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// |
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// Copyright (c) CNRS |
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// Authors: Heidy Dallard |
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// |
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#include "hppwidgetsplugin/constraintwidget.hh" |
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#include <omniORB4/CORBA.h> |
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#include <QDockWidget> |
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#include <QMessageBox> |
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#include "gepetto/gui/mainwindow.hh" |
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#include "hppwidgetsplugin/hppwidgetsplugin.hh" |
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#include "hppwidgetsplugin/numericalconstraintpicker.hh" |
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#include "hppwidgetsplugin/transformconstraintwidget.hh" |
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#include "hppwidgetsplugin/ui_constraintwidget.h" |
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using gepetto::gui::MainWindow; |
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namespace hpp { |
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namespace gui { |
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ConstraintWidget::ConstraintWidget(HppWidgetsPlugin* plugin, QWidget* parent) |
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: QWidget(parent), ui(new Ui::ConstraintWidget) { |
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haveWidget = false; |
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ui->setupUi(this); |
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plugin_ = plugin; |
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connect(ui->createButton, SIGNAL(clicked()), SLOT(createConstraint())); |
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connect(ui->resetButton, SIGNAL(clicked()), SLOT(reset())); |
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connect(ui->confirmButton, SIGNAL(clicked()), SLOT(confirmNumerical())); |
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connect(ui->applyButton, SIGNAL(clicked()), SLOT(applyConstraints())); |
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connect(ui->constraintTypeSelect, SIGNAL(currentIndexChanged(int)), |
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SLOT(typeChanged(int))); |
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lastInsert_ = 0; |
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ui->constraintNameEdit->setText("constraint_0"); |
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MainWindow* main = MainWindow::instance(); |
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connect(main, SIGNAL(refresh()), SLOT(refresh())); |
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main->registerSlot("addConstraint", this); |
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} |
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ConstraintWidget::~ConstraintWidget() { |
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funcs_.clear(); |
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delete ui; |
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} |
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void ConstraintWidget::addConstraint(IConstraint* constraint) { |
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funcs_.push_back(constraint); |
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ui->constraintTypeSelect->addItem(constraint->getName()); |
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connect(constraint, SIGNAL(constraintCreated(QString)), |
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SLOT(onConstraintCreated(QString))); |
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connect(constraint, SIGNAL(finished()), SLOT(onFinished())); |
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} |
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void ConstraintWidget::reset() { |
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plugin_->client()->problem()->resetConstraints(); |
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} |
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void ConstraintWidget::applyConstraints() { |
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hpp::floatSeq_var config = plugin_->client()->robot()->getCurrentConfig(); |
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hpp::floatSeq_var newConfig = NULL; |
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double residual; |
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if (plugin_->client()->problem()->applyConstraints( |
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config.in(), newConfig.out(), residual) == false) { |
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gepetto::gui::MainWindow::instance()->logError( |
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"Could not apply constraints to current configuration"); |
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} else { |
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plugin_->client()->robot()->setCurrentConfig(newConfig.in()); |
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gepetto::gui::MainWindow::instance()->requestApplyCurrentConfiguration(); |
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} |
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} |
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void ConstraintWidget::confirmNumerical() { |
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NumericalConstraintPicker* ncp = new NumericalConstraintPicker(plugin_); |
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ncp->show(); |
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} |
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void ConstraintWidget::reload() { |
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for (std::vector<IConstraint*>::iterator it = funcs_.begin(); |
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it != funcs_.end(); ++it) { |
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try { |
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(*it)->reload(); |
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} catch (hpp::Error& e) { |
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gepetto::gui::MainWindow::instance()->logError(QString(e.msg)); |
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} |
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} |
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} |
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void ConstraintWidget::refresh() { |
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ui->nameList->clear(); |
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hpp::Names_t_var nc = |
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plugin_->client()->problem()->getAvailable("NumericalConstraint"); |
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for (unsigned i = 0; i < nc->length(); i++) { |
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ui->nameList->addItem(nc[i].in()); |
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} |
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} |
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void ConstraintWidget::createConstraint() { |
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QString name = ui->constraintNameEdit->text(); |
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if (name == "") { |
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QMessageBox::information( |
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this, "hpp-gui", |
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"You have to give a name and select at least one joint"); |
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return; |
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} |
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if (ui->constraintTypeSelect->currentIndex() < int(funcs_.size())) { |
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(*(this->funcs_[ui->constraintTypeSelect->currentIndex()]))(name); |
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} |
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} |
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void ConstraintWidget::onConstraintCreated(QString name) { |
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ui->nameList->addItem(name); |
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} |
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void ConstraintWidget::onFinished() { |
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lastInsert_++; |
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ui->constraintNameEdit->setText("constraint_" + QString::number(lastInsert_)); |
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} |
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void ConstraintWidget::typeChanged(int index) { |
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QBoxLayout* layoutVar = dynamic_cast<QBoxLayout*>(layout()); |
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if (index < int(funcs_.size())) { |
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if (haveWidget) { |
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layout()->takeAt(2)->widget()->hide(); |
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} |
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QWidget* toAdd = funcs_[index]->getWidget(); |
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toAdd->show(); |
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layoutVar->insertWidget(2, toAdd); |
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haveWidget = true; |
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} |
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} |
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} // namespace gui |
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} // namespace hpp |
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