Commit 0bc1e7b3 authored by Joseph Mirabel's avatar Joseph Mirabel

Update usage of actions to fetch and send current configuration.

parent 0ebf366b
......@@ -154,6 +154,12 @@ namespace hpp {
main->registerSlot("setCurrentConfig", this);
main->registerSlot("getSelectedJoint", jointTreeWidget_);
main->registerSignal(SIGNAL(appliedConfigAtParam(int,double)), pathPlayer_);
QAction* action = main->findChild<QAction*>("actionFetch_configuration");
if (action != NULL) connect (action, SIGNAL(triggered()), SLOT(fetchConfiguration()));
else qDebug () << "Action actionFetch_configuration not found";
action = main->findChild<QAction*>("actionSend_configuration");
if (action != NULL) connect (action, SIGNAL(triggered()), SLOT(sendConfiguration()));
else qDebug () << "Action actionSend_configuration not found";
ActionSearchBar* asb = main->actionSearchBar();
JointAction* a;
......@@ -210,7 +216,12 @@ namespace hpp {
void HppWidgetsPlugin::fetchConfiguration ()
{
hpp::floatSeq_var c = client()->robot ()->getCurrentConfig ();
config_ = c.in();
setCurrentConfig (c.in());
}
void HppWidgetsPlugin::sendConfiguration ()
{
client()->robot ()->setCurrentConfig (config_);
}
void HppWidgetsPlugin::setCurrentConfig (const hpp::floatSeq& q)
......
......@@ -109,8 +109,6 @@ namespace hpp {
return velocity_;
}
void fetchConfiguration ();
signals:
void configurationValidationStatus (bool valid);
void configurationValidationStatus (QStringList collision);
......@@ -136,6 +134,12 @@ signals:
hpp::floatSeq const* getCurrentConfig () const;
/// Set internal configuration from HPP current config.
void fetchConfiguration ();
/// Set HPP configuration to internal current configuration
void sendConfiguration ();
/// Build a list of bodies in collision.
void configurationValidation ();
......
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