Fix creation of locked joints.

plugins/hppmanipulationwidgetsplugin/CMakeLists.txt

@@ -33,7 +33,6 @@ GEPETTO_GUI_PLUGIN(hppmanipulationwidgetsplugin
   linkwidget.hh
   manipulationconstraintwidget.hh
   manipulationncpicker.hh
-  manipulationlockedjoint.hh
 
   HEADERS_NO_MOC
   roadmap.hh
@@ -47,7 +46,6 @@ GEPETTO_GUI_PLUGIN(hppmanipulationwidgetsplugin
   linkwidget.cc
   manipulationconstraintwidget.cc
   manipulationncpicker.cc
-  manipulationlockedjoint.cc
 
   LINK_DEPENDENCIES
   hppwidgetsplugin

plugins/hppmanipulationwidgetsplugin/hppmanipulationwidgetsplugin.cc

@@ -21,7 +21,7 @@
 #include "hppmanipulationwidgetsplugin/linkwidget.hh"
 #include "hppmanipulationwidgetsplugin/manipulationconstraintwidget.hh"
 #include "hppwidgetsplugin/twojointsconstraint.hh"
-#include "hppmanipulationwidgetsplugin/manipulationlockedjoint.hh"
+#include "hppwidgetsplugin/listjointconstraint.hh"
 
 using CORBA::ULong;
 
@@ -521,7 +521,7 @@ namespace hpp {
       constraintWidget_->addConstraint(new PositionConstraint(this));
       constraintWidget_->addConstraint(new OrientationConstraint(this));
       constraintWidget_->addConstraint(new TransformConstraint(this));
-      constraintWidget_->addConstraint(new ManipulationLockedJoint(this));
+      constraintWidget_->addConstraint(new LockedJointConstraint(this));
     }
 
 #if (QT_VERSION < QT_VERSION_CHECK(5,0,0))

plugins/hppmanipulationwidgetsplugin/manipulationlockedjoint.cc

-//
-// Copyright (c) CNRS
-// Authors: Joseph Mirabel and Heidy Dallard
-//
-
-#include "hppmanipulationwidgetsplugin.hh"
-#include "manipulationlockedjoint.hh"
-
-#include <QListWidgetItem>
-
-namespace hpp {
-  namespace gui {
-    ManipulationLockedJoint::ManipulationLockedJoint(HppManipulationWidgetsPlugin* plugin)
-      : ListJointConstraint(plugin)
-    {
-    }
-
-    ManipulationLockedJoint::~ManipulationLockedJoint()
-    {
-    }
-
-    QString ManipulationLockedJoint::getName() const
-    {
-      return "Locked Joint";
-    }
-
-    void ManipulationLockedJoint::operator ()(QString const& /*name*/) {
-      QList<QListWidgetItem*> selected = jointList_->selectedItems();
-      HppManipulationWidgetsPlugin* plugin = dynamic_cast<HppManipulationWidgetsPlugin*>(plugin_);
-
-      foreach (QListWidgetItem *item, selected) {
-        std::string jointName = item->text().toStdString().c_str();
-        hpp::floatSeq_var config = plugin->client()->robot()->getJointConfig(jointName.c_str());
-        plugin->client()->problem()->createLockedJoint(std::string("lock_" + jointName).c_str(),
-                                                            jointName.c_str(),
-                                                            config.in());
-        emit constraintCreated(std::string("lock_" + jointName).c_str());
-      }
-    }
-  }
-}

plugins/hppmanipulationwidgetsplugin/manipulationlockedjoint.hh

-//
-// Copyright (c) CNRS
-// Authors: Joseph Mirabel and Heidy Dallard
-//
-
-#ifndef HPP_GUI_MANIPULATIONLOCKEDJOINT_HH
-#define HPP_GUI_MANIPULATIONLOCKEDJOINT_HH
-
-#include "hppwidgetsplugin/listjointconstraint.hh"
-
-namespace hpp {
-  namespace gui {
-    class HppManipulationWidgetsPlugin;
-
-    class ManipulationLockedJoint : public ListJointConstraint
-    {
-      Q_OBJECT
-    public:
-      ManipulationLockedJoint(HppManipulationWidgetsPlugin* plugin);
-      virtual ~ManipulationLockedJoint();
-
-      virtual QString getName() const;
-      virtual void operator()(QString const& name);
-    };
-  }
-}
-
-#endif // HPP_GUI_MANIPULATIONLOCKEDJOINT_HH

plugins/hppwidgetsplugin/listjointconstraint.cc

@@ -63,9 +63,13 @@ namespace hpp {
       QList<QListWidgetItem *> selected = jointList_->selectedItems();
 
       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();
+          std::string lockName = "lock_" + jointName;
+          hpp::floatSeq_var config = plugin_->client()->robot()->getJointConfig(jointName.c_str());
+          plugin_->client()->problem()->createLockedJoint(lockName.c_str(),
+                                                          jointName.c_str(),
+                                                          config.in());
+          emit constraintCreated(lockName.c_str());
       }
     }
   }