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Guilhem Saurel
hpp-gui
Commits
266fd227
Commit
266fd227
authored
Jul 30, 2018
by
Florent Lamiraux
Committed by
Florent Lamiraux florent@laas.fr
Jul 30, 2018
Browse files
Update to removal of idl method lockJoint in hpp-corbaserver.
parent
b35e1d63
Changes
1
Hide whitespace changes
Inline
Side-by-side
plugins/hppwidgetsplugin/listjointconstraint.cc
View file @
266fd227
...
...
@@ -61,12 +61,25 @@ namespace hpp {
void
LockedJointConstraint
::
operator
()(
QString
const
&
)
{
QList
<
QListWidgetItem
*>
selected
=
jointList_
->
selectedItems
();
std
::
size_t
len
(
0
);
std
::
vector
<
std
::
string
>
lockedJointName
;
foreach
(
QListWidgetItem
*
item
,
selected
)
{
const
char
*
jointName
=
item
->
text
().
toStdString
().
c_str
();
hpp
::
floatSeq_var
config
=
plugin_
->
client
()
->
robot
()
->
getJointConfig
(
jointName
);
plugin_
->
client
()
->
problem
()
->
lockJoint
(
jointName
,
config
.
in
());
std
::
string
jointName
=
item
->
text
().
toStdString
();
lockedJointName
.
push_back
(
std
::
string
(
"locked_"
)
+
jointName
);
hpp
::
floatSeq_var
config
=
plugin_
->
client
()
->
robot
()
->
getJointConfig
(
jointName
.
c_str
());
plugin_
->
client
()
->
problem
()
->
createLockedJoint
(
lockedJointName
.
back
().
c_str
(),
jointName
.
c_str
(),
config
.
in
());
++
len
;
}
char
**
nameList
=
hpp
::
Names_t
::
allocbuf
((
CORBA
::
ULong
)
len
);
Names_t
names
((
CORBA
::
ULong
)
len
,
(
CORBA
::
ULong
)
len
,
nameList
);
for
(
std
::
size_t
i
=
0
;
i
<
len
;
++
i
)
{
nameList
[
i
]
=
const_cast
<
char
*>
(
lockedJointName
[
i
].
c_str
());
}
plugin_
->
client
()
->
problem
()
->
setLockedJointConstraints
(
"config-projector"
,
names
);
delete
nameList
;
}
}
}
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