Commit c2e945e3 authored by Joseph Mirabel's avatar Joseph Mirabel

Fix compatibility with Python 3.

parent 88c380e0
from plugin import Plugin
from .plugin import Plugin
......@@ -5,7 +5,7 @@
from PythonQt import QtGui, Qt
import xml.etree.ElementTree as ET
from itertools import izip
import re
def _makeCheckBox(active):
......@@ -113,7 +113,7 @@ class CollisionPairs(QtGui.QWidget):
def configValidation(self):
collide = self.plugin.client.robot.autocollisionCheck()
for p, c in izip(self.orderedPairs, collide):
for p, c in zip(self.orderedPairs, collide):
if c:
self.pairToRow[p][self.CURRENT_CONFIG].setText("Collision")
else:
......@@ -121,7 +121,7 @@ class CollisionPairs(QtGui.QWidget):
def setCollisionPair(self, r, l1, l2, active, reason):
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.REASON].setText(reason)
return
......@@ -149,15 +149,15 @@ class CollisionPairs(QtGui.QWidget):
ncfg = int(pow(10, self.sliderRandomCfg.value / 10))
nbCol = [0] * len(self.pairToRow)
r = self.plugin.client.robot
for i in xrange(ncfg):
for i in range(ncfg):
cfg = r.shootRandomConfig()
r.setCurrentConfig(cfg)
collide = r.autocollisionCheck()
for i in xrange(len(collide)):
for i in range(len(collide)):
if collide[i]:
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)
def refresh(self):
......@@ -169,7 +169,7 @@ class CollisionPairs(QtGui.QWidget):
inner, outer, active = self.plugin.client.robot.autocollisionPairs()
self.table.sortingEnabled = False
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.table.sortingEnabled = True
print(time.time() - start_time)
......@@ -195,12 +195,12 @@ class CollisionPairs(QtGui.QWidget):
p = _Pair(dc.attrib["link1"], dc.attrib["link2"])
pairsInFile[p] = dc
for p, row in self.pairToRow.iteritems():
for p, row in self.pairToRow.items():
if row[self.ACTIVE].checked:
continue
reason = str(row[self.REASON].text())
pp = _Pair(_(p.l1), _(p.l2))
if pairsInFile.has_key(pp):
if pp in pairsInFile:
dc.attrib["reason"] = reason
else:
attrib = dict()
......
......@@ -3,6 +3,7 @@
# Author: Joseph Mirabel
#
from __future__ import print_function
from PythonQt import QtGui, Qt
import numpy as np
from gepetto import Quaternion, Color
......@@ -76,7 +77,7 @@ class GraspFinder(QtGui.QWidget):
def optimize(self):
n = len(self.P)
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
P = np.array(self.P).transpose()
Q = np.array(self.Q).transpose()
......@@ -91,11 +92,11 @@ class GraspFinder(QtGui.QWidget):
T = [0,0,0,1,0,0,0]
T[0:3] = t.tolist()
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.plugin.gui.gui.applyConfiguration(self.names[0], T)
self.plugin.gui.gui.refresh()
for i in xrange(n):
for i in range(n):
self.setLineTransform(i)
self.plugin.gui.gui.refresh()
......
......@@ -3,6 +3,7 @@
# Author: Joseph Mirabel
#
from __future__ import print_function
from PythonQt import QtGui, Qt, QtCore
from hpp import Transform
from numpy import array
......@@ -60,14 +61,14 @@ class InspectBodies(QtGui.QWidget):
self.pointLabel ["global"].text = vec2str(vec(event.point (False)))
self.normalLabel["global"].text = vec2str(vec(event.normal(False)))
if len(self.refName.text) == 0:
print self.refName.text
print(self.refName.text)
else:
T = Transform(self.plugin.client.robot.getJointPosition(str(self.refName.text))).inverse()
try:
self.pointLabel ["reference"].text = vec2str(T.transform( vec(event.point (False))))
self.normalLabel["reference"].text = vec2str(T.quaternion.transform(vec(event.normal(False))))
except ValueError as e:
print e
print event.point(False)
print vec(event.point(False))
print(e)
print(event.point(False))
print(vec(event.point(False)))
event.done()
......@@ -3,14 +3,15 @@
# Author: Joseph Mirabel and Heidy Dallard
#
from __future__ import print_function
from PythonQt import QtGui, Qt
from hpp.corbaserver import Client
from hpp.corbaserver.robot import Robot
from gepetto.corbaserver import Client as GuiClient
from directpath import DirectPathBox
from findGrasp import GraspFinder
from inspector import InspectBodies
from collision_pairs import CollisionPairs
from .directpath import DirectPathBox
from .findGrasp import GraspFinder
from .inspector import InspectBodies
from .collision_pairs import CollisionPairs
from .parameters import Parameters
class _PathTab(QtGui.QWidget):
......@@ -64,14 +65,14 @@ class _PathManagement(QtGui.QWidget):
if (len(selected) > 1):
first = int(selected[0].text())
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()))
def erase(self):
selected = self.paths.selectedItems()
if (len(selected) > 0):
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.refresh()
......@@ -152,7 +153,7 @@ class _StepByStepSolverTab(QtGui.QWidget):
self.plugin.main.log ("Problem is solved")
def executeOneStep(self):
for i in xrange(self.stepCount.value):
for i in range(self.stepCount.value):
if self.plugin.client.problem.executeOneStep():
self.plugin.main.log ("Problem is solved")
break
......
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