...
 
Commits (13)
...@@ -23,18 +23,18 @@ SET(CXX_DISABLE_WERROR TRUE) ...@@ -23,18 +23,18 @@ SET(CXX_DISABLE_WERROR TRUE)
INCLUDE(cmake/base.cmake) INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake) INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/python.cmake)
INCLUDE(cmake/hpp.cmake) INCLUDE(cmake/hpp.cmake)
INCLUDE(cmake//python.cmake)
# Tells pkg-config to read qtversion and cmake_plugin from pkg config file. # Tells pkg-config to read qtversion and cmake_plugin from pkg config file.
LIST(APPEND PKG_CONFIG_ADDITIONAL_VARIABLES qtversion cmake_plugin) LIST(APPEND PKG_CONFIG_ADDITIONAL_VARIABLES qtversion cmake_plugin)
SET(PROJECT_NAME "hpp-gui") SET(PROJECT_NAME "hpp-gui")
SET(PROJECT_URL "https://github.com/humanoid-path-planner/hpp-gui")
SET(PROJECT_DESCRIPTION "Graphical interface for HPP ") SET(PROJECT_DESCRIPTION "Graphical interface for HPP ")
SETUP_HPP_PROJECT() SETUP_HPP_PROJECT()
FINDPYTHON()
ADD_REQUIRED_DEPENDENCY("gepetto-viewer-corba >= 1.3") ADD_REQUIRED_DEPENDENCY("gepetto-viewer-corba >= 1.3")
# Get desired Qt version # Get desired Qt version
......
Subproject commit ecaf20c28c8ce33de312fbd812f88037cf995b73 Subproject commit c81a37191d764522899b5dcb4468485a826141c2
...@@ -72,7 +72,7 @@ namespace hpp { ...@@ -72,7 +72,7 @@ namespace hpp {
QString name = QInputDialog::getText(NULL, "Node name", "Node name", QLineEdit::Normal, "bvhmodel"); QString name = QInputDialog::getText(NULL, "Node name", "Node name", QLineEdit::Normal, "bvhmodel");
int splitMethod = QInputDialog::getInt(NULL, "Split method type", int splitMethod = QInputDialog::getInt(NULL, "Split method type",
"Split method type", 0, 0, 3, 1); "Split method type", 0, 0, 3, 1);
addBV (filename, name, splitMethod); addBV (name, filename, splitMethod);
} }
#if (QT_VERSION < QT_VERSION_CHECK(5,0,0)) #if (QT_VERSION < QT_VERSION_CHECK(5,0,0))
......
...@@ -80,7 +80,7 @@ namespace hpp { ...@@ -80,7 +80,7 @@ namespace hpp {
void HppManipulationWidgetsPlugin::loadRobotModel(gepetto::gui::DialogLoadRobot::RobotDefinition rd) void HppManipulationWidgetsPlugin::loadRobotModel(gepetto::gui::DialogLoadRobot::RobotDefinition rd)
{ {
if (hpp_) return; if (!hpp_) return;
try { try {
hpp::floatSeq_var q = client ()->robot ()->getCurrentConfig(); hpp::floatSeq_var q = client ()->robot ()->getCurrentConfig();
(void)q; (void)q;
...@@ -102,7 +102,7 @@ namespace hpp { ...@@ -102,7 +102,7 @@ namespace hpp {
void HppManipulationWidgetsPlugin::loadEnvironmentModel(gepetto::gui::DialogLoadEnvironment::EnvironmentDefinition ed) void HppManipulationWidgetsPlugin::loadEnvironmentModel(gepetto::gui::DialogLoadEnvironment::EnvironmentDefinition ed)
{ {
if (hpp_) return; if (!hpp_) return;
try { try {
hpp::floatSeq_var q = client ()->robot ()->getCurrentConfig(); hpp::floatSeq_var q = client ()->robot ()->getCurrentConfig();
(void)q; (void)q;
...@@ -202,7 +202,7 @@ namespace hpp { ...@@ -202,7 +202,7 @@ namespace hpp {
void HppManipulationWidgetsPlugin::drawRobotContacts() void HppManipulationWidgetsPlugin::drawRobotContacts()
{ {
if (hpp_) return; if (!hpp_) return;
hpp::Names_t_var rcs = hpp_->problem()->getRobotContactNames(); hpp::Names_t_var rcs = hpp_->problem()->getRobotContactNames();
hpp::floatSeqSeq_var points; hpp::floatSeqSeq_var points;
hpp::intSeq_var indexes; hpp::intSeq_var indexes;
...@@ -226,7 +226,7 @@ namespace hpp { ...@@ -226,7 +226,7 @@ namespace hpp {
void HppManipulationWidgetsPlugin::drawEnvironmentContacts() void HppManipulationWidgetsPlugin::drawEnvironmentContacts()
{ {
if (hpp_) return; if (!hpp_) return;
hpp::Names_t_var rcs = hpp_->problem()->getEnvironmentContactNames(); hpp::Names_t_var rcs = hpp_->problem()->getEnvironmentContactNames();
hpp::floatSeqSeq_var points; hpp::floatSeqSeq_var points;
hpp::intSeq_var indexes; hpp::intSeq_var indexes;
...@@ -247,7 +247,7 @@ namespace hpp { ...@@ -247,7 +247,7 @@ namespace hpp {
void HppManipulationWidgetsPlugin::drawHandlesFrame() void HppManipulationWidgetsPlugin::drawHandlesFrame()
{ {
if (hpp_) return; if (!hpp_) return;
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance (); gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance ();
hpp::Names_t_var rcs = hpp_->problem()->getAvailable("handle"); hpp::Names_t_var rcs = hpp_->problem()->getAvailable("handle");
hpp::Transform__var t (new Transform_); hpp::Transform__var t (new Transform_);
...@@ -269,7 +269,7 @@ namespace hpp { ...@@ -269,7 +269,7 @@ namespace hpp {
void HppManipulationWidgetsPlugin::drawGrippersFrame() void HppManipulationWidgetsPlugin::drawGrippersFrame()
{ {
if (hpp_) return; if (!hpp_) return;
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance (); gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance ();
hpp::Names_t_var rcs = hpp_->problem()->getAvailable("gripper"); hpp::Names_t_var rcs = hpp_->problem()->getAvailable("gripper");
hpp::Transform__var t (new Transform_); hpp::Transform__var t (new Transform_);
...@@ -416,7 +416,7 @@ namespace hpp { ...@@ -416,7 +416,7 @@ namespace hpp {
void HppManipulationWidgetsPlugin::buildGraph() void HppManipulationWidgetsPlugin::buildGraph()
{ {
if (hpp_) return; if (!hpp_) return;
QListWidget* l = dynamic_cast<QListWidget*>(tw_->widget(0)); QListWidget* l = dynamic_cast<QListWidget*>(tw_->widget(0));
HppManipulationWidgetsPlugin::MapNames handlesMap = getObjects(); HppManipulationWidgetsPlugin::MapNames handlesMap = getObjects();
HppManipulationWidgetsPlugin::MapNames shapesMap = getObjects(); HppManipulationWidgetsPlugin::MapNames shapesMap = getObjects();
...@@ -455,7 +455,7 @@ namespace hpp { ...@@ -455,7 +455,7 @@ namespace hpp {
void HppManipulationWidgetsPlugin::autoBuildGraph() void HppManipulationWidgetsPlugin::autoBuildGraph()
{ {
if (hpp_) return; if (!hpp_) return;
if (graphBuilder_ == NULL) { if (graphBuilder_ == NULL) {
graphBuilder_ = new QDialog(NULL, Qt::Dialog); graphBuilder_ = new QDialog(NULL, Qt::Dialog);
tw_ = new QTabWidget(graphBuilder_); tw_ = new QTabWidget(graphBuilder_);
......
...@@ -100,10 +100,6 @@ namespace hpp { ...@@ -100,10 +100,6 @@ namespace hpp {
for (unsigned i = 0; i < nc->length(); i++) { for (unsigned i = 0; i < nc->length(); i++) {
ui->nameList->addItem(nc[i].in()); ui->nameList->addItem(nc[i].in());
} }
hpp::Names_t_var lj = plugin_->client()->problem()->getAvailable("LockedJoint");
for (unsigned i = 0; i < lj->length(); i++) {
ui->nameList->addItem(lj[i].in());
}
} }
void ConstraintWidget::createConstraint() void ConstraintWidget::createConstraint()
......
...@@ -15,6 +15,7 @@ ...@@ -15,6 +15,7 @@
#include <gepetto/gui/windows-manager.hh> #include <gepetto/gui/windows-manager.hh>
#include <gepetto/gui/omniorb/url.hh> #include <gepetto/gui/omniorb/url.hh>
#include <gepetto/gui/action-search-bar.hh> #include <gepetto/gui/action-search-bar.hh>
#include <gepetto/gui/safeapplication.hh>
#include <omniORB4/CORBA.h> #include <omniORB4/CORBA.h>
...@@ -40,6 +41,22 @@ namespace hpp { ...@@ -40,6 +41,22 @@ namespace hpp {
typedef gepetto::viewer::Configuration OsgConfiguration_t; typedef gepetto::viewer::Configuration OsgConfiguration_t;
typedef gepetto::gui::ActionSearchBar ActionSearchBar; typedef gepetto::gui::ActionSearchBar ActionSearchBar;
class HppExceptionCatch : public gepetto::gui::SlotExceptionCatch
{
public:
bool safeNotify (QApplication* app, QObject* receiver, QEvent* e)
{
try {
return impl_notify (app, receiver, e);
} catch (const hpp::Error& e) {
qDebug () << e.msg.in();
MainWindow* main = MainWindow::instance();
if (main != NULL) main->logError (e.msg.in());
}
return false;
}
};
HppWidgetsPlugin::JointElement::JointElement ( HppWidgetsPlugin::JointElement::JointElement (
const std::string& n, const std::string& prefix, const std::string& n, const std::string& prefix,
const hpp::Names_t& bns, JointTreeItem* i, bool updateV) const hpp::Names_t& bns, JointTreeItem* i, bool updateV)
...@@ -71,6 +88,9 @@ namespace hpp { ...@@ -71,6 +88,9 @@ namespace hpp {
void HppWidgetsPlugin::init() void HppWidgetsPlugin::init()
{ {
gepetto::gui::SafeApplication* app = dynamic_cast<gepetto::gui::SafeApplication*>(QApplication::instance());
if (app) app->addAsLeaf(new HppExceptionCatch);
openConnection(); openConnection();
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance (); gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance ();
...@@ -99,6 +119,7 @@ namespace hpp { ...@@ -99,6 +119,7 @@ namespace hpp {
// Path player widget // Path player widget
dock = new QDockWidget ("&Path player", main); dock = new QDockWidget ("&Path player", main);
dock->setObjectName ("hppwidgetplugin.pathplayer"); dock->setObjectName ("hppwidgetplugin.pathplayer");
dock->setSizePolicy (QSizePolicy::Minimum, QSizePolicy::Fixed);
pathPlayer_ = new PathPlayer (this, dock); pathPlayer_ = new PathPlayer (this, dock);
dock->setWidget(pathPlayer_); dock->setWidget(pathPlayer_);
main->insertDockWidget (dock, Qt::BottomDockWidgetArea, Qt::Horizontal); main->insertDockWidget (dock, Qt::BottomDockWidgetArea, Qt::Horizontal);
......
...@@ -20,13 +20,8 @@ namespace hpp { ...@@ -20,13 +20,8 @@ namespace hpp {
{ {
ui->setupUi(this); ui->setupUi(this);
hpp::Names_t_var names = plugin->client()->problem()->getAvailable("lockedjoint"); hpp::Names_t_var names =
ui->lockedJointList->setSelectionMode(QAbstractItemView::ExtendedSelection); plugin->client()->problem()->getAvailable("numericalconstraint");
for (unsigned i = 0; i < names->length(); ++i) {
ui->lockedJointList->addItem(QString(names[i]));
}
names = plugin->client()->problem()->getAvailable("numericalconstraint");
ui->numericalList->setSelectionMode(QAbstractItemView::ExtendedSelection); ui->numericalList->setSelectionMode(QAbstractItemView::ExtendedSelection);
for (unsigned i = 0; i < names->length(); ++i) { for (unsigned i = 0; i < names->length(); ++i) {
ui->numericalList->addItem(QString(names[i])); ui->numericalList->addItem(QString(names[i]));
......
...@@ -267,15 +267,22 @@ namespace hpp { ...@@ -267,15 +267,22 @@ namespace hpp {
void PathPlayer::updateConfiguration () void PathPlayer::updateConfiguration ()
{ {
hpp::floatSeq_var config = gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance();
plugin_->client()->problem()->configAtParam ((CORBA::ULong)pathIndex()->value(),currentParam_); hpp::floatSeq_var config, velocity;
plugin_->currentConfig() = config.in(); try {
if (velocity_) { config = plugin_->client()->problem()->configAtParam
config = ((CORBA::ULong)pathIndex()->value(),currentParam_);
plugin_->client()->problem()->derivativeAtParam ((CORBA::ULong)pathIndex()->value(),1,currentParam_); if (velocity_)
plugin_->currentVelocity() = config.in(); velocity = plugin_->client()->problem()->derivativeAtParam
((CORBA::ULong)pathIndex()->value(),1,currentParam_);
} catch (const hpp::Error& e) {
main->logError(e.msg.in());
return;
} }
gepetto::gui::MainWindow::instance()->requestApplyCurrentConfiguration(); plugin_->currentConfig() = config.in();
if (velocity_)
plugin_->currentVelocity() = velocity.in();
main->requestApplyCurrentConfiguration();
emit appliedConfigAtParam (getCurrentPath(), currentParam_); emit appliedConfigAtParam (getCurrentPath(), currentParam_);
} }
......
...@@ -6,12 +6,12 @@ ...@@ -6,12 +6,12 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>366</width> <width>562</width>
<height>64</height> <height>50</height>
</rect> </rect>
</property> </property>
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch> <horstretch>0</horstretch>
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
...@@ -22,6 +22,12 @@ ...@@ -22,6 +22,12 @@
<layout class="QHBoxLayout" name="horizontalLayout"> <layout class="QHBoxLayout" name="horizontalLayout">
<item> <item>
<widget class="QPushButton" name="refreshButton_path"> <widget class="QPushButton" name="refreshButton_path">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
...@@ -42,6 +48,12 @@ ...@@ -42,6 +48,12 @@
<property name="enabled"> <property name="enabled">
<bool>false</bool> <bool>false</bool>
</property> </property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip"> <property name="toolTip">
<string>Path index</string> <string>Path index</string>
</property> </property>
...@@ -126,6 +138,12 @@ ...@@ -126,6 +138,12 @@
</item> </item>
<item> <item>
<widget class="QDoubleSpinBox" name="timeSpinBox"> <widget class="QDoubleSpinBox" name="timeSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip"> <property name="toolTip">
<string>Total time</string> <string>Total time</string>
</property> </property>
......
...@@ -166,7 +166,7 @@ namespace hpp { ...@@ -166,7 +166,7 @@ namespace hpp {
if (!vec3d.isNull()) { if (!vec3d.isNull()) {
qtQuat = QQuaternion::fromAxisAndAngle(vec3d.normalized(), vec3d.length()); qtQuat = QQuaternion::fromAxisAndAngle(vec3d.normalized(), vec3d.length());
const float theta = vec3d.length(); const float theta = (float) vec3d.length();
qtQuat = QQuaternion(std::cos(theta/2), std::sin(theta/2) * vec3d / theta); qtQuat = QQuaternion(std::cos(theta/2), std::sin(theta/2) * vec3d / theta);
} }
...@@ -233,7 +233,7 @@ namespace hpp { ...@@ -233,7 +233,7 @@ namespace hpp {
if (!vec3d.isNull()) { if (!vec3d.isNull()) {
qtQuat = QQuaternion::fromAxisAndAngle(vec3d.normalized(), vec3d.length()); qtQuat = QQuaternion::fromAxisAndAngle(vec3d.normalized(), vec3d.length());
const float theta = vec3d.length(); const float theta = (float) vec3d.length();
qtQuat = QQuaternion(std::cos(theta/2), std::sin(theta/2) * vec3d / theta); qtQuat = QQuaternion(std::cos(theta/2), std::sin(theta/2) * vec3d / theta);
} }
......
...@@ -15,8 +15,6 @@ ...@@ -15,8 +15,6 @@
# hpp-corbaserver. If not, see # hpp-corbaserver. If not, see
# <http://www.gnu.org/licenses/>. # <http://www.gnu.org/licenses/>.
FINDPYTHON(2.7 EXACT)
INSTALL( INSTALL(
FILES FILES
${CMAKE_CURRENT_SOURCE_DIR}/hpp/gui/plugin.py ${CMAKE_CURRENT_SOURCE_DIR}/hpp/gui/plugin.py
......
from plugin import Plugin from .plugin import Plugin
...@@ -5,7 +5,7 @@ ...@@ -5,7 +5,7 @@
from PythonQt import QtGui, Qt from PythonQt import QtGui, Qt
import xml.etree.ElementTree as ET import xml.etree.ElementTree as ET
from itertools import izip
import re import re
def _makeCheckBox(active): def _makeCheckBox(active):
...@@ -113,7 +113,7 @@ class CollisionPairs(QtGui.QWidget): ...@@ -113,7 +113,7 @@ class CollisionPairs(QtGui.QWidget):
def configValidation(self): def configValidation(self):
collide = self.plugin.client.robot.autocollisionCheck() collide = self.plugin.client.robot.autocollisionCheck()
for p, c in izip(self.orderedPairs, collide): for p, c in zip(self.orderedPairs, collide):
if c: if c:
self.pairToRow[p][self.CURRENT_CONFIG].setText("Collision") self.pairToRow[p][self.CURRENT_CONFIG].setText("Collision")
else: else:
...@@ -121,7 +121,7 @@ class CollisionPairs(QtGui.QWidget): ...@@ -121,7 +121,7 @@ class CollisionPairs(QtGui.QWidget):
def setCollisionPair(self, r, l1, l2, active, reason): def setCollisionPair(self, r, l1, l2, active, reason):
pair = _Pair(l1, l2) pair = _Pair(l1, l2)
if self.pairToRow.has_key(pair): if pair in self.pairToRow:
self.pairToRow[pair][self.ACTIVE].checked = active self.pairToRow[pair][self.ACTIVE].checked = active
self.pairToRow[pair][self.REASON].setText(reason) self.pairToRow[pair][self.REASON].setText(reason)
return return
...@@ -149,15 +149,15 @@ class CollisionPairs(QtGui.QWidget): ...@@ -149,15 +149,15 @@ class CollisionPairs(QtGui.QWidget):
ncfg = int(pow(10, self.sliderRandomCfg.value / 10)) ncfg = int(pow(10, self.sliderRandomCfg.value / 10))
nbCol = [0] * len(self.pairToRow) nbCol = [0] * len(self.pairToRow)
r = self.plugin.client.robot r = self.plugin.client.robot
for i in xrange(ncfg): for i in range(ncfg):
cfg = r.shootRandomConfig() cfg = r.shootRandomConfig()
r.setCurrentConfig(cfg) r.setCurrentConfig(cfg)
collide = r.autocollisionCheck() collide = r.autocollisionCheck()
for i in xrange(len(collide)): for i in range(len(collide)):
if collide[i]: if collide[i]:
nbCol[i] += 1 nbCol[i] += 1
for p, n in izip(self.orderedPairs, nbCol): for p, n in zip(self.orderedPairs, nbCol):
self.pairToRow[p][self.PERCENTAGE].setData(Qt.Qt.DisplayRole, n * 100. / ncfg) self.pairToRow[p][self.PERCENTAGE].setData(Qt.Qt.DisplayRole, n * 100. / ncfg)
def refresh(self): def refresh(self):
...@@ -169,7 +169,7 @@ class CollisionPairs(QtGui.QWidget): ...@@ -169,7 +169,7 @@ class CollisionPairs(QtGui.QWidget):
inner, outer, active = self.plugin.client.robot.autocollisionPairs() inner, outer, active = self.plugin.client.robot.autocollisionPairs()
self.table.sortingEnabled = False self.table.sortingEnabled = False
self.table.setRowCount(len(inner)) self.table.setRowCount(len(inner))
for r, l1, l2, a in izip(xrange(len(inner)), inner, outer, active): for r, l1, l2, a in zip(range(len(inner)), inner, outer, active):
self.setCollisionPair(r, l1, l2, a, "From SRDF") self.setCollisionPair(r, l1, l2, a, "From SRDF")
self.table.sortingEnabled = True self.table.sortingEnabled = True
print(time.time() - start_time) print(time.time() - start_time)
...@@ -195,12 +195,12 @@ class CollisionPairs(QtGui.QWidget): ...@@ -195,12 +195,12 @@ class CollisionPairs(QtGui.QWidget):
p = _Pair(dc.attrib["link1"], dc.attrib["link2"]) p = _Pair(dc.attrib["link1"], dc.attrib["link2"])
pairsInFile[p] = dc pairsInFile[p] = dc
for p, row in self.pairToRow.iteritems(): for p, row in self.pairToRow.items():
if row[self.ACTIVE].checked: if row[self.ACTIVE].checked:
continue continue
reason = str(row[self.REASON].text()) reason = str(row[self.REASON].text())
pp = _Pair(_(p.l1), _(p.l2)) pp = _Pair(_(p.l1), _(p.l2))
if pairsInFile.has_key(pp): if pp in pairsInFile:
dc.attrib["reason"] = reason dc.attrib["reason"] = reason
else: else:
attrib = dict() attrib = dict()
......
...@@ -3,6 +3,7 @@ ...@@ -3,6 +3,7 @@
# Author: Joseph Mirabel # Author: Joseph Mirabel
# #
from __future__ import print_function
from PythonQt import QtGui, Qt from PythonQt import QtGui, Qt
import numpy as np import numpy as np
from gepetto import Quaternion, Color from gepetto import Quaternion, Color
...@@ -76,7 +77,7 @@ class GraspFinder(QtGui.QWidget): ...@@ -76,7 +77,7 @@ class GraspFinder(QtGui.QWidget):
def optimize(self): def optimize(self):
n = len(self.P) n = len(self.P)
if not n == len(self.Q): if not n == len(self.Q):
print "P and Q must be of the same size" print("P and Q must be of the same size")
return return
P = np.array(self.P).transpose() P = np.array(self.P).transpose()
Q = np.array(self.Q).transpose() Q = np.array(self.Q).transpose()
...@@ -91,11 +92,11 @@ class GraspFinder(QtGui.QWidget): ...@@ -91,11 +92,11 @@ class GraspFinder(QtGui.QWidget):
T = [0,0,0,1,0,0,0] T = [0,0,0,1,0,0,0]
T[0:3] = t.tolist() T[0:3] = t.tolist()
T[3:7] = Quaternion(R).toTuple() T[3:7] = Quaternion(R).toTuple()
print self.names[0], T print(self.names[0], T)
self.instructions.text = "Current transform of\n" + self.names[0] + "\nis\n" + str(T) + "\n\nSelect a fixed point." self.instructions.text = "Current transform of\n" + self.names[0] + "\nis\n" + str(T) + "\n\nSelect a fixed point."
self.plugin.gui.gui.applyConfiguration(self.names[0], T) self.plugin.gui.gui.applyConfiguration(self.names[0], T)
self.plugin.gui.gui.refresh() self.plugin.gui.gui.refresh()
for i in xrange(n): for i in range(n):
self.setLineTransform(i) self.setLineTransform(i)
self.plugin.gui.gui.refresh() self.plugin.gui.gui.refresh()
......
...@@ -3,6 +3,7 @@ ...@@ -3,6 +3,7 @@
# Author: Joseph Mirabel # Author: Joseph Mirabel
# #
from __future__ import print_function
from PythonQt import QtGui, Qt, QtCore from PythonQt import QtGui, Qt, QtCore
from hpp import Transform from hpp import Transform
from numpy import array from numpy import array
...@@ -60,14 +61,14 @@ class InspectBodies(QtGui.QWidget): ...@@ -60,14 +61,14 @@ class InspectBodies(QtGui.QWidget):
self.pointLabel ["global"].text = vec2str(vec(event.point (False))) self.pointLabel ["global"].text = vec2str(vec(event.point (False)))
self.normalLabel["global"].text = vec2str(vec(event.normal(False))) self.normalLabel["global"].text = vec2str(vec(event.normal(False)))
if len(self.refName.text) == 0: if len(self.refName.text) == 0:
print self.refName.text print(self.refName.text)
else: else:
T = Transform(self.plugin.client.robot.getJointPosition(str(self.refName.text))).inverse() T = Transform(self.plugin.client.robot.getJointPosition(str(self.refName.text))).inverse()
try: try:
self.pointLabel ["reference"].text = vec2str(T.transform( vec(event.point (False)))) self.pointLabel ["reference"].text = vec2str(T.transform( vec(event.point (False))))
self.normalLabel["reference"].text = vec2str(T.quaternion.transform(vec(event.normal(False)))) self.normalLabel["reference"].text = vec2str(T.quaternion.transform(vec(event.normal(False))))
except ValueError as e: except ValueError as e:
print e print(e)
print event.point(False) print(event.point(False))
print vec(event.point(False)) print(vec(event.point(False)))
event.done() event.done()
...@@ -3,14 +3,15 @@ ...@@ -3,14 +3,15 @@
# Author: Joseph Mirabel and Heidy Dallard # Author: Joseph Mirabel and Heidy Dallard
# #
from __future__ import print_function
from PythonQt import QtGui, Qt from PythonQt import QtGui, Qt
from hpp.corbaserver import Client from hpp.corbaserver import Client
from hpp.corbaserver.robot import Robot from hpp.corbaserver.robot import Robot
from gepetto.corbaserver import Client as GuiClient from gepetto.corbaserver import Client as GuiClient
from directpath import DirectPathBox from .directpath import DirectPathBox
from findGrasp import GraspFinder from .findGrasp import GraspFinder
from inspector import InspectBodies from .inspector import InspectBodies
from collision_pairs import CollisionPairs from .collision_pairs import CollisionPairs
from .parameters import Parameters from .parameters import Parameters
class _PathTab(QtGui.QWidget): class _PathTab(QtGui.QWidget):
...@@ -64,14 +65,14 @@ class _PathManagement(QtGui.QWidget): ...@@ -64,14 +65,14 @@ class _PathManagement(QtGui.QWidget):
if (len(selected) > 1): if (len(selected) > 1):
first = int(selected[0].text()) first = int(selected[0].text())
for i in range(1, len(selected)): for i in range(1, len(selected)):
print "Concatenate %s and %s" % (first, int(selected[i].text())) print("Concatenate %s and %s" % (first, int(selected[i].text())))
self.plugin.client.problem.concatenatePath(first, int(selected[i].text())) self.plugin.client.problem.concatenatePath(first, int(selected[i].text()))
def erase(self): def erase(self):
selected = self.paths.selectedItems() selected = self.paths.selectedItems()
if (len(selected) > 0): if (len(selected) > 0):
for i in range(len(selected) - 1, -1, -1): for i in range(len(selected) - 1, -1, -1):
print "erase path %s " % (int(selected[i].text())) print("erase path %s " % (int(selected[i].text())))
self.plugin.client.problem.erasePath(int(selected[i].text())) self.plugin.client.problem.erasePath(int(selected[i].text()))
self.refresh() self.refresh()
...@@ -152,7 +153,7 @@ class _StepByStepSolverTab(QtGui.QWidget): ...@@ -152,7 +153,7 @@ class _StepByStepSolverTab(QtGui.QWidget):
self.plugin.main.log ("Problem is solved") self.plugin.main.log ("Problem is solved")
def executeOneStep(self): def executeOneStep(self):
for i in xrange(self.stepCount.value): for i in range(self.stepCount.value):
if self.plugin.client.problem.executeOneStep(): if self.plugin.client.problem.executeOneStep():
self.plugin.main.log ("Problem is solved") self.plugin.main.log ("Problem is solved")
break break
......