CoinManipulatorVisualizationAdapter.cpp

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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 Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarXGuiPlugins::RobotTrajectoryDesigner::Visualization
 * @author     Timo Birr
 * @date       2018
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#include "CoinManipulatorVisualizationAdapter.h"
 
#include "../KinematicSolver.h"
 
 
using namespace armarx;
using namespace VirtualRobot;
 
CoinManipulatorVisualizationAdapter::CoinManipulatorVisualizationAdapter()
{
    adaptedManipulation = new ManipulatorVisualization();
}
 
CoinManipulatorVisualizationAdapter::~CoinManipulatorVisualizationAdapter()
{
}
 
void
CoinManipulatorVisualizationAdapter::setVisualization(RobotPtr robot, RobotNodeSetPtr nodeSet)
{
    adaptedManipulation->setVisualization(robot, nodeSet);
}
 
Eigen::MatrixXf
CoinManipulatorVisualizationAdapter::getUserDesiredPose()
{
    return adaptedManipulation->getUserDesiredPose();
}
 
SoSeparator*
CoinManipulatorVisualizationAdapter::getVisualization()
{
    return (SoSeparator*)adaptedManipulation;
}
 
void
CoinManipulatorVisualizationAdapter::attachCallback(SoDraggerCB* finish,
                                                    SoDraggerCB* moved,
                                                    void* data)
{
    adaptedManipulation->addManipFinishCallback(finish, data);
    adaptedManipulation->addManipMovedCallback(moved, data);
}