From f9c05e26b69749b11b64d058ff619c25571e6689 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 29 Mar 2018 18:06:44 +0200
Subject: [PATCH] Add applyConfigurations
---
idl/gepetto/viewer/graphical-interface.idl | 5 ++++
.../gepetto/viewer/corba/windows-manager.hh | 1 +
src/graphical-interface.impl.cpp | 14 ++++++++-
src/graphical-interface.impl.hh | 2 ++
src/windows-manager.cpp | 29 +++++++++++++++++++
5 files changed, 50 insertions(+), 1 deletion(-)
diff --git a/idl/gepetto/viewer/graphical-interface.idl b/idl/gepetto/viewer/graphical-interface.idl
index a589289..609856d 100644
--- a/idl/gepetto/viewer/graphical-interface.idl
+++ b/idl/gepetto/viewer/graphical-interface.idl
@@ -24,6 +24,7 @@ typedef unsigned long WindowID;
typedef sequence <string> Names_t; /// Sequence of names
typedef sequence<float> floatSeq;
typedef sequence<Position> PositionSeq;
+typedef sequence<Transform> TransformSeq;
/// IDL of the graphical interface.
/// It contains the following groups:
@@ -348,6 +349,10 @@ typedef sequence<Position> PositionSeq;
/// \param input configuration : Float[7] new configuration.
boolean applyConfiguration(in string nodeName, in Transform configuration) raises (Error);
+ /// Same as \ref applyConfiguration on a list of node name and configuration.
+ /// Both input list should be of same length.
+ boolean applyConfigurations(in Names_t nodeName, in TransformSeq configuration) raises (Error);
+
/// Change configurations according to the last applyConfigurations.d
void refresh() raises (Error);
diff --git a/include/gepetto/viewer/corba/windows-manager.hh b/include/gepetto/viewer/corba/windows-manager.hh
index 21874f7..a2de9af 100644
--- a/include/gepetto/viewer/corba/windows-manager.hh
+++ b/include/gepetto/viewer/corba/windows-manager.hh
@@ -223,6 +223,7 @@ namespace graphics {
virtual bool deleteNode (const std::string& nodeName, bool all);
virtual bool applyConfiguration(const std::string& nodeName, const Configuration& configuration);
+ virtual bool applyConfigurations(const std::vector<std::string>& nodeName, const std::vector<Configuration>& configuration);
virtual bool addLandmark(const std::string& nodeName, float size);
virtual bool deleteLandmark(const std::string& nodeName);
diff --git a/src/graphical-interface.impl.cpp b/src/graphical-interface.impl.cpp
index 8b93272..4cfa29e 100644
--- a/src/graphical-interface.impl.cpp
+++ b/src/graphical-interface.impl.cpp
@@ -46,7 +46,7 @@ namespace graphics {
}
enum ArgType { STRING, STRING_LIST, OUT_STRING_LIST, COLOR,
- TRANSFORM, POSITION, POSITION_SEQ,
+ TRANSFORM, TRANSFORM_SEQ, POSITION, POSITION_SEQ,
FLOAT, SHORT, LONG, WINDOW_ID, BOOL, VOID,
GLMODE
};
@@ -71,6 +71,16 @@ namespace graphics {
return ret;
}
};
+ template <> struct traits<TRANSFORM_SEQ> {
+ typedef const GraphicalInterface::TransformSeq& In_t;
+ typedef std::vector<Configuration> Out_t;
+ static Out_t op (In_t in) {
+ Out_t out (in.length());
+ for (CORBA::ULong i = 0; i < in.length (); ++i)
+ out[i] = traits<TRANSFORM>::op (in[i]);
+ return out;
+ }
+ };
template <> struct traits<POSITION> {
typedef osgVector3 Out_t;
typedef const GraphicalInterface::Position In_t;
@@ -369,6 +379,8 @@ namespace graphics {
BIND_TO_WINDOWS_MANAGER_2(BOOL, applyConfiguration, STRING, TRANSFORM)
+ BIND_TO_WINDOWS_MANAGER_2(BOOL, applyConfigurations, STRING_LIST, TRANSFORM_SEQ)
+
BIND_TO_WINDOWS_MANAGER_2(BOOL, addLandmark, STRING, FLOAT)
BIND_TO_WINDOWS_MANAGER_1(BOOL, deleteLandmark, STRING)
diff --git a/src/graphical-interface.impl.hh b/src/graphical-interface.impl.hh
index 62d56e0..76f94a6 100644
--- a/src/graphical-interface.impl.hh
+++ b/src/graphical-interface.impl.hh
@@ -37,6 +37,7 @@ private:
public:
typedef CORBA::ULong WindowID;
typedef gepetto::corbaserver::Transform Transform;
+ typedef gepetto::corbaserver::TransformSeq TransformSeq;
typedef gepetto::corbaserver::PositionSeq PositionSeq;
typedef gepetto::corbaserver::Position Position;
typedef gepetto::corbaserver::Position_slice Position_slice;
@@ -136,6 +137,7 @@ public:
virtual bool removeFromGroup (const char* nodeNameCorba,const char* groupNameCorba) throw (Error);
virtual bool applyConfiguration(const char* nodeNameCorba, const value_type* configuration) throw (Error);
+ virtual bool applyConfigurations(const Names_t& nodeNameCorba, const TransformSeq& configuration) throw (Error);
virtual bool addLandmark(const char* nodeNameCorba, float size) throw (Error);
virtual bool deleteLandmark(const char* nodeNameCorba) throw (Error);
diff --git a/src/windows-manager.cpp b/src/windows-manager.cpp
index 34be9af..8ec5df3 100644
--- a/src/windows-manager.cpp
+++ b/src/windows-manager.cpp
@@ -956,6 +956,35 @@ namespace graphics {
return true;
}
+ bool WindowsManager::applyConfigurations (const std::vector<std::string>& nodeNames,
+ const std::vector<Configuration>& configurations)
+ {
+ if (nodeNames.size() != configurations.size())
+ throw std::invalid_argument ("Number of node names and configurations must be equal.");
+
+ newNodeConfigurations_.reserve (
+ newNodeConfigurations_.capacity() + nodeNames.size());
+
+ bool success = true;
+ scoped_lock lock(configListMtx_);
+ for (std::size_t i = 0; i < nodeNames.size(); ++i) {
+ NodePtr_t updatedNode = getNode (nodeNames[i], false);
+ if (!updatedNode) {
+ success = false;
+ continue;
+ }
+
+ NodeConfiguration newNodeConfiguration;
+ newNodeConfiguration.node = updatedNode;
+ newNodeConfiguration.position = configurations[i].position;
+ newNodeConfiguration.quat = configurations[i].quat;
+
+ newNodeConfigurations_.push_back (newNodeConfiguration);
+ }
+
+ return success;
+ }
+
bool WindowsManager::addLandmark (const std::string& nodeName,
float size)
{
--
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