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Fix WorldInteractiveMarkerViewer bug when removing Skeletons #252

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merged 6 commits into from
Nov 19, 2017
Merged

Fix WorldInteractiveMarkerViewer bug when removing Skeletons #252

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19090d1
Fix bug from removing Skeletons, then adding new Skeletons with the same
brianhou Oct 30, 2017
8feaad7
Merge branch 'master' into bugfix/brianhou/worldviewer-removeskeleton
jslee02 Nov 3, 2017
f081e7a
Rename getSkeleton(skeleton) to hasSkeleton(skeleton)
jslee02 Nov 17, 2017
e4cfd04
Update changelog
jslee02 Nov 17, 2017
ad067b2
Use hasSkeleton() instead of getSkeleton()
jslee02 Nov 17, 2017
94922a5
Merge branch 'master' into bugfix/brianhou/worldviewer-removeskeleton
jslee02 Nov 19, 2017
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2 changes: 1 addition & 1 deletion CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@

* Planner

* Added World class: [#243](https://github.com/personalrobotics/aikido/pull/243)
* Added World class: [#243](https://github.com/personalrobotics/aikido/pull/243), [#252](https://github.com/personalrobotics/aikido/pull/252)
* Added vector field planner [#246](https://github.com/personalrobotics/aikido/pull/246)

* RViz
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5 changes: 5 additions & 0 deletions include/aikido/planner/World.hpp
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Expand Up @@ -39,6 +39,11 @@ class World
/// \param name Name of desired Skeleton
dart::dynamics::SkeletonPtr getSkeleton(const std::string& name) const;

/// Returns true if the Skeleton is in this World.
/// \param skel Desired Skeleton
/// \return True if succeeded to find the Skeleton
bool hasSkeleton(const dart::dynamics::SkeletonPtr& skel) const;

/// Get the number of Skeletons
std::size_t getNumSkeletons() const;

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4 changes: 2 additions & 2 deletions include/aikido/rviz/WorldInteractiveMarkerViewer.hpp
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Expand Up @@ -38,8 +38,8 @@ class WorldInteractiveMarkerViewer : public InteractiveMarkerViewer
/// Thread target for auto-updating the viewer
void autoUpdate();

/// Mapping of Skeleton names to SkeletonMarkers
std::map<std::string, SkeletonMarkerPtr> mSkeletonMarkers;
/// Mapping of Skeletons to SkeletonMarkers
std::map<dart::dynamics::SkeletonPtr, SkeletonMarkerPtr> mSkeletonMarkers;
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Although this is a stopgap solution (over using callbacks), we might want to use std::weak_pointer<...> here because this class doesn't need to have the ownership as it just uses the skeletons only when they still exist in mWorld.


/// World that automatically updates the viewer
aikido::planner::WorldPtr mWorld;
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7 changes: 7 additions & 0 deletions src/planner/World.cpp
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Expand Up @@ -76,6 +76,13 @@ dart::dynamics::SkeletonPtr World::getSkeleton(const std::string& name) const
return mSkeletonNameManager.getObject(name);
}

//==============================================================================
bool World::hasSkeleton(const dart::dynamics::SkeletonPtr& skel) const
{
return std::find(mSkeletons.begin(), mSkeletons.end(), skel)
!= mSkeletons.end();
}

//==============================================================================
std::size_t World::getNumSkeletons() const
{
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4 changes: 2 additions & 2 deletions src/rviz/WorldInteractiveMarkerViewer.cpp
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Expand Up @@ -63,7 +63,7 @@ void WorldInteractiveMarkerViewer::update()
{
// Either a new SkeletonMarker or a previously-inserted SkeletonMarker
auto result = mSkeletonMarkers.emplace(
skeleton->getName(), CreateSkeletonMarker(skeleton, mFrameId));
skeleton, CreateSkeletonMarker(skeleton, mFrameId));

std::unique_lock<std::mutex> lock(skeleton->getMutex(), std::try_to_lock);
if (lock.owns_lock())
Expand All @@ -76,7 +76,7 @@ void WorldInteractiveMarkerViewer::update()
while (it != std::end(mSkeletonMarkers))
{
// Skeleton still exists in the World, do nothing.
if (mWorld->getSkeleton(it->first))
if (mWorld->hasSkeleton(it->first))
{
++it;
}
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