diff --git a/src/graphical-interface.impl.cpp b/src/graphical-interface.impl.cpp
index f55a7f701e9e441c7044d505e55d0e8f2b8e765e..98269b1f861a73245944002d847bea1b7125d649 100644
--- a/src/graphical-interface.impl.cpp
+++ b/src/graphical-interface.impl.cpp
@@ -1,42 +1,46 @@
//
// GraphicalInterface.impl.cc
-// Corbaserver for SceneViewer
+// Corbaserver for gepetto-viewer
//
-// Created by Mathieu Geisert on November 2014.
+// Author: Mathieu Geisert, Florent Lamiraux
// Copyright (c) 2014 LAAS-CNRS. All rights reserved.
//
+#include <iostream>
#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_()
+ GraphicalInterface::GraphicalInterface (corbaServer::Server* server) :
+ windowManagers_ (), nodes_ (), groupNodes_ (), server_ (server),
+ mtx_ (), rate_ (20), newNodeConfigurations_ ()
{
}
- osgVector4 GraphicalInterface::getColor(const std::string& colorName)
+ osgVector4 GraphicalInterface::getColor (const std::string& colorName)
{
if (colorName == "blue")
- return osgVector4(0.f, 0.f, 1.f, 1.f);
+ return osgVector4 (0.f, 0.f, 1.f, 1.f);
else if (colorName == "green")
- return osgVector4(0.f, 1.f, 0.f, 1.f);
+ return osgVector4 (0.f, 1.f, 0.f, 1.f);
else if (colorName == "red")
- return osgVector4(1.f, 0.f, 0.f, 1.f);
+ return osgVector4 (1.f, 0.f, 0.f, 1.f);
else if (colorName == "white")
- return osgVector4(1.f, 1.f, 1.f, 1.f);
+ return osgVector4 (1.f, 1.f, 1.f, 1.f);
else
- return osgVector4(0.f, 0.f, 0.f, 1.f);
+ return osgVector4 (0.f, 0.f, 0.f, 1.f);
}
- osgVector4 GraphicalInterface::getColor(const double* colorCorba)
+ osgVector4 GraphicalInterface::getColor (const double* colorCorba)
{
- return osgVector4(colorCorba[0], colorCorba[1], colorCorba[2], colorCorba[3]);
+ return osgVector4 (colorCorba[0], colorCorba[1], colorCorba[2],
+ colorCorba[3]);
}
- VisibilityMode GraphicalInterface::getVisibility(const std::string& visibilityName)
+ VisibilityMode GraphicalInterface::getVisibility
+ (const std::string& visibilityName)
{
if (visibilityName == "OFF")
return VISIBILITY_OFF;
@@ -45,13 +49,14 @@ namespace graphics {
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 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)
+ WireFrameMode GraphicalInterface::getWire (const std::string& wireName)
{
if (wireName == "WIREFRAME")
return WIREFRAME;
@@ -60,502 +65,500 @@ namespace graphics {
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 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)
+ 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 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 GraphicalInterface::parentName (const std::string& name)
{
- std::string Name(name);
+ std::string Name (name);
std::string::iterator parentNameIt;
- for (std::string::iterator i = Name.end() ; (*i) != char('/') && i != Name.begin() ; i--) {
+ 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);
+ 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)
+ void GraphicalInterface::initParent (const std::string& nodeName,
+ NodePtr_t node)
{
- GroupNodePtr_t groupNode = groupNodes_[GraphicalInterface::parentName(nodeName)];
- if ( groupNode ) {
- groupNode->addChild(node);
+ GroupNodePtr_t groupNode = groupNodes_
+ [GraphicalInterface::parentName (nodeName)];
+ if (groupNode) {
+ groupNode->addChild (node);
}
}
- void GraphicalInterface::addNode(const std::string& nodeName, NodePtr_t node)
+ void GraphicalInterface::addNode (const std::string& nodeName,
+ NodePtr_t node)
{
nodes_[nodeName] = node;
}
- void GraphicalInterface::addGroup(const std::string& groupName, GroupNodePtr_t group)
+ void GraphicalInterface::addGroup (const std::string& groupName,
+ GroupNodePtr_t group)
{
groupNodes_[groupName] = group;
nodes_[groupName] = group;
}
- void GraphicalInterface::threadRefreshing(WindowManagerPtr_t window)
+ void GraphicalInterface::threadRefreshing (WindowManagerPtr_t window)
{
while (1)
{
- mtx_.lock();
- window->frame();
- mtx_.unlock();
- boost::this_thread::sleep(boost::posix_time::milliseconds(rate_));
+ mtx_.lock ();
+ window->frame ();
+ mtx_.unlock ();
+ boost::this_thread::sleep (boost::posix_time::milliseconds (rate_));
}
}
- osgQuat GraphicalInterface::corbaConfToOsgQuat(const double* configurationCorba)
+ 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]);
+ // 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)
+ osgVector3 GraphicalInterface::corbaConfToOsgVec3
+ (const double* configurationCorba)
{
- return osgVector3(configurationCorba[0], configurationCorba[1], configurationCorba[2]);
+ return osgVector3 (configurationCorba[0], configurationCorba[1],
+ configurationCorba[2]);
}
//Public functions
- bool GraphicalInterface::setRate(CORBA::Long rate) throw (Error)
+ 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;
- }
+ 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)
+ 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;
- }
+ 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)
+ 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();
+ 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)
+ 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;
- }
+ std::string sceneName (sceneNameCorba);
+ if (nodes_.find (sceneName) != nodes_.end ()) {
+ std::ostringstream oss;
+ oss << "A scene with name, \"" << sceneName << "\" already exists.";
+ throw std::runtime_error (oss.str ());
+ }
+ else {
+ GroupNodePtr_t mainNode = GroupNode::create (sceneName);
+ addGroup (sceneName, mainNode);
+ return true;
+ }
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
}
- bool GraphicalInterface::createSceneWithFloor(const char* sceneNameCorba) throw (Error)
+ 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;
- }
+ std::string sceneName (sceneNameCorba);
+ if (nodes_.find (sceneName) != nodes_.end ()) {
+ std::ostringstream oss;
+ oss << "A scene with name, \"" << sceneName << "\" already exists.";
+ throw std::runtime_error (oss.str ());
+ }
+ else {
+ GroupNodePtr_t mainNode = GroupNode::create (sceneName);
+ addGroup (sceneName, mainNode);
+ std::string floorName = sceneName + "/floor";
+ LeafNodeGroundPtr_t floor = LeafNodeGround::create (floorName);
+ addNode (floorName, floor);
+ mainNode->addChild (floor);
+ return true;
+ }
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
}
- bool GraphicalInterface::addSceneToWindow(const char* sceneNameCorba,const char* windowNameCorba) throw (Error)
+ 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;
- }
+ 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)
+ 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;
- }
+ 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 {
- 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()) {
- 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);
- GraphicalInterface::initParent(capsuleName, capsule);
- addNode(capsuleName, capsule);
- return true;
- }
- }*/
-
- bool GraphicalInterface::addCapsule(const char* capsuleNameCorba, const float radius, const float height, const double* colorCorba) throw (Error)
+ 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;
- }
+ 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)
+ bool GraphicalInterface::addMesh (const char* meshNameCorba,
+ const char* meshPathCorba) throw (Error)
{
try {
- std::string meshName(meshNameCorba);
- std::string meshPath(meshPathCorba);
- if (nodes_.find(meshName) != nodes_.end()) {
- std::cout << "You need to chose an other name, \"" << meshName << "\" already exist." << std::endl;
- return false;
- }
- else {
- try {
- LeafNodeColladaPtr_t mesh = LeafNodeCollada::create(meshName, meshPath);
- GraphicalInterface::initParent(meshName, mesh);
- addNode(meshName, mesh);
- return true;
- } catch (const std::exception& exc) {
- std::cout << "Mesh \"" << meshPath << "\" not found." << std::endl;
- return false;
+ std::string meshName (meshNameCorba);
+ std::string meshPath (meshPathCorba);
+ if (nodes_.find (meshName) != nodes_.end ()) {
+ std::cout << "You need to chose an other name, \"" << meshName
+ << "\" already exist." << std::endl;
+ return false;
+ }
+ else {
+ try {
+ LeafNodeColladaPtr_t mesh = LeafNodeCollada::create
+ (meshName, meshPath);
+ GraphicalInterface::initParent (meshName, mesh);
+ addNode (meshName, mesh);
+ return true;
+ } catch (const std::exception& exc) {
+ std::cout << "Mesh \"" << meshPath << "\" not found." << std::endl;
+ return false;
+ }
}
- }
} catch (const std::exception& exc) {
throw Error (exc.what ());
}
}
- /*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*) throw (Error)
+ 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;
- }
+ 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 {
- 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) throw (Error)
+ 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;
- }
+ 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 {
- 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) throw (Error)
+ 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;
- }
+ 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)
+ 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;
- }
+ 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)
+ 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;
- }
+ 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)
+ 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;
- }
+ 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)
+ 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)
+ 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)
+ 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)
+ 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)
+ 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)
+ 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;
+ 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);
+ GroupNodePtr_t groupNode = GroupNode::create (groupName);
+ GraphicalInterface::initParent (groupName, groupNode);
+ addGroup (groupName, groupNode);
return true;
}
} catch (const std::exception& exc) {
@@ -563,26 +566,30 @@ namespace graphics {
}
}
- bool GraphicalInterface::addURDF(const char* urdfNameCorba, const char* urdfPathCorba, const char* urdfPackagePathCorba) throw (Error)
+ 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;
+ 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);
+ (urdfName, urdfPath, urdfPackagePath);
NodePtr_t link;
- for (int i=0 ; i< urdf->getNumOfChildren() ; i++) {
- link = urdf->getChild(i);
- nodes_[link->getID()] = link;
+ for (int i=0; i< urdf->getNumOfChildren (); i++) {
+ link = urdf->getChild (i);
+ nodes_[link->getID ()] = link;
}
- GraphicalInterface::initParent(urdfName, urdf);
- addGroup(urdfName, urdf);
+ GraphicalInterface::initParent (urdfName, urdf);
+ addGroup (urdfName, urdf);
return true;
}
} catch (const std::exception& exc) {
@@ -590,17 +597,21 @@ namespace graphics {
}
}
- bool GraphicalInterface::addToGroup(const char* nodeNameCorba, const char* groupNameCorba) throw (Error)
+ 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;
+ 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]);
+ groupNodes_[groupName]->addChild (nodes_[nodeName]);
return true;
}
} catch (const std::exception& exc) {
@@ -608,11 +619,13 @@ namespace graphics {
}
}
- bool GraphicalInterface::applyConfiguration(const char* nodeNameCorba, const double* configurationCorba) throw (Error)
+ bool GraphicalInterface::applyConfiguration
+ (const char* nodeNameCorba, const double* configurationCorba)
+ throw (Error)
{
try {
- const std::string nodeName(nodeNameCorba);
- if (nodes_.find(nodeName) == nodes_.end()) {
+ 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;
@@ -621,13 +634,17 @@ namespace graphics {
NodeConfiguration newNodeConfiguration;
newNodeConfiguration.node = nodes_[nodeName];
try {
- newNodeConfiguration.position = GraphicalInterface::corbaConfToOsgVec3(configurationCorba);
- newNodeConfiguration.quat = GraphicalInterface::corbaConfToOsgQuat(configurationCorba);
+ 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;
+ 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);
+ newNodeConfigurations_.push_back (newNodeConfiguration);
return true;
}
} catch (const std::exception& exc) {
@@ -635,15 +652,17 @@ namespace graphics {
}
}
- bool GraphicalInterface::addLandmark(const char* nodeNameCorba, float size) throw (Error)
+ 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;
+ 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);
+ nodes_[nodeName]->addLandmark (size);
return true;
} catch (const std::exception& exc) {
throw Error (exc.what ());
@@ -651,66 +670,77 @@ namespace graphics {
}
- bool GraphicalInterface::deleteLandmark(const char* nodeNameCorba) throw (Error)
+ bool GraphicalInterface::deleteLandmark (const char* nodeNameCorba)
+ throw (Error)
{
try {
- const std::string nodeName(nodeNameCorba);
- if (nodes_.find(nodeName) == nodes_.end()) {
- std::cout << "Node \"" << nodeName << "\" doesn't exist." << std::endl;
+ 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();
+ 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)
+ 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;
+ 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);
+ 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)
+ 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;
+ 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);
+ 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)
+ 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;
+ 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);
+ nodes_[nodeName]->setLightingMode (light);
return true;
} catch (const std::exception& exc) {
throw Error (exc.what ());