SimulatorViewerApp Class Reference

A viewer that visualizes the content of the ArmarX Simulator. More...

#include <ArmarXSimulation/applications/SimulatorViewer/SimulatorViewerApp.h>

+ Inheritance diagram for SimulatorViewerApp:

Public Member Functions

PropertyDefinitionsPtr createPropertyDefinitions () override
 
int exec (const ArmarXManagerPtr &armarXManager) override
 Runs the Qt Event Loop. More...
 
void interruptCallback (int signal) override
 interruptCallback Recieve interrupt callbacks to gracefully shut down simulator More...
 
void setup (const ManagedIceObjectRegistryInterfacePtr &registry, Ice::PropertiesPtr properties) override
 
 SimulatorViewerApp ()
 Constructor. More...
 
 ~SimulatorViewerApp () override
 
- Public Member Functions inherited from Application
 Application ()
 Application initalizes the Ice::Application base class. More...
 
void enableLibLoading (bool enable=true)
 
const std::vector< std::string > & getCommandLineArguments () const
 
std::vector< std::string > getDefaultPackageNames ()
 getDefaultPackageNames returns the value of the ArmarX.DefaultPackages property It splits the string by , and returns the elements as a vector. More...
 
bool getForbidThreadCreation () const
 
std::string getName () const
 Retrieve name of the application. More...
 
const ThreadPoolPtrgetThreadPool () const
 
void icePropertiesUpdated (const std::set< std::string > &changedProperties) override
 This method is called when new Properties are set via setIceProperties(). More...
 
void interruptCallback (int signal) override
 Cleans up connections with IceStorm before terminating the app. More...
 
void registerDataPathsFromDependencies (std::string dependencies)
 
int run (int argc, char *argv[]) override
 Ice::Application replacement for the main function. More...
 
void setForbidThreadCreation (bool value)
 
void setIceProperties (Ice::PropertiesPtr properties) override
 Overrides PropertyUser::setIceProperties() which is called internally. More...
 
void setName (const std::string &name)
 Set name of the application. More...
 
void storeCommandLineArguments (int argc, char *argv[])
 
void updateIceProperties (const Ice::PropertyDict &properties) override
 
- Public Member Functions inherited from PropertyUser
std::vector< std::string > getComponentProxyNames ()
 
Ice::PropertiesPtr getIceProperties () const
 Returns the set of Ice properties. More...
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name)
 Property creation and retrieval. More...
 
template<typename PropertyType >
Property< PropertyType > getProperty (const std::string &name) const
 Hack to allow using getProperty in const-modified methods. More...
 
template<class T >
void getProperty (std::atomic< T > &val, const std::string &name) const
 
template<class T >
void getProperty (T &val, const std::string &name) const
 
template<class T >
std::vector< TgetPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
 
template<class ContainerT >
void getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
 
PropertyDefinitionsPtr getPropertyDefinitions ()
 Returns the component's property definition container. More...
 
std::vector< std::string > getSubscribedTopicNames ()
 
std::vector< std::string > getTopicProxyNames ()
 
bool hasProperty (const std::string &name)
 
virtual void injectPropertyDefinitions (PropertyDefinitionsPtr &)
 Called after createPropertyDefinitions by Component to inject propertes of ComponentPlugin. More...
 
 PropertyUser ()
 
bool tryAddProperty (const std::string &propertyName, const std::string &value)
 
virtual void updateIceProperties (const std::map< std::string, std::string > &changes)
 
void updateProperties ()
 
void updateProxies (IceManagerPtr)
 
 ~PropertyUser () override
 

Protected Attributes

memoryx::EntityDrawerComponentPtr debugDrawer
 
bool exitApplication
 
ArmarXSimulatorWindowPtr mainWindow
 
CoinViewer::RecursiveMutexPtr mutex
 
QCoreApplication * qApplication
 
ArmarXPhysicsWorldVisualizationPtr simVisu
 

Additional Inherited Members

- Static Public Member Functions inherited from Application
template<class T >
static ApplicationPtr createInstance ()
 Creates the one application instance of type T. More...
 
static std::string GetArmarXConfigDefaultPath (bool envVarExpanded=true)
 
static Ice::StringSeq GetDefaultsPaths ()
 
static ApplicationPtr getInstance ()
 Retrieve shared pointer to the application object. More...
 
static const Ice::StringSeq & GetProjectDependencies ()
 
static const std::string & GetProjectName ()
 
static std::string GetVersion ()
 
static void LoadDefaultConfig (Ice::PropertiesPtr properties)
 
static void setInstance (ApplicationPtr const &inst)
 
- Static Public Attributes inherited from Application
static const std::string ArmarXUserConfigDirEnvVar = "ARMARX_CONFIG_DIR"
 
- Protected Member Functions inherited from Application
int doMain (int argc, char *argv[], const Ice::InitializationData &initData, Ice::Int i) override
 Ice::Application::doMain() is called by Ice::Application::main() and does setup of Ice::Communicator before calling the virtual Ice::Application::run() method. More...
 
ArmarXManagerPtr getArmarXManager ()
 
virtual std::string getDomainName ()
 Retrieve the domain name used for property parsing. More...
 
void loadDefaultConfig (int argc, char *argv[], const Ice::InitializationData &initData)
 
void loadDependentProjectDatapaths ()
 
Ice::PropertiesPtr parseOptionsMergeProperties (int argc, char *argv[])
 Parse options given on the commandline and merge them into the regular properties. More...
 
void showHelp (ApplicationOptions::Options &options)
 Print help onto the screen or into a file. More...
 
- Static Protected Member Functions inherited from Application
static void HandlerFault (int sig)
 handlerFault handles signals sendt to the application such as SIGSEGF or SIGABRT (Linux) More...
 
static void HandlerInterrupt (int sig)
 handlerInterrupt handles interrupt signals sent to the application (Linux) More...
 

Detailed Description

A viewer that visualizes the content of the ArmarX Simulator.

The application creates an armarx::ArmarXPhysicsWorldVisualization component which connects to the SimulatorVisuUpdate topic in order to retrieve the visualization stream of the current simulated environment. The simulator data stream is continously processed and the visualization is updated accordingly. The viewer is capable of generating a complete visualization at any time. Hence, it can be started from any PC in the network at any time.

Definition at line 69 of file SimulatorViewerApp.h.

Constructor & Destructor Documentation

◆ SimulatorViewerApp()

Constructor.

Definition at line 41 of file SimulatorViewerApp.cpp.

◆ ~SimulatorViewerApp()

~SimulatorViewerApp ( )
override

Definition at line 47 of file SimulatorViewerApp.cpp.

Member Function Documentation

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )
inlineoverridevirtual
See also
PropertyUser::createPropertyDefinitions()

Reimplemented from Application.

Definition at line 99 of file SimulatorViewerApp.h.

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◆ exec()

int exec ( const ArmarXManagerPtr armarXManager)
overridevirtual

Runs the Qt Event Loop.

Reimplemented from Application.

Definition at line 96 of file SimulatorViewerApp.cpp.

◆ interruptCallback()

void interruptCallback ( int  signal)
override

interruptCallback Recieve interrupt callbacks to gracefully shut down simulator

Parameters
signal

Definition at line 245 of file SimulatorViewerApp.cpp.

◆ setup()

void setup ( const ManagedIceObjectRegistryInterfacePtr registry,
Ice::PropertiesPtr  properties 
)
overridevirtual
See also
armarx::Application::setup()

Implements Application.

Definition at line 55 of file SimulatorViewerApp.cpp.

Field Documentation

◆ debugDrawer

memoryx::EntityDrawerComponentPtr debugDrawer
protected

Definition at line 109 of file SimulatorViewerApp.h.

◆ exitApplication

bool exitApplication
protected

Definition at line 116 of file SimulatorViewerApp.h.

◆ mainWindow

ArmarXSimulatorWindowPtr mainWindow
protected

Definition at line 108 of file SimulatorViewerApp.h.

◆ mutex

Definition at line 114 of file SimulatorViewerApp.h.

◆ qApplication

QCoreApplication* qApplication
protected

Definition at line 107 of file SimulatorViewerApp.h.

◆ simVisu

Definition at line 111 of file SimulatorViewerApp.h.


The documentation for this class was generated from the following files: