diff --git a/idl/Graphics/corbaserver/graphicalinterface.idl b/idl/Graphics/corbaserver/graphicalinterface.idl
index 2c6d9e6b9682e27f30347e45823f972d1f377d9d..ca15ba875eb7f28c9137ba0ae80660dffe954552 100644
--- a/idl/Graphics/corbaserver/graphicalinterface.idl
+++ b/idl/Graphics/corbaserver/graphicalinterface.idl
@@ -3,6 +3,8 @@ module Graphics {
module corbaserver {
typedef double Transform [7];
+typedef double Position [3];
+typedef double Color [4];
/// Corba exception travelling through the Corba channel
interface Graphicalinterface {
@@ -23,22 +25,24 @@ typedef double Transform [7];
boolean createSceneWithFloor(in string sceneName) ;
boolean addSceneToWindow(in string sceneName, in string windowName) ;
- //void addBox(in string boxName, in float boxSize1, in float boxSize2, in float boxSize3, in string colorName) ;
- boolean addBox(in string boxName, in float boxSize1, in float boxSize2, in float boxSize3) ;
+ 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) ;
- //void addCapsule(in string capsuleName, in float radius, in float height, in string colorName) ;
+ //boolean addCapsule(in string capsuleName, in float radius, in float height) ;
+ boolean addCapsule(in string capsuleName, in float radius, in float height, in Color RGBAcolorid) ;
boolean addMesh(in string meshName, in string meshPath) ;
- boolean addCone(in string coneName, in float radius, in float height) ;
- //void addCone(in string coneName, in float radius, in float height, in string colorName) ;
+ //boolean addCone(in string coneName, in float radius, in float height) ;
+ 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) ;
- //void addCylinder(in string cylinderName, in float radius, in float height, in string colorName) ;
+ //boolean addCylinder(in string cylinderName, in float radius, in float height) ;
+ boolean addCylinder(in string cylinderName, in float radius, in float height, in Color RGBAcolor) ;
- boolean addSphere(in string sphereName, in float radius) ;
- //void addSphere(in string sphereName, in float radius, in string colorName) ;
+ //boolean addSphere(in string sphereName, in float radius) ;
+ boolean addSphere(in string sphereName, in float radius, in Color RGBAcolor) ;
+
+ boolean addLine(in string lineName, in Position pos1, in Position pos2, in Color RGBAColor) ;
boolean addURDF(in string urdfName, in string urdfPath, in string urdfPackage) ;
diff --git a/idl/Graphics/corbaserver/graphicalinterface.idl~ b/idl/Graphics/corbaserver/graphicalinterface.idl~
deleted file mode 100644
index b63fd4382f027f3395e4c76c7423294509fc0d0c..0000000000000000000000000000000000000000
--- a/idl/Graphics/corbaserver/graphicalinterface.idl~
+++ /dev/null
@@ -1,55 +0,0 @@
-// file sceneViewer.idl
-module Graphics {
-module corbaserver {
-
-typedef double Transform [7];
-
- /// Corba exception travelling through the Corba channel
- interface Graphicalinterface {
-
- // set refreching rate of windows
- boolean setRate(in long rate);
-
- // refresh configurations
- void refresh();
-
- boolean createWindow(in string name);
-
- void getNodeList();
- void getWindowList();
- //void createWindow(in string name, in unsigned long x, in unsigned long y, in unsigned long width, in unsigned long height) ;
-
- boolean createScene(in string sceneName) ;
- boolean createSceneWithFloor(in string sceneName) ;
- boolean addSceneToWindow(in string sceneName, in string windowName) ;
-
- //void addBox(in string boxName, in float boxSize1, in float boxSize2, in float boxSize3, in string colorName) ;
- 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) ;
- //void addCapsule(in string capsuleName, in float radius, in float height, in string colorName) ;
-
- boolean addMesh(in string meshName, in string meshPath) ;
-
- boolean addCone(in string coneName, in float radius, in float height) ;
- //void addCone(in string coneName, in float radius, in float height, in string colorName) ;
-
- boolean addCylinder(in string cylinderName, in float radius, in float height) ;
- //void addCylinder(in string cylinderName, in float radius, in float height, in string colorName) ;
-
- boolean addSphere(in string sphereName, in float radius) ;
- //void addSphere(in string sphereName, in float radius, in string colorName) ;
-
- boolean addURDF(in string urdfName, in string urdfPath, in string urdfPackage) ;
-
- boolean createGroup(in string groupName) ;
- boolean addToGroup(in string nodeName, in string groupName) ;
-
- boolean applyConfiguration(in string nodeName, in Transform configuration) ;
-
- boolean setVisibility(in string nodeName, in string visibilityMode) ;
- boolean setWireFrameMode(in string nodeName, in string wireFrameMode) ;
- boolean setLightingMode(in string nodeName, in string lightingMode) ;
- };
-};
-};
diff --git a/src/GraphicalInterface.impl.cpp b/src/GraphicalInterface.impl.cpp
index 186949bcc536da7c3e7c0ce03d86325eca629674..7e877844271d56bfee9b4fafcd28e39ee661bcb5 100644
--- a/src/GraphicalInterface.impl.cpp
+++ b/src/GraphicalInterface.impl.cpp
@@ -31,6 +31,11 @@ osgVector4 GraphicalInterface::getColor(const std::string& colorName)
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")
@@ -229,17 +234,7 @@ bool GraphicalInterface::addSceneToWindow(const char* sceneNameCorba,const char*
}
}
-/*void GraphicalInterface::addBox(const char* boxName, const float boxSize1, const float boxSize2, const float boxSize3, const char* colorName)
-
- {
- osgVector4 color = getColor(colorName);
- LeafNodeBoxPtr_t box = LeafNodeBox::create(boxName, osgVector3(boxSize1, boxSize2, boxSize3), color);
- GraphicalInterface::initParent(boxName, box);
- addNode(boxName, box);
- }*/
-
-bool GraphicalInterface::addBox(const char* boxNameCorba, const float boxSize1, const float boxSize2, const float boxSize3)
-
+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()) {
@@ -247,15 +242,29 @@ bool GraphicalInterface::addBox(const char* boxNameCorba, const float boxSize1,
return false;
}
else {
- LeafNodeBoxPtr_t box = LeafNodeBox::create(boxName, osgVector3(boxSize1, boxSize2, boxSize3));
+ LeafNodeBoxPtr_t box = LeafNodeBox::create(boxName, osgVector3(boxSize1, boxSize2, boxSize3), getColor(colorCorba));
GraphicalInterface::initParent(boxName, box);
addNode(boxName, box);
return true;
}
}
-bool GraphicalInterface::addCapsule(const char* capsuleNameCorba, const float radius, const float height)
+/*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 {
+ 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()) {
@@ -268,19 +277,24 @@ bool GraphicalInterface::addCapsule(const char* capsuleNameCorba, const float ra
addNode(capsuleName, capsule);
return true;
}
-}
-
-/*void GraphicalInterface::addCapsule(const char* capsuleName, const float radius, const float height, const char* colorName)
+}*/
- {
- osgVector4 color = getColor(colorName);
- LeafNodeCapsulePtr_t capsule = LeafNodeCapsule::create(capsuleName, radius, height, color);
- GraphicalInterface::initParent(capsuleName, capsule);
- addNode(capsuleName, capsule);
- }*/
+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);
@@ -301,8 +315,22 @@ bool GraphicalInterface::addMesh(const char* meshNameCorba, const char* meshPath
}
}
-bool GraphicalInterface::addCone(const char* coneNameCorba, const float radius, const float height)
+/*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 {
+ 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()) {
@@ -317,16 +345,7 @@ bool GraphicalInterface::addCone(const char* coneNameCorba, const float radius,
}
}
-/*void GraphicalInterface::addCone(const char* coneName, const float radius, const float height, const char* colorName)
-
- {
- osgVector4 color = getColor(colorName);
- LeafNodeConePtr_t cone = LeafNodeCone::create(coneName, radius, height, color);
- GraphicalInterface::initParent(coneName, cone);
- addNode(coneName, cone);
- }*/
-
-bool GraphicalInterface::addCylinder(const char* cylinderNameCorba, const float radius, const float height)
+/*bool GraphicalInterface::addCylinder(const char* cylinderNameCorba, const float radius, const float height)
{
std::string cylinderName(cylinderNameCorba);
@@ -340,20 +359,24 @@ bool GraphicalInterface::addCylinder(const char* cylinderNameCorba, const float
addNode(cylinderName, cylinder);
return true;
}
-}
-
-/*void GraphicalInterface::addCylinder(const char* cylinderName, const float radius, const float height, const char* colorName)
-
- {
- osgVector4 color = getColor(colorName);
- LeafNodeCylinderPtr_t cylinder = LeafNodeCylinder::create(cylinderName, radius, height);
- GraphicalInterface::initParent(cylinderName, cylinder);
- addNode(cylinderName, cylinder);
-
- }*/
+}*/
-bool GraphicalInterface::addSphere(const char* sphereNameCorba, const float radius)
+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()) {
@@ -366,6 +389,38 @@ bool GraphicalInterface::addSphere(const char* sphereNameCorba, const float radi
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;
+ }
}
void GraphicalInterface::getNodeList()
@@ -384,14 +439,6 @@ void GraphicalInterface::getWindowList()
for (std::map<std::string, WindowManagerPtr_t>::iterator it=windowManagers_.begin(); it!=windowManagers_.end(); ++it)
std::cout << " " << it->first << std::endl;
}
-/*void GraphicalInterface::addSphere(const char* sphereName, const float radius, const char* colorName)
-
- {
- osgVector4 color = getColor(colorName);
- LeafNodeSpherePtr_t sphere = LeafNodeSphere::create(sphereName, radius);
- GraphicalInterface::initParent(sphereName, sphere);
- addNode(sphereName, sphere);
- }*/
bool GraphicalInterface::createGroup(const char* groupNameCorba)
{
diff --git a/src/GraphicalInterface.impl.hh b/src/GraphicalInterface.impl.hh
index 53472156c5f72b70c2bff66486609eecb4bcca81..3b8e83792ef7b88d31a2fc552b22f23d5559f035 100644
--- a/src/GraphicalInterface.impl.hh
+++ b/src/GraphicalInterface.impl.hh
@@ -53,6 +53,7 @@ private:
std::list<NodeConfiguration> newNodeConfigurations_;
static osgVector4 getColor(const std::string& colorName);
+ static osgVector4 getColor(const double* color);
static std::string parentName(const std::string& name);
static VisibilityMode getVisibility(const std::string& visibilityName);
static WireFrameMode getWire(const std::string& wireName);
@@ -79,8 +80,6 @@ public:
virtual void refresh();
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 createScene(const char* sceneNameCorba) ;
@@ -88,22 +87,24 @@ public:
virtual bool addSceneToWindow(const char* sceneNameCorba, const char* windowNameCorba) ;
- //virtual void addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3, const char* colorName);
- 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);
+ //virtual bool addBox(const char* boxNameCorba, float boxSize1, float boxSize2, float boxSize3) ;
- virtual bool addCapsule(const char* capsuleNameCorba, float radius, float height) ;
- //virtual void addCapsule(const char* capsuleName, float radius, float height, const char* colorName);
+ //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 addMesh(const char* meshNameCorba, const char* meshPathCorba) ;
- virtual bool addCone(const char* coneNameCorba, float radius, float height) ;
- //virtual void addCone(const char* coneName, float radius, float height, const char* colorName);
+ //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 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* cylinderNameCorba, float radius, float height) ;
- //virtual void addCylinder(const char* cylinderName, float radius, float height, const char* colorName);
+ //virtual bool addSphere(const char* sphereNameCorba, float radius) ;
+ virtual bool addSphere(const char* sphereName, float radius, const double* color);
- virtual bool addSphere(const char* sphereNameCorba, float radius) ;
- //virtual void addSphere(const char* sphereName, float radius, const char* colorName);
+ virtual bool addLine(const char* lineName, const double* pos1, const double* pos2, const double* color);
virtual bool addURDF(const char* urdfNameCorba, const char* urdfPathCorba, const char* urdfPackagePathCorba);
diff --git a/src/client-cpp.cc b/src/client-cpp.cc
index 25e10fa80641614ecff98de9e5110828ade816f8..d8b355d60f184a35fea309f0d41fbc7b801b3083 100644
--- a/src/client-cpp.cc
+++ b/src/client-cpp.cc
@@ -23,7 +23,6 @@ void ClientCpp::se3ToCorba(CORBA::Double* corbaPosition, const se3::SE3& se3posi
corbaPosition[5] = q.z();
}
-
ClientCpp::ClientCpp()
{
int argc=0; // Dummy variables to support following call.
@@ -105,45 +104,65 @@ bool ClientCpp::addSceneToWindow(const char* sceneName, const char* windowName)
return manager_->addSceneToWindow(sceneName, windowName);
}
- //void ClientCpp::addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3, const char* colorName);
-
-bool ClientCpp::addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3)
+/*bool ClientCpp::addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3)
{
return manager_->addBox(boxName, boxSize1, boxSize2, boxSize3);
+}*/
+
+bool ClientCpp::addBox(const char* boxName, const float boxSize1, const float boxSize2, const float boxSize3, const double* color)
+{
+ return manager_->addBox(boxName, boxSize1, boxSize2, boxSize3, color);
}
-bool ClientCpp::addCapsule(const char* capsuleName, float radius, float height)
+/*bool ClientCpp::addCapsule(const char* capsuleName, float radius, float height)
{
return manager_->addCapsule(capsuleName, radius, height);
-}
+}*/
- //void ClientCpp::addCapsule(const char* capsuleName, float radius, float height, const char* colorName);
+bool ClientCpp::addCapsule(const char* capsuleName, const float radius, const float height, const double* color)
+{
+ return manager_->addCapsule(capsuleName, radius, height, color);
+}
bool ClientCpp::addMesh(const char* meshName, const char* meshPath)
{
return manager_->addMesh(meshName, meshPath);
}
-bool ClientCpp::addCone(const char* coneName, float radius, float height)
+/*bool ClientCpp::addCone(const char* coneName, float radius, float height)
{
return manager_->addCone(coneName, radius, height);
-}
+}*/
- //void ClientCpp::addCone(const char* coneName, float radius, float height, const char* colorName);
+bool ClientCpp::addCone(const char* coneName, const float radius, const float height, const double* color)
+{
+ return manager_->addCone(coneName, radius, height, color);
+}
-bool ClientCpp::addCylinder(const char* cylinderName, float radius, float height)
+/*bool ClientCpp::addCylinder(const char* cylinderName, float radius, float height)
{
return manager_->addCylinder(cylinderName, radius, height);
-}
+}*/
- //void ClientCpp::addCylinder(const char* cylinderName, float radius, float height, const char* colorName);
+bool ClientCpp::addCylinder(const char* cylinderName, const float radius, const float height, const double* color)
+{
+ return manager_->addCylinder(cylinderName, radius, height, color);
+}
-bool ClientCpp::addSphere(const char* sphereName, float radius)
+/*bool ClientCpp::addSphere(const char* sphereName, float radius)
{
return manager_->addSphere(sphereName, radius);
+}*/
+
+bool ClientCpp::addSphere(const char* sphereName, const float radius, const double* color)
+{
+ return manager_->addSphere(sphereName, radius, color);
}
- //void ClientCpp::addSphere(const char* sphereName, float radius, const char* colorName);
+bool ClientCpp::addLine(const char* lineName, const double* pos1, const double* pos2, const double* color)
+{
+ return manager_->addLine(lineName, pos1, pos2, color);
+}
bool ClientCpp::addURDF(const char* urdfName, const char* urdfPath, const char* urdfPackagePath)
{
diff --git a/src/client-cpp.hh b/src/client-cpp.hh
index 2bba5725b104d7d7d2fb98ce44b6250bea6cbe70..5bd27d05569ed8b1029b09441bce73379be0e297 100644
--- a/src/client-cpp.hh
+++ b/src/client-cpp.hh
@@ -50,22 +50,24 @@ public:
bool addSceneToWindow(const char* sceneName, const char* windowName) ;
- //void addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3, const char* colorName);
- bool addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3) ;
+ bool addBox(const char* boxName, const float boxSize1, const float boxSize2, const float boxSize3, const double* color);
+ //bool addBox(const char* boxName, float boxSize1, float boxSize2, float boxSize3) ;
- bool addCapsule(const char* capsuleName, float radius, float height) ;
- //void addCapsule(const char* capsuleName, float radius, float height, const char* colorName);
+ //bool addCapsule(const char* capsuleName, float radius, float height) ;
+ bool addCapsule(const char* capsuleName, const float radius, const float height, const double* color);
bool addMesh(const char* meshName, const char* meshPath) ;
- bool addCone(const char* coneName, float radius, float height) ;
- //void addCone(const char* coneName, float radius, float height, const char* colorName);
+ //bool addCone(const char* coneName, float radius, float height) ;
+ bool addCone(const char* coneName, const float radius, const float height, const double* color);
- bool addCylinder(const char* cylinderName, float radius, float height) ;
- //void addCylinder(const char* cylinderName, float radius, float height, const char* colorName);
+ //bool addCylinder(const char* cylinderName, float radius, float height) ;
+ bool addCylinder(const char* cylinderName, const float radius, const float height, const double* color);
- bool addSphere(const char* sphereName, float radius) ;
- //void addSphere(const char* sphereName, float radius, const char* colorName);
+ //bool addSphere(const char* sphereName, float radius) ;
+ bool addSphere(const char* sphereName, const float radius, const double* color);
+
+ bool addLine(const char* lineName, const double* pos1, const double* pos2, const double* color);
bool addURDF(const char* urdfName, const char* urdfPath, const char* urdfPackagePath);