The EntityDrawerComponent class implements a component that listens to layered / debug drawer commands and creates internal representations of the visualization which can be conveniently used by gui components to visualize the content. Basically it is a armarx::DebugDrawerComponent with additional memroy features. In addition to all debug drawer fucntions it is capable of showing memory entities, e.g. objects. More...

#include <MemoryX/components/EntityDrawer/EntityDrawerComponent.h>

Inheritance diagram for EntityDrawerComponent:

Classes
struct	EntityData

struct	EntityUpdateData

Public Member Functions
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

	EntityDrawerComponent ()
	EntityDrawerComponent Constructs a debug drawer. More...

std::string	getDefaultName () const override
	Retrieve default name of component. More...

void	onConnectComponent () override
	Pure virtual hook for the subclass. More...

void	onDisconnectComponent () override
	Hook for subclass. More...

void	onExitComponent () override
	Hook for subclass. More...

void	onInitComponent () override
	Pure virtual hook for the subclass. More...

void	removeObjectVisu (const std::string &layerName, const std::string &objectName, const Ice::Current &c=Ice::emptyCurrent) override

void	setObjectVisu (const std::string &layerName, const std::string &objectName, const memoryx::ObjectClassBasePtr &objectClassBase, const armarx::PoseBasePtr &globalPose, const Ice::Current &c=Ice::emptyCurrent) override

void	setObjectVisuByName (const std::string &layerName, const std::string &customObjectName, const std::string &objectClassName, const armarx::PoseBasePtr &globalPose, const Ice::Current &c=Ice::emptyCurrent) override

void	updateObjectColor (const std::string &layerName, const std::string &objectName, const armarx::DrawColor &color, const Ice::Current &c=Ice::emptyCurrent) override
	updateObjectColor Colorizes the object visualization More...

void	updateObjectPose (const std::string &layerName, const std::string &objectName, const armarx::PoseBasePtr &globalPose, const Ice::Current &c=Ice::emptyCurrent) override

void	updateObjectTransparency (const std::string &layerName, const std::string &objectName, float alpha, const Ice::Current &c=Ice::emptyCurrent) override

	~EntityDrawerComponent () override

Public Member Functions inherited from DebugDrawerComponent
void	clearAll (const ::Ice::Current &=Ice::emptyCurrent) override

void	clearDebugLayer (const ::Ice::Current &=Ice::emptyCurrent) override

void	clearLayer (const std::string &layerName, const ::Ice::Current &=Ice::emptyCurrent) override

void	clearSelections (const std::string &layerName, const ::Ice::Current &=Ice::emptyCurrent) override

	DebugDrawerComponent ()
	DebugDrawerComponent Constructs a debug drawer. More...

void	deselect (const std::string &layerName, const std::string &elementName, const ::Ice::Current &=Ice::emptyCurrent) override

void	deselectionCallback ()

void	disableAllLayers (const ::Ice::Current &=Ice::emptyCurrent) override

void	disableSelections (const std::string &layerName, const ::Ice::Current &=Ice::emptyCurrent) override

void	enableAllLayers (const ::Ice::Current &=Ice::emptyCurrent) override

void	enableDebugLayerVisu (bool visible, const ::Ice::Current &=Ice::emptyCurrent) override

void	enableLayerVisu (const std::string &layerName, bool visible, const ::Ice::Current &=Ice::emptyCurrent) override

void	enableSelections (const std::string &layerName, const ::Ice::Current &=Ice::emptyCurrent) override

void	exportLayer (const std::string &filename, const std::string &layerName, const ::Ice::Current &=Ice::emptyCurrent) override

void	exportScene (const std::string &filename, const ::Ice::Current &=Ice::emptyCurrent) override

std::map< std::string, bool >	getAllDefaultLayerVisibilities () const

bool	getDefaultLayerVisibility () const

bool	getDefaultLayerVisibility (const std::string &layerName) const

RecursiveMutexLockPtr	getScopedVisuLock ()
	getScopedLock If using the coin visualization it must be ensured that all rendering calls are protected with this mutex More...

DebugDrawerSelectionList	getSelections (const ::Ice::Current &=Ice::emptyCurrent) override

SoSeparator *	getVisualization ()
	getVisualization Ensure that all access to this node is protected with the scoped lock mutex. More...

bool	hasLayer (const std::string &layerName, const ::Ice::Current &=Ice::emptyCurrent) override

void	installSelectionCallbacks ()

::armarx::LayerInformationSequence	layerInformation (const ::Ice::Current &=Ice::emptyCurrent) override

::Ice::StringSeq	layerNames (const ::Ice::Current &=Ice::emptyCurrent) override

void	remove24BitColoredPointCloudDebugLayerVisu (const std::string &pointCloudName, const ::Ice::Current &=Ice::emptyCurrent) override

void	remove24BitColoredPointCloudVisu (const std::string &layerName, const std::string &pointCloudName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeArrowDebugLayerVisu (const std::string &arrowName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeArrowVisu (const std::string &layerName, const std::string &arrowName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeBoxDebugLayerVisu (const std::string &boxName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeBoxVisu (const std::string &layerName, const std::string &boxName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeCircleDebugLayerVisu (const std::string &circleName, const Ice::Current &=Ice::emptyCurrent) override

void	removeCircleVisu (const std::string &layerName, const std::string &circleName, const Ice::Current &=Ice::emptyCurrent) override

void	removeColoredPointCloudDebugLayerVisu (const std::string &pointCloudName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeColoredPointCloudVisu (const std::string &layerName, const std::string &pointCloudName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeCylinderDebugLayerVisu (const std::string &cylinderName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeCylinderVisu (const std::string &layerName, const std::string &cylinderName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeDefaultLayerVisibility (const std::string &layerName)

void	removeLayer (const std::string &layerName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeLineDebugLayerVisu (const std::string &lineName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeLineSetDebugLayerVisu (const std::string &lineSetName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeLineSetVisu (const std::string &layerName, const std::string &lineSetName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeLineVisu (const std::string &layerName, const std::string &lineName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removePointCloudDebugLayerVisu (const std::string &pointCloudName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removePointCloudVisu (const std::string &layerName, const std::string &pointCloudName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removePolygonDebugLayerVisu (const std::string &polygonName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removePolygonVisu (const std::string &layerName, const std::string &polygonName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removePoseDebugLayerVisu (const std::string &poseName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removePoseVisu (const std::string &layerName, const std::string &poseName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeRobotVisu (const std::string &layerName, const std::string &robotName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeSelectionCallbacks ()

void	removeSphereDebugLayerVisu (const std::string &sphereName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeSphereVisu (const std::string &layerName, const std::string &sphereName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeTextDebugLayerVisu (const std::string &textName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeTextVisu (const std::string &layerName, const std::string &textName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeTriMeshDebugLayerVisu (const std::string &triMeshName, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeTriMeshVisu (const std::string &layerName, const std::string &triMeshName, const ::Ice::Current &=Ice::emptyCurrent) override

void	reportSelectionChanged (const DebugDrawerSelectionList &selectedElements, const ::Ice::Current &=Ice::emptyCurrent) override

void	select (const std::string &layerName, const std::string &elementName, const ::Ice::Current &=Ice::emptyCurrent) override

void	selectionCallback ()

void	set24BitColoredPointCloudDebugLayerVisu (const std::string &pointCloudName, const DebugDrawer24BitColoredPointCloud &pointCloud, const ::Ice::Current &=Ice::emptyCurrent) override

void	set24BitColoredPointCloudVisu (const std::string &layerName, const std::string &pointCloudName, const DebugDrawer24BitColoredPointCloud &pointCloud, const ::Ice::Current &=Ice::emptyCurrent) override

void	setArrowDebugLayerVisu (const std::string &arrowName, const ::armarx::Vector3BasePtr &position, const ::armarx::Vector3BasePtr &direction, const DrawColor &color, float length, float width, const ::Ice::Current &=Ice::emptyCurrent) override

void	setArrowVisu (const std::string &layerName, const std::string &arrowName, const ::armarx::Vector3BasePtr &position, const ::armarx::Vector3BasePtr &direction, const DrawColor &color, float length, float width, const ::Ice::Current &=Ice::emptyCurrent) override

void	setBoxDebugLayerVisu (const std::string &boxName, const ::armarx::PoseBasePtr &globalPose, const ::armarx::Vector3BasePtr &dimensions, const DrawColor &color, const ::Ice::Current &=Ice::emptyCurrent) override

void	setBoxVisu (const std::string &layerName, const std::string &boxName, const ::armarx::PoseBasePtr &globalPose, const ::armarx::Vector3BasePtr &dimensions, const DrawColor &color, const ::Ice::Current &=Ice::emptyCurrent) override

void	setCircleArrowVisu (const std::string &layerName, const std::string &circleName, const Vector3BasePtr &globalPosition, const Vector3BasePtr &directionVec, Ice::Float radius, Ice::Float circleCompletion, Ice::Float width, const DrawColor &color, const Ice::Current &=Ice::emptyCurrent) override

void	setCircleDebugLayerVisu (const std::string &circleName, const Vector3BasePtr &globalPosition, const Vector3BasePtr &directionVec, Ice::Float radius, Ice::Float circleCompletion, Ice::Float width, const DrawColor &color, const Ice::Current &=Ice::emptyCurrent) override

virtual void	setColoredPointCloudDebugLayerVisu (const std::string &pointCloudName, const DebugDrawerColoredPointCloud &pointCloud, const ::Ice::Current &=Ice::emptyCurrent)

void	setColoredPointCloudVisu (const std::string &layerName, const std::string &pointCloudName, const DebugDrawerColoredPointCloud &pointCloud, const ::Ice::Current &=Ice::emptyCurrent) override

void	setCylinderDebugLayerVisu (const std::string &cylinderName, const ::armarx::Vector3BasePtr &globalPosition, const ::armarx::Vector3BasePtr &direction, float length, float radius, const DrawColor &color, const ::Ice::Current &=Ice::emptyCurrent) override

void	setCylinderVisu (const std::string &layerName, const std::string &cylinderName, const ::armarx::Vector3BasePtr &globalPosition, const ::armarx::Vector3BasePtr &direction, float length, float radius, const DrawColor &color, const ::Ice::Current &=Ice::emptyCurrent) override

void	setDefaultLayerVisibility (bool defaultLayerVisibility)

void	setDefaultLayerVisibility (const std::string &layerName, bool defaultLayerVisibility)

void	setLineDebugLayerVisu (const std::string &lineName, const ::armarx::Vector3BasePtr &globalPosition1, const ::armarx::Vector3BasePtr &globalPosition2, float lineWidth, const ::armarx::DrawColor &color, const ::Ice::Current &=Ice::emptyCurrent) override

void	setLineSetDebugLayerVisu (const std::string &lineSetName, const DebugDrawerLineSet &lineSet, const ::Ice::Current &=Ice::emptyCurrent) override

void	setLineSetVisu (const std::string &layerName, const std::string &lineSetName, const DebugDrawerLineSet &lineSet, const ::Ice::Current &=Ice::emptyCurrent) override

void	setLineVisu (const std::string &layerName, const std::string &lineName, const ::armarx::Vector3BasePtr &globalPosition1, const ::armarx::Vector3BasePtr &globalPosition2, float lineWidth, const ::armarx::DrawColor &color, const ::Ice::Current &=Ice::emptyCurrent) override

void	setMutex (RecursiveMutexPtr const &m)

void	setPointCloudDebugLayerVisu (const std::string &pointCloudName, const DebugDrawerPointCloud &pointCloud, const ::Ice::Current &=Ice::emptyCurrent) override

void	setPointCloudVisu (const std::string &layerName, const std::string &pointCloudName, const DebugDrawerPointCloud &pointCloud, const ::Ice::Current &=Ice::emptyCurrent) override

void	setPolygonDebugLayerVisu (const std::string &polygonName, const std::vector< ::armarx::Vector3BasePtr > &polygonPoints, const DrawColor &colorInner, const DrawColor &colorBorder, float lineWidth, const ::Ice::Current &=Ice::emptyCurrent) override

void	setPolygonVisu (const std::string &layerName, const std::string &polygonName, const std::vector< ::armarx::Vector3BasePtr > &polygonPoints, const DrawColor &colorInner, const DrawColor &colorBorder, float lineWidth, const ::Ice::Current &=Ice::emptyCurrent) override

void	setPoseDebugLayerVisu (const std::string &poseName, const ::armarx::PoseBasePtr &globalPose, const ::Ice::Current &=Ice::emptyCurrent) override

void	setPoseVisu (const std::string &layerName, const std::string &poseName, const ::armarx::PoseBasePtr &globalPose, const ::Ice::Current &=Ice::emptyCurrent) override

void	setRobotVisu (const std::string &layerName, const std::string &robotName, const std::string &robotFile, const std::string &armarxProject, DrawStyle drawStyle, const ::Ice::Current &=Ice::emptyCurrent) override
	setRobotVisu Initializes a robot visualization More...

void	setScaledPoseDebugLayerVisu (const std::string &poseName, const ::armarx::PoseBasePtr &globalPose, const ::Ice::Float scale, const ::Ice::Current &=Ice::emptyCurrent) override

void	setScaledPoseVisu (const std::string &layerName, const std::string &poseName, const ::armarx::PoseBasePtr &globalPose, const ::Ice::Float scale, const ::Ice::Current &=Ice::emptyCurrent) override

void	setSphereDebugLayerVisu (const std::string &sphereName, const ::armarx::Vector3BasePtr &globalPosition, const DrawColor &color, float radius, const ::Ice::Current &=Ice::emptyCurrent) override

void	setSphereVisu (const std::string &layerName, const std::string &sphereName, const ::armarx::Vector3BasePtr &globalPosition, const DrawColor &color, float radius, const ::Ice::Current &=Ice::emptyCurrent) override

void	setTextDebugLayerVisu (const std::string &textName, const std::string &text, const ::armarx::Vector3BasePtr &globalPosition, const DrawColor &color, int size, const ::Ice::Current &=Ice::emptyCurrent) override

void	setTextVisu (const std::string &layerName, const std::string &textName, const std::string &text, const ::armarx::Vector3BasePtr &globalPosition, const DrawColor &color, int size, const ::Ice::Current &=Ice::emptyCurrent) override

void	setTriMeshDebugLayerVisu (const std::string &triMeshName, const DebugDrawerTriMesh &triMesh, const ::Ice::Current &=Ice::emptyCurrent) override

void	setTriMeshVisu (const std::string &layerName, const std::string &triMeshName, const DebugDrawerTriMesh &triMesh, const ::Ice::Current &=Ice::emptyCurrent) override

void	setVisuUpdateTime (float visuUpdatesPerSec)
	setVisuUpdateTime Specifies how often the accumulated draw commands should be applied to the visualization (default 30). Has to be called before init. More...

void	updateRobotColor (const std::string &layerName, const std::string &robotName, const armarx::DrawColor &c, const ::Ice::Current &=Ice::emptyCurrent) override
	updateRobotColor Colorizes the robot visualization More...

void	updateRobotConfig (const std::string &layerName, const std::string &robotName, const std::map< std::string, float > &configuration, const ::Ice::Current &=Ice::emptyCurrent) override

void	updateRobotNodeColor (const std::string &layerName, const std::string &robotName, const std::string &robotNodeName, const armarx::DrawColor &c, const ::Ice::Current &=Ice::emptyCurrent) override

void	updateRobotPose (const std::string &layerName, const std::string &robotName, const ::armarx::PoseBasePtr &globalPose, const ::Ice::Current &=Ice::emptyCurrent) override

	~DebugDrawerComponent () override

Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties. More...

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function More...

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const

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 ProxyType >
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property. More...

template<class ProxyType >
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType >
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property. More...

template<class TopicProxyType >
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component. More...

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property. More...

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property. More...

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property. More...

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

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

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

template<class ProxyTarg , class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyType >
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object. More...

template<class ProxyTarg , class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
	Assigns a proxy to `proxy`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

template<class Prx >
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType >
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload). More...

template<class Prx >
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

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)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties. More...

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 Member Functions
void	drawEntity (const EntityData &d)

void	onRemoveAccumulatedData (const std::string &layerName) override

void	onUpdateVisualization () override
	onUpdateVisualization derived methods can overwrite this method to update custom visualizations. More...

void	removeCustomVisu (const std::string &layerName, const std::string &name) override

void	removeEntity (const std::string &layerName, const std::string &name)

VirtualRobot::SceneObjectPtr	requestEntity (const EntityData &d)

Protected Member Functions inherited from DebugDrawerComponent
void	clearLayerQt (const std::string &layerName)

void	draw24BitColoredPointCloud (const Colored24BitPointCloudData &d)

void	drawArrow (const ArrowData &d)

void	drawBox (const BoxData &d)

void	drawCircle (const DebugDrawerComponent::CircleData &d)

void	drawColoredPointCloud (const ColoredPointCloudData &d)

void	drawCoordSystem (const CoordData &d)

void	drawCylinder (const CylinderData &d)

void	drawLine (const LineData &d)

void	drawLineSet (const LineSetData &d)

void	drawPointCloud (const PointCloudData &d)

void	drawPolygon (const PolygonData &d)

void	drawRobot (const RobotData &d)

void	drawSphere (const SphereData &d)

void	drawText (const TextData &d)

void	drawTriMesh (const TriMeshData &d)

void	ensureExistingRobotNodes (DebugDrawerComponent::RobotData &d)
	ensureExistingRobotNodes Checks if all robotnodes of configuration exist in robot. If not the specific configuration entry is removed from the list. More...

RecursiveMutexLockPtr	getScopedAccumulatedDataLock ()

void	remove24BitColoredPointCloud (const std::string &layerName, const std::string &name)

void	removeAccumulatedData (const std::string &layerName)

void	removeArrow (const std::string &layerName, const std::string &name)

void	removeBox (const std::string &layerName, const std::string &name)

void	removeCircle (const std::string &layerName, const std::string &name)

void	removeColoredPointCloud (const std::string &layerName, const std::string &name)

void	removeCoordSystem (const std::string &layerName, const std::string &name)

void	removeCylinder (const std::string &layerName, const std::string &name)

void	removeLayerQt (const std::string &layerName)

void	removeLine (const std::string &layerName, const std::string &name)

void	removeLineSet (const std::string &layerName, const std::string &name)

void	removePointCloud (const std::string &layerName, const std::string &name)

void	removePolygon (const std::string &layerName, const std::string &name)

void	removeRobot (const std::string &layerName, const std::string &name)

void	removeSphere (const std::string &layerName, const std::string &name)

void	removeText (const std::string &layerName, const std::string &name)

void	removeTriMesh (const std::string &layerName, const std::string &name)

Layer &	requestLayer (const std::string &layerName)
	If a layer with layerName exists it is returned. Otherwise a new layer with given name is created and returned. More...

VirtualRobot::RobotPtr	requestRobot (const RobotData &d)

void	setLayerVisibility (const std::string &layerName, bool visible)

void	updateVisualization ()

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text. More...

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor. More...

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor. More...

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor. More...

virtual void	icePropertiesInitialized ()

Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor. More...

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes
EntityUpdateData	accumulatedCustomUpdateData

std::map< std::string, VirtualRobot::SceneObjectPtr >	activeObjects

GridFileManagerPtr	fileManager

std::map< std::string, VirtualRobot::ManipulationObjectPtr >	objectCache

memoryx::PersistentObjectClassSegmentBasePrx	objectClassSegment

memoryx::PriorKnowledgeInterfacePrx	priorKnowledgePrx

Protected Attributes inherited from DebugDrawerComponent
UpdateData	accumulatedUpdateData

std::map< std::string, VirtualRobot::RobotPtr >	activeRobots

SoSeparator *	coinVisu

float	cycleTimeMS

RecursiveMutexPtr	dataUpdateMutex
	The data update mutex. More...

bool	defaultLayerVisibility

std::map< std::string, bool >	defaultLayerVisibilityPerLayer

SoSeparator *	layerMainNode
	Main node for all layers. More...

std::map< const std::string, Layer >	layers
	All existing layers. More...

DebugDrawerListenerPrx	listenerPrx

std::map< std::string, VirtualRobot::RobotPtr >	loadedRobots

RecursiveMutexPtr	mutex
	The coin mutex. More...

std::set< std::string >	selectableLayers

SoSelection *	selectionNode

SoTimerSensor *	timerSensor

std::mutex	timerSensorMutex

RecursiveMutexPtr	topicMutex

bool	verbose

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Additional Inherited Members
Public Types inherited from DebugDrawerComponent
using	RecursiveMutex = std::recursive_mutex

using	RecursiveMutexLock = std::unique_lock< RecursiveMutex >

using	RecursiveMutexLockPtr = std::shared_ptr< RecursiveMutexLock >

using	RecursiveMutexPtr = std::shared_ptr< RecursiveMutex >

Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component. More...

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name. More...

static std::string	GetObjectStateAsString (int state)

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required. More...

Static Protected Member Functions inherited from DebugDrawerComponent
static void	updateVisualizationCB (void data, SoSensor sensor)

Static Protected Attributes inherited from DebugDrawerComponent
static std::recursive_mutex	selectionMutex

Detailed Description

The EntityDrawerComponent class implements a component that listens to layered / debug drawer commands and creates internal representations of the visualization which can be conveniently used by gui components to visualize the content. Basically it is a armarx::DebugDrawerComponent with additional memroy features. In addition to all debug drawer fucntions it is capable of showing memory entities, e.g. objects.

See also: armarx::DebugDrawerComponent

The following plugins listen to the EntityDrawer topic:

See also: memoryx::WorkingMemoryGuiPlugin

Definition at line 76 of file EntityDrawerComponent.h.

Constructor & Destructor Documentation

◆ EntityDrawerComponent()

EntityDrawerComponent ( )

EntityDrawerComponent Constructs a debug drawer.

Definition at line 46 of file EntityDrawerComponent.cpp.

◆ ~EntityDrawerComponent()

~EntityDrawerComponent ( )

override

Definition at line 52 of file EntityDrawerComponent.cpp.

Member Function Documentation

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

inlineoverridevirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from DebugDrawerComponent.

Definition at line 116 of file EntityDrawerComponent.h.

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◆ drawEntity()

void drawEntity ( const EntityData & d )

protected

Definition at line 78 of file EntityDrawerComponent.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

Retrieve default name of component.

Implement this method in each IceManagedObject. The default name of a is used if no name is specified in the factory method.

Returns: default name of the component (e.g. "KinematicUnit")

Reimplemented from DebugDrawerComponent.

Definition at line 89 of file EntityDrawerComponent.h.

◆ onConnectComponent()

void onConnectComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once all dependencies of the object have been resolved and Ice connection is established. This hook is called whenever the dependencies are found. That means if the a depedency crashes or shuts down, the ManagedIceObject goes into disconnected state. When the dependencies are found again, this hook is called again.

See also: onDisconnectComponent()

Reimplemented from DebugDrawerComponent.

Definition at line 196 of file EntityDrawerComponent.cpp.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

overridevirtual

Hook for subclass.

Is called if a dependency of the object got lost (crash, network error, stopped, ...). This hook should be the inverse to onConnectComponent(). So that onDisconnectComponent() and onConnectComponent() can be called alternatingly and the ManagedIceObject remains in valid states. *

See also: onConnectComponent

Reimplemented from DebugDrawerComponent.

Definition at line 218 of file EntityDrawerComponent.cpp.

◆ onExitComponent()

void onExitComponent ( )

overridevirtual

Hook for subclass.

Is called once the component terminates. Use for cleanup. Only called once.

Reimplemented from DebugDrawerComponent.

Definition at line 223 of file EntityDrawerComponent.cpp.

◆ onInitComponent()

void onInitComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once initialization of the ManagedIceObject is done. This hook is called in the implenting class once and never again during the lifecyle of the object. This function is called as soon as the ManagedIceObject was added to the ArmarXManager. Called in an own thread and not the thread it was created in.

Reimplemented from DebugDrawerComponent.

Definition at line 185 of file EntityDrawerComponent.cpp.

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◆ onRemoveAccumulatedData()

void onRemoveAccumulatedData ( const std::string & layerName )

overrideprotectedvirtual

Reimplemented from DebugDrawerComponent.

Definition at line 417 of file EntityDrawerComponent.cpp.

◆ onUpdateVisualization()

void onUpdateVisualization ( )

overrideprotectedvirtual

onUpdateVisualization derived methods can overwrite this method to update custom visualizations.

Reimplemented from DebugDrawerComponent.

Definition at line 57 of file EntityDrawerComponent.cpp.

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◆ removeCustomVisu()

void removeCustomVisu	(	const std::string &	layerName,
		const std::string &	name
	)

overrideprotectedvirtual

Reimplemented from DebugDrawerComponent.

Definition at line 72 of file EntityDrawerComponent.cpp.

◆ removeEntity()

void removeEntity	(	const std::string &	layerName,
		const std::string &	name
	)

protected

Definition at line 156 of file EntityDrawerComponent.cpp.

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◆ removeObjectVisu()

void removeObjectVisu	(	const std::string &	layerName,
		const std::string &	objectName,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 228 of file EntityDrawerComponent.cpp.

◆ requestEntity()

VirtualRobot::SceneObjectPtr requestEntity ( const EntityData & d )

protected

Definition at line 338 of file EntityDrawerComponent.cpp.

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◆ setObjectVisu()

void setObjectVisu	(	const std::string &	layerName,
		const std::string &	objectName,
		const memoryx::ObjectClassBasePtr &	objectClassBase,
		const armarx::PoseBasePtr &	globalPose,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 302 of file EntityDrawerComponent.cpp.

◆ setObjectVisuByName()

void setObjectVisuByName	(	const std::string &	layerName,
		const std::string &	customObjectName,
		const std::string &	objectClassName,
		const armarx::PoseBasePtr &	globalPose,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 317 of file EntityDrawerComponent.cpp.

◆ updateObjectColor()

void updateObjectColor	(	const std::string &	layerName,
		const std::string &	objectName,
		const armarx::DrawColor &	color,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

updateObjectColor Colorizes the object visualization

Parameters

layerName	The layer
objectName	The object identifier
c	The draw color, if all is set to 0, the colorization is disabled (i.e. the original vizualization shows up)

Definition at line 238 of file EntityDrawerComponent.cpp.

◆ updateObjectPose()

void updateObjectPose	(	const std::string &	layerName,
		const std::string &	objectName,
		const armarx::PoseBasePtr &	globalPose,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 286 of file EntityDrawerComponent.cpp.

◆ updateObjectTransparency()

void updateObjectTransparency	(	const std::string &	layerName,
		const std::string &	objectName,
		float	alpha,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

Definition at line 262 of file EntityDrawerComponent.cpp.

Member Data Documentation

◆ accumulatedCustomUpdateData

EntityUpdateData accumulatedCustomUpdateData

protected

Definition at line 147 of file EntityDrawerComponent.h.

◆ activeObjects

std::map< std::string, VirtualRobot::SceneObjectPtr > activeObjects

protected

Definition at line 158 of file EntityDrawerComponent.h.

◆ fileManager

GridFileManagerPtr fileManager

protected

Definition at line 164 of file EntityDrawerComponent.h.

◆ objectCache

std::map< std::string, VirtualRobot::ManipulationObjectPtr > objectCache

protected

Definition at line 159 of file EntityDrawerComponent.h.

◆ objectClassSegment

memoryx::PersistentObjectClassSegmentBasePrx objectClassSegment

protected

Definition at line 162 of file EntityDrawerComponent.h.

◆ priorKnowledgePrx

memoryx::PriorKnowledgeInterfacePrx priorKnowledgePrx

protected

Definition at line 161 of file EntityDrawerComponent.h.

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

MemoryX/components/EntityDrawer/EntityDrawerComponent.h
MemoryX/components/EntityDrawer/EntityDrawerComponent.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ EntityDrawerComponent()

◆ ~EntityDrawerComponent()

Member Function Documentation

◆ createPropertyDefinitions()

◆ drawEntity()

◆ getDefaultName()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ onRemoveAccumulatedData()

◆ onUpdateVisualization()

◆ removeCustomVisu()

◆ removeEntity()

◆ removeObjectVisu()

◆ requestEntity()

◆ setObjectVisu()

◆ setObjectVisuByName()

◆ updateObjectColor()

◆ updateObjectPose()

◆ updateObjectTransparency()

Member Data Documentation

◆ accumulatedCustomUpdateData

◆ activeObjects

◆ fileManager

◆ objectCache

◆ objectClassSegment

◆ priorKnowledgePrx