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Added class member std::vector<KinBodyPtr> objKinBodyPtrs. #34

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merged 2 commits into from
May 25, 2017
Merged

Added class member std::vector<KinBodyPtr> objKinBodyPtrs. #34

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5ae7735
Added global variable std::vector<KinBodyPtr> objKinBodyPtrs
amridriss May 22, 2017
2dea007
Update WorldRpcResponder help regarding mk obj
jgvictores May 25, 2017
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17 changes: 16 additions & 1 deletion src/libraries/RlPlugins/ravebot/WorldRpcResponder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ bool WorldRpcResponder::read(ConnectionReader& connection) {
ConstString choice = in.get(0).asString();
if (in.get(0).getCode() != BOTTLE_TAG_STRING) choice="";
if (choice=="help") { ///////////////////////////////// help /////////////////////////////////
out.addString("Available commands: help, world del all, world mk box/sbox (three params for size) (three params for pos), world mk ssph (radius) (three params for pos), world mk scyl (radius height) (three params for pos), world grab (obj) (num) 0/1, world grab obj (name) 0/1, world whereis obj (name), world whereis tcp, world draw 0/1 (radius r g b).");
out.addString("Available commands: help, world del all, world mk box/sbox (three params for size) (three params for pos), world mk ssph (radius) (three params for pos), world mk scyl (radius height) (three params for pos), world mk mesh (no params yet), world mk obj (absolute path), world grab (obj) (num) 0/1, world grab obj (name) 0/1, world whereis obj (name), world whereis tcp, world draw 0/1 (radius r g b).");
out.write(*returnToSender);
return true;
} else if (choice=="world") {
Expand Down Expand Up @@ -142,7 +142,18 @@ bool WorldRpcResponder::read(ConnectionReader& connection) {
meshKinBodyPtrs.push_back(meshKinBodyPtr);
} // the environment is not locked anymore
out.addVocab(VOCAB_OK);

} else if (in.get(2).asString() == "obj") {
{ // lock the environment!
OpenRAVE::EnvironmentMutex::scoped_lock lock(pEnv->GetMutex());
KinBodyPtr objKinBodyPtr = RaveCreateKinBody(pEnv,"");
pEnv->ReadKinBodyXMLFile(objKinBodyPtr, in.get(3).asString().c_str());
pEnv->Add(objKinBodyPtr,true);
objKinBodyPtrs.push_back(objKinBodyPtr);
} // the environment is not locked anymore
out.addVocab(VOCAB_OK);
} else out.addVocab(VOCAB_FAILED);

} else if ((in.get(1).asString()=="del")&&(in.get(2).asString()=="all")) {
for (unsigned int i=0;i<boxKinBodyPtrs.size();i++) {
pEnv->Remove(boxKinBodyPtrs[i]);
Expand All @@ -164,6 +175,10 @@ bool WorldRpcResponder::read(ConnectionReader& connection) {
pEnv->Remove(meshKinBodyPtrs[i]);
}
meshKinBodyPtrs.clear();
for (unsigned int i=0;i<objKinBodyPtrs.size();i++) {
pEnv->Remove(objKinBodyPtrs[i]);
}
objKinBodyPtrs.clear();
out.addVocab(VOCAB_OK);
} else if (in.get(1).asString()=="grab") {
if(in.get(2).asString()=="box") {
Expand Down
1 change: 1 addition & 0 deletions src/libraries/RlPlugins/ravebot/WorldRpcResponder.h
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Expand Up @@ -36,6 +36,7 @@ class WorldRpcResponder : public PortReader {
std::vector<KinBodyPtr> sphKinBodyPtrs;
std::vector<KinBodyPtr> ssphKinBodyPtrs;
std::vector<KinBodyPtr> meshKinBodyPtrs;
std::vector<KinBodyPtr> objKinBodyPtrs;

EnvironmentBasePtr pEnv; // set in setEnvironment
RobotBasePtr pRobot; // set in setRobot
Expand Down