bool RobotConfig::setConfig( RobotNodePtr node, float value )
{
THROW_VR_EXCEPTION_IF(!node,"Null data");
RobotPtr r = robot.lock();
if (!r)
{
VR_WARNING << "Robot is already deleted, skipping update..." << endl;
return false;
}
THROW_VR_EXCEPTION_IF(!r->hasRobotNode(node),"RobotNode with name " << r->getName() << " does not belong to robot " << r->getName());
configs[node] = value;
return true;
}
void RobotWorld::deleteRobot( RobotPtr aRobot,
bool aNotifyObservers /*= true*/)
{
auto i = std::find_if( robots.begin(), robots.end(), [aRobot](RobotPtr r)
{
return aRobot->getName() == r->getName();
});
if (i != robots.end())
{
robots.erase( i);
if (aNotifyObservers == true)
{
notifyObservers();
}
}
}
Eigen::Matrix4f LinkedCoordinate::getCoordinateTransformation(const RobotNodePtr &origin,
const RobotNodePtr &destination, const RobotPtr &robot){
if (!destination)
THROW_VR_EXCEPTION(format("Destination RobotNodePtr not assigned (LinkedCoordinate::%1%)") % BOOST_CURRENT_FUNCTION);
if (!origin)
THROW_VR_EXCEPTION(format("Origin RobotNodePtr not assigned (LinkedCoordinate::%1%)") % BOOST_CURRENT_FUNCTION);
if (!robot)
THROW_VR_EXCEPTION(format("RobotPtr not assigned (LinkedCoordinate::%1%)") % BOOST_CURRENT_FUNCTION);
if (!robot->hasRobotNode( origin) )
THROW_VR_EXCEPTION(format("Origin robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % origin->getName() % robot->getName() % BOOST_CURRENT_FUNCTION);
if (!robot->hasRobotNode( destination) )
THROW_VR_EXCEPTION(format("Destination robot node\"%1%\" not a member of robot \"%2%\" (LinkedCoordinate::%3%)") % destination->getName() % robot->getName() % BOOST_CURRENT_FUNCTION);
// std::cout << "Destination: " << destination->getName() <<std::endl << "Origin: " << origin->getName() << std::endl;
// std::cout << "Destination:\n" << destination->getGlobalPose() <<std::endl << "Origin:\n" << origin->getGlobalPose() << std::endl;
return destination->getGlobalPose().inverse() * origin->getGlobalPose();
}