From 4893ffdda5e716836aeb8f6cfc2f69a969a01ff7 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Mon, 30 Sep 2019 16:58:07 +0200
Subject: [PATCH] Add option to optimize nullspace if target was reached to
CartesianWaypointControlGuiWidgetController
---
.../CartesianWaypointControlGuiWidget.ui | 35 +++++++++++--------
...sianWaypointControlGuiWidgetController.cpp | 2 ++
2 files changed, 23 insertions(+), 14 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidget.ui b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidget.ui
index 5124859e1..2c3097c2f 100644
--- a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidget.ui
+++ b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidget.ui
@@ -298,19 +298,6 @@
</property>
</widget>
</item>
- <item row="4" column="0">
- <widget class="QLabel" name="label_4">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>FT limit</string>
- </property>
- </widget>
- </item>
<item row="0" column="6">
<widget class="QDoubleSpinBox" name="doubleSpinBoxMaxAccNull">
<property name="maximum">
@@ -435,7 +422,7 @@
</property>
</widget>
</item>
- <item row="5" column="0" colspan="9">
+ <item row="8" column="0" colspan="9">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QPushButton" name="pushButtonZeroFT">
@@ -480,6 +467,19 @@
</property>
</widget>
</item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="label_4">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>FT limit</string>
+ </property>
+ </widget>
+ </item>
<item row="4" column="2" colspan="7">
<widget class="QDoubleSpinBox" name="doubleSpinBoxFTLimit">
<property name="minimum">
@@ -493,6 +493,13 @@
</property>
</widget>
</item>
+ <item row="5" column="2" colspan="7">
+ <widget class="QCheckBox" name="checkBoxKeepOptimizing">
+ <property name="text">
+ <string>Optimize nullspace if target was reached</string>
+ </property>
+ </widget>
+ </item>
</layout>
</widget>
</item>
diff --git a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp
index 06495d829..125e0ea6a 100644
--- a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp
@@ -239,6 +239,8 @@ namespace armarx
cfg.wpCfg.kpPos = static_cast<float>(_ui.doubleSpinBoxPosKP->value());
cfg.forceThreshold = static_cast<float>(_ui.doubleSpinBoxFTLimit->value());
+ cfg.optimizeNullspaceIfTargetWasReached = _ui.checkBoxKeepOptimizing->isChecked();
+
return cfg;
}
--
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