diff --git a/idl/gepetto/viewer/graphical-interface.idl b/idl/gepetto/viewer/graphical-interface.idl
index bec1455692beacc597b2f3d6afbe79167906d61f..9489eaee3dad25240f5c75fd755bc87fb851627c 100644
--- a/idl/gepetto/viewer/graphical-interface.idl
+++ b/idl/gepetto/viewer/graphical-interface.idl
@@ -209,6 +209,11 @@ typedef float Color [4];
/// \param input groupName : name of the mother node (=group node).
boolean addToGroup(in string nodeName, in string groupName) raises (Error);
+ /// remove the node from the child list of a group node.
+ /// \param input nodeName : name of the child node.
+ /// \param input groupName : name of the mother node (=group node).
+ boolean removeFromGroup(in string nodeName, in string groupName) raises (Error);
+
/// Set a new configuration to a node. THIS CONFIGURATION WILL AFFECTIVE ONLY AFTER CALLING REFRESH FUNCTION!!!
/// \param input nodeName : name of the node.
/// \param input configuration : Float[7] new configuration.
diff --git a/include/gepetto/viewer/corba/windows-manager.h b/include/gepetto/viewer/corba/windows-manager.h
index 1c4065a6dc782f21628c417f341eefa832f144cb..7fbd51d6e278bf3bc629c5d7707732bd061adb74 100644
--- a/include/gepetto/viewer/corba/windows-manager.h
+++ b/include/gepetto/viewer/corba/windows-manager.h
@@ -109,9 +109,9 @@ namespace graphics {
virtual bool createRoadmap(const char* nameCorba,const value_type* colorNodeCorba, float radius, float sizeAxis, const value_type* colorEdgeCorba);
- virtual bool addEdgeToRoadmap(const char* nameRoadmap, const value_type* posFromCorba, const value_type* posToCorba);
+ virtual bool addEdgeToRoadmap(const char* nameRoadmapCorba, const value_type* posFromCorba, const value_type* posToCorba);
- virtual bool addNodeToRoadmap(const char* nameRoadmap, const value_type* configuration);
+ virtual bool addNodeToRoadmap(const char* nameRoadmapCorba, const value_type* configuration);
virtual bool addURDF(const char* urdfNameCorba, const char* urdfPathCorba, const char* urdfPackagePathCorba);
@@ -126,6 +126,8 @@ namespace graphics {
virtual bool createGroup(const char* groupNameCorba);
virtual bool addToGroup(const char* nodeNameCorba, const char* groupNameCorba);
+ virtual bool removeFromGroup (const char* nodeNameCorba, const char* groupNameCorba);
+
virtual bool applyConfiguration(const char* nodeNameCorba, const value_type* configuration);
diff --git a/src/graphical-interface.impl.cpp b/src/graphical-interface.impl.cpp
index 0cbca83a75d0bb95bba4606a0ef9557794b483d4..3394473a92d45b57f7ce9f80a85e1b8c1251d94b 100644
--- a/src/graphical-interface.impl.cpp
+++ b/src/graphical-interface.impl.cpp
@@ -308,6 +308,16 @@ namespace graphics {
}
}
+ bool GraphicalInterface::removeFromGroup (const char* nodeNameCorba,
+ const char* groupNameCorba) throw (Error)
+ {
+ try {
+ return windowsManager_->removeFromGroup ( nodeNameCorba, groupNameCorba) ;
+ } catch (const std::exception& exc) {
+ throw Error (exc.what ());
+ }
+ }
+
bool GraphicalInterface::applyConfiguration (const char* nodeNameCorba, const value_type* configurationCorba) throw (Error)
{
try {
diff --git a/src/graphical-interface.impl.hh b/src/graphical-interface.impl.hh
index b4f07fae9338af4f10c45dba1f5dee5c0195a8df..5e47276247c1aa04d3821129448b309e2ff1fa5b 100644
--- a/src/graphical-interface.impl.hh
+++ b/src/graphical-interface.impl.hh
@@ -95,6 +95,7 @@ public:
virtual bool createGroup(const char* groupNameCorba) throw (Error);
virtual bool addToGroup(const char* nodeNameCorba, const char* groupNameCorba) throw (Error);
+ virtual bool removeFromGroup (const char* nodeNameCorba,const char* groupNameCorba) throw (Error);
virtual bool applyConfiguration(const char* nodeNameCorba, const value_type* configuration) throw (Error);
diff --git a/src/windows-manager.cpp b/src/windows-manager.cpp
index 5d00e95bf5dc442db296099d6561dc79ea781c93..60c467e93e00b628cf17d8a3b03a8b5646360c9c 100644
--- a/src/windows-manager.cpp
+++ b/src/windows-manager.cpp
@@ -142,6 +142,7 @@ namespace graphics {
return parentName;
}
+
void WindowsManager::initParent (const std::string& nodeName,
NodePtr_t node)
{
@@ -175,6 +176,8 @@ namespace graphics {
}
}
+
+
osgQuat WindowsManager::corbaConfToOsgQuat (const value_type* configCorba)
{
// configurationCorba = trans (x, y, z), quat (w, x, y, z)
@@ -232,8 +235,8 @@ namespace graphics {
it != newNodeConfigurations_.end (); it++) {
(*it).node->applyConfiguration ( (*it).position, (*it).quat);
}
- mtx_.unlock ();
newNodeConfigurations_.clear ();
+ mtx_.unlock ();
}
void WindowsManager::createScene (const char* sceneNameCorba)
@@ -526,13 +529,29 @@ namespace graphics {
RoadmapViewerPtr_t rm_ptr = roadmapNodes_[nameRoadmap];
osgVector3 posFrom = osgVector3(posFromCorba[0], posFromCorba[1],posFromCorba[2]);
osgVector3 posTo = osgVector3(posToCorba[0], posToCorba[1],posToCorba[2]);
- rm_ptr->addEdge(posFrom,posTo);
+ // mtx_.lock(); mtx is now locked only when required in addEdge
+ rm_ptr->addEdge(posFrom,posTo,mtx_);
+ // mtx_.unlock();
return true;
}
}
- bool WindowsManager::addNodeToRoadmap(const char* nameRoadmap, const value_type* configuration){
-//TODO
+ bool WindowsManager::addNodeToRoadmap(const char* nameRoadmapCorba, const value_type* configuration){
+ const std::string nameRoadmap (nameRoadmapCorba);
+ if (roadmapNodes_.find (nameRoadmap) == roadmapNodes_.end ()) {
+ //no node named nodeName
+ std::cout << "No roadmap named \"" << nameRoadmap << "\"" << std::endl;
+ return false;
+ }
+ else {
+ RoadmapViewerPtr_t rm_ptr = roadmapNodes_[nameRoadmap];
+ osgVector3 position = WindowsManager::corbaConfToOsgVec3 (configuration);
+ osgQuat quat = WindowsManager::corbaConfToOsgQuat (configuration);
+ // mtx_.lock();
+ rm_ptr->addNode(position,quat,mtx_);
+ // mtx_.unlock();
+ return true;
+ }
}
std::vector<std::string> WindowsManager::getNodeList ()
@@ -686,6 +705,23 @@ namespace graphics {
}
}
+ bool WindowsManager::removeFromGroup (const char* nodeNameCorba,
+ const char* groupNameCorba)
+ {
+ const std::string nodeName (nodeNameCorba);
+ const std::string groupName (groupNameCorba);
+ if (nodes_.find (nodeName) == nodes_.end () ||
+ groupNodes_.find (groupName) == groupNodes_.end ()) {
+ std::cout << "Node name \"" << nodeName << "\" and/or groupNode \""
+ << groupName << "\" doesn't exist." << std::endl;
+ return false;
+ }
+ else {
+ groupNodes_[groupName]->removeChild(nodes_[nodeName]);
+ return true;
+ }
+ }
+
bool WindowsManager::applyConfiguration (const char* nodeNameCorba,
const value_type* configurationCorba)
{
@@ -709,7 +745,9 @@ namespace graphics {
"quatY, quatZ]" <<std::endl;
return false;
}
+ mtx_.lock();
newNodeConfigurations_.push_back (newNodeConfiguration);
+ mtx_.unlock();
return true;
}
}