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Signed-off-by: Mateusz Wasilewski <[email protected]>
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| Original file line number | Diff line number | Diff line change |
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@@ -49,7 +49,6 @@ namespace Pointcloud | |
| { | ||
| } | ||
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| void PointcloudSystemComponent::Init() | ||
| { | ||
| } | ||
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129 changes: 69 additions & 60 deletions
129
Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControlConfiguration.cpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,74 +1,83 @@ | ||
| #include <AzCore/Serialization/EditContext.h> | ||
| #include <ROS2PoseControl/ROS2PoseControlConfiguration.h> | ||
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| namespace ROS2PoseControl { | ||
| AZ::Crc32 ROS2PoseControlConfiguration::isTrackingModeTF2Visibility() const { | ||
| return m_tracking_mode == TrackingMode::TF2 | ||
| ? AZ::Edit::PropertyVisibility::Show | ||
| : AZ::Edit::PropertyVisibility::Hide; | ||
| namespace ROS2PoseControl | ||
| { | ||
| AZ::Crc32 ROS2PoseControlConfiguration::isTrackingModeTF2Visibility() const | ||
| { | ||
| return m_tracking_mode == TrackingMode::TF2 ? AZ::Edit::PropertyVisibility::Show : AZ::Edit::PropertyVisibility::Hide; | ||
| } | ||
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| AZ::Crc32 ROS2PoseControlConfiguration::isTrackingModePoseMessagesVisibility() const { | ||
| return m_tracking_mode == TrackingMode::PoseMessages | ||
| ? AZ::Edit::PropertyVisibility::Show | ||
| : AZ::Edit::PropertyVisibility::Hide; | ||
| AZ::Crc32 ROS2PoseControlConfiguration::isTrackingModePoseMessagesVisibility() const | ||
| { | ||
| return m_tracking_mode == TrackingMode::PoseMessages ? AZ::Edit::PropertyVisibility::Show : AZ::Edit::PropertyVisibility::Hide; | ||
| } | ||
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| AZ::Crc32 ROS2PoseControlConfiguration::isGroudOffsetVisible() const { | ||
| return m_clampToGround ? AZ::Edit::PropertyVisibility::Show | ||
| : AZ::Edit::PropertyVisibility::Hide; | ||
| AZ::Crc32 ROS2PoseControlConfiguration::isGroudOffsetVisible() const | ||
| { | ||
| return m_clampToGround ? AZ::Edit::PropertyVisibility::Show : AZ::Edit::PropertyVisibility::Hide; | ||
| } | ||
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| void ROS2PoseControlConfiguration::Reflect(AZ::ReflectContext *context) { | ||
| if (auto serializeContext = azrtti_cast<AZ::SerializeContext *>(context)) { | ||
| void ROS2PoseControlConfiguration::Reflect(AZ::ReflectContext* context) | ||
| { | ||
| if (auto serializeContext = azrtti_cast<AZ::SerializeContext*>(context)) | ||
| { | ||
| serializeContext->Class<ROS2PoseControlConfiguration>() | ||
| ->Version(1) | ||
| ->Field("m_tracking_mode", &ROS2PoseControlConfiguration::m_tracking_mode) | ||
| ->Field("m_poseTopicConfiguration", &ROS2PoseControlConfiguration::m_poseTopicConfiguration) | ||
| ->Field("m_targetFrame", &ROS2PoseControlConfiguration::m_targetFrame) | ||
| ->Field("m_referenceFrame", &ROS2PoseControlConfiguration::m_referenceFrame) | ||
| ->Field("lockZAxis", &ROS2PoseControlConfiguration::m_lockZAxis) | ||
| ->Field("startOffsetTag", &ROS2PoseControlConfiguration::m_startOffsetTag) | ||
| ->Field("m_clampToGround", &ROS2PoseControlConfiguration::m_clampToGround) | ||
| ->Field("m_groundOffset", &ROS2PoseControlConfiguration::m_groundOffset); | ||
| ->Version(1) | ||
| ->Field("m_tracking_mode", &ROS2PoseControlConfiguration::m_tracking_mode) | ||
| ->Field("m_poseTopicConfiguration", &ROS2PoseControlConfiguration::m_poseTopicConfiguration) | ||
| ->Field("m_targetFrame", &ROS2PoseControlConfiguration::m_targetFrame) | ||
| ->Field("m_referenceFrame", &ROS2PoseControlConfiguration::m_referenceFrame) | ||
| ->Field("lockZAxis", &ROS2PoseControlConfiguration::m_lockZAxis) | ||
| ->Field("startOffsetTag", &ROS2PoseControlConfiguration::m_startOffsetTag) | ||
| ->Field("m_clampToGround", &ROS2PoseControlConfiguration::m_clampToGround) | ||
| ->Field("m_groundOffset", &ROS2PoseControlConfiguration::m_groundOffset); | ||
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| if (AZ::EditContext *ec = serializeContext->GetEditContext()) { | ||
| ec->Class<ROS2PoseControlConfiguration>("ROS2PoseControlConfiguration", | ||
| "Sub configuration for ROS2PoseControl component") | ||
| ->ClassElement(AZ::Edit::ClassElements::EditorData, "") | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::ComboBox, | ||
| &ROS2PoseControlConfiguration::m_tracking_mode, | ||
| "Tracking Mode", | ||
| "Selects tracking mode") | ||
| ->EnumAttribute(TrackingMode::PoseMessages, "Pose Messages") | ||
| ->EnumAttribute(TrackingMode::TF2, "TF2") | ||
| ->Attribute(AZ::Edit::Attributes::ChangeNotify, AZ::Edit::PropertyRefreshLevels::EntireTree) | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::Default, | ||
| &ROS2PoseControlConfiguration::m_poseTopicConfiguration, | ||
| "Topic for control message", | ||
| "Configuration for ROS2 topic to receive control messages to") | ||
| ->Attribute(AZ::Edit::Attributes::Visibility, | ||
| &ROS2PoseControlConfiguration::isTrackingModePoseMessagesVisibility) | ||
| ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2PoseControlConfiguration::m_targetFrame, | ||
| "Target Frame", "Frame to track eg. base_link") | ||
| ->Attribute(AZ::Edit::Attributes::Visibility, | ||
| &ROS2PoseControlConfiguration::isTrackingModeTF2Visibility) | ||
| ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2PoseControlConfiguration::m_referenceFrame, | ||
| "Reference Frame", "Reference frame eg. map") | ||
| ->Attribute(AZ::Edit::Attributes::Visibility, | ||
| &ROS2PoseControlConfiguration::isTrackingModeTF2Visibility) | ||
| ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2PoseControlConfiguration::m_lockZAxis, | ||
| "Lock Z Axis", "Lock Z axis") | ||
| ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2PoseControlConfiguration::m_startOffsetTag, | ||
| "Start Offset Tag", "Tag that will be used to set the start offset for the entity.") | ||
| ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2PoseControlConfiguration::m_clampToGround, | ||
| "Clamp to Ground", "Clamp to ground") | ||
| ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2PoseControlConfiguration::m_groundOffset, "Ground Offset", | ||
| "Offset from the ground") | ||
| ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2PoseControlConfiguration::isGroudOffsetVisible); | ||
| if (AZ::EditContext* ec = serializeContext->GetEditContext()) | ||
| { | ||
| ec->Class<ROS2PoseControlConfiguration>("ROS2PoseControlConfiguration", "Sub configuration for ROS2PoseControl component") | ||
| ->ClassElement(AZ::Edit::ClassElements::EditorData, "") | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::ComboBox, | ||
| &ROS2PoseControlConfiguration::m_tracking_mode, | ||
| "Tracking Mode", | ||
| "Selects tracking mode") | ||
| ->EnumAttribute(TrackingMode::PoseMessages, "Pose Messages") | ||
| ->EnumAttribute(TrackingMode::TF2, "TF2") | ||
| ->Attribute(AZ::Edit::Attributes::ChangeNotify, AZ::Edit::PropertyRefreshLevels::EntireTree) | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::Default, | ||
| &ROS2PoseControlConfiguration::m_poseTopicConfiguration, | ||
| "Topic for control message", | ||
| "Configuration for ROS2 topic to receive control messages to") | ||
| ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2PoseControlConfiguration::isTrackingModePoseMessagesVisibility) | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::Default, | ||
| &ROS2PoseControlConfiguration::m_targetFrame, | ||
| "Target Frame", | ||
| "Frame to track eg. base_link") | ||
| ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2PoseControlConfiguration::isTrackingModeTF2Visibility) | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::Default, | ||
| &ROS2PoseControlConfiguration::m_referenceFrame, | ||
| "Reference Frame", | ||
| "Reference frame eg. map") | ||
| ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2PoseControlConfiguration::isTrackingModeTF2Visibility) | ||
| ->DataElement(AZ::Edit::UIHandlers::Default, &ROS2PoseControlConfiguration::m_lockZAxis, "Lock Z Axis", "Lock Z axis") | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::Default, | ||
| &ROS2PoseControlConfiguration::m_startOffsetTag, | ||
| "Start Offset Tag", | ||
| "Tag that will be used to set the start offset for the entity.") | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::Default, &ROS2PoseControlConfiguration::m_clampToGround, "Clamp to Ground", "Clamp to ground") | ||
| ->DataElement( | ||
| AZ::Edit::UIHandlers::Default, | ||
| &ROS2PoseControlConfiguration::m_groundOffset, | ||
| "Ground Offset", | ||
| "Offset from the ground") | ||
| ->Attribute(AZ::Edit::Attributes::Visibility, &ROS2PoseControlConfiguration::isGroudOffsetVisible); | ||
| } | ||
| } | ||
| }; | ||
| } // namespace ROS2 | ||
| } // namespace ROS2PoseControl |
7 changes: 3 additions & 4 deletions
7
Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControlModule.cpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,17 +1,16 @@ | ||
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| #include "ROS2PoseControlSystemComponent.h" | ||
| #include <ROS2PoseControl/ROS2PoseControlTypeIds.h> | ||
| #include <ROS2PoseControlModuleInterface.h> | ||
| #include "ROS2PoseControlSystemComponent.h" | ||
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| namespace ROS2PoseControl | ||
| { | ||
| class ROS2PoseControlModule | ||
| : public ROS2PoseControlModuleInterface | ||
| class ROS2PoseControlModule : public ROS2PoseControlModuleInterface | ||
| { | ||
| public: | ||
| AZ_RTTI(ROS2PoseControlModule, ROS2PoseControlModuleTypeId, ROS2PoseControlModuleInterface); | ||
| AZ_CLASS_ALLOCATOR(ROS2PoseControlModule, AZ::SystemAllocator); | ||
| }; | ||
| }// namespace ROS2PoseControl | ||
| } // namespace ROS2PoseControl | ||
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| AZ_DECLARE_MODULE_CLASS(Gem_ROS2PoseControl, ROS2PoseControl::ROS2PoseControlModule) |
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