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)

std::vector< std::string >	getArmarXPackageNames ()
	getDefaultPackageNames returns the value of the ArmarX.DefaultPackages property It splits the string by , and returns the elements as a vector. More...

const std::vector< std::string > &	getCommandLineArguments () const

bool	getForbidThreadCreation () const

std::string	getName () const
	Retrieve name of the application. More...

const ThreadPoolPtr &	getThreadPool () 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...

bool	isPackageAutoDiscoveryEnabled ()

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< T >	getPropertyAsCSV (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 , typename ... Args>
static ApplicationPtr	createInstance (Args &&... args)
	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()

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.

Here is the call graph for this function:

◆ 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.

Member Data 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

CoinViewer::RecursiveMutexPtr mutex

protected

Definition at line 114 of file SimulatorViewerApp.h.

◆ qApplication

QCoreApplication* qApplication

protected

Definition at line 107 of file SimulatorViewerApp.h.

◆ simVisu

ArmarXPhysicsWorldVisualizationPtr simVisu

protected

Definition at line 111 of file SimulatorViewerApp.h.

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

ArmarXSimulation/applications/SimulatorViewer/SimulatorViewerApp.h
ArmarXSimulation/applications/SimulatorViewer/SimulatorViewerApp.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SimulatorViewerApp()

◆ ~SimulatorViewerApp()

Member Function Documentation

◆ createPropertyDefinitions()

◆ exec()

◆ interruptCallback()

◆ setup()

Member Data Documentation

◆ debugDrawer

◆ exitApplication

◆ mainWindow

◆ mutex

◆ qApplication

◆ simVisu