Some bugfix

plugins/hppmanipulationwidgetsplugin/hppmanipulationwidgetsplugin.cc

@@ -232,7 +232,7 @@ namespace hpp {
         std::string groupName = createJointGroup (jn);
         std::string hn = "handle_" + escapeJointName (std::string(rcs[i]));
         fromHPP(t, config);
-        main->osg()->addXYZaxis (hn, color, 0.005f, 1.f);
+        main->osg()->addXYZaxis (hn, color, 0.005f, 0.015f);
         main->osg()->applyConfiguration (hn, config);
         main->osg()->addToGroup (hn, groupName);
       }
@@ -253,7 +253,7 @@ namespace hpp {
         std::string groupName = createJointGroup (jn);
         std::string hn = "gripper_" + escapeJointName (std::string(rcs[i]));
         fromHPP(t, config);
-        main->osg()->addXYZaxis (hn, color, 0.005f, 1.f);
+        main->osg()->addXYZaxis (hn, color, 0.005f, 0.015f);
         main->osg()->applyConfiguration (hn, config);
         main->osg()->addToGroup (hn, groupName);
       }

plugins/hppwidgetsplugin/hppwidgetsplugin.cc

@@ -124,7 +124,7 @@ namespace hpp {
       connect (main, SIGNAL (applyCurrentConfiguration()),
           SLOT (applyCurrentConfiguration()));
       connect (main, SIGNAL (selectJointFromBodyName (QString)),
-          SLOT (selectJointFromBodyName (QString)));
+          SLOT (selectJointFromBodyName (QString)), Qt::QueuedConnection);
       main->connect (this, SIGNAL (logJobFailed(int,QString)),
           SLOT (logJobFailed(int, QString)));
       main->connect (this, SIGNAL (logSuccess(QString)), SLOT (log(QString)));
@@ -443,7 +443,7 @@ namespace hpp {
       const OsgColor_t color(1,0,0,1);
 
       /// This returns false if the frame already exists
-      if (main->osg()->addXYZaxis (n, color, 0.005f, 1.f)) {
+      if (main->osg()->addXYZaxis (n, color, 0.005f, 0.015f)) {
         main->osg()->setVisibility (n, "ALWAYS_ON_TOP");
         return;
       } else {
@@ -494,8 +494,9 @@ namespace hpp {
       std::string target = escapeJointName(jn);
       graphics::GroupNodePtr_t group = main->osg()->getGroup (target.c_str(), false);
       if (group) return target;
-      if (main->osg()->createGroup(target.c_str())) {
-        main->osg()->addToGroup(target.c_str(), "joints");
+      if (!main->osg()->getGroup(target)) {
+        main->osg()->createGroup(target);
+        main->osg()->addToGroup(target, "joints");
 
         hpp::Transform__var t = client()->robot()->getJointPosition (jn.c_str());
         OsgConfiguration_t p;

plugins/hppwidgetsplugin/pathplayer.cc

@@ -84,7 +84,10 @@ namespace hpp {
       gepetto::gui::WindowsManagerPtr_t wsm = main->osg();
       HppWidgetsPlugin::HppClient* hpp = plugin_->client();
       hpp::floatSeqSeq_var waypoints = hpp->problem()->getWaypoints((CORBA::UShort)pid);
-      wsm->createScene (pn);
+      if (!wsm->getGroup(pn, false)) {
+        wsm->createGroup (pn);
+        wsm->addToGroup(pn, "hpp-gui");
+      }
       hpp::floatSeq_var curCfg = hpp->robot()->getCurrentConfig();
       graphics::Configuration pos;
       osgVector3 pos1, pos2;
@@ -94,20 +97,21 @@ namespace hpp {
         std::string xyzName = ss.str();
         // Get positions
         hpp->robot()->setCurrentConfig(waypoints[i]);
-        hpp::Transform__var t = hpp->robot()->getLinkPosition(jointName.c_str());
+        hpp::Transform__var t = hpp->robot()->getJointPosition(jointName.c_str());
         fromHPP(t, pos);
         pos1 = pos2; pos2 = pos.position;
         // Create the nodes
-        wsm->addXYZaxis(xyzName, colorN, 0.01f, 1.f);
+        if (wsm->nodeExists(xyzName)) wsm->deleteNode(xyzName, false);
+        wsm->addXYZaxis(xyzName, colorN, 0.01f, 0.05f);
         wsm->applyConfiguration(xyzName, pos);
         if  (i > 0) {
           xyzName.replace(pn.length() + 1, 4, "edge");
           qDebug () << xyzName.c_str();
+          if (wsm->nodeExists(xyzName)) wsm->deleteNode(xyzName, false);
           wsm->addLine(xyzName, pos1, pos2, colorE);
         }
       }
       hpp->robot()->setCurrentConfig(curCfg.in());
-      wsm->addToGroup(pn, "hpp-gui");
       wsm->refresh();
     }
 

plugins/hppwidgetsplugin/roadmap.cc

@@ -15,7 +15,7 @@
 namespace hpp {
   namespace gui {
     Roadmap::Roadmap(HppWidgetsPlugin *plugin):
-      radius (0.01f), axisSize (1.f),
+      radius (0.01f), axisSize (0.05f),
       currentNodeId_ (0), currentEdgeId_ (0),
       nodeColorMap_ (0), edgeColorMap_ (0),
       plugin_ (plugin), link_ (false)