JointTreeItem uses the rank in configuration.

plugins/hppwidgetsplugin/hppwidgetsplugin.cc

@@ -272,8 +272,7 @@ namespace hpp {
         }
         if (!ite->item) continue;
         if (ite->item->config().length() > 0) {
-          hpp::floatSeq_var c = client()->robot ()->getJointConfig (ite->name.c_str());
-          ite->item->updateConfig (c.in());
+          ite->item->updateFromRobotConfig (c.in());
         }
       }
       for (std::list<std::string>::const_iterator it = jointFrames_.begin ();

plugins/hppwidgetsplugin/joint-tree-item.cc

@@ -32,10 +32,12 @@ namespace hpp {
     const int JointTreeItem::NumberDofRole  = Qt::UserRole + 4;
     const int JointTreeItem::TypeRole       = Qt::UserRole + 10;
 
-    JointTreeItem::JointTreeItem(const char* name, const hpp::floatSeq &q,
+    JointTreeItem::JointTreeItem(const char* name,
+        const std::size_t& idxQ,
+        const hpp::floatSeq &q,
         const hpp::floatSeq &b,
         const unsigned int nbDof, const NodesPtr_t& nodes)
-      : QStandardItem (QString (name)), name_ (name), nodes_ (nodes), value_ ()
+      : QStandardItem (QString (name)), name_ (name), idxQ_ (idxQ), nodes_ (nodes), value_ ()
     {
       setData((int)-1, IndexRole);
       setData(nbDof, NumberDofRole);
@@ -70,7 +72,7 @@ namespace hpp {
         b[2*(ULong) i] = value_[(ULong) i][0]->data(LowerBoundRole).toFloat();
         b[2*(ULong) i+1] = value_[(ULong) i][0]->data(UpperBoundRole).toFloat();
       }
-      return new JointTreeItem (name_.c_str(), q, b, data (NumberDofRole).toInt(), nodes_);
+      return new JointTreeItem (name_.c_str(), idxQ_, q, b, data (NumberDofRole).toInt(), nodes_);
     }
 
     hpp::floatSeq JointTreeItem::config() const
@@ -100,6 +102,13 @@ namespace hpp {
         value_[i][0]->setData(c[i], Qt::EditRole);
     }
 
+    void JointTreeItem::updateFromRobotConfig (const hpp::floatSeq& rc)
+    {
+      assert (idxQ_ + value_.size() <= rc.length());
+      for (int i = 0; i < value_.size(); ++i)
+        value_[i][0]->setData(rc[(int)idxQ_ + i], Qt::EditRole);
+    }
+
     void JointTreeItem::updateBounds(const hpp::floatSeq& b)
     {
       assert ((int)b.length() == 2*value_.size());

plugins/hppwidgetsplugin/joint-tree-item.hh

@@ -95,7 +95,9 @@ namespace hpp {
           BoundType
         };
 
-        JointTreeItem (const char* name, const hpp::floatSeq& q,
+        JointTreeItem (const char* name,
+            const std::size_t& idxQ,
+            const hpp::floatSeq& q,
             const hpp::floatSeq& b,
             const unsigned int nbDof,
             const NodesPtr_t& node);
@@ -120,6 +122,8 @@ namespace hpp {
 
         void updateConfig (const hpp::floatSeq &c);
 
+        void updateFromRobotConfig (const hpp::floatSeq &c);
+
         void updateTypeRole ();
 
         void setupActions(HppWidgetsPlugin* plugin);
@@ -130,6 +134,7 @@ namespace hpp {
         typedef QList<QStandardItem*> StandardItemList;
 
         std::string name_;
+        std::size_t idxQ_;
         NodesPtr_t nodes_;
         QVector<StandardItemList> value_;
         QList<QAction*> actions_;

plugins/hppwidgetsplugin/jointtreewidget.cc

@@ -131,7 +131,7 @@ namespace hpp {
       }
     }
 
-    JointTreeItem* JointTreeWidget::buildJointTreeItem(const char* name)
+    JointTreeItem* JointTreeWidget::buildJointTreeItem(const char* name, std::size_t& rkConfig)
     {
       gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance();
       HppWidgetsPlugin::JointElement& je = plugin_->jointMap() [name];
@@ -141,17 +141,19 @@ namespace hpp {
         // TODO I do not remember why this is important...
         if (!nodes[i]) nodes[i] = main->osg ()->getGroup(je.bodyNames[i]);
       }
-      CORBA::Long nbDof = plugin_->client()->robot ()->getJointNumberDof (name);
+      CORBA::Long nbCfg = plugin_->client()->robot ()->getJointConfigSize (name);
+      CORBA::Long nbDof = plugin_->client()->robot ()->getJointNumberDof  (name);
       JointTreeItem* j;
       if (nbDof > 0) {
         hpp::floatSeq_var c = plugin_->client()->robot ()->getJointConfig (name);
         hpp::floatSeq_var b = plugin_->client()->robot ()->getJointBounds (name);
-        j = new JointTreeItem (name, c.in(), b.in(), nbDof, nodes);
+        j = new JointTreeItem (name, rkConfig, c.in(), b.in(), nbDof, nodes);
       } else {
-        j = new JointTreeItem (name, hpp::floatSeq(), hpp::floatSeq(), nbDof, nodes);
+        j = new JointTreeItem (name, rkConfig, hpp::floatSeq(), hpp::floatSeq(), nbDof, nodes);
       }
       je.item = j;
       j->setupActions(plugin_);
+      rkConfig += nbCfg;
       return j;
     }
 
@@ -219,10 +221,11 @@ namespace hpp {
         hpp::Names_t_var joints = plugin_->client()->robot()->getAllJointNames ();
         typedef std::map<std::string, JointTreeItem*> JointTreeItemMap_t;
         JointTreeItemMap_t items;
+        std::size_t rk = 0;
         for (size_t i = 0; i < joints->length (); ++i) {
           const char* jname = joints[(ULong) i];
           std::string bjn (joints[0]);
-          items[jname] = buildJointTreeItem(jname);
+          items[jname] = buildJointTreeItem(jname, rk);
         }
         for (JointTreeItemMap_t::const_iterator _jti = items.begin();
             _jti != items.end(); ++_jti) {

plugins/hppwidgetsplugin/jointtreewidget.hh

@@ -71,7 +71,7 @@ signals:
         /// Reset the tree.
         void reset ();
 
-        JointTreeItem* buildJointTreeItem (const char* name);
+        JointTreeItem* buildJointTreeItem (const char* name, std::size_t& rkConfig);
 
         HppWidgetsPlugin* plugin_;
         ::Ui::JointTreeWidget* ui_;