removed all dependencies of OSG an Qt3D

Author: pbustos

README.md

@@ -63,7 +63,7 @@ Conceptually, the DSR represents a network of entities and relations among them.
 
 - Attributes' names must be taken from a predefined list of tokens with types, for example ('name', string)('pos_x', float). A complete lists is provided below.
 - _RT edges_ are edges of type _RT_ that code a geometric relation between two nodes. RT edges have two atributes _rotation_euler_xyz_ and _translation_ that hold    the euler angles and translation coordinates of the R|t 4x4 matrix that represents a rotation followed by a translation pose of the child with respect to the parent's reference frame. There are methods in the G-API to directly recover the Rt matrix from the edge as a RoboComp RTMat.
-- There is a singular node in G named, "root", that representes the origin of the current reference frame for the robot. This node is the root of a kinematic tree       linked by RT edges. This tree is embedded in G and represent the set of physical elements believed to exist in the world. This tree is called _innermodel_ and can be automatically drawn in 3D using OpenSceneGraph and in 2D using Qt. Both representation are included in the UI off all generated agents.
+- There is a singular node in G named, "root", that representes the origin of the current reference frame for the robot. This node is the root of a kinematic tree linked by RT edges. This tree is embedded in G and represent the set of physical elements believed to exist in the world. This tree is called _innermodel_ and can be visualized in the UI through the available Qt-based graph and 2D scene views.
 - An agent generated with _robocompdsl_ includes the object _G_ that can be accessed using its public API
 
 > This documentation describes the classes that allow the creation of agents to use this Deep State Representation.

api/CMakeLists.txt

@@ -14,25 +14,11 @@ find_package(cppitertools)
 find_package(fastdds)
 
 
-if(DEFINED GEOMETRY_API)
-    find_package(Qt6 REQUIRED COMPONENTS Widgets Core Gui 3DCore 3DRender 3DExtras 3DInput 3DAnimation)
-    set(QT_GEOM Qt6::3DCore
-            Qt6::3DRender
-            Qt6::3DAnimation
-            Qt6::3DExtras
-            Qt6::3DInput)
-    set(GEOM_API_HEADERS "include/dsr/api/dsr_geometry_queries_api.h"
-            "include/dsr/api/GeometryInfo.h")
-    set(GEOM_API_SOURCES "dsr_geometry_queries_api.cpp")
-endif(DEFINED GEOMETRY_API)
-
-
 set(headers_to_moc
         include/dsr/api/dsr_api.h
         include/dsr/api/dsr_inner_eigen_api.h
         include/dsr/api/dsr_agent_info_api.h
         include/dsr/api/dsr_signal_info.h
-        ${GEOM_API_HEADERS}
         )
 
 set(headers
@@ -54,7 +40,6 @@ target_sources(dsr_api
         dsr_utils.cpp
         dsr_signal_emitter.cpp
         GHistorySaver.cpp
-        ${GEOM_API_SOURCES}
         ${headers_to_moc}
         ${headers}
         )
@@ -65,12 +50,9 @@ target_link_libraries(dsr_api
         PRIVATE
         fastcdr
         fastdds
-        osgDB
-        OpenThreads
         Qt6::Core
         PUBLIC
         Eigen3::Eigen
-        ${QT_GEOM}
         )
 
 target_include_directories(dsr_api