Clean-up to simplify API for GUI/Sensor

cmake/example/example.cpp

@@ -9,7 +9,7 @@
 #endif
 
 struct StateDesc : public robot_dart::descriptor::BaseDescriptor {
-    StateDesc(robot_dart::RobotDARTSimu* simu, size_t desc_dump = 1) : robot_dart::descriptor::BaseDescriptor(simu, desc_dump) {}
+    StateDesc(size_t desc_dump = 1) : robot_dart::descriptor::BaseDescriptor(desc_dump) {}
 
     void operator()()
     {
@@ -42,9 +42,9 @@ int main()
 
     robot_dart::RobotDARTSimu simu;
 #ifdef GRAPHIC
-    simu.set_graphics(std::make_shared<robot_dart::gui::magnum::Graphics>(&simu));
+    simu.set_graphics(std::make_shared<robot_dart::gui::magnum::Graphics>());
 #endif
-    simu.add_descriptor(std::make_shared<StateDesc>(&simu));
+    simu.add_descriptor(std::make_shared<StateDesc>());
     simu.add_robot(g_robot);
     std::cout << (g_robot->body_pose("arm_link_5") * size).transpose() << std::endl;
     simu.run(2.5);

src/examples/arm.cpp

@@ -9,7 +9,7 @@
 #endif
 
 struct StateDesc : public robot_dart::descriptor::BaseDescriptor {
-    StateDesc(robot_dart::RobotDARTSimu* simu, size_t desc_dump = 1) : robot_dart::descriptor::BaseDescriptor(simu, desc_dump) {}
+    StateDesc(size_t desc_dump = 1) : robot_dart::descriptor::BaseDescriptor(desc_dump) {}
 
     void operator()()
     {
@@ -42,9 +42,9 @@ int main()
 
     robot_dart::RobotDARTSimu simu;
 #ifdef GRAPHIC
-    simu.set_graphics(std::make_shared<robot_dart::gui::magnum::Graphics>(&simu));
+    simu.set_graphics(std::make_shared<robot_dart::gui::magnum::Graphics>());
 #endif
-    simu.add_descriptor(std::make_shared<StateDesc>(&simu));
+    simu.add_descriptor(std::make_shared<StateDesc>());
     simu.add_robot(g_robot);
     std::cout << (g_robot->body_pose("arm_link_5") * size).transpose() << std::endl;
     simu.run(2.5);

src/examples/cameras.cpp

@@ -51,7 +51,7 @@ int main()
     robot_dart::gui::magnum::GraphicsConfiguration configuration;
     configuration.width = 1024;
     configuration.height = 768;
-    auto graphics = std::make_shared<robot_dart::gui::magnum::BaseGraphics<MyApp>>(&simu, configuration);
+    auto graphics = std::make_shared<robot_dart::gui::magnum::BaseGraphics<MyApp>>(configuration);
     simu.set_graphics(graphics);
     graphics->look_at({0., 3.5, 2.}, {0., 0., 0.25});
 
@@ -61,7 +61,7 @@ int main()
     graphics->record_video("video-main.mp4", simu.graphics_freq());
 
     // Add camera
-    auto camera = std::make_shared<robot_dart::sensor::Camera>(&simu, graphics->magnum_app(), 256, 256);
+    auto camera = std::make_shared<robot_dart::sensor::Camera>(graphics->magnum_app(), 256, 256);
     camera->camera().set_far_plane(5.f);
     camera->camera().record(true, true); // cameras are recording color images by default, enable depth images as well for this example
     // cameras can also record video

src/examples/control_loop.cpp

@@ -16,7 +16,7 @@ int main()
 
     robot_dart::RobotDARTSimu simu(1e-3);
 #ifdef GRAPHIC
-    simu.set_graphics(std::make_shared<robot_dart::gui::magnum::Graphics>(&simu));
+    simu.set_graphics(std::make_shared<robot_dart::gui::magnum::Graphics>());
 #endif
 
     simu.add_robot(robot);

src/examples/dof_maps.cpp

@@ -25,7 +25,7 @@ int main()
     float dt = 0.001;
     robot_dart::RobotDARTSimu simu(dt);
 #ifdef GRAPHIC
-    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>(&simu);
+    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>();
     simu.set_graphics(graphics);
     graphics->look_at({0., 3.5, 2.}, {0., 0., 0.25});
 #endif

src/examples/hexapod.cpp

@@ -20,7 +20,7 @@ int main()
 
     robot_dart::RobotDARTSimu simu(0.001);
 #ifdef GRAPHIC
-    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>(&simu);
+    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>();
     simu.set_graphics(graphics);
     graphics->look_at({0.5, 3., 0.75}, {0.5, 0., 0.2});
 #endif

src/examples/icub.cpp

@@ -35,7 +35,7 @@ int main()
     robot_dart::RobotDARTSimu simu(0.001);
     simu.set_collision_detector("fcl");
 #ifdef GRAPHIC
-    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>(&simu);
+    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>();
     simu.set_graphics(graphics);
     graphics->look_at({0., 3.5, 2.}, {0., 0., 0.25});
     //    graphics->record_video("icub.mp4");
@@ -47,10 +47,10 @@ int main()
     robot_dart::sensor::IMUConfig imu_config;
     imu_config.body = robot->body_node("chest"); // choose which body the sensor is attached to
     imu_config.frequency = 200; // update rate of the sensor
-    auto imu_sensor = simu.add_sensor<robot_dart::sensor::IMU>(&simu, imu_config);
+    auto imu_sensor = simu.add_sensor<robot_dart::sensor::IMU>(imu_config);
 
     // Add a force/torque sensor in "r_ankle_roll" joint
-    auto ft_sensor = simu.add_sensor<robot_dart::sensor::ForceTorque>(&simu, robot, "r_ankle_roll");
+    auto ft_sensor = simu.add_sensor<robot_dart::sensor::ForceTorque>(robot, "r_ankle_roll");
 
     // Add some visualizations
     robot->set_draw_axis(imu_config.body->getName());

src/examples/iiwa.cpp

@@ -31,7 +31,7 @@ int main()
     robot_dart::RobotDARTSimu simu(0.001);
     simu.set_collision_detector("fcl");
 #ifdef GRAPHIC
-    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>(&simu);
+    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>();
     simu.set_graphics(graphics);
 
     graphics->look_at({0., 3.5, 2.}, {0., 0., 0.25});

src/examples/magnum_contexts.cpp

@@ -54,7 +54,7 @@ int main()
             robot_dart::gui::magnum::GraphicsConfiguration configuration;
             configuration.width = 1024;
             configuration.height = 768;
-            auto graphics = std::make_shared<robot_dart::gui::magnum::WindowlessGraphics>(&simu, configuration);
+            auto graphics = std::make_shared<robot_dart::gui::magnum::WindowlessGraphics>(configuration);
             simu.set_graphics(graphics);
             // Position the camera differently for each thread to visualize the difference
             graphics->look_at({0.4 * index, 3.5 - index * 0.1, 2.}, {0., 0., 0.25});

src/examples/pendulum.cpp

@@ -8,7 +8,7 @@
 #endif
 
 struct StateDesc : public robot_dart::descriptor::BaseDescriptor {
-    StateDesc(robot_dart::RobotDARTSimu* simu, size_t desc_dump = 1) : robot_dart::descriptor::BaseDescriptor(simu, desc_dump) {}
+    StateDesc(size_t desc_dump = 1) : robot_dart::descriptor::BaseDescriptor(desc_dump) {}
 
     void operator()()
     {
@@ -53,7 +53,7 @@ int main()
 
     robot_dart::RobotDARTSimu simu;
 #ifdef GRAPHIC
-    simu.set_graphics(std::make_shared<robot_dart::gui::magnum::Graphics>(&simu));
+    simu.set_graphics(std::make_shared<robot_dart::gui::magnum::Graphics>());
 #endif
     // <Type>(desc_period)
     simu.add_descriptor<StateDesc>(2);

src/examples/talos.cpp

@@ -30,7 +30,7 @@ int main()
     robot_dart::RobotDARTSimu simu(dt);
     simu.set_collision_detector("fcl");
 #ifdef GRAPHIC
-    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>(&simu);
+    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>();
     simu.set_graphics(graphics);
     graphics->look_at({0., 3.5, 2.}, {0., 0., 0.25});
     graphics->record_video("talos_dancing.mp4");

src/examples/talos_fast.cpp

@@ -35,7 +35,7 @@ int main()
     // we use dart, but only the feet are used
     simu.set_collision_detector("dart");
 #ifdef GRAPHIC
-    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>(&simu);
+    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>();
     simu.set_graphics(graphics);
     graphics->look_at({0., 3.5, 2.}, {0., 0., 0.25});
     graphics->record_video("talos.mp4");

src/examples/transparent.cpp

@@ -38,7 +38,7 @@ int main()
     // choose time step of 0.001 seconds
     robot_dart::RobotDARTSimu simu(0.001);
 #ifdef GRAPHIC
-    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>(&simu);
+    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>();
     simu.set_graphics(graphics);
     // set the camera at position (0, 3, 1) looking at the center (0, 0, 0)
     graphics->look_at({0., 3., 1.}, {0., 0., 0.});

src/examples/tutorial.cpp

@@ -35,7 +35,7 @@ int main()
     // choose time step of 0.001 seconds
     robot_dart::RobotDARTSimu simu(0.001);
 #ifdef GRAPHIC
-    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>(&simu);
+    auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>();
     simu.set_graphics(graphics);
     // set the camera at position (0, 3, 1) looking at the center (0, 0, 0)
     graphics->look_at({0., 3., 1.}, {0., 0., 0.});

src/python/example.py

@@ -23,8 +23,8 @@ def clone(self):
         return MyController(self._ctrl, self._controllable_dofs)
 
 class MyDesc(rd.Descriptor):
-    def __init__(self, simu, desc):
-        rd.Descriptor.__init__(self, simu, desc)
+    def __init__(self, desc):
+        rd.Descriptor.__init__(self, desc)
         self._states = []
 
     def __call__(self):
@@ -45,23 +45,23 @@ def __call__(self):
 
 # Create simulator object
 simu = rd.RobotDARTSimu(0.001)
-desc = MyDesc(simu, 10)
+desc = MyDesc(10)
 simu.add_descriptor(desc)
 
 # Create graphics
-graphics = rd.gui.Graphics(simu, rd.gui.GraphicsConfiguration())
+graphics = rd.gui.Graphics()
+simu.set_graphics(graphics)
 # graphics.clear_lights()
 # mat = rd.gui.Material(magnum.Color4(0, 0, 0, 1), magnum.Color4(1, 1, 1, 1), magnum.Color4(1, 1, 1, 1), 80.)
 # graphics.add_light(rd.gui.create_point_light(magnum.Vector3(-1., 1., 2.), mat, 2., magnum.Vector3(0., 0., 1.)))
 # graphics.add_light(rd.gui.create_point_light(magnum.Vector3(1., -1., 2.), mat, 2., magnum.Vector3(0., 0., 1.)))
-simu.set_graphics(graphics)
 
 # Add robot and floor to the simulation
 simu.add_robot(robot)
 simu.add_checkerboard_floor(10., 0.1, 1., np.zeros((6,1)), "floor")
 
 # Add a camera sensor to the end-effector of the manipulator
-camera = rd.sensor.Camera(simu, graphics.magnum_app(), 256, 256)
+camera = rd.sensor.Camera(graphics.magnum_app(), 256, 256)
 rot = dartpy.math.AngleAxis(3.14, [1., 0., 0.]).to_rotation_matrix()
 rot = rot.dot(dartpy.math.AngleAxis(1.57, [0., 0., 1.]).to_rotation_matrix())
 camera.attach_to_body(robot.body_node("arm_link_5"), dartpy.math.Isometry3(rotation=rot, translation=[0., 0., 0.1]))

src/python/example_parallel.py

@@ -26,10 +26,11 @@ def test():
     simu = rd.RobotDARTSimu(0.001)
 
     # set the graphics
-    graphics = rd.gui.WindowlessGraphics(simu, rd.gui.GraphicsConfiguration())
-    graphics.look_at([0.4 * ii, 3.5 - ii * 0.1, 2.], [0., 0., 0.25], [0., 0., 1.])
+    graphics = rd.gui.WindowlessGraphics()
     simu.set_graphics(graphics)
 
+    graphics.look_at([0.4 * ii, 3.5 - ii * 0.1, 2.], [0., 0., 0.25], [0., 0., 1.])
+
     # add the robot and the floor
     simu.add_robot(grobot)
     simu.add_checkerboard_floor(10., 0.1, 1., np.zeros((6,1)), "floor")

src/python/gui.cpp

@@ -115,13 +115,17 @@ namespace robot_dart {
             using namespace robot_dart::gui::magnum;
             // Graphics class
             py::class_<Graphics, BaseWindowedGraphics, std::shared_ptr<Graphics>>(sm, "Graphics")
-                .def(py::init<RobotDARTSimu*, const GraphicsConfiguration&>())
+                .def(py::init<const GraphicsConfiguration&>(),
+                    py::arg("configuration") = GraphicsConfiguration())
 
                 .def("done", &Graphics::done)
                 .def("refresh", &Graphics::refresh)
                 .def("set_render_period", &Graphics::set_render_period)
                 .def("set_enable", &Graphics::set_enable)
 
+                .def("set_simu", &Graphics::set_simu)
+                .def("simu", &Graphics::simu, py::return_value_policy::reference)
+
                 .def("look_at", &Graphics::look_at,
                     py::arg("camera_pos"),
                     py::arg("look_at") = Eigen::Vector3d(0, 0, 0),
@@ -157,7 +161,8 @@ namespace robot_dart {
 
             // WindowlessGraphics class
             py::class_<WindowlessGraphics, BaseWindowlessGraphics, std::shared_ptr<WindowlessGraphics>>(sm, "WindowlessGraphics")
-                .def(py::init<RobotDARTSimu*, const GraphicsConfiguration&>())
+                .def(py::init<const GraphicsConfiguration&>(),
+                    py::arg("configuration") = GraphicsConfiguration())
 
                 .def("done", &WindowlessGraphics::done)
                 .def("refresh", &WindowlessGraphics::refresh)
@@ -214,8 +219,7 @@ namespace robot_dart {
 
             // Camera sensor class
             py::class_<gui::magnum::sensor::Camera, robot_dart::sensor::Sensor, std::shared_ptr<gui::magnum::sensor::Camera>>(sensormodule, "Camera")
-                .def(py::init<RobotDARTSimu*, gui::magnum::BaseApplication*, size_t, size_t, size_t, bool>(),
-                    py::arg("simu"),
+                .def(py::init<gui::magnum::BaseApplication*, size_t, size_t, size_t, bool>(),
                     py::arg("app"),
                     py::arg("width"),
                     py::arg("height"),

src/python/sensor.cpp

@@ -102,8 +102,7 @@ namespace robot_dart {
             };
 
             py::class_<Sensor, PySensor, std::shared_ptr<Sensor>>(sensormodule, "Sensor")
-                .def(py::init<RobotDARTSimu*, size_t>(),
-                    py::arg("simu"),
+                .def(py::init<size_t>(),
                     py::arg("freq") = 40)
 
                 .def_readwrite("_active", &PublicistSensor::_active)
@@ -122,6 +121,9 @@ namespace robot_dart {
                     py::arg("enable") = true)
                 .def("active", &Sensor::active)
 
+                .def("set_simu", &Sensor::set_simu)
+                .def("simu", &Sensor::simu, py::return_value_policy::reference)
+
                 .def("frequency", &Sensor::frequency)
                 .def("set_frequency", &Sensor::set_frequency,
                     py::arg("freq"))
@@ -166,13 +168,11 @@ namespace robot_dart {
             };
 
             py::class_<sensor::ForceTorque, Sensor, std::shared_ptr<sensor::ForceTorque>>(sensormodule, "ForceTorque")
-                .def(py::init<RobotDARTSimu*, dart::dynamics::Joint*, size_t, const std::string&>(),
-                    py::arg("simu"),
+                .def(py::init<dart::dynamics::Joint*, size_t, const std::string&>(),
                     py::arg("joint"),
                     py::arg("frequency") = 1000,
                     py::arg("direction") = "child_to_parent")
-                .def(py::init<RobotDARTSimu*, const std::shared_ptr<Robot>&, const std::string&, size_t, const std::string&>(),
-                    py::arg("simu"),
+                .def(py::init<const std::shared_ptr<Robot>&, const std::string&, size_t, const std::string&>(),
                     py::arg("robot"),
                     py::arg("joint_name"),
                     py::arg("frequency") = 1000,
@@ -216,8 +216,7 @@ namespace robot_dart {
             };
 
             py::class_<sensor::IMU, Sensor, std::shared_ptr<sensor::IMU>>(sensormodule, "IMU")
-                .def(py::init<RobotDARTSimu*, const sensor::IMUConfig&>(),
-                    py::arg("simu"),
+                .def(py::init<const sensor::IMUConfig&>(),
                     py::arg("config"))
 
                 .def_readonly("_config", &PublicistIMUSensor::_config)

src/python/simu.cpp

@@ -38,7 +38,8 @@ namespace robot_dart {
             };
 
             py::class_<Descriptor, PyDescriptor, std::shared_ptr<Descriptor>>(m, "Descriptor")
-                .def(py::init<RobotDARTSimu*, size_t>())
+                .def(py::init<size_t>(),
+                    py::arg("desc_dump") = 1)
 
                 .def_readwrite("_desc_period", &PublicistDescriptor::_desc_period)
                 .def_readonly("_simu", &PublicistDescriptor::_simu)

src/robot_dart/descriptor/base_descriptor.cpp

@@ -4,7 +4,7 @@
 
 namespace robot_dart {
     namespace descriptor {
-        BaseDescriptor::BaseDescriptor(RobotDARTSimu* simu, size_t desc_dump) : _simu(simu), _desc_period(desc_dump) {}
+        BaseDescriptor::BaseDescriptor(size_t desc_dump) : _desc_period(desc_dump) {}
 
         size_t BaseDescriptor::desc_dump() const
         {

src/robot_dart/descriptor/base_descriptor.hpp

@@ -11,14 +11,15 @@ namespace robot_dart {
 
         struct BaseDescriptor {
         public:
-            BaseDescriptor(RobotDARTSimu* simu, size_t desc_dump = 1);
+            BaseDescriptor(size_t desc_dump = 1);
             virtual ~BaseDescriptor() {}
 
             virtual void operator()() = 0;
 
             size_t desc_dump() const;
             void set_desc_dump(size_t desc_dump);
 
+            void set_simu(RobotDARTSimu* simu) { _simu = simu; }
             const RobotDARTSimu* simu() const { return _simu; }
 
         protected:

src/robot_dart/gui/base.hpp

@@ -11,10 +11,11 @@ namespace robot_dart {
         public:
             Base() {}
 
-            Base(RobotDARTSimu*) {}
-
             virtual ~Base() {}
 
+            virtual void set_simu(RobotDARTSimu* simu) { _simu = simu; }
+            const RobotDARTSimu* simu() const { return _simu; }
+
             virtual bool done() const { return false; }
 
             virtual void refresh() {}
@@ -30,6 +31,9 @@ namespace robot_dart {
 
             virtual size_t width() const { return 0; }
             virtual size_t height() const { return 0; }
+
+        protected:
+            RobotDARTSimu* _simu = nullptr;
         };
     } // namespace gui
 } // namespace robot_dart