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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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#ifndef HPP_GUI_JOINTTREEITEM_HH |
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#define HPP_GUI_JOINTTREEITEM_HH |
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#include <QItemDelegate> |
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#include <QSlider> |
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#include <QStandardItem> |
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// #include <hpp/corbaserver/robot.hh> |
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#include <gepetto/viewer/node.h> |
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#include <gepetto/gui/fwd.hh> |
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#include "hppwidgetsplugin/hppwidgetsplugin.hh" |
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class QDoubleSpinBox; |
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class QMenu; |
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class QPushButton; |
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namespace hpp { |
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namespace gui { |
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class JointTreeItem : public QStandardItem { |
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public: |
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typedef CORBA::ULong ULong; |
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typedef gepetto::viewer::NodePtr_t NodePtr_t; |
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typedef std::vector<NodePtr_t> NodesPtr_t; |
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static const int IndexRole; |
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static const int LowerBoundRole; |
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static const int UpperBoundRole; |
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static const int TypeRole; |
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enum ItemType { |
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SkipType = 0, |
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IntegratorType, |
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UnboundedValueType, |
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BoundedValueType, |
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BoundType |
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}; |
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JointTreeItem(const char* name, const ULong& idxQ, const ULong& idxV, |
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const hpp::floatSeq& q, const hpp::floatSeq& b, |
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const ULong& nbDof, const NodesPtr_t& node); |
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~JointTreeItem(); |
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virtual QStandardItem* clone() const; |
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virtual int type() { return QStandardItem::UserType + 3; } |
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const std::string& name() const { return name_; } |
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hpp::floatSeq config() const; |
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hpp::floatSeq bounds() const; |
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ULong rankInConfig() const { return idxQ_; } |
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ULong rankInVelocity() const { return idxV_; } |
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ULong configSize() const { return nq_; } |
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ULong numberDof() const { return nv_; } |
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void updateBounds(const hpp::floatSeq& b); |
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void updateConfig(const hpp::floatSeq& c); |
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void updateFromRobotConfig(const hpp::floatSeq& c); |
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void updateTypeRole(); |
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void setupActions(HppWidgetsPlugin* plugin); |
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const QList<QAction*>& actions() const; |
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private: |
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typedef QList<QStandardItem*> StandardItemList; |
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std::string name_; |
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ULong idxQ_, idxV_, nq_, nv_; |
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NodesPtr_t nodes_; |
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QVector<StandardItemList> value_; |
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QList<QAction*> actions_; |
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}; |
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class IntegratorWheel : public QSlider { |
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Q_OBJECT |
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public: |
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IntegratorWheel(Qt::Orientation o, HppWidgetsPlugin* plugin, QWidget* parent, |
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gepetto::gui::MainWindow* main, JointTreeItem const* item, |
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int index); |
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protected: |
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void timerEvent(QTimerEvent*); |
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protected slots: |
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void reset(); |
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void updateIntegrator(int value); |
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private: |
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int rate_; // in millisecond |
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int timerId_; |
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gepetto::gui::MainWindow* main_; |
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HppWidgetsPlugin* plugin_; |
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JointTreeItem const* item_; |
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const int bound_; |
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const double maxVelocity_; |
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hpp::floatSeq q_, dq_; |
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int index_; |
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}; |
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class SliderBoundedJoint : public QSlider { |
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Q_OBJECT |
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public: |
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SliderBoundedJoint(Qt::Orientation orientation, HppWidgetsPlugin* plugin, |
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QWidget* parent, gepetto::gui::MainWindow* main, |
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JointTreeItem const* item, int index); |
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double getValue(); |
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private slots: |
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void updateConfig(int value); |
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private: |
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gepetto::gui::MainWindow* main_; |
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HppWidgetsPlugin* plugin_; |
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JointTreeItem const* item_; |
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double value_; |
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int index_; |
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double m_, M_; |
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}; |
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class JointItemDelegate : public QItemDelegate { |
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Q_OBJECT |
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public: |
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JointItemDelegate(QPushButton* forceVelocity, HppWidgetsPlugin* plugin, |
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gepetto::gui::MainWindow* parent); |
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void updateTypeRole(JointTreeItem::ItemType& type) const; |
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QWidget* createEditor(QWidget* parent, const QStyleOptionViewItem& option, |
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const QModelIndex& index) const; |
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void setEditorData(QWidget* editor, const QModelIndex& index) const; |
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void setModelData(QWidget* editor, QAbstractItemModel* model, |
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const QModelIndex& index) const; |
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void updateEditorGeometry(QWidget* editor, const QStyleOptionViewItem& option, |
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const QModelIndex& index) const; |
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private: |
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gepetto::gui::MainWindow* main_; |
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HppWidgetsPlugin* plugin_; |
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QPushButton* forceIntegrator_; |
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}; |
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} // namespace gui |
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} // namespace hpp |
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#endif // HPP_GUI_JOINTTREEITEM_HH |
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