// Bind graphicalInterfaceObj with name graphicalinterface to the Context:
CosNaming::Name objectName;
objectName.length(1);
- objectName[0].id = (const char*) "basic"; // string copied
- objectName[0].kind = (const char*) "graphicalinterface"; // string copied
+ objectName[0].id = (const char*) "corbaserver"; // string copied
+ objectName[0].kind = (const char*) "gui"; // string copied
private_->bindObjectToName(graphicalInterfaceObj, objectName);
private_->graphicalInterfaceServant_->_remove_ref();
@@ -139,4 +139,4 @@ namespace Graphics
}
} // end of namespace corbaServer.
-} // end of namespace Graphics.
+} // end of namespace graphics.
diff --git a/src/server.hh b/src/server.hh
index 22cc8ee8bd801283fc106a8483e08a5e199c49d7..65d418b37e0033d9a74cb054679e89554b3eb42d 100644
--- a/src/server.hh
+++ b/src/server.hh
@@ -14,7 +14,7 @@
#include "fwd.hh"
-namespace Graphics
+namespace graphics
{
namespace corbaServer
{
diff --git a/test/test-client-cpp.cc b/src/test-client-cpp.cc
similarity index 93%
rename from test/test-client-cpp.cc
rename to src/test-client-cpp.cc
index e930f02984f66b3ac876b1079a3992a9525254a3..15f0fe65633c989bdf9d87b39ce81bfd6b9a599b 100644
--- a/test/test-client-cpp.cc
+++ b/src/test-client-cpp.cc
@@ -6,11 +6,11 @@
// Copyright (c) 2014 LAAS-CNRS. All rights reserved.
//
-#include "../src/client-cpp.hh"
+#include <gepetto/viewer/corba/client.hh>
-int main(int argc, const char * argv[])
+int main(int, const char **)
{
- using namespace Graphics;
+ using namespace graphics;
using namespace corbaServer;
using namespace std;