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// |
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// Copyright (c) CNRS |
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// Authors: Joseph Mirabel and Heidy Dallard |
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// |
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#include "hppwidgetsplugin/jointtreewidget.hh" |
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#include <gepetto/viewer/group-node.h> |
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#include <omniORB4/CORBA.h> |
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#include <QMenu> |
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#include <gepetto/gui/action-search-bar.hh> |
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#include <gepetto/gui/bodytreewidget.hh> |
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#include <gepetto/gui/mainwindow.hh> |
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#include <gepetto/gui/windows-manager.hh> |
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#include "hppwidgetsplugin/ui_jointtreewidget.h" |
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#if GEPETTO_GUI_HAS_PYTHONQT |
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#include <gepetto/gui/pythonwidget.hh> |
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#endif |
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#include "hppwidgetsplugin/joint-action.hh" |
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#include "hppwidgetsplugin/joint-tree-item.hh" |
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#include "hppwidgetsplugin/jointbounddialog.hh" |
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#include "hppwidgetsplugin/transformwidget.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 gepetto::gui::ActionSearchBar; |
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using gepetto::gui::MainWindow; |
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JointTreeWidget::JointTreeWidget(HppWidgetsPlugin* plugin, QWidget* parent) |
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: QWidget(parent), |
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plugin_(plugin), |
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ui_(new ::Ui::JointTreeWidget), |
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model_(new QStandardItemModel), |
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dock_(NULL) { |
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ui_->setupUi(this); |
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ui_->jointTree->setModel(model_); |
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ui_->jointTree->setItemDelegate( |
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new JointItemDelegate(ui_->button_forceVelocity, plugin_, |
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gepetto::gui::MainWindow::instance())); |
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reset(); |
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initSearchActions(); |
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connect(ui_->jointTree, SIGNAL(customContextMenuRequested(QPoint)), |
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SLOT(customContextMenu(QPoint))); |
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connect(ui_->jointTree, SIGNAL(expanded(QModelIndex)), |
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SLOT(resize(QModelIndex))); |
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connect(ui_->jointTree->selectionModel(), |
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SIGNAL(currentChanged(QModelIndex, QModelIndex)), |
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SLOT(currentJointChanged(QModelIndex, QModelIndex))); |
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} |
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JointTreeWidget::~JointTreeWidget() { delete ui_; } |
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void JointTreeWidget::initSearchActions() { |
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ActionSearchBar* asb = MainWindow::instance()->actionSearchBar(); |
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JointAction* a; |
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a = new JointAction(tr("Move &joint..."), this, this); |
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connect(a, SIGNAL(triggered(std::string)), |
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SLOT(openJointMoveDialog(std::string))); |
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asb->addAction(a); |
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a = new JointAction(tr("Set &bounds..."), this, this); |
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connect(a, SIGNAL(triggered(std::string)), |
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SLOT(openJointBoundDialog(std::string))); |
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asb->addAction(a); |
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} |
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void JointTreeWidget::dockWidget(QDockWidget* dock) { dock_ = dock; } |
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std::string JointTreeWidget::selectedJoint() const { |
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QItemSelectionModel* sm = ui_->jointTree->selectionModel(); |
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JointTreeItem* item = NULL; |
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if (sm->currentIndex().isValid()) { |
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item = |
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dynamic_cast<JointTreeItem*>(model_->itemFromIndex(sm->currentIndex())); |
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if (item != NULL) return item->name(); |
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} |
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return std::string(); |
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} |
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QString JointTreeWidget::getSelectedJoint() const { |
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return QString::fromStdString(selectedJoint()); |
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} |
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void JointTreeWidget::customContextMenu(const QPoint& pos) { |
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QModelIndex index = ui_->jointTree->indexAt(pos); |
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if (index.isValid()) { |
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QMenu contextMenu(tr("Node"), this); |
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JointTreeItem* item = |
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dynamic_cast<JointTreeItem*>(model_->itemFromIndex(index)); |
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if (!item) return; |
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contextMenu.addActions(item->actions()); |
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MainWindow* main = MainWindow::instance(); |
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foreach ( |
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gepetto::gui::JointModifierInterface* adi, |
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main->pluginManager()->get<gepetto::gui::JointModifierInterface>()) { |
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if (!adi) continue; |
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contextMenu.addAction(adi->action(item->name())); |
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} |
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#if GEPETTO_GUI_HAS_PYTHONQT |
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QVariantList jass = main->pythonWidget()->callPluginMethod( |
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"getJointActions", QVariantList() << item->text()); |
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foreach (QVariant jas, jass) { |
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if (!jas.canConvert(QVariant::List)) { |
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qDebug() << "Could not convert to QVariantList" << jas; |
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continue; |
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} |
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foreach (QVariant ja, jas.toList()) { |
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QAction* action = qobject_cast<QAction*>(ja.value<QObject*>()); |
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if (action) |
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contextMenu.addAction(action); |
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else { |
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qDebug() << "Could not convert to QAction" << ja; |
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} |
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} |
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} |
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#endif |
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contextMenu.exec(ui_->jointTree->mapToGlobal(pos)); |
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return; |
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} |
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} |
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JointTreeItem* JointTreeWidget::buildJointTreeItem(const char* name, |
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ULong& rkConfig, |
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ULong& rkVel) { |
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gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance(); |
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HppWidgetsPlugin::JointElement& je = plugin_->jointMap()[name]; |
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JointTreeItem::NodesPtr_t nodes(je.bodyNames.size()); |
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for (std::size_t i = 0; i < je.bodyNames.size(); ++i) { |
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nodes[i] = main->osg()->getNode(je.bodyNames[i]); |
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// TODO I do not remember why this is important... |
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if (!nodes[i]) nodes[i] = main->osg()->getGroup(je.bodyNames[i]); |
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} |
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CORBA::Long nbCfg = plugin_->client()->robot()->getJointConfigSize(name); |
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CORBA::Long nbDof = plugin_->client()->robot()->getJointNumberDof(name); |
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JointTreeItem* j; |
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if (nbDof > 0) { |
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hpp::floatSeq_var c = plugin_->client()->robot()->getJointConfig(name); |
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hpp::floatSeq_var b = plugin_->client()->robot()->getJointBounds(name); |
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j = new JointTreeItem(name, rkConfig, rkVel, c.in(), b.in(), nbDof, nodes); |
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} else { |
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j = new JointTreeItem(name, rkConfig, rkVel, hpp::floatSeq(), |
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hpp::floatSeq(), nbDof, nodes); |
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} |
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je.item = j; |
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j->setupActions(plugin_); |
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rkConfig += nbCfg; |
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rkVel += nbDof; |
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return j; |
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} |
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void JointTreeWidget::selectJoint(const std::string& jointName) { |
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HppWidgetsPlugin::JointMap::const_iterator itj = |
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plugin_->jointMap().find(jointName); |
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if (itj == plugin_->jointMap().constEnd()) return; |
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const HppWidgetsPlugin::JointElement& je = itj.value(); |
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if (!je.item) return; |
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qDebug() << "Selected joint: " << QString::fromStdString(je.name); |
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ui_->jointTree->clearSelection(); |
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ui_->jointTree->setCurrentIndex(je.item->index()); |
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} |
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void JointTreeWidget::openJointBoundDialog(const std::string jointName) { |
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try { |
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hpp::floatSeq_var bounds = |
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plugin_->client()->robot()->getJointBounds(jointName.c_str()); |
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int nbCfg = |
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plugin_->client()->robot()->getJointConfigSize(jointName.c_str()); |
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if (nbCfg > 0) { |
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JointBoundDialog dialog(QString::fromStdString(jointName), nbCfg); |
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dialog.setBounds(bounds.in()); |
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if (dialog.exec() == QDialog::Accepted) { |
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dialog.getBounds(bounds.inout()); |
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plugin_->client()->robot()->setJointBounds(jointName.c_str(), |
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bounds.in()); |
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} |
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} |
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} catch (const hpp::Error& e) { |
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gepetto::gui::MainWindow::instance()->logError( |
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QString::fromLocal8Bit(e.msg)); |
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return; |
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} |
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} |
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void JointTreeWidget::moveJoint(hpp::Transform__slice* transform, |
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std::string const& jointName) { |
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plugin_->client()->robot()->setJointPositionInParentFrame(jointName.c_str(), |
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transform); |
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gepetto::gui::MainWindow::instance()->requestApplyCurrentConfiguration(); |
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} |
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void JointTreeWidget::openJointMoveDialog(const std::string jointName) { |
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try { |
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TransformWidget* d = new TransformWidget( |
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plugin_->client()->robot()->getJointPositionInParentFrame( |
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jointName.c_str()), |
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jointName, this); |
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d->show(); |
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connect(d, SIGNAL(valueChanged(hpp::Transform__slice*, std::string const&)), |
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SLOT(moveJoint(hpp::Transform__slice*, std::string const&))); |
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} catch (const hpp::Error& e) { |
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gepetto::gui::MainWindow::instance()->logError( |
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QString::fromLocal8Bit(e.msg)); |
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return; |
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} |
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} |
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void JointTreeWidget::reload() { |
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reset(); |
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plugin_->jointMap().clear(); |
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try { |
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CORBA::String_var robotName = plugin_->client()->robot()->getRobotName(); |
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plugin_->updateRobotJoints(robotName.in()); |
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hpp::Names_t_var joints = plugin_->client()->robot()->getAllJointNames(); |
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typedef std::map<std::string, JointTreeItem*> JointTreeItemMap_t; |
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JointTreeItemMap_t items; |
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ULong rkCfg = 0, rkVel = 0; |
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for (size_t i = 0; i < joints->length(); ++i) { |
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const char* jname = joints[(ULong)i]; |
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std::string bjn(joints[0]); |
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items[jname] = buildJointTreeItem(jname, rkCfg, rkVel); |
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} |
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for (JointTreeItemMap_t::const_iterator _jti = items.begin(); |
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_jti != items.end(); ++_jti) { |
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CORBA::String_var _pname = |
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plugin_->client()->robot()->getParentJointName(_jti->first.c_str()); |
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std::string pname(_pname); |
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JointTreeItemMap_t::iterator parent = items.find(pname); |
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if (parent == items.end()) |
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model_->appendRow(_jti->second); |
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else |
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parent->second->appendRow(_jti->second); |
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} |
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} catch (hpp::Error& e) { |
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gepetto::gui::MainWindow::instance()->logError(QString(e.msg)); |
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return; |
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} |
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} |
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void JointTreeWidget::reset() { |
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model_->clear(); |
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ui_->jointTree->header()->setVisible(true); |
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QStringList l; |
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l << "Joint" |
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<< "Lower bound" |
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<< "Upper bound"; |
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model_->setHorizontalHeaderLabels(l); |
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model_->setColumnCount(3); |
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ui_->jointTree->setColumnHidden(1, true); |
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ui_->jointTree->setColumnHidden(2, true); |
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} |
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void JointTreeWidget::resize(const QModelIndex index) { |
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Q_UNUSED(index); |
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ui_->jointTree->resizeColumnToContents(0); |
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} |
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void JointTreeWidget::currentJointChanged(const QModelIndex& current, |
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const QModelIndex& previous) { |
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Q_UNUSED(previous); |
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if (current.isValid()) { |
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JointTreeItem* item = |
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dynamic_cast<JointTreeItem*>(model_->itemFromIndex(current)); |
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if (item == NULL) return; |
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HppWidgetsPlugin::JointMap::const_iterator itj = |
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plugin_->jointMap().find(item->name()); |
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if (itj == plugin_->jointMap().constEnd()) return; |
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const HppWidgetsPlugin::JointElement& je = itj.value(); |
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MainWindow* main = MainWindow::instance(); |
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for (std::size_t i = 0; i < je.bodyNames.size(); ++i) { |
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main->bodyTree()->selectBodyByName(je.bodyNames[i]); |
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} |
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} |
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} |
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} // namespace gui |
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} // namespace hpp |
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