...
 
Commits (8)
......@@ -22,23 +22,28 @@ INCLUDE(${GEPETTO_VIEWER_CORBA_CMAKE_PLUGIN})
INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR})
ADD_OPTIONAL_DEPENDENCY(hpp-fcl)
SET(BUILD_REMOTEIMU_PLUGIN ${REMOTEIMU_FOUND}
CACHE BOOL "Build remoteimuplugin")
SET(BUILD_HPP_CORBASERVER_PLUGIN OFF
CACHE BOOL "Build hppcorbaserverplugin")
#SET(BUILD_HPP_CORBASERVER_PLUGIN OFF
# CACHE BOOL "Build hppcorbaserverplugin")
SET(BUILD_HPP_WIDGETS_PLUGIN ${HPP_CORBASERVER_FOUND}
CACHE BOOL "Build hppwidgetsplugin")
SET(BUILD_HPP_MANIPULATION_WIDGETS_PLUGIN ${HPP_MANIPULATION_CORBA_FOUND}
CACHE BOOL "Build hppmanipulationwidgetsplugin")
SET(BUILD_HPP_FCL_PLUGIN ${HPP_FCL_FOUND}
CACHE BOOL "Build hppfclplugin")
IF (HPP_CORBASERVER_FOUND)
IF (REMOTEIMU_FOUND AND BUILD_REMOTEIMU_PLUGIN)
ADD_SUBDIRECTORY(remoteimuplugin)
ENDIF (REMOTEIMU_FOUND AND BUILD_REMOTEIMU_PLUGIN)
IF (BUILD_HPP_CORBASERVER_PLUGIN)
ADD_SUBDIRECTORY(hppcorbaserverplugin)
ENDIF (BUILD_HPP_CORBASERVER_PLUGIN)
# Disable because header <gepetto/gui/omniorb/omniorbthread.hh> no more accessible.
#IF (BUILD_HPP_CORBASERVER_PLUGIN)
# ADD_SUBDIRECTORY(hppcorbaserverplugin)
#ENDIF (BUILD_HPP_CORBASERVER_PLUGIN)
IF (BUILD_HPP_WIDGETS_PLUGIN)
ADD_SUBDIRECTORY(hppwidgetsplugin)
......@@ -48,3 +53,7 @@ IF (HPP_CORBASERVER_FOUND)
ADD_SUBDIRECTORY(hppmanipulationwidgetsplugin)
ENDIF (HPP_MANIPULATION_CORBA_FOUND AND BUILD_HPP_MANIPULATION_WIDGETS_PLUGIN)
ENDIF (HPP_CORBASERVER_FOUND)
IF (HPP_FCL_FOUND)
ADD_SUBDIRECTORY(hppfcl)
ENDIF()
# Copyright (c) 2018 CNRS
# Authors: Joseph Mirabel
#
#
# This file is part of gepetto-viewer-corba
# gepetto-viewer-corba is free software: you can redistribute it
# and/or modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation, either version
# 3 of the License, or (at your option) any later version.
#
# gepetto-viewer-corba is distributed in the hope that it will be
# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# gepetto-viewer-corba If not, see
# <http://www.gnu.org/licenses/>.
IF(USE_QT4)
SET(QT4 "QT4")
ELSE()
SET(QT4 "")
ENDIF()
GEPETTO_GUI_PLUGIN(hppfclplugin
${QT4}
HEADERS_NO_MOC
node.hh
HEADERS
plugin.hh
FORMS
RESOURCES
SOURCES
plugin.cc
node.cc
LINK_DEPENDENCIES
PKG_CONFIG_DEPENDENCIES
hpp-fcl
)
// Copyright (c) 2019 CNRS
// Authors: Joseph Mirabel
//
//
// This file is part of hpp-gui
// hpp-gui is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-gui is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-gui If not, see
// <http://www.gnu.org/licenses/>.
#include <node.hh>
#include <hpp/fcl/mesh_loader/assimp.h>
namespace hpp {
namespace gui {
BVHDisplay::BVHDisplay (const std::string& filename, const std::string& name)
: Node (name)
, filename_ (filename)
{
setWireFrameMode (gepetto::viewer::WIREFRAME);
}
void BVHDisplay::setColor (const osgVector4&)
{
// TODO
}
void BVHDisplay::setLevel (const std::size_t level)
{
if (level >= levels_.size())
throw std::invalid_argument ("level out of range");
this->asQueue()->replaceChild (
levels_[level_].geode,
levels_[level ].geode);
level_ = level;
}
void BVHDisplay::init (hpp::fcl::SplitMethodType splitMethod)
{
using namespace hpp::fcl;
BVHPtr_t bvh (new BVH_t);
bvh->bv_splitter.reset (new BVSplitter<BoundingVolume>(splitMethod));
loadPolyhedronFromResource (filename_, Vec3f(1,1,1), bvh);
recursiveBuildTree (*bvh, 0, 0);
level_ = 0;
this->asQueue()->addChild(levels_[0].geode);
using gepetto::viewer::UIntProperty;
addProperty (UIntProperty::create ("Level",
UIntProperty::getterFromMemberFunction (this, &BVHDisplay::getLevel),
UIntProperty::setterFromMemberFunction (this, &BVHDisplay::setLevel))
);
}
void BVHDisplay::recursiveBuildTree (const BVH_t& bvh, int ibv,
std::size_t level)
{
if (levels_.size() <= level)
levels_.resize (level+1);
BVLevel& bvlevel = levels_[level];
const BoundingVolume& bv = bvh.getBV(ibv).bv;
::osg::BoxRefPtr box = new ::osg::Box ();
box->setCenter (osg::Vec3 ((float)bv.To [0],(float)bv.To [1],(float)bv.To [2]));
box->setHalfLengths (osg::Vec3 ((float)bv.extent[0],(float)bv.extent[1],(float)bv.extent[2]));
Eigen::Quaterniond q (bv.axes);
box->setRotation (::osg::Quat (q.x(),q.y(),q.z(),q.w()));
::osg::ShapeDrawableRefPtr drawable = new ::osg::ShapeDrawable(box);
bvlevel.boxes.push_back (box);
if (!bvlevel.geode) bvlevel.geode = new ::osg::Geode;
bvlevel.geode->addDrawable(drawable);
if (bvh.getBV(ibv).isLeaf()) return;
recursiveBuildTree (bvh, bvh.getBV(ibv). leftChild(), level + 1);
recursiveBuildTree (bvh, bvh.getBV(ibv).rightChild(), level + 1);
}
} // namespace gui
} // namespace hpp
// Copyright (c) 2019 CNRS
// Authors: Joseph Mirabel
//
//
// This file is part of hpp-gui
// hpp-gui is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-gui is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-gui If not, see
// <http://www.gnu.org/licenses/>.
#ifndef HPP_GUI_HPP_FCL_PLUGIN_NODE_HH
#define HPP_GUI_HPP_FCL_PLUGIN_NODE_HH
#include <gepetto/viewer/node.h>
#include <hpp/fcl/BVH/BVH_model.h>
namespace hpp {
namespace gui {
typedef gepetto::viewer::Node Node;
DEF_CLASS_SMART_PTR(BVHDisplay)
class BVHDisplay : public Node
{
public:
BVHDisplay (const std::string& filename, const std::string& name);
void setLevel (const std::size_t level);
const std::size_t& getLevel () const
{
return level_;
}
void setColor (const osgVector4& color);
void init (hpp::fcl::SplitMethodType splitMethod);
private:
typedef hpp::fcl::OBB BoundingVolume;
typedef hpp::fcl::BVHModel<BoundingVolume> BVH_t;
typedef boost::shared_ptr < BVH_t > BVHPtr_t;
void recursiveBuildTree (const BVH_t& bvh, int ibv, std::size_t level);
struct BVLevel {
//std::vector< ::osg::ShapeDrawableRefPtr > bvs;
std::vector< ::osg::BoxRefPtr > boxes;
::osg::GeodeRefPtr geode;
};
const std::string filename_;
std::vector <BVLevel> levels_;
std::size_t level_;
};
} // namespace gui
} // namespace hpp
#endif // HPP_GUI_HPP_FCL_PLUGIN_NODE_HH
// Copyright (c) 2019 CNRS
// Authors: Joseph Mirabel
//
//
// This file is part of hpp-gui
// hpp-gui is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-gui is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-gui If not, see
// <http://www.gnu.org/licenses/>.
#include <plugin.hh>
#include <QToolBar>
#include <QAction>
#include <QFileDialog>
#include <QInputDialog>
#include <gepetto/gui/mainwindow.hh>
#include <gepetto/gui/windows-manager.hh>
#include <node.hh>
namespace hpp {
namespace gui {
using gepetto::gui::MainWindow;
void HppFclPlugin::init()
{
MainWindow* main = MainWindow::instance ();
main->registerSlot("addBV", this);
// TODO add a way to add an action to body tree items.
QToolBar* toolBar = MainWindow::instance()->addToolBar("hpp-fcl tools");
toolBar->setObjectName ("hppfclplugin.toolbar");
QAction* openD = new QAction (QIcon::fromTheme("document-open"), "Load a BVH model", toolBar);
toolBar->addAction (openD);
connect (openD, SIGNAL(triggered()), SLOT (openDialog()));
}
void HppFclPlugin::addBV (QString name, QString filename, int splitMethod) const
{
std::string _name (name.toStdString());
BVHDisplayPtr_t node (new BVHDisplay (filename.toStdString(), _name));
switch (splitMethod) {
default:
case 0:
node->init (hpp::fcl::SPLIT_METHOD_MEAN);
break;
case 1:
node->init (hpp::fcl::SPLIT_METHOD_MEDIAN);
break;
case 2:
node->init (hpp::fcl::SPLIT_METHOD_BV_CENTER);
break;
}
MainWindow* main = MainWindow::instance ();
main->osg()->insertNode (_name, node);
}
void HppFclPlugin::openDialog() const
{
QString filename = QFileDialog::getOpenFileName (NULL, "Select a mesh file");
QString name = QInputDialog::getText(NULL, "Node name", "Node name", QLineEdit::Normal, "bvhmodel");
int splitMethod = QInputDialog::getInt(NULL, "Split method type",
"Split method type", 0, 0, 3, 1);
addBV (filename, name, splitMethod);
}
#if (QT_VERSION < QT_VERSION_CHECK(5,0,0))
Q_EXPORT_PLUGIN2 (hppfclplugin, HppFclPlugin)
#endif
} // namespace gui
} // namespace hpp
// Copyright (c) 2019 CNRS
// Authors: Joseph Mirabel
//
//
// This file is part of hpp-gui
// hpp-gui is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-gui is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-gui If not, see
// <http://www.gnu.org/licenses/>.
#include <QObject>
#include <gepetto/gui/plugin-interface.hh>
namespace hpp {
namespace gui {
class HppFclPlugin : public QObject, public gepetto::gui::PluginInterface
{
Q_OBJECT
Q_INTERFACES (gepetto::gui::PluginInterface)
#if (QT_VERSION >= QT_VERSION_CHECK(5,0,0))
Q_PLUGIN_METADATA (IID "hpp-gui.hppwidgetsplugin")
#endif
public:
QString name () const { return QString("HppFclPlugin"); }
public slots:
void addBV (QString name, QString filename, int splitMethod) const;
protected:
void init();
protected slots:
void openDialog () const;
};
} // namespace gui
} // namespace hpp
......@@ -52,4 +52,5 @@ GEPETTO_GUI_PLUGIN(hppmanipulationwidgetsplugin
PKG_CONFIG_DEPENDENCIES
"hpp-manipulation-corba"
"gepetto-viewer-corba"
)
......@@ -27,6 +27,8 @@
using CORBA::ULong;
namespace gv = gepetto::viewer;
namespace hpp {
namespace gui {
HppManipulationWidgetsPlugin::HppManipulationWidgetsPlugin() :
......@@ -173,7 +175,7 @@ namespace hpp {
osgVector4 color (0, 1, 0, 1);
osgVector3 norm(0, 0, 0);
CORBA::Long iPts = (j == 0) ? 0 : indexes[j - 1];
graphics::WindowsManager::Vec3ArrayPtr_t ps(new osg::Vec3Array);
gv::WindowsManager::Vec3ArrayPtr_t ps(new osg::Vec3Array);
ps->resize (indexes[j] - iPts);
if (ps->size() > 3) {
osgVector3 a((float)(points[iPts][0] - points[iPts + 1][0]),
......@@ -241,8 +243,8 @@ namespace hpp {
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance ();
hpp::Names_t_var rcs = hpp_->problem()->getAvailable("handle");
hpp::Transform__var t (new Transform_);
graphics::Configuration config;
const graphics::WindowsManager::Color_t color (0, 1, 0, 1);
gv::Configuration config;
const gv::WindowsManager::Color_t color (0, 1, 0, 1);
for (CORBA::ULong i = 0; i < rcs->length(); ++i) {
const std::string jn =
hpp_->robot()->getHandlePositionInJoint (rcs[i],t.out());
......@@ -262,8 +264,8 @@ namespace hpp {
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance ();
hpp::Names_t_var rcs = hpp_->problem()->getAvailable("gripper");
hpp::Transform__var t (new Transform_);
graphics::Configuration config;
const graphics::WindowsManager::Color_t color (0, 1, 0, 1);
gv::Configuration config;
const gv::WindowsManager::Color_t color (0, 1, 0, 1);
for (CORBA::ULong i = 0; i < rcs->length(); ++i) {
const std::string jn =
hpp_->robot()->getGripperPositionInJoint (rcs[i],t.out());
......
......@@ -20,12 +20,12 @@ namespace hpp {
namespace gui {
/// HppManipulationWidgetsPlugin add functionalities to interact with hpp-manipulation-corba
class HppManipulationWidgetsPlugin : public HppWidgetsPlugin
// , public PluginInterface, public ModelInterface, public CorbaErrorInterface
// , public PluginInterface, public ModelInterface, public ConnectionInterface
{
Q_OBJECT
Q_INTERFACES (gepetto::gui::PluginInterface
gepetto::gui::ModelInterface
gepetto::gui::CorbaInterface)
gepetto::gui::ConnectionInterface)
#if (QT_VERSION >= QT_VERSION_CHECK(5,0,0))
Q_PLUGIN_METADATA (IID "hpp-gui.hppmanipulationwidgetsplugin")
......@@ -60,7 +60,7 @@ namespace hpp {
/// \param jointName joint name
std::string getBodyFromJoint (const std::string& jointName) const;
// CorbaInterface
// ConnectionInterface
public:
/// Open a connection to a corba manipulation server.
virtual void openConnection ();
......
......@@ -6,8 +6,6 @@
#ifndef HPP_GUI_MANIPULATIONCONSTRAINTWIDGET_HH
#define HPP_GUI_MANIPULATIONCONSTRAINTWIDGET_HH
#include "hpp/corbaserver/manipulation/graph.hh"
#include "hppwidgetsplugin/constraintwidget.hh"
#include "hppwidgetsplugin/hppwidgetsplugin.hh"
......
......@@ -6,7 +6,7 @@
#ifndef MANIPULATIONNCPICKER_HH
#define MANIPULATIONNCPICKER_HH
#include <hpp/corbaserver/manipulation/graph.hh>
#include <hpp/corbaserver/manipulation/graph-idl.hh>
#include "hppwidgetsplugin/numericalconstraintpicker.hh"
......
......@@ -79,4 +79,5 @@ GEPETTO_GUI_PLUGIN(hppwidgetsplugin
PKG_CONFIG_DEPENDENCIES
"hpp-corbaserver"
"gepetto-viewer-corba"
)
......@@ -6,7 +6,6 @@
#include "hppwidgetsplugin/configurationlistwidget.hh"
#include "hppwidgetsplugin/ui_configurationlistwidget.h"
#include "hpp/corbaserver/common.hh"
#include "hpp/corbaserver/client.hh"
#include <hppwidgetsplugin/hppwidgetsplugin.hh>
......
......@@ -11,7 +11,7 @@
#include "gepetto/gui/fwd.hh"
#include "gepetto/gui/mainwindow.hh"
#include "hpp/corbaserver/common.hh"
#include "hpp/common-idl.hh"
#include "configurationlist.hh"
......
......@@ -12,14 +12,14 @@ namespace hpp {
namespace gui {
inline void fromHPP(const hpp::floatSeq_var& in, osgVector3& v)
{
typedef graphics::WindowsManager::value_type type;
typedef gepetto::viewer::WindowsManager::value_type type;
const hpp::floatSeq& t (in.in());
v.set((type)t[0], (type)t[1], (type)t[2]);
}
inline void fromHPP(const hpp::Transform__slice* t, osgVector3& v)
{
typedef graphics::WindowsManager::value_type type;
typedef gepetto::viewer::WindowsManager::value_type type;
v.set((type)t[0], (type)t[1], (type)t[2]);
}
......@@ -30,7 +30,7 @@ namespace hpp {
inline void fromHPP(const hpp::Transform__slice* t, osgQuat& q)
{
typedef graphics::WindowsManager::value_type type;
typedef gepetto::viewer::WindowsManager::value_type type;
q.set((type)t[3], (type)t[4], (type)t[5], (type)t[6]);
}
......@@ -39,18 +39,18 @@ namespace hpp {
fromHPP (in.in(), q);
}
inline void fromHPP(const hpp::Transform__slice* in, graphics::Configuration& c)
inline void fromHPP(const hpp::Transform__slice* in, gepetto::viewer::Configuration& c)
{
fromHPP(in, c.position);
fromHPP(in, c.quat);
}
inline void fromHPP(const hpp::Transform__var& in, graphics::Configuration& c)
inline void fromHPP(const hpp::Transform__var& in, gepetto::viewer::Configuration& c)
{
fromHPP(in.in(), c);
}
inline void fromHPP(const hpp::TransformSeq& in, std::vector<graphics::Configuration>& c)
inline void fromHPP(const hpp::TransformSeq& in, std::vector<gepetto::viewer::Configuration>& c)
{
c.resize (in.length());
for (std::size_t i = 0; i < in.length(); ++i)
......
......@@ -36,8 +36,8 @@ using CORBA::ULong;
namespace hpp {
namespace gui {
using gepetto::gui::MainWindow;
typedef graphics::WindowsManager::Color_t OsgColor_t;
typedef graphics::Configuration OsgConfiguration_t;
typedef gepetto::viewer::WindowsManager::Color_t OsgColor_t;
typedef gepetto::viewer::Configuration OsgConfiguration_t;
typedef gepetto::gui::ActionSearchBar ActionSearchBar;
HppWidgetsPlugin::JointElement::JointElement (
......@@ -249,18 +249,6 @@ namespace hpp {
return c;
}
bool HppWidgetsPlugin::corbaException(int jobId, const CORBA::Exception &excep) const
{
try {
const hpp::Error& error = dynamic_cast <const hpp::Error&> (excep);
emit logJobFailed(jobId, QString (error.msg));
return true;
} catch (const std::bad_cast&) {
// dynamic_cast failed.
}
return false;
}
QString HppWidgetsPlugin::getHppIIOPurl () const
{
QString host = gepetto::gui::MainWindow::instance ()->settings_->getSetting
......@@ -273,7 +261,7 @@ namespace hpp {
QString HppWidgetsPlugin::getHppContext () const
{
QString context = gepetto::gui::MainWindow::instance ()->settings_->getSetting
("hpp/context", QString ()).toString ();
("hpp/context", QString ("corbaserver")).toString ();
return context;
}
......@@ -603,7 +591,7 @@ namespace hpp {
{
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance ();
std::string target = escapeJointName(jn);
graphics::GroupNodePtr_t group = main->osg()->getGroup (target.c_str(), false);
gepetto::viewer::GroupNodePtr_t group = main->osg()->getGroup (target.c_str(), false);
if (group) return target;
if (!main->osg()->getGroup(target)) {
main->osg()->createGroup(target);
......@@ -625,7 +613,7 @@ namespace hpp {
{
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance ();
std::string target = "com_" + escapeJointName(com);
graphics::GroupNodePtr_t group = main->osg()->getGroup (target.c_str(), false);
gepetto::viewer::GroupNodePtr_t group = main->osg()->getGroup (target.c_str(), false);
if (group) return target;
if (!main->osg()->getGroup(target)) {
main->osg()->createGroup(target);
......
......@@ -27,12 +27,12 @@ namespace hpp {
/// Plugin that add a lot of features to work with hpp.
class HppWidgetsPlugin : public QObject, public gepetto::gui::PluginInterface,
public gepetto::gui::ModelInterface, public gepetto::gui::CorbaInterface
public gepetto::gui::ModelInterface, public gepetto::gui::ConnectionInterface
{
Q_OBJECT
Q_INTERFACES (gepetto::gui::PluginInterface
gepetto::gui::ModelInterface
gepetto::gui::CorbaInterface)
gepetto::gui::ConnectionInterface)
#if (QT_VERSION >= QT_VERSION_CHECK(5,0,0))
Q_PLUGIN_METADATA (IID "hpp-gui.hppwidgetsplugin")
......@@ -113,10 +113,8 @@ signals:
void configurationValidationStatus (bool valid);
void configurationValidationStatus (QStringList collision);
// CorbaInterface interface
// ConnectionInterface interface
public:
virtual bool corbaException (int jobId, const CORBA::Exception &excep) const;
/// Open a connection to a corba server.
virtual void openConnection ();
......@@ -239,7 +237,7 @@ signals:
// Cache variables
hpp::Names_t linkNames_;
std::vector<std::string> bodyNames_;
std::vector<graphics::Configuration> bodyConfs_;
std::vector<gepetto::viewer::Configuration> bodyConfs_;
std::vector<std::string> jointGroupNames_;
};
} // namespace gui
......
......@@ -10,7 +10,7 @@
#include <QSlider>
#include <QStandardItem>
#include <hpp/corbaserver/robot.hh>
//#include <hpp/corbaserver/robot.hh>
#include <gepetto/gui/fwd.hh>
#include <gepetto/viewer/node.h>
......@@ -26,7 +26,7 @@ namespace hpp {
{
public:
typedef CORBA::ULong ULong;
typedef graphics::NodePtr_t NodePtr_t;
typedef gepetto::viewer::NodePtr_t NodePtr_t;
typedef std::vector<NodePtr_t> NodesPtr_t;
static const int IndexRole ;
......
......@@ -6,7 +6,7 @@
#ifndef HPP_GUI_JOINTBOUNDDIALOG_HH
#define HPP_GUI_JOINTBOUNDDIALOG_HH
#include <hpp/corbaserver/robot.hh>
#include <hpp/common-idl.hh>
#include <QDialog>
#include <QLabel>
#include <QDoubleSpinBox>
......
......@@ -15,7 +15,6 @@
# include <QtConcurrent>
#endif
#include <hpp/corbaserver/common.hh>
#include <hpp/corbaserver/client.hh>
#include "gepetto/gui/mainwindow.hh"
......@@ -94,7 +93,7 @@ namespace hpp {
// Arguments are max, length, storage, take ownership.
char* tmps[1];
hpp::Names_t names (1, 1, tmps, false);
graphics::Configuration pos;
gepetto::viewer::Configuration pos;
::osg::Vec3ArrayRefPtr posSeq = new ::osg::Vec3Array;
for (unsigned int i = 0; i < waypoints->length(); ++i) {
// Make name
......@@ -138,7 +137,7 @@ namespace hpp {
CORBA::ULong pid = (CORBA::ULong) pathIndex()->value();
std::stringstream ss; ss << "curvedpath_" << pid << "_" << jointName;
std::string pn = ss.str();
graphics::WindowsManager::Color_t colorE (1.f, 0.f, 0.f, 1.f);
gepetto::viewer::WindowsManager::Color_t colorE (1.f, 0.f, 0.f, 1.f);
gepetto::gui::WindowsManagerPtr_t wsm = main->osg();
HppWidgetsPlugin::HppClient* hpp = plugin_->client();
CORBA::Double length = hpp->problem()->pathLength(pid);
......
......@@ -132,6 +132,9 @@
<property name="value">
<double>10.000000000000000</double>
</property>
<property name="maximum">
<double>9999.0000000000000</double>
</property>
</widget>
</item>
<item>
......
......@@ -6,7 +6,7 @@
#ifndef HPP_GUI_ROADMAP_HH
#define HPP_GUI_ROADMAP_HH
#include <hpp/corbaserver/common.hh>
#include <hpp/common-idl.hh>
#include <gepetto/gui/color-map.hh>
#include <gepetto/gui/windows-manager.hh>
#include <hppwidgetsplugin/hppwidgetsplugin.hh>
......@@ -17,9 +17,9 @@ namespace hpp {
public:
typedef unsigned int NodeID;
typedef unsigned int EdgeID;
typedef graphics::Configuration Frame;
typedef gepetto::viewer::Configuration Frame;
typedef osgVector3 Position;
typedef graphics::WindowsManager::Color_t Color;
typedef gepetto::viewer::WindowsManager::Color_t Color;
float radius, axisSize;
......
......@@ -47,7 +47,7 @@ namespace hpp {
this, SLOT (updateJointAttitude (double, double, double, double)));
gepetto::gui::MainWindow* m = gepetto::gui::MainWindow::instance();
graphics::WindowsManager::Color_t black(1,1,1,1);
gepetto::viewer::WindowsManager::Color_t black(1,1,1,1);
m->osg()->addBox("hpp-gui/attitudeControl", 0.001f, 0.001f, 0.001f, black);
m->osg()->addLandmark("hpp-gui/attitudeControl", 0.1f);
m->osg()->setVisibility("hpp-gui/attitudeControl", "OFF");
......
......@@ -79,7 +79,7 @@ namespace hpp {
hpp::Quaternion_ q;
hpp::boolSeq_var mask;
graphics::Configuration frameViz;
gepetto::viewer::Configuration frameViz;
QFuture <void> lock_;
};
......
......@@ -23,9 +23,9 @@ class _Clients(object):
def __init__(self, mainWindow):
self.hppPlugin = mainWindow.getFromSlot("getHppIIOPurl")
self.basic = BasicClient(url= str(self.hppPlugin.getHppIIOPurl()),
postContextId= str(self.hppPlugin.getHppContext()))
context= str(self.hppPlugin.getHppContext()))
self.manipulation = ManipClient(url= str(self.hppPlugin.getHppIIOPurl()),
postContextId= str(self.hppPlugin.getHppContext()))
context= str(self.hppPlugin.getHppContext()))
self.viewer = ViewerClient()
class _GraspMode(QWidget):
......@@ -377,7 +377,7 @@ class Plugin(QDockWidget):
self.osg = None
self.mainWindow = mainWindow
self.hppPlugin = mainWindow.getFromSlot("getHppIIOPurl")
self.resetConnection()
#self.resetConnection()
mainWindow.registerShortcut("Dynamic builder", "Toggle view", self.toggleViewAction())
self.dynamicBuilder = _DynamicBuilder(mainWindow, self)
self.setWidget(self.dynamicBuilder)
......
......@@ -171,7 +171,7 @@ class Plugin(QtGui.QDockWidget):
self.setObjectName ("hpp.gui.plugin")
self.main = mainWindow
self.hppPlugin = self.main.getFromSlot("getHppIIOPurl")
self.resetConnection()
#self.resetConnection()
self.widgetToRefresh = list()
self.osg = None
# Initialize the widget
......@@ -188,7 +188,7 @@ class Plugin(QtGui.QDockWidget):
def resetConnection(self):
self.client = Client(url= str(self.hppPlugin.getHppIIOPurl()),
postContextId= str(self.hppPlugin.getHppContext()))
context = str(self.hppPlugin.getHppContext()))
self.resetRobot();
self.gui = GuiClient()
......