update tutorial to the new plugin mechanism

Author: Alexander Duda

scripts/vizkit.plugin.tutorial.rb

@@ -1,16 +1,15 @@
 require 'vizkit'
-require 'Qt4'
-require 'vizkittypelib'
-include Orocos
 Orocos.initialize
 
-# create an instance of the vizkit main window
-# alternatively vizkit::QVizkitWidget could also be used
-widget = Vizkit.default_loader.create_widget("vizkit::QVizkitMainWindow")
-plugin = widget.createPlugin("vizkit3d_plugin_tutorial", "SphereVisualization")
+#register plugin 
+Vizkit.default_loader.register_3d_plugin 'SphereViz',
+    'vizkit3d_plugin_tutorial', 'SphereVisualization'
+
+#create plugin
+plugin = Vizkit.default_loader.SphereViz
 
 # use a configuration method of the plugin to set the transparency of the sphere
-plugin.setTransparency(1.0)
+plugin.Transparency = 1.0
 
 # create an instance of the base type Vectro3d
 position = Types::Base::Vector3d.new
@@ -31,6 +30,4 @@
 
 # start the timer with a timeout of 10 ms
 timer.start(10)
-
-widget.show
 Vizkit.exec 

viz/CMakeLists.txt

@@ -1,5 +1,6 @@
 rock_vizkit_plugin(vizkit3d_plugin_tutorial-viz
     SphereVisualization.cpp
     DEPS vizkit3d_plugin_tutorial
+    MOC SphereVisualization.hpp
     HEADERS SphereVisualization.hpp)
 

viz/SphereVisualization.cpp

@@ -1,6 +1,5 @@
 #include "SphereVisualization.hpp"
 #include <osg/Geometry>
-#include <osg/ShapeDrawable>
 
 using namespace vizkit;
 
@@ -13,16 +12,8 @@ struct SphereVisualization::Data {
 
 
 SphereVisualization::SphereVisualization()
-    : p(new Data), transparency(1.0)
+    : transparency(1.0),p(new Data)
 {
-    /* Makes a method updatePosition availabe on ruby side, which will call
-     * the updateData method for the data type base::Vector3d.
-     * This macro is optional. */ 
-    VizPluginRubyAdapter(SphereVisualization, base::Vector3d, Position)
-
-    /* This macro makes the method 'setTransparency' with a float attribute
-     * availabe in ruby, for configuration purposes */
-    VizPluginRubyConfig(SphereVisualization, float, setTransparency)
 }
 
 SphereVisualization::~SphereVisualization()
@@ -34,7 +25,7 @@ osg::ref_ptr<osg::Node> SphereVisualization::createMainNode()
 {
     // create a sphere with radius 0.5
     osg::ref_ptr<osg::Sphere> sp = new osg::Sphere(osg::Vec3d(0,0,0), 0.5);
-    osg::ref_ptr<osg::ShapeDrawable> sd = new osg::ShapeDrawable(sp.get());
+    sd = new osg::ShapeDrawable(sp.get());
     // set a color
     sd->setColor(osg::Vec4(0.0f, 0.59f, 0.59f, transparency));
     osg::ref_ptr<osg::Geode> spGeode = new osg::Geode();
@@ -58,9 +49,17 @@ void SphereVisualization::updateDataIntern(base::Vector3d const& value)
     p->data = value;
 }
 
-void SphereVisualization::setTransparency(float f)
+void SphereVisualization::setTransparency(double f)
 {
     transparency = f;
+    if(sd.valid())
+        sd->setColor(osg::Vec4(0.0f, 0.59f, 0.59f, transparency));
+    emit propertyChanged("Transparency");
+}
+
+double SphereVisualization::getTransparency()
+{
+    return transparency;
 }
 
 //Macro that makes this plugin loadable in ruby, this is optional.

viz/SphereVisualization.hpp

@@ -2,21 +2,29 @@
 #define SphereVisualization_H
 
 #include <boost/noncopyable.hpp>
-#include <vizkit/VizPlugin.hpp>
+#include <vizkit/Vizkit3DPlugin.hpp>
 #include <osg/Geode>
 #include <osg/PositionAttitudeTransform>
+#include <osg/ShapeDrawable>
 #include <base/eigen.h>
 
 namespace vizkit
 {
     class SphereVisualization
-        : public vizkit::VizPlugin<base::Vector3d>
+        : public vizkit::Vizkit3DPlugin<base::Vector3d>
         , boost::noncopyable
     {
+    Q_OBJECT
+    Q_PROPERTY(double Transparency READ getTransparency WRITE setTransparency)
+
     public:
         SphereVisualization();
         ~SphereVisualization();
-        void setTransparency(float f);
+        void setTransparency(double f);
+        double getTransparency();
+
+        Q_INVOKABLE void updatePosition(base::Vector3d const &value)
+        {Vizkit3DPlugin<base::Vector3d>::updateData(value);}
 
     protected:
         virtual osg::ref_ptr<osg::Node> createMainNode();
@@ -25,6 +33,7 @@ namespace vizkit
 
     private:
         osg::ref_ptr<osg::PositionAttitudeTransform> spherePos;
+        osg::ref_ptr<osg::ShapeDrawable> sd;
         float transparency;
         struct Data;
         Data* p;