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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/transformconstraintwidget.hh" |
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#include <limits> |
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#include "hppwidgetsplugin/ui_transformconstraintwidget.h" |
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namespace hpp { |
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namespace gui { |
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TransformConstraintWidget::TransformConstraintWidget( |
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QString const& firstJoint, QString const& secondJoint, bool doPosition, |
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bool doOrientation, bool isPositionConstraint, QWidget* parent) |
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: QWidget(parent), ui(new Ui::TransformConstraintWidget) { |
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ui->setupUi(this); |
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length_ = 0; |
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if (!doPosition) { |
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ui->positionGroup->setVisible(false); |
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} else { |
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ui->xPositionWidget->setVisible(false); |
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ui->yPositionWidget->setVisible(false); |
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ui->zPositionWidget->setVisible(false); |
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length_ += 3; |
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} |
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if (!doOrientation) { |
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ui->orientationGroup->setVisible(false); |
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} else { |
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ui->xOrientationValue->setVisible(false); |
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ui->yOrientationValue->setVisible(false); |
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ui->zOrientationValue->setVisible(false); |
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length_ += 3; |
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} |
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if (!isPositionConstraint || (isPositionConstraint && doOrientation)) { |
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ui->secondXPosition->setVisible(false); |
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ui->secondYPosition->setVisible(false); |
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ui->secondZPosition->setVisible(false); |
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isPositionConstraint_ = false; |
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} else { |
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length_ += 3; |
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isPositionConstraint_ = true; |
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} |
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ui->secondJointLabel->setText((secondJoint == "") ? "Global frame" |
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: secondJoint); |
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ui->firstJointLabel->setText((firstJoint == "") ? "Global frame" |
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: firstJoint); |
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positionEnabled_ = doPosition; |
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orientationEnabled_ = doOrientation; |
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this->layout()->setSizeConstraint(QLayout::SetFixedSize); |
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connect(ui->confirmButton, SIGNAL(clicked()), SLOT(onClick())); |
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} |
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TransformConstraintWidget::~TransformConstraintWidget() { delete ui; } |
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void TransformConstraintWidget::onClick() { |
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QVector<double> vecDouble(length_, 0); |
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QVector<bool> vecBool((positionEnabled_ && orientationEnabled_) ? 6 : 3, 0); |
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int i = 0; |
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if (positionEnabled_) { |
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vecDouble[i] = ui->firstXPosition->value(); |
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vecDouble[i + 1] = ui->firstYPosition->value(); |
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vecDouble[i + 2] = ui->firstZPosition->value(); |
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vecBool[i] = ui->xPositionCheck->isChecked(); |
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vecBool[i + 1] = ui->yPositionCheck->isChecked(); |
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vecBool[i + 2] = ui->zPositionCheck->isChecked(); |
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i += 3; |
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} |
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if (orientationEnabled_) { |
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vecDouble[i] = ui->xOrientationValue->value(); |
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vecDouble[i + 1] = ui->yOrientationValue->value(); |
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vecDouble[i + 2] = ui->zOrientationValue->value(); |
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vecBool[i] = ui->xOrientationCheck->isChecked(); |
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vecBool[i + 1] = ui->yOrientationCheck->isChecked(); |
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vecBool[i + 2] = ui->zOrientationCheck->isChecked(); |
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i += 3; |
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} |
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if (isPositionConstraint_) { |
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vecDouble[i] = ui->secondXPosition->value(); |
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vecDouble[i + 1] = ui->secondYPosition->value(); |
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vecDouble[i + 2] = ui->secondZPosition->value(); |
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} |
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emit finished(std::make_pair(vecDouble, vecBool)); |
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this->deleteLater(); |
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this->close(); |
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} |
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} // namespace gui |
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} // namespace hpp |
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