...
 
Commits (20)
......@@ -23,18 +23,18 @@ SET(CXX_DISABLE_WERROR TRUE)
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/python.cmake)
INCLUDE(cmake/hpp.cmake)
INCLUDE(cmake//python.cmake)
# Tells pkg-config to read qtversion and cmake_plugin from pkg config file.
LIST(APPEND PKG_CONFIG_ADDITIONAL_VARIABLES qtversion cmake_plugin)
SET(PROJECT_NAME "hpp-gui")
SET(PROJECT_URL "https://github.com/humanoid-path-planner/hpp-gui")
SET(PROJECT_DESCRIPTION "Graphical interface for HPP ")
SETUP_HPP_PROJECT()
FINDPYTHON()
ADD_REQUIRED_DEPENDENCY("gepetto-viewer-corba >= 1.3")
# Get desired Qt version
......@@ -97,4 +97,14 @@ ELSE ()
DESTINATION ${CMAKE_INSTALL_SYSCONFDIR}/gepetto-gui)
ENDIF ()
# If basic.conf not yet installed, install it
IF (EXISTS "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_SYSCONFDIR}/gepetto-gui/basic.conf")
MESSAGE (STATUS
"File ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_SYSCONFDIR}/gepetto-gui/basic.conf detected.")
ELSE ()
MESSAGE (STATUS "File ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_SYSCONFDIR}/gepetto-gui/basic.conf does not exist. Will install it.")
INSTALL (FILES etc/gepetto-gui/basic.conf
DESTINATION ${CMAKE_INSTALL_SYSCONFDIR}/gepetto-gui)
ENDIF ()
SETUP_HPP_PROJECT_FINALIZE()
Subproject commit ecaf20c28c8ce33de312fbd812f88037cf995b73
Subproject commit c81a37191d764522899b5dcb4468485a826141c2
[plugins]
# Plugin for hpp-manipulation-server
hppmanipulationwidgetsplugin.so=false
hppmonitoringplugin.so=false
# Plugin for hppcorbaserver
hppwidgetsplugin.so=true
......@@ -72,7 +72,7 @@ namespace hpp {
QString name = QInputDialog::getText(NULL, "Node name", "Node name", QLineEdit::Normal, "bvhmodel");
int splitMethod = QInputDialog::getInt(NULL, "Split method type",
"Split method type", 0, 0, 3, 1);
addBV (filename, name, splitMethod);
addBV (name, filename, splitMethod);
}
#if (QT_VERSION < QT_VERSION_CHECK(5,0,0))
......
......@@ -31,8 +31,6 @@ GEPETTO_GUI_PLUGIN(hppmanipulationwidgetsplugin
HEADERS
hppmanipulationwidgetsplugin.hh
linkwidget.hh
manipulationconstraintwidget.hh
manipulationncpicker.hh
HEADERS_NO_MOC
roadmap.hh
......@@ -44,8 +42,6 @@ GEPETTO_GUI_PLUGIN(hppmanipulationwidgetsplugin
hppmanipulationwidgetsplugin.cc
roadmap.cc
linkwidget.cc
manipulationconstraintwidget.cc
manipulationncpicker.cc
LINK_DEPENDENCIES
hppwidgetsplugin
......
......@@ -21,9 +21,6 @@
#include "hppwidgetsplugin/conversions.hh"
#include "hppwidgetsplugin/jointtreewidget.hh"
#include "hppmanipulationwidgetsplugin/linkwidget.hh"
#include "hppmanipulationwidgetsplugin/manipulationconstraintwidget.hh"
#include "hppwidgetsplugin/twojointsconstraint.hh"
#include "hppwidgetsplugin/listjointconstraint.hh"
using CORBA::ULong;
......@@ -83,6 +80,7 @@ namespace hpp {
void HppManipulationWidgetsPlugin::loadRobotModel(gepetto::gui::DialogLoadRobot::RobotDefinition rd)
{
if (!hpp_) return;
try {
hpp::floatSeq_var q = client ()->robot ()->getCurrentConfig();
(void)q;
......@@ -104,6 +102,7 @@ namespace hpp {
void HppManipulationWidgetsPlugin::loadEnvironmentModel(gepetto::gui::DialogLoadEnvironment::EnvironmentDefinition ed)
{
if (!hpp_) return;
try {
hpp::floatSeq_var q = client ()->robot ()->getCurrentConfig();
(void)q;
......@@ -132,7 +131,24 @@ namespace hpp {
hpp_ = new HppManipClient (0,0);
QByteArray iiop = getHppIIOPurl ().toLatin1();
QByteArray context = getHppContext ().toLatin1();
hpp_->connect (iiop.constData (), context.constData ());
try {
hpp_->connect (iiop.constData (), context.constData ());
hpp::Names_t_var for_memory_deletion = hpp_->problem()->getAvailable("type");
} catch (const CORBA::Exception& e) {
QString error ("Could not find the manipulation server. Is it running ?");
error += "\n";
error += e._name();
error += " : ";
error += e._rep_id();
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance();
if (main != NULL)
main->logError(error);
else
qDebug () << error;
if (hpp_) delete hpp_;
hpp_ = NULL;
}
}
void HppManipulationWidgetsPlugin::closeConnection()
......@@ -147,17 +163,6 @@ namespace hpp {
return hpp_;
}
void HppManipulationWidgetsPlugin::updateRobotJoints(const QString robotName)
{
Q_UNUSED(robotName)
hpp::Names_t_var joints = client()->robot()->getAllJointNames ();
for (size_t i = 0; i < joints->length (); ++i) {
const char* jname = joints[(ULong) i];
hpp::Names_t_var lnames = client()->robot()->getLinkNames (jname);
jointMap_[jname] = JointElement(jname, "", lnames, 0, true);
}
}
Roadmap *HppManipulationWidgetsPlugin::createRoadmap(const std::string &jointName)
{
ManipulationRoadmap* r = new ManipulationRoadmap(this);
......@@ -197,6 +202,7 @@ namespace hpp {
void HppManipulationWidgetsPlugin::drawRobotContacts()
{
if (!hpp_) return;
hpp::Names_t_var rcs = hpp_->problem()->getRobotContactNames();
hpp::floatSeqSeq_var points;
hpp::intSeq_var indexes;
......@@ -220,6 +226,7 @@ namespace hpp {
void HppManipulationWidgetsPlugin::drawEnvironmentContacts()
{
if (!hpp_) return;
hpp::Names_t_var rcs = hpp_->problem()->getEnvironmentContactNames();
hpp::floatSeqSeq_var points;
hpp::intSeq_var indexes;
......@@ -240,6 +247,7 @@ namespace hpp {
void HppManipulationWidgetsPlugin::drawHandlesFrame()
{
if (!hpp_) return;
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance ();
hpp::Names_t_var rcs = hpp_->problem()->getAvailable("handle");
hpp::Transform__var t (new Transform_);
......@@ -261,6 +269,7 @@ namespace hpp {
void HppManipulationWidgetsPlugin::drawGrippersFrame()
{
if (!hpp_) return;
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance ();
hpp::Names_t_var rcs = hpp_->problem()->getAvailable("gripper");
hpp::Transform__var t (new Transform_);
......@@ -335,6 +344,7 @@ namespace hpp {
HppManipulationWidgetsPlugin::MapNames HppManipulationWidgetsPlugin::getObjects()
{
assert (hpp_ != NULL);
HppManipulationWidgetsPlugin::MapNames map;
hpp::Names_t_var handles = manipClient()->problem()->getAvailable("handle");
hpp::Names_t_var surfaces = manipClient()->problem()->getAvailable("robotcontact");
......@@ -406,6 +416,7 @@ namespace hpp {
void HppManipulationWidgetsPlugin::buildGraph()
{
if (!hpp_) return;
QListWidget* l = dynamic_cast<QListWidget*>(tw_->widget(0));
HppManipulationWidgetsPlugin::MapNames handlesMap = getObjects();
HppManipulationWidgetsPlugin::MapNames shapesMap = getObjects();
......@@ -444,6 +455,7 @@ namespace hpp {
void HppManipulationWidgetsPlugin::autoBuildGraph()
{
if (!hpp_) return;
if (graphBuilder_ == NULL) {
graphBuilder_ = new QDialog(NULL, Qt::Dialog);
tw_ = new QTabWidget(graphBuilder_);
......@@ -511,22 +523,6 @@ namespace hpp {
graphBuilder_->show();
}
void HppManipulationWidgetsPlugin::loadConstraintWidget()
{
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance();
QDockWidget* dock = new QDockWidget ("&Constraint creator", main);
dock->setObjectName ("hppmanipulationwidgetsplugin.constraintcreator");
constraintWidget_ = new ManipulationConstraintWidget (this, dock);
dock->setWidget(constraintWidget_);
main->insertDockWidget (dock, Qt::RightDockWidgetArea, Qt::Vertical);
dock->toggleViewAction()->setShortcut(gepetto::gui::DockKeyShortcutBase + Qt::Key_V);
dockWidgets_.append(dock);
constraintWidget_->addConstraint(new PositionConstraint(this));
constraintWidget_->addConstraint(new OrientationConstraint(this));
constraintWidget_->addConstraint(new TransformConstraint(this));
constraintWidget_->addConstraint(new LockedJointConstraint(this));
}
#if (QT_VERSION < QT_VERSION_CHECK(5,0,0))
Q_EXPORT_PLUGIN2 (hppmanipulationwidgetsplugin, HppManipulationWidgetsPlugin)
#endif
......
......@@ -72,10 +72,6 @@ namespace hpp {
/// Get the instance of corba manipulation client.
HppManipClient* manipClient () const;
/// Get the list of joints from corbaserver and update internal joint map.
/// \param robotName name of the robot (unused)
void updateRobotJoints (const QString robotName);
/// Create the roadmap of a given joint.
/// \param jointName name of the joint
virtual Roadmap* createRoadmap (const std::string& jointName);
......@@ -100,9 +96,6 @@ namespace hpp {
/// Construct all the corba vars and create the graph.
void buildGraph();
protected:
virtual void loadConstraintWidget();
private:
// Type used to make one function to build datas needed for autoBuild
typedef std::pair<hpp::Names_t, hpp::corbaserver::manipulation::Namess_t> NamesPair;
......
//
// Copyright (c) CNRS
// Authors: Joseph Mirabel and Heidy Dallard
//
#include "hppmanipulationwidgetsplugin/hppmanipulationwidgetsplugin.hh"
#include "hppwidgetsplugin/ui_constraintwidget.h"
#include "hppmanipulationwidgetsplugin/manipulationncpicker.hh"
#include "manipulationconstraintwidget.hh"
namespace hpp {
namespace gui {
ManipulationConstraintWidget::ManipulationConstraintWidget(HppWidgetsPlugin* plugin, QWidget* parent)
: ConstraintWidget(plugin, parent)
{
}
ManipulationConstraintWidget::~ManipulationConstraintWidget()
{
}
void ManipulationConstraintWidget::applyConstraints()
{
}
void ManipulationConstraintWidget::refresh()
{
HppManipulationWidgetsPlugin* plugin = dynamic_cast<HppManipulationWidgetsPlugin*>(plugin_);
ConstraintWidget::refresh();
hpp::Names_t_var names = plugin->client()->problem()->getAvailable("lockedjoint");
for (unsigned i = 0; i < names->length(); i++) {
ui->nameList->addItem(names[i].in());
}
}
void ManipulationConstraintWidget::reset()
{
HppManipulationWidgetsPlugin* plugin = dynamic_cast<HppManipulationWidgetsPlugin*>(plugin_);
hpp::GraphComp_var graphComp;
hpp::GraphElements_var graphElems;
plugin->manipClient()->graph()->getGraph(graphComp.out(), graphElems.out());
for (unsigned i = 0; i < graphElems->edges.length(); ++i) {
plugin->manipClient()->graph()->resetConstraints(graphElems->edges[i].id);
}
for (unsigned i = 0; i < graphElems->nodes.length(); ++i) {
plugin->manipClient()->graph()->resetConstraints(graphElems->nodes[i].id);
}
}
void ManipulationConstraintWidget::confirmNumerical()
{
HppManipulationWidgetsPlugin* plugin = dynamic_cast<HppManipulationWidgetsPlugin*>(plugin_);
ManipulationNCPicker* ncp = new ManipulationNCPicker(plugin);
ncp->show();
}
}
}
//
// Copyright (c) CNRS
// Authors: Joseph Mirabel and Heidy Dallard
//
#ifndef HPP_GUI_MANIPULATIONCONSTRAINTWIDGET_HH
#define HPP_GUI_MANIPULATIONCONSTRAINTWIDGET_HH
#include "hppwidgetsplugin/constraintwidget.hh"
#include "hppwidgetsplugin/hppwidgetsplugin.hh"
namespace hpp {
namespace gui {
class ManipulationConstraintWidget : public ConstraintWidget
{
Q_OBJECT
public:
ManipulationConstraintWidget(HppWidgetsPlugin* plugin, QWidget* parent = 0);
virtual ~ManipulationConstraintWidget();
public slots:
virtual void refresh();
private slots:
virtual void applyConstraints();
virtual void reset();
virtual void confirmNumerical();
protected:
};
}
}
#endif // HPP_GUI_MANIPULATIONCONSTRAINTWIDGET_HH
//
// Copyright (c) CNRS
// Authors: Joseph Mirabel and Heidy Dallard
//
#include <hppmanipulationwidgetsplugin/hppmanipulationwidgetsplugin.hh>
#include "hppwidgetsplugin/ui_numericalconstraintpicker.h"
#include "manipulationncpicker.hh"
namespace hpp {
namespace gui {
ManipulationNCPicker::ManipulationNCPicker(HppManipulationWidgetsPlugin* plugin,
QWidget* parent)
: NumericalConstraintPicker(plugin, parent)
{
listComp_ = new QListWidget(this);
hpp::GraphComp_var graphComp;
hpp::GraphElements_var graphElems;
plugin->manipClient()->graph()->getGraph(graphComp.out(), graphElems.out());
components_[graphComp->name.in()] = graphComp;
listComp_->addItem(graphComp->name.in());
for (unsigned i = 0; i < graphElems->nodes.length(); ++i) {
if (graphElems->nodes[i].id > graphComp->id) {
components_[graphElems->nodes[i].name.in()] = graphElems->nodes[i];
listComp_->addItem(graphElems->nodes[i].name.in());
}
}
for (unsigned i = 0; i < graphElems->edges.length(); ++i) {
if (graphElems->edges[i].id > graphComp->id) {
components_[graphElems->edges[i].name.in()] = graphElems->edges[i];
listComp_->addItem(graphElems->edges[i].name.in());
}
}
listComp_->setSelectionMode(QAbstractItemView::ExtendedSelection);
QBoxLayout* l = dynamic_cast<QBoxLayout *>(layout());
l->insertWidget(2, new QLabel("Select on which graph components you want to apply constraints.\n"
"The constraints will be automatically applied to all the components under the one you choose."));
l->insertWidget(3, listComp_);
}
ManipulationNCPicker::~ManipulationNCPicker()
{
}
void ManipulationNCPicker::onConfirmClicked()
{
QList<QListWidgetItem*> lj = ui->lockedJointList->selectedItems();
QList<QListWidgetItem*> nc = ui->numericalList->selectedItems();
hpp::Names_t_var constraints = new hpp::Names_t;
hpp::Names_t_var locked = new hpp::Names_t;
hpp::Names_t_var dofs = new hpp::Names_t;
QList<QListWidgetItem*> selectedComp = listComp_->selectedItems();
HppManipulationWidgetsPlugin* plugin = dynamic_cast<HppManipulationWidgetsPlugin*>(plugin_);
constraints->length(nc.count());
locked->length(lj.count());
int i = 0;
foreach (QListWidgetItem* item, lj) {
locked[i] = item->text().toStdString().c_str();
++i;
}
i = 0;
foreach (QListWidgetItem* item, nc) {
constraints[i] = item->text().toStdString().c_str();
++i;
}
foreach (QListWidgetItem* item, selectedComp) {
if (constraints->length())
plugin->manipClient()->graph()->setNumericalConstraints(components_[item->text().toStdString()].id,
constraints.in(), dofs.in());
if (locked->length())
plugin->manipClient()->graph()->setLockedDofConstraints(components_[item->text().toStdString()].id,
locked.in());
}
onCancelClicked();
}
}
}
//
// Copyright (c) CNRS
// Authors: Joseph Mirabel and Heidy Dallard
//
#ifndef MANIPULATIONNCPICKER_HH
#define MANIPULATIONNCPICKER_HH
#include <hpp/corbaserver/manipulation/graph-idl.hh>
#include "hppwidgetsplugin/numericalconstraintpicker.hh"
namespace hpp {
namespace gui {
class HppManipulationWidgetsPlugin;
class ManipulationNCPicker : public NumericalConstraintPicker
{
Q_OBJECT
private slots:
virtual void onConfirmClicked();
public:
ManipulationNCPicker(HppManipulationWidgetsPlugin* plugin,
QWidget* parent = 0);
virtual ~ManipulationNCPicker();
protected:
std::map<std::string, GraphComp> components_;
QListWidget* listComp_;
};
}
}
#endif // MANIPULATIONNCPICKER_HH
......@@ -15,6 +15,7 @@
#include <gepetto/gui/windows-manager.hh>
#include <gepetto/gui/omniorb/url.hh>
#include <gepetto/gui/action-search-bar.hh>
#include <gepetto/gui/safeapplication.hh>
#include <omniORB4/CORBA.h>
......@@ -40,6 +41,22 @@ namespace hpp {
typedef gepetto::viewer::Configuration OsgConfiguration_t;
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 (
const std::string& n, const std::string& prefix,
const hpp::Names_t& bns, JointTreeItem* i, bool updateV)
......@@ -71,6 +88,9 @@ namespace hpp {
void HppWidgetsPlugin::init()
{
gepetto::gui::SafeApplication* app = dynamic_cast<gepetto::gui::SafeApplication*>(QApplication::instance());
if (app) app->addAsLeaf(new HppExceptionCatch);
openConnection();
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance ();
......@@ -99,6 +119,7 @@ namespace hpp {
// Path player widget
dock = new QDockWidget ("&Path player", main);
dock->setObjectName ("hppwidgetplugin.pathplayer");
dock->setSizePolicy (QSizePolicy::Minimum, QSizePolicy::Fixed);
pathPlayer_ = new PathPlayer (this, dock);
dock->setWidget(pathPlayer_);
main->insertDockWidget (dock, Qt::BottomDockWidgetArea, Qt::Horizontal);
......@@ -271,7 +292,15 @@ namespace hpp {
hpp_ = new hpp::corbaServer::Client (0,0);
QByteArray iiop = getHppIIOPurl ().toLatin1();
QByteArray context = getHppContext ().toLatin1();
hpp_->connect (iiop.constData (), context.constData ());
try {
hpp_->connect (iiop.constData (), context.constData ());
} catch (const CosNaming::NamingContext::NotFound&) {
const char* msg = "Could not find the HPP server. Is it running ?";
qDebug () << msg;
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance();
if (main != NULL)
main->logError(msg);
}
}
void HppWidgetsPlugin::closeConnection ()
......
......@@ -20,13 +20,8 @@ namespace hpp {
{
ui->setupUi(this);
hpp::Names_t_var names = plugin->client()->problem()->getAvailable("lockedjoint");
ui->lockedJointList->setSelectionMode(QAbstractItemView::ExtendedSelection);
for (unsigned i = 0; i < names->length(); ++i) {
ui->lockedJointList->addItem(QString(names[i]));
}
names = plugin->client()->problem()->getAvailable("numericalconstraint");
hpp::Names_t_var names =
plugin->client()->problem()->getAvailable("numericalconstraint");
ui->numericalList->setSelectionMode(QAbstractItemView::ExtendedSelection);
for (unsigned i = 0; i < names->length(); ++i) {
ui->numericalList->addItem(QString(names[i]));
......
......@@ -267,15 +267,22 @@ namespace hpp {
void PathPlayer::updateConfiguration ()
{
hpp::floatSeq_var config =
plugin_->client()->problem()->configAtParam ((CORBA::ULong)pathIndex()->value(),currentParam_);
plugin_->currentConfig() = config.in();
if (velocity_) {
config =
plugin_->client()->problem()->derivativeAtParam ((CORBA::ULong)pathIndex()->value(),1,currentParam_);
plugin_->currentVelocity() = config.in();
gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance();
hpp::floatSeq_var config, velocity;
try {
config = plugin_->client()->problem()->configAtParam
((CORBA::ULong)pathIndex()->value(),currentParam_);
if (velocity_)
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_);
}
......
......@@ -6,12 +6,12 @@
<rect>
<x>0</x>
<y>0</y>
<width>366</width>
<height>64</height>
<width>562</width>
<height>50</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
......@@ -22,6 +22,12 @@
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<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">
<string/>
</property>
......@@ -42,6 +48,12 @@
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Path index</string>
</property>
......@@ -126,6 +138,12 @@
</item>
<item>
<widget class="QDoubleSpinBox" name="timeSpinBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Total time</string>
</property>
......
......@@ -166,7 +166,7 @@ namespace hpp {
if (!vec3d.isNull()) {
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);
}
......@@ -233,7 +233,7 @@ namespace hpp {
if (!vec3d.isNull()) {
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);
}
......
......@@ -15,8 +15,6 @@
# hpp-corbaserver. If not, see
# <http://www.gnu.org/licenses/>.
FINDPYTHON(2.7 EXACT)
INSTALL(
FILES
${CMAKE_CURRENT_SOURCE_DIR}/hpp/gui/plugin.py
......
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
......