now compiles without QMat

robocomp · May 8, 2022 · 3822e0b · 3822e0b
1 parent 4790f98
commit 3822e0b
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Showing 12 changed files with 22 additions and 36 deletions.
diff --git a/api/CMakeLists.txt b/api/CMakeLists.txt
@@ -67,7 +67,6 @@ target_include_directories(dsr_api
         PUBLIC
         # Headers of DSR Core
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../core/include/>
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../qmat/include/>
         # TODO: Don't like, try to fix
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../../classes/>
         # Own include

diff --git a/api/include/dsr/api/dsr_agent_info_api.h b/api/include/dsr/api/dsr_agent_info_api.h
@@ -11,6 +11,7 @@
 #include <dsr/api/dsr_api.h>
 #include <sys/syscall.h>
 #include <sys/types.h>
+#include <QtCore>
 
 namespace DSR {
 

diff --git a/api/include/dsr/api/dsr_rt_api.h b/api/include/dsr/api/dsr_rt_api.h
@@ -3,7 +3,6 @@
 
 #include <cassert>
 #include <QObject>
-#include <qmat/QMatAll>
 #include <dsr/core/topics/IDLGraphPubSubTypes.h>
 #include <dsr/core/types/user_types.h>
 #include <dsr/core/types/type_checking/dsr_attr_name.h>

diff --git a/core/include/dsr/core/types/type_checking/dsr_attr_name.h b/core/include/dsr/core/types/type_checking/dsr_attr_name.h
@@ -20,7 +20,6 @@
 #include <dsr/core/types/crdt_types.h>
 #include <dsr/core/types/user_types.h>
 #include "type_checker.h"
-#include <qmat/QMatAll>
 
 
 // Attributes

diff --git a/gui/dsr_gui.cpp b/gui/dsr_gui.cpp
@@ -16,7 +16,6 @@
 
 #include <dsr/gui/dsr_gui.h>
 #include <cppitertools/range.hpp>
-#include <qmat/QMatAll>
 #include <QDesktopWidget>
 #include <QGLViewer/qglviewer.h>
 #include <QApplication>

diff --git a/gui/include/dsr/gui/viewers/graph_viewer/graph_edge.h b/gui/include/dsr/gui/viewers/graph_viewer/graph_edge.h
@@ -26,7 +26,6 @@
 #include <cppitertools/zip.hpp>
 #include <QLabel>
 #include <dsr/gui/dsr_gui.h>
-#include <qmat/QMatAll>
 #include <QHeaderView>
 #include <cppitertools/range.hpp>
 

diff --git a/gui/include/dsr/gui/viewers/graph_viewer/graph_edge_rt_widget.h b/gui/include/dsr/gui/viewers/graph_viewer/graph_edge_rt_widget.h
@@ -190,7 +190,6 @@ public slots:
                         const double &value_d = value * 180 / M_PI;
                         attrib_widgets[3 + pos]->setText(QString::number(value_d));
                     }
-                    std::cout<<"print values"<<rotation.value()<<translation.value()<<std::endl;
                 }
             }
         }

diff --git a/gui/include/dsr/gui/viewers/osg_3d_viewer/osg_3d_viewer.h b/gui/include/dsr/gui/viewers/osg_3d_viewer/osg_3d_viewer.h
@@ -83,7 +83,7 @@ namespace DSR
 
 
             //std::map<std::string, IMVMesh> meshMap;
-            osg::Vec3 EigenToOSGVec(const Eigen::Vector3f &vec) const ;
+            osg::Vec3 QVecToOSGVec(const Eigen::Vector3f &vec) const ;
             osg::Matrix QMatToOSGMat4(const Mat::RTMat &nodeB);
             osg::Vec4 htmlStringToOsgVec4(const std::string &color);
             osg::ref_ptr<osg::Group> createGraph();

diff --git a/gui/viewers/graph_viewer/graph_edge.cpp b/gui/viewers/graph_viewer/graph_edge.cpp
@@ -16,7 +16,6 @@
 
 #include <dsr/gui/viewers/graph_viewer/graph_edge.h>
 #include <dsr/gui/viewers/graph_viewer/graph_node.h>
-#include <qmath.h>
 #include <QPainter>
 #include <QDebug>
 #include <dsr/gui/dsr_gui.h>

diff --git a/gui/viewers/graph_viewer/graph_viewer.cpp b/gui/viewers/graph_viewer/graph_viewer.cpp
@@ -1,6 +1,5 @@
 #include <dsr/gui/dsr_gui.h>
 #include <cppitertools/range.hpp>
-#include <qmat/QMatAll>
 #include <QTableWidget>
 #include <QApplication>
 #include <dsr/gui/viewers/graph_viewer/graph_node.h>
@@ -168,10 +167,12 @@ void GraphViewer::add_or_assign_node_SLOT(uint64_t id, const std::string &type)
             posx = G->get_attrib_by_name<pos_x_att>(n.value()).value_or(10);
             posy = G->get_attrib_by_name<pos_y_att>(n.value()).value_or(10);
         }
-        catch (const std::exception &e) {
-            auto rd = QVec::uniformVector(2, -200, 200);
-            posx = rd.x();
-            posy = rd.y();
+        catch (const std::exception &e)
+        {
+            //auto rd = QVec::uniformVector(2, -200, 200);
+            auto rd = Eigen::Vector2f::Random();  // -1..1
+            posx = rd.x() * 200;
+            posy = rd.y() * 200;
         }
         // Avoid to move if it's in the same position or if the node is grabbed
         if ((posx != gnode->x() or posy != gnode->y()) and gnode != scene.mouseGrabberItem()) {

diff --git a/gui/viewers/osg_3d_viewer/osg_3d_viewer.cpp b/gui/viewers/osg_3d_viewer/osg_3d_viewer.cpp
@@ -163,19 +163,19 @@ void  OSG3dViewer::setMainCamera(osgGA::TrackballManipulator *manipulator, Camer
 	switch(pov)
 	{
         case TOP_POV:
-            mRot.makeRotate(-M_PI_2, EigenToOSGVec(Eigen::Vector3f(1,0,0)));
+            mRot.makeRotate(-M_PI_2, QVecToOSGVec(Eigen::Vector3f(1,0,0)));
             break;
         case BACK_POV:
-            mRot.makeRotate(M_PI_2,  EigenToOSGVec(Eigen::Vector3f(0,0,0)));
+            mRot.makeRotate(M_PI_2,  QVecToOSGVec(Eigen::Vector3f(0,0,0)));
             break;
         case FRONT_POV:
-            mRot.makeRotate(M_PI,    EigenToOSGVec(Eigen::Vector3f(0,1,0)));
+            mRot.makeRotate(M_PI,    QVecToOSGVec(Eigen::Vector3f(0,1,0)));
             break;
         case LEFT_POV:
-            mRot.makeRotate(M_PI_2,  EigenToOSGVec(Eigen::Vector3f(0,-1,0)));
+            mRot.makeRotate(M_PI_2,  QVecToOSGVec(Eigen::Vector3f(0,-1,0)));
             break;
         case RIGHT_POV:
-            mRot.makeRotate(M_PI_2,  EigenToOSGVec(Eigen::Vector3f(0,1,0)));
+            mRot.makeRotate(M_PI_2,  QVecToOSGVec(Eigen::Vector3f(0,1,0)));
             break;
         default:
             qFatal("InnerModelViewer: invalid POV.");
@@ -323,7 +323,8 @@ void OSG3dViewer::add_or_assign_box(const Node &node, const Node& parent)
         // Create object
         if( auto anterior = osg_map.find(std::make_tuple(node.id(), node.id())); anterior == osg_map.end())
         {
-            osg::Box *box = new osg::Box(EigenToOSGVec(Eigen::Vector3f(0,0,0)), width.value(), height.value(), depth.value());
+            osg::Box *box = new osg::Box(QVecToOSGVec(Eigen::Vector3f(0,0,0)), width.value(), height.value(), depth.value());
+
             osg::ShapeDrawable *plane_drawable = new osg::ShapeDrawable(box);
             osg::Geode *geode = new osg::Geode;
             geode->addDrawable(plane_drawable);
@@ -431,27 +432,18 @@ void  OSG3dViewer::add_or_assign_mesh(const Node &node, const Node& parent)
 //////// Auxiliary methods
 /////////////////////////////////////////////////////////////
 
-osg::Vec3 OSG3dViewer::EigenToOSGVec(const Eigen::Vector3f &vec) const
+osg::Vec3 OSG3dViewer::QVecToOSGVec(const Eigen::Vector3f &vec) const
 {
 	//return osg::Vec3(vec(0), vec(1), -vec(2));
     return osg::Vec3(vec(0), -vec(1), -vec(2));
 
 }
 
+
+
 osg::Matrix  OSG3dViewer::QMatToOSGMat4(const Mat::RTMat &nodeB)
 {
-	//QVec angles = nodeB.extractAnglesR();
-	//Mat::Rot3D angles = nodeB.rotation();
-	//QVec t = nodeB.getTr();
-	//auto t = nodeB.translation();
-	//RTMat node = RTMat(-angles(0), -angles(1), angles(2), QVec::vec3(t(0), t(1), -t(2)));
-    Mat::RTMat node(nodeB); /*node(Eigen::Translation3d(t(0), -t(1), -t(2))*
-                    Eigen::AngleAxisd(angles(0), Eigen::Vector3d::UnitX()) *
-                    Eigen::AngleAxisd(-angles(1), Eigen::Vector3d::UnitY()) *
-                    Eigen::AngleAxisd(-angles(2), Eigen::Vector3d::UnitZ()));*/
-
-    //RTMat node =RTMat(angles(0), -angles(1), -angles(2), QVec::vec3(t(0), -t(1), -t(2)));
-
+    Mat::RTMat node(nodeB);
     return osg::Matrixd( node(0,0), node(1,0), node(2,0), node(3,0),
 	                     node(0,1), node(1,1), node(2,1), node(3,1),
 	                     node(0,2), node(1,2), node(2,2), node(3,2),
@@ -472,19 +464,19 @@ osg::Vec4 OSG3dViewer::htmlStringToOsgVec4(const std::string &color)
 
 void OSG3dViewer::draw_axis()
 {
-    osg::Box *box = new osg::Box(EigenToOSGVec(Eigen::Vector3f(500,0,0)), 1000, 10, 10);
+    osg::Box *box = new osg::Box(QVecToOSGVec(Eigen::Vector3f(500,0,0)), 1000, 10, 10);
     osg::ShapeDrawable *plane_drawable = new osg::ShapeDrawable(box);
     osg::Geode *geode = new osg::Geode;
     geode->addDrawable(plane_drawable);
     plane_drawable->setColor(htmlStringToOsgVec4("#FF0000"));
     root->addChild(geode);
-    box = new osg::Box(EigenToOSGVec(Eigen::Vector3f(0,500,0)), 10, 1000, 10);
+    box = new osg::Box(QVecToOSGVec(Eigen::Vector3f(0,500,0)), 10, 1000, 10);
     plane_drawable = new osg::ShapeDrawable(box);
     geode = new osg::Geode;
     geode->addDrawable(plane_drawable);
     plane_drawable->setColor(htmlStringToOsgVec4("#00FF00"));
     root->addChild(geode);
-    box = new osg::Box(EigenToOSGVec(Eigen::Vector3f(0,0,500)), 10, 10, 1000);
+    box = new osg::Box(QVecToOSGVec(Eigen::Vector3f(0,0,500)), 10, 10, 1000);
     plane_drawable = new osg::ShapeDrawable(box);
     geode = new osg::Geode;
     geode->addDrawable(plane_drawable);

diff --git a/gui/viewers/tree_viewer/tree_viewer.cpp b/gui/viewers/tree_viewer/tree_viewer.cpp
@@ -1,6 +1,5 @@
 #include <dsr/gui/dsr_gui.h>
 #include <cppitertools/range.hpp>
-#include <qmat/QMatAll>
 #include <QTreeWidget>
 #include <dsr/gui/viewers/graph_viewer/graph_node.h>
 #include <dsr/gui/viewers/graph_viewer/graph_edge.h>