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#RobotSceneGraph: The Java part

What is it?

This project represents the Java part of the wrapper. It is a set of of Java classes for basic querying and modification of the RSG. Currently it wraps the "High-level API" which essentially reduces the usage of the world model to so called SceneObjects. Calls to a particular Java instances are forwarded to the corresponding C++ instances via the RsgJNI native interface.

Installation

The RobotSceneGraph project has been created with the Eclipse based Android SDK (ADT Plugin). It has to be imported as an existing project. It will create a jar file called robotscenegraph.jar.

Usage within Android applications

Create a new Android project and import the C++ and Java libraries as follows:

  1. Under libs create a new folder called armeabi.

  2. Copy the brics_3d-jni.so to this folder.

  3. Copy robotscenegraph.jar to the libs follder as well.

    rsg_copied_libs.png

  4. Reference to the libray in the project settings: Properties -> Java Build Path -> Librariay -> Add JARS...

    rsg_add_jar.png

  5. Use the RSG by importing the library in the source code:

	import be.kuleuven.mech.rsg.*;
	import be.kuleuven.mech.rsg.jni.RsgJNI;

Usage within Java applications

Create a new Java project and import the C++ and Java libraries as follows:

  1. Reference to the libray robotscenegraph.jar in the project settings: Properties -> Java Build Path -> Librariay -> Add JARS... Note: for a Java project it is not necessary to copy the the libraries to the new project. rsg_add_jar.png

  2. Reference to the native library by attaching it to the in the project settings: Properties -> Java Build Path -> robotscenegraph.jar -> Native library

    rsg_add_native_lib.png

  3. Use the RSG by importing the library in the source code:

	import be.kuleuven.mech.rsg.*;
	import be.kuleuven.mech.rsg.jni.RsgJNI;
  1. Disable the the Android logger by using:
	Logger.setUseAndroidLogger(false);

Example snippet

	/* Initialize RSG */
	Rsg.initializeWorldModel(); // always start with that one.
	
	/* Create a new "SceneObejct"  */	
	SceneObject obstacle = new SceneObject();
	
	Sphere obstacleShape = new Sphere(0.35); //[m] 
	obstacle.addSphere(obstacleShape);	
	
	obstaclePose = new HomogeneousMatrix44(
		1, 0, 0, // rotation  
		0, 1, 0, 
		0, 0, 1,
		2.1, 1.5, 0); // translation	
	obstacle.addTransform(obstaclePose);
	
	ArrayList<Attribute> attributes = new ArrayList<Attribute>();
	attributes.add(new Attribute("name", "obstacle"));
	obstacle.addAttributes(attributes);

	/* Add SceneObject to RSG */
	Id obstacleId = Rsg.addSceneObject(obstacle);

Further examples can be found in the examples section.