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// |
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// Copyright (c) CNRS |
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// Authors: Joseph Mirabel |
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// |
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#include "hppwidgetsplugin/joint-tree-item.hh" |
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#include <gepetto/viewer/group-node.h> |
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#include <omniORB4/CORBA.h> |
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#include <QDoubleSpinBox> |
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#include <QMenu> |
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#include <QPushButton> |
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#include <hpp/corbaserver/client.hh> |
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#include <iostream> |
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#include "gepetto/gui/mainwindow.hh" |
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#include "hppwidgetsplugin/joint-action.hh" |
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#include "hppwidgetsplugin/jointtreewidget.hh" |
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#include "hppwidgetsplugin/pathplayer.hh" |
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using CORBA::ULong; |
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namespace hpp { |
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namespace gui { |
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using CORBA::ULong; |
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const int JointTreeItem::IndexRole = Qt::UserRole + 1; |
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const int JointTreeItem::LowerBoundRole = Qt::UserRole + 2; |
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const int JointTreeItem::UpperBoundRole = Qt::UserRole + 3; |
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const int JointTreeItem::TypeRole = Qt::UserRole + 10; |
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JointTreeItem::JointTreeItem(const char *name, const ULong &idxQ, |
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const ULong &idxV, const hpp::floatSeq &q, |
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const hpp::floatSeq &b, const ULong &nbDof, |
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const NodesPtr_t &nodes) |
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: QStandardItem(QString(name)), |
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name_(name), |
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idxQ_(idxQ), |
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idxV_(idxV), |
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nq_(q.length()), |
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nv_(nbDof), |
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nodes_(nodes), |
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value_() { |
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setData((int)-1, IndexRole); |
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setData(SkipType, TypeRole); |
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for (size_t i = 0; i < nq_; ++i) { |
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QStandardItem *joint = new QStandardItem; |
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QStandardItem *upper = new QStandardItem; |
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QStandardItem *lower = new QStandardItem; |
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joint->setData(static_cast<int>(i), IndexRole); |
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QList<QStandardItem *> row; |
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row << joint << lower << upper; |
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value_.append(row); |
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appendRow(row); |
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} |
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updateConfig(q); |
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updateBounds(b); |
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} |
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JointTreeItem::~JointTreeItem() { qDeleteAll(actions_); } |
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QStandardItem *JointTreeItem::clone() const { |
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hpp::floatSeq q = hpp::floatSeq(); |
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q.length(value_.size()); |
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hpp::floatSeq b = hpp::floatSeq(); |
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b.length(2 * value_.size()); |
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for (size_t i = 0; i < q.length(); ++i) { |
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q[(ULong)i] = value_[(ULong)i][0]->data(Qt::EditRole).toFloat(); |
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b[2 * (ULong)i] = value_[(ULong)i][0]->data(LowerBoundRole).toFloat(); |
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b[2 * (ULong)i + 1] = value_[(ULong)i][0]->data(UpperBoundRole).toFloat(); |
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} |
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return new JointTreeItem(name_.c_str(), idxQ_, idxV_, q, b, nv_, nodes_); |
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} |
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hpp::floatSeq JointTreeItem::config() const { |
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hpp::floatSeq q = hpp::floatSeq(); |
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q.length(value_.size()); |
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for (size_t i = 0; i < q.length(); ++i) |
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q[(ULong)i] = value_[(ULong)i][0]->data(Qt::EditRole).toFloat(); |
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return q; |
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} |
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hpp::floatSeq JointTreeItem::bounds() const { |
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hpp::floatSeq b = hpp::floatSeq(); |
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b.length(2 * value_.size()); |
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for (int i = 0; i < value_.size(); ++i) { |
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b[2 * i] = value_[i][1]->data(Qt::EditRole).toFloat(); |
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b[2 * i + 1] = value_[i][2]->data(Qt::EditRole).toFloat(); |
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} |
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return b; |
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} |
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void JointTreeItem::updateConfig(const hpp::floatSeq &c) { |
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assert((int)c.length() == value_.size()); |
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for (int i = 0; i < value_.size(); ++i) |
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value_[i][0]->setData(c[i], Qt::EditRole); |
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} |
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void JointTreeItem::updateFromRobotConfig(const hpp::floatSeq &rc) { |
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assert(idxQ_ + value_.size() <= rc.length()); |
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for (int i = 0; i < value_.size(); ++i) |
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value_[i][0]->setData(rc[(int)idxQ_ + i], Qt::EditRole); |
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} |
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void JointTreeItem::updateBounds(const hpp::floatSeq &b) { |
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assert((int)b.length() == 2 * value_.size()); |
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for (int i = 0; i < value_.size(); ++i) { |
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QStandardItem *lower = value_[i][1]; |
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QStandardItem *upper = value_[i][2]; |
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lower->setData(BoundType, TypeRole); |
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upper->setData(BoundType, TypeRole); |
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lower->setData(b[2 * i], Qt::EditRole); |
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upper->setData(b[2 * i + 1], Qt::EditRole); |
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} |
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updateTypeRole(); |
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} |
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void JointTreeItem::updateTypeRole() { |
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// planar and freeflyer joints |
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int threshold = value_.size(); |
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if (nv_ == 1 && nq_ == 2) // SO2 |
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threshold = 0; |
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// TODO SO3 joint fall in that case too whereas threshold should be 0 for |
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// them. |
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else if (nv_ == 3 && nq_ == 4) // SO3 and SE2 |
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threshold = 2; |
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else if (nv_ == 6 && nq_ == 7) // SE3 |
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threshold = 3; |
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for (int i = 0; i < value_.size(); ++i) { |
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float lo = value_[i][1]->data(Qt::EditRole).toFloat(); |
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float up = value_[i][2]->data(Qt::EditRole).toFloat(); |
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if (i >= threshold) |
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value_[i][0]->setData(IntegratorType, TypeRole); |
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else if (lo < up) |
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value_[i][0]->setData(BoundedValueType, TypeRole); |
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else |
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value_[i][0]->setData(UnboundedValueType, TypeRole); |
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} |
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} |
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void JointTreeItem::setupActions(HppWidgetsPlugin *plugin) { |
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JointAction *a; |
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a = new JointAction(QObject::tr("Move &joint..."), name_, 0); |
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plugin->jointTreeWidget()->connect(a, SIGNAL(triggered(std::string)), |
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SLOT(openJointMoveDialog(std::string))); |
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actions_.append(a); |
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a = new JointAction(QObject::tr("Set &bounds..."), name_, 0); |
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plugin->jointTreeWidget()->connect(a, SIGNAL(triggered(std::string)), |
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SLOT(openJointBoundDialog(std::string))); |
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actions_.append(a); |
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a = new JointAction(QObject::tr("Add joint &frame"), name_, 0); |
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plugin->connect(a, SIGNAL(triggered(std::string)), |
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SLOT(addJointFrame(std::string))); |
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actions_.append(a); |
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a = new JointAction(QObject::tr("Display &roadmap"), name_, 0); |
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plugin->connect(a, SIGNAL(triggered(std::string)), |
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SLOT(displayRoadmap(std::string))); |
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actions_.append(a); |
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a = new JointAction(QObject::tr("Display &waypoints of selected path"), name_, |
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0); |
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plugin->pathPlayer()->connect(a, SIGNAL(triggered(std::string)), |
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SLOT(displayWaypointsOfPath(std::string))); |
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actions_.append(a); |
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a = new JointAction(QObject::tr("Display selected &path"), name_, 0); |
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plugin->pathPlayer()->connect(a, SIGNAL(triggered(std::string)), |
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SLOT(displayPath(std::string))); |
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actions_.append(a); |
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} |
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const QList<QAction *> &JointTreeItem::actions() const { return actions_; } |
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JointItemDelegate::JointItemDelegate(QPushButton *forceVelocity, |
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HppWidgetsPlugin *plugin, |
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gepetto::gui::MainWindow *parent) |
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: QItemDelegate(parent), |
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main_(parent), |
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plugin_(plugin), |
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forceIntegrator_(forceVelocity) {} |
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void JointItemDelegate::updateTypeRole(JointTreeItem::ItemType &type) const { |
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if (forceIntegrator_ && forceIntegrator_->isChecked() && |
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(type == JointTreeItem::UnboundedValueType || |
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type == JointTreeItem::BoundedValueType)) |
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type = JointTreeItem::IntegratorType; |
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} |
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QWidget *JointItemDelegate::createEditor( |
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QWidget *parent, const QStyleOptionViewItem & /*option*/, |
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const QModelIndex &index) const { |
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JointTreeItem::ItemType type = |
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(JointTreeItem::ItemType)index.data(JointTreeItem::TypeRole).toInt(); |
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updateTypeRole(type); |
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const QStandardItemModel *m = |
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static_cast<const QStandardItemModel *>(index.model()); |
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const JointTreeItem *ji = |
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dynamic_cast<const JointTreeItem *>(m->itemFromIndex(index)->parent()); |
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switch (type) { |
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case JointTreeItem::SkipType: |
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return 0; |
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case JointTreeItem::IntegratorType: |
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assert(ji); |
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return new IntegratorWheel( |
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Qt::Horizontal, plugin_, parent, main_, ji, |
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std::min((ULong)index.data(JointTreeItem::IndexRole).toInt(), |
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ji->numberDof() - 1)); |
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case JointTreeItem::BoundedValueType: |
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assert(ji); |
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return new SliderBoundedJoint( |
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Qt::Horizontal, plugin_, parent, main_, ji, |
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index.data(JointTreeItem::IndexRole).toInt()); |
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case JointTreeItem::UnboundedValueType: |
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case JointTreeItem::BoundType: { |
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QDoubleSpinBox *spinbox = new QDoubleSpinBox(parent); |
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spinbox->setMinimum(-DBL_MAX); |
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spinbox->setMaximum(DBL_MAX); |
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spinbox->setSingleStep(0.01); |
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spinbox->setDecimals(3); |
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return spinbox; |
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} |
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default: |
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return 0; |
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} |
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} |
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void JointItemDelegate::setEditorData(QWidget *editor, |
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const QModelIndex &index) const { |
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JointTreeItem::ItemType type = |
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(JointTreeItem::ItemType)index.data(JointTreeItem::TypeRole).toInt(); |
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updateTypeRole(type); |
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float q = index.data(Qt::EditRole).toFloat(); |
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switch (type) { |
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case JointTreeItem::SkipType: |
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return; |
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case JointTreeItem::IntegratorType: |
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return; |
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case JointTreeItem::BoundedValueType: |
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return; |
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case JointTreeItem::UnboundedValueType: |
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case JointTreeItem::BoundType: { |
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QDoubleSpinBox *spinbox = static_cast<QDoubleSpinBox *>(editor); |
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spinbox->setValue(q); |
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break; |
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} |
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default: |
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break; |
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} |
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} |
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void JointItemDelegate::setModelData(QWidget *editor, QAbstractItemModel *model, |
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const QModelIndex &index) const { |
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JointTreeItem::ItemType type = |
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(JointTreeItem::ItemType)index.data(JointTreeItem::TypeRole).toInt(); |
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updateTypeRole(type); |
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QStandardItemModel *m = static_cast<QStandardItemModel *>(model); |
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JointTreeItem *ji = |
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dynamic_cast<JointTreeItem *>(m->itemFromIndex(index)->parent()); |
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double q; |
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switch (type) { |
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case JointTreeItem::SkipType: |
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return; |
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case JointTreeItem::IntegratorType: |
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return; |
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case JointTreeItem::BoundedValueType: { |
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SliderBoundedJoint *slider = static_cast<SliderBoundedJoint *>(editor); |
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q = slider->getValue(); |
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break; |
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} |
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case JointTreeItem::UnboundedValueType: |
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case JointTreeItem::BoundType: { |
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QDoubleSpinBox *spinbox = static_cast<QDoubleSpinBox *>(editor); |
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q = spinbox->value(); |
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break; |
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} |
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default: |
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return; |
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} |
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model->setData(index, q, Qt::EditRole); |
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assert(ji); |
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ULong idxCfg = (ULong)index.data(JointTreeItem::IndexRole).toInt(); |
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switch (type) { |
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case JointTreeItem::BoundedValueType: |
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return; |
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case JointTreeItem::UnboundedValueType: |
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plugin_->currentConfig()[ji->rankInConfig() + idxCfg] = q; |
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break; |
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case JointTreeItem::BoundType: |
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plugin_->client()->robot()->setJointBounds(ji->name().c_str(), |
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ji->bounds()); |
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ji->updateTypeRole(); |
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break; |
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default: |
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break; |
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} |
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main_->requestApplyCurrentConfiguration(); |
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} |
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void JointItemDelegate::updateEditorGeometry( |
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QWidget *editor, const QStyleOptionViewItem &option, |
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const QModelIndex & /*index*/) const { |
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editor->setGeometry(option.rect); |
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} |
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IntegratorWheel::IntegratorWheel(Qt::Orientation o, HppWidgetsPlugin *plugin, |
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QWidget *parent, |
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gepetto::gui::MainWindow *main, |
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JointTreeItem const *item, int index) |
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: QSlider(o, parent), |
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rate_(100), |
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main_(main), |
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plugin_(plugin), |
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item_(item), |
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bound_(100), |
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maxVelocity_(0.1), |
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index_(index) { |
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setMinimum(-bound_); |
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setMaximum(bound_); |
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q_.length(item_->configSize()); |
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dq_.length(item_->numberDof()); |
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for (ULong i = 0; i < q_.length(); ++i) |
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|
✗ |
q_[i] = plugin_->currentConfig()[item_->rankInConfig() + i]; |
| 328 |
|
✗ |
for (ULong i = 0; i < dq_.length(); ++i) dq_[i] = 0; |
| 329 |
|
✗ |
setValue(0); |
| 330 |
|
✗ |
connect(this, SIGNAL(sliderReleased()), this, SLOT(reset())); |
| 331 |
|
✗ |
connect(this, SIGNAL(valueChanged(int)), this, SLOT(updateIntegrator(int))); |
| 332 |
|
✗ |
timerId_ = startTimer(rate_); |
| 333 |
|
|
} |
| 334 |
|
|
|
| 335 |
|
✗ |
void IntegratorWheel::timerEvent(QTimerEvent *) { |
| 336 |
|
✗ |
killTimer(timerId_); |
| 337 |
|
✗ |
if (dq_[index_] != 0) { |
| 338 |
|
✗ |
hpp::floatSeq_var q = plugin_->client()->robot()->jointIntegrate( |
| 339 |
|
✗ |
q_, item_->name().c_str(), dq_, true); |
| 340 |
|
✗ |
q_ = q.in(); |
| 341 |
|
✗ |
for (ULong i = 0; i < q_.length(); ++i) |
| 342 |
|
✗ |
plugin_->currentConfig()[item_->rankInConfig() + i] = q_[i]; |
| 343 |
|
✗ |
main_->requestApplyCurrentConfiguration(); |
| 344 |
|
|
} |
| 345 |
|
✗ |
timerId_ = startTimer(rate_); |
| 346 |
|
|
} |
| 347 |
|
|
|
| 348 |
|
✗ |
void IntegratorWheel::reset() { |
| 349 |
|
✗ |
dq_[index_] = 0; |
| 350 |
|
✗ |
setValue(0); |
| 351 |
|
|
} |
| 352 |
|
|
|
| 353 |
|
✗ |
void IntegratorWheel::updateIntegrator(int value) { |
| 354 |
|
✗ |
dq_[index_] = maxVelocity_ * (double)value / (double)bound_; |
| 355 |
|
|
} |
| 356 |
|
|
|
| 357 |
|
✗ |
SliderBoundedJoint::SliderBoundedJoint(Qt::Orientation orientation, |
| 358 |
|
|
HppWidgetsPlugin *plugin, |
| 359 |
|
|
QWidget *parent, |
| 360 |
|
|
gepetto::gui::MainWindow *main, |
| 361 |
|
✗ |
JointTreeItem const *item, int index) |
| 362 |
|
|
: QSlider(orientation, parent), |
| 363 |
|
✗ |
main_(main), |
| 364 |
|
✗ |
plugin_(plugin), |
| 365 |
|
✗ |
item_(item), |
| 366 |
|
✗ |
index_(index) { |
| 367 |
|
✗ |
value_ = item_->config()[index]; |
| 368 |
|
✗ |
hpp::floatSeq bounds = item_->bounds(); |
| 369 |
|
✗ |
m_ = bounds[2 * index]; |
| 370 |
|
✗ |
M_ = bounds[2 * index + 1]; |
| 371 |
|
|
|
| 372 |
|
✗ |
setMinimum(0); |
| 373 |
|
✗ |
setMaximum(100); |
| 374 |
|
✗ |
setValue((int)(100 * (value_ - m_) / (M_ - m_))); |
| 375 |
|
✗ |
connect(this, SIGNAL(valueChanged(int)), this, SLOT(updateConfig(int))); |
| 376 |
|
|
} |
| 377 |
|
|
|
| 378 |
|
✗ |
double SliderBoundedJoint::getValue() { return value_; } |
| 379 |
|
|
|
| 380 |
|
✗ |
void SliderBoundedJoint::updateConfig(int value) { |
| 381 |
|
✗ |
value_ = m_ + (double)(value - 0) * (M_ - m_) / (double)100; |
| 382 |
|
✗ |
plugin_->currentConfig()[item_->rankInConfig() + index_] = value_; |
| 383 |
|
✗ |
main_->requestApplyCurrentConfiguration(); |
| 384 |
|
|
} |
| 385 |
|
|
} // namespace gui |
| 386 |
|
|
} // namespace hpp |
| 387 |
|
|
|