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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 "listjointconstraint.hh" |
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#include <QLabel> |
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#include <QListWidget> |
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#include <QVBoxLayout> |
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#include <QWidget> |
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namespace hpp { |
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namespace gui { |
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ListJointConstraint::ListJointConstraint(HppWidgetsPlugin* plugin) { |
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plugin_ = plugin; |
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widget_ = new QWidget; |
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QVBoxLayout* layout = new QVBoxLayout(widget_); |
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jointList_ = new QListWidget(widget_); |
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layout->addWidget(jointList_); |
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jointList_->setSelectionMode(QAbstractItemView::ExtendedSelection); |
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} |
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ListJointConstraint::~ListJointConstraint() { delete widget_; } |
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QWidget* ListJointConstraint::getWidget() const { return widget_; } |
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void ListJointConstraint::reload() { |
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hpp::Names_t_var joints = plugin_->client()->robot()->getAllJointNames(); |
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jointList_->clear(); |
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for (unsigned i = 0; i < joints->length(); i++) { |
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jointList_->addItem(joints[i].in()); |
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} |
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} |
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LockedJointConstraint::LockedJointConstraint(HppWidgetsPlugin* plugin) |
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: ListJointConstraint(plugin) { |
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widget_->layout()->addWidget(new QLabel( |
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"The joints will be locked in their current position.", widget_)); |
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} |
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LockedJointConstraint::~LockedJointConstraint() {} |
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QString LockedJointConstraint::getName() const { return "Lock joints"; } |
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void LockedJointConstraint::operator()(QString const&) { |
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QList<QListWidgetItem*> selected = jointList_->selectedItems(); |
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foreach (QListWidgetItem* item, selected) { |
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std::string jointName = item->text().toStdString(); |
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std::string lockName = "lock_" + jointName; |
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hpp::floatSeq_var config = |
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plugin_->client()->robot()->getJointConfig(jointName.c_str()); |
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plugin_->client()->problem()->createLockedJoint( |
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lockName.c_str(), jointName.c_str(), config.in()); |
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emit constraintCreated(lockName.c_str()); |
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} |
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} |
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} // namespace gui |
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} // namespace hpp |
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