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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 "twojointsconstraint.hh" |
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#include <gepetto/viewer/node.h> |
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#include <omniORB4/CORBA.h> |
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#include <QCheckBox> |
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#include <QComboBox> |
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#include <QFormLayout> |
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#include <QMessageBox> |
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#include <QString> |
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#include <QWidget> |
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#include <gepetto/gui/mainwindow.hh> |
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#include "hppwidgetsplugin/transformconstraintwidget.hh" |
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namespace hpp { |
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namespace gui { |
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ATwoJointConstraint::ATwoJointConstraint(HppWidgetsPlugin* plugin) { |
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plugin_ = plugin; |
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widget_ = new QWidget; |
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QFormLayout* layout = new QFormLayout(widget_); |
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firstJoint_ = new QComboBox(widget_); |
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secondJoint_ = new QComboBox(widget_); |
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globalFirst_ = new QCheckBox(widget_); |
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globalSecond_ = new QCheckBox(widget_); |
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layout->addRow(new QLabel("First Joint"), firstJoint_); |
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layout->addRow(NULL, globalFirst_); |
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layout->addRow(new QLabel("Second Joint"), secondJoint_); |
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layout->addRow(NULL, globalSecond_); |
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connect(firstJoint_, SIGNAL(currentIndexChanged(int)), |
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SLOT(firstJointSelect(int))); |
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connect(globalFirst_, SIGNAL(toggled(bool)), SLOT(globalSelected(bool))); |
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connect(globalFirst_, SIGNAL(toggled(bool)), firstJoint_, |
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SLOT(setDisabled(bool))); |
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connect(globalSecond_, SIGNAL(toggled(bool)), secondJoint_, |
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SLOT(setDisabled(bool))); |
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} |
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ATwoJointConstraint::~ATwoJointConstraint() { delete widget_; } |
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void ATwoJointConstraint::firstJointSelect(int index) { |
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secondJoint_->clear(); |
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for (CORBA::ULong i = 0; i < joints_->length(); i++) { |
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if (int(i) != index) secondJoint_->addItem(joints_[i].in()); |
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} |
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} |
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void ATwoJointConstraint::globalSelected(bool action) { |
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if (action) { |
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firstJointSelect(-1); |
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} else { |
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firstJointSelect(firstJoint_->currentIndex()); |
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} |
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} |
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void ATwoJointConstraint::reload() { |
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joints_ = plugin_->client()->robot()->getAllJointNames(); |
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firstJoint_->clear(); |
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for (unsigned i = 0; i < joints_->length(); ++i) { |
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firstJoint_->addItem(joints_[i].in()); |
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} |
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} |
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QWidget* ATwoJointConstraint::getWidget() const { return widget_; } |
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PositionConstraint::PositionConstraint(HppWidgetsPlugin* plugin) |
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: ATwoJointConstraint(plugin) { |
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plugin_ = plugin; |
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} |
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PositionConstraint::~PositionConstraint() {} |
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QString PositionConstraint::getName() const { return "Position"; } |
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void PositionConstraint::operator()(QString const& name) { |
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QString firstJoint = |
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(firstJoint_->isEnabled()) ? firstJoint_->currentText() : ""; |
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QString secondJoint = |
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(secondJoint_->isEnabled()) ? secondJoint_->currentText() : ""; |
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if (firstJoint == secondJoint) { |
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QMessageBox::information(NULL, "hpp-gui", |
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"You have to select two different joints"); |
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return; |
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} |
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TransformConstraintWidget* tcw = |
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new TransformConstraintWidget(firstJoint, secondJoint, true, false, true); |
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connect( |
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tcw, SIGNAL(finished(std::pair<QVector<double>, QVector<bool> >)), |
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SLOT(getPositionConstraint(std::pair<QVector<double>, QVector<bool> >))); |
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tcw->show(); |
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name_ = name; |
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firstJointName_ = firstJoint; |
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secondJointName_ = secondJoint; |
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} |
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void PositionConstraint::getPositionConstraint( |
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std::pair<QVector<double>, QVector<bool> > result) { |
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hpp::floatSeq_var first = new hpp::floatSeq; |
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hpp::floatSeq_var second = new hpp::floatSeq; |
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hpp::boolSeq_var boolSeq = new hpp::boolSeq; |
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first->length(3); |
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second->length(3); |
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boolSeq->length(3); |
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first[0] = result.first[0]; |
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first[1] = result.first[1]; |
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first[2] = result.first[2]; |
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second[0] = result.first[3]; |
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second[1] = result.first[4]; |
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second[2] = result.first[5]; |
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boolSeq[0] = result.second[0]; |
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boolSeq[1] = result.second[1]; |
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boolSeq[2] = result.second[2]; |
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plugin_->client()->problem()->createPositionConstraint( |
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to_corba(name_), to_corba(firstJointName_), to_corba(secondJointName_), |
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first.in(), second.in(), boolSeq.in()); |
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emit constraintCreated(name_); |
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emit finished(); |
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} |
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OrientationConstraint::OrientationConstraint(HppWidgetsPlugin* plugin) |
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: ATwoJointConstraint(plugin) { |
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plugin_ = plugin; |
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} |
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OrientationConstraint::~OrientationConstraint() {} |
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QString OrientationConstraint::getName() const { return "Orientation"; } |
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void OrientationConstraint::getOrientationConstraint( |
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std::pair<QVector<double>, QVector<bool> > result) { |
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QVector3D vec3d((float)result.first[0], (float)result.first[1], |
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(float)result.first[2]); |
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QQuaternion qtQuat; |
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hpp::Quaternion__var quat = new hpp::Quaternion_; |
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hpp::boolSeq_var boolSeq = new hpp::boolSeq; |
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if (!vec3d.isNull()) { |
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qtQuat = QQuaternion::fromAxisAndAngle(vec3d.normalized(), vec3d.length()); |
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const float theta = (float)vec3d.length(); |
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qtQuat = |
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QQuaternion(std::cos(theta / 2), std::sin(theta / 2) * vec3d / theta); |
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} |
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boolSeq->length(3); |
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quat.inout()[0] = qtQuat.scalar(); |
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quat.inout()[1] = qtQuat.x(); |
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quat.inout()[2] = qtQuat.y(); |
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quat.inout()[3] = qtQuat.z(); |
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boolSeq[0] = result.second[0]; |
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boolSeq[1] = result.second[1]; |
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boolSeq[2] = result.second[2]; |
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plugin_->client()->problem()->createOrientationConstraint( |
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to_corba(name_), to_corba(firstJoint_->currentText()), |
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to_corba(secondJoint_->currentText()), quat.in(), boolSeq.in()); |
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emit constraintCreated(name_); |
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emit finished(); |
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} |
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void OrientationConstraint::operator()(QString const& name) { |
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QString firstJoint = |
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(firstJoint_->isEnabled()) ? firstJoint_->currentText() : ""; |
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QString secondJoint = |
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(secondJoint_->isEnabled()) ? secondJoint_->currentText() : ""; |
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if (firstJoint == secondJoint) { |
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QMessageBox::information(NULL, "hpp-gui", |
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"You have to select two different joints"); |
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return; |
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} |
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TransformConstraintWidget* tcw = |
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new TransformConstraintWidget(firstJoint, secondJoint, false, true); |
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connect(tcw, SIGNAL(finished(std::pair<QVector<double>, QVector<bool> >)), |
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SLOT(getOrientationConstraint( |
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std::pair<QVector<double>, QVector<bool> >))); |
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tcw->show(); |
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name_ = name; |
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firstJointName_ = firstJoint; |
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secondJointName_ = secondJoint; |
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} |
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TransformConstraint::TransformConstraint(HppWidgetsPlugin* plugin) |
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: ATwoJointConstraint(plugin) { |
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plugin_ = plugin; |
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} |
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TransformConstraint::~TransformConstraint() {} |
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QString TransformConstraint::getName() const { return "Transformation"; } |
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void TransformConstraint::getTransformConstraint( |
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std::pair<QVector<double>, QVector<bool> > result) { |
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QVector3D vec3d((float)result.first[3], (float)result.first[4], |
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(float)result.first[5]); |
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QQuaternion qtQuat; |
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hpp::Transform__var trans = new hpp::Transform_; |
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hpp::boolSeq_var boolSeq = new hpp::boolSeq; |
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if (!vec3d.isNull()) { |
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qtQuat = QQuaternion::fromAxisAndAngle(vec3d.normalized(), vec3d.length()); |
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const float theta = (float)vec3d.length(); |
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qtQuat = |
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QQuaternion(std::cos(theta / 2), std::sin(theta / 2) * vec3d / theta); |
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} |
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boolSeq->length(6); |
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trans.inout()[0] = result.first[0]; |
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trans.inout()[1] = result.first[1]; |
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trans.inout()[2] = result.first[2]; |
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trans.inout()[3] = qtQuat.scalar(); |
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trans.inout()[4] = qtQuat.x(); |
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trans.inout()[5] = qtQuat.y(); |
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trans.inout()[6] = qtQuat.z(); |
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boolSeq[0] = result.second[0]; |
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boolSeq[1] = result.second[1]; |
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boolSeq[2] = result.second[2]; |
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boolSeq[3] = result.second[3]; |
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boolSeq[4] = result.second[4]; |
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boolSeq[5] = result.second[5]; |
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plugin_->client()->problem()->createTransformationConstraint( |
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to_corba(name_), to_corba(firstJointName_), to_corba(secondJointName_), |
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trans.in(), boolSeq.in()); |
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emit constraintCreated(name_); |
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emit finished(); |
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} |
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void TransformConstraint::operator()(QString const& name) { |
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QString firstJoint = |
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(firstJoint_->isEnabled()) ? firstJoint_->currentText() : ""; |
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QString secondJoint = |
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(secondJoint_->isEnabled()) ? secondJoint_->currentText() : ""; |
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if (firstJoint == secondJoint) { |
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QMessageBox::information(NULL, "hpp-gui", |
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"You have to select two different joints"); |
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return; |
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} |
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TransformConstraintWidget* tcw = |
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new TransformConstraintWidget(firstJoint, secondJoint, true, true); |
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connect( |
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tcw, SIGNAL(finished(std::pair<QVector<double>, QVector<bool> >)), |
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SLOT(getTransformConstraint(std::pair<QVector<double>, QVector<bool> >))); |
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tcw->show(); |
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name_ = name; |
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firstJointName_ = firstJoint; |
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secondJointName_ = secondJoint; |
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} |
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} // namespace gui |
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} // namespace hpp |
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