diff --git a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidget.ui b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidget.ui
index cc8becd83ad1d6004ae17a780f538a81910a31bc..582b2adbc949d80ed9e6f9451b65477e978b6b63 100644
--- a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidget.ui
+++ b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidget.ui
@@ -7,239 +7,617 @@
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<resources/>
diff --git a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.cpp b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.cpp
index 5589cf0a010133c719d969a6340cb9ccffe0ccd4..d1128c5134f6125c99dc5c41981c51c35a08cb31 100644
--- a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.cpp
@@ -24,96 +24,65 @@
#include <string>
-#include <VirtualRobot/MathTools.h>
#include <QDoubleValidator>
+#include <QLineEdit>
using namespace armarx;
HomogeneousMatrixCalculatorWidgetController::HomogeneousMatrixCalculatorWidgetController()
{
widget.setupUi(getWidget());
- widget.lineEdit00->setValidator(new QDoubleValidator(this));
- widget.lineEdit01->setValidator(new QDoubleValidator(this));
- widget.lineEdit02->setValidator(new QDoubleValidator(this));
- widget.lineEdit03->setValidator(new QDoubleValidator(this));
- widget.lineEdit10->setValidator(new QDoubleValidator(this));
- widget.lineEdit11->setValidator(new QDoubleValidator(this));
- widget.lineEdit12->setValidator(new QDoubleValidator(this));
- widget.lineEdit13->setValidator(new QDoubleValidator(this));
- widget.lineEdit20->setValidator(new QDoubleValidator(this));
- widget.lineEdit21->setValidator(new QDoubleValidator(this));
- widget.lineEdit22->setValidator(new QDoubleValidator(this));
- widget.lineEdit23->setValidator(new QDoubleValidator(this));
- widget.lineEdit30->setValidator(new QDoubleValidator(this));
- widget.lineEdit31->setValidator(new QDoubleValidator(this));
- widget.lineEdit32->setValidator(new QDoubleValidator(this));
- widget.lineEdit33->setValidator(new QDoubleValidator(this));
- widget.lineEditX->setValidator (new QDoubleValidator(this));
- widget.lineEditY->setValidator (new QDoubleValidator(this));
- widget.lineEditZ->setValidator (new QDoubleValidator(this));
- widget.lineEditRX->setValidator(new QDoubleValidator(this));
- widget.lineEditRY->setValidator(new QDoubleValidator(this));
- widget.lineEditRZ->setValidator(new QDoubleValidator(this));
-
- widget.lineEdit00->setFixedWidth(100);
- widget.lineEdit01->setFixedWidth(100);
- widget.lineEdit02->setFixedWidth(100);
- widget.lineEdit03->setFixedWidth(100);
- widget.lineEdit10->setFixedWidth(100);
- widget.lineEdit11->setFixedWidth(100);
- widget.lineEdit12->setFixedWidth(100);
- widget.lineEdit13->setFixedWidth(100);
- widget.lineEdit20->setFixedWidth(100);
- widget.lineEdit21->setFixedWidth(100);
- widget.lineEdit22->setFixedWidth(100);
- widget.lineEdit23->setFixedWidth(100);
- widget.lineEdit30->setFixedWidth(100);
- widget.lineEdit31->setFixedWidth(100);
- widget.lineEdit32->setFixedWidth(100);
- widget.lineEdit33->setFixedWidth(100);
- widget.lineEditX->setFixedWidth(100);
- widget.lineEditY->setFixedWidth(100);
- widget.lineEditZ->setFixedWidth(100);
- widget.lineEditRX->setFixedWidth(100);
- widget.lineEditRY->setFixedWidth(100);
- widget.lineEditRZ->setFixedWidth(100);
-
- widget.lineEdit00->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEdit01->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEdit02->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEdit03->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEdit10->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEdit11->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEdit12->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEdit13->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEdit20->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEdit21->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEdit22->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEdit23->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEdit30->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEdit31->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEdit32->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEdit33->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEditX->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEditY->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEditZ->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEditRX->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEditRY->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
- widget.lineEditRZ->setSizePolicy(QSizePolicy::Fixed,QSizePolicy::Fixed);
-
- connect(widget.lineEdit00,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
- connect(widget.lineEdit01,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
- connect(widget.lineEdit02,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
- connect(widget.lineEdit10,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
- connect(widget.lineEdit11,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
- connect(widget.lineEdit12,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
- connect(widget.lineEdit20,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
- connect(widget.lineEdit21,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
- connect(widget.lineEdit22,SIGNAL(textEdited(QString)),this,SLOT(changed4f()));
- connect(widget.lineEditRX,SIGNAL(textEdited(QString)),this,SLOT(changedrpy()));
- connect(widget.lineEditRY,SIGNAL(textEdited(QString)),this,SLOT(changedrpy()));
- connect(widget.lineEditRZ,SIGNAL(textEdited(QString)),this,SLOT(changedrpy()));
+
+ std::vector<QLineEdit*> edits
+ {
+ widget.lineEdit00, widget.lineEdit01, widget.lineEdit02, widget.lineEdit03,
+ widget.lineEdit10, widget.lineEdit11, widget.lineEdit12, widget.lineEdit13,
+ widget.lineEdit20, widget.lineEdit21, widget.lineEdit22, widget.lineEdit23,
+ widget.lineEdit30, widget.lineEdit31, widget.lineEdit32, widget.lineEdit33,
+
+ widget.lineEditI00, widget.lineEditI01, widget.lineEditI02, widget.lineEditI03,
+ widget.lineEditI10, widget.lineEditI11, widget.lineEditI12, widget.lineEditI13,
+ widget.lineEditI20, widget.lineEditI21, widget.lineEditI22, widget.lineEditI23,
+ widget.lineEditI30, widget.lineEditI31, widget.lineEditI32, widget.lineEditI33,
+
+ widget.lineEditX, widget.lineEditY, widget.lineEditZ,
+ widget.lineEditRX, widget.lineEditRY, widget.lineEditRZ,
+
+ widget.lineEditM0, widget.lineEditM1, widget.lineEditM2, widget.lineEditM3,
+ widget.lineEditR0, widget.lineEditR1, widget.lineEditR2, widget.lineEditR3,
+ };
+
+ for (auto edit : edits)
+ {
+ edit->setValidator(new QDoubleValidator(this));
+ edit->setFixedWidth(100);
+ edit->setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
+
+ }
+ connect(widget.lineEdit00, SIGNAL(textEdited(QString)), this, SLOT(changed4f()));
+ connect(widget.lineEdit01, SIGNAL(textEdited(QString)), this, SLOT(changed4f()));
+ connect(widget.lineEdit02, SIGNAL(textEdited(QString)), this, SLOT(changed4f()));
+ connect(widget.lineEdit10, SIGNAL(textEdited(QString)), this, SLOT(changed4f()));
+ connect(widget.lineEdit11, SIGNAL(textEdited(QString)), this, SLOT(changed4f()));
+ connect(widget.lineEdit12, SIGNAL(textEdited(QString)), this, SLOT(changed4f()));
+ connect(widget.lineEdit20, SIGNAL(textEdited(QString)), this, SLOT(changed4f()));
+ connect(widget.lineEdit21, SIGNAL(textEdited(QString)), this, SLOT(changed4f()));
+ connect(widget.lineEdit22, SIGNAL(textEdited(QString)), this, SLOT(changed4f()));
+
+ connect(widget.lineEditRX, SIGNAL(textEdited(QString)), this, SLOT(changedrpy()));
+ connect(widget.lineEditRY, SIGNAL(textEdited(QString)), this, SLOT(changedrpy()));
+ connect(widget.lineEditRZ, SIGNAL(textEdited(QString)), this, SLOT(changedrpy()));
+
+ connect(widget.lineEditM0, SIGNAL(textEdited(QString)), this, SLOT(recalcProd()));
+ connect(widget.lineEditM1, SIGNAL(textEdited(QString)), this, SLOT(recalcProd()));
+ connect(widget.lineEditM2, SIGNAL(textEdited(QString)), this, SLOT(recalcProd()));
+ connect(widget.lineEditM3, SIGNAL(textEdited(QString)), this, SLOT(recalcProd()));
+
+ connect(widget.lineEdit03, SIGNAL(textChanged(QString)), this, SLOT(recalcInvAndProd()));
+ connect(widget.lineEdit13, SIGNAL(textChanged(QString)), this, SLOT(recalcInvAndProd()));
+ connect(widget.lineEdit23, SIGNAL(textChanged(QString)), this, SLOT(recalcInvAndProd()));
+
}
@@ -145,17 +114,24 @@ void HomogeneousMatrixCalculatorWidgetController::onConnectComponent()
}
-void armarx::HomogeneousMatrixCalculatorWidgetController::changed4f()
+Eigen::Matrix4d HomogeneousMatrixCalculatorWidgetController::getMatrix()
{
Eigen::Matrix4d m;
- m << widget.lineEdit00->text().toDouble(),widget.lineEdit01->text().toDouble(),widget.lineEdit02->text().toDouble(),0,
- widget.lineEdit10->text().toDouble(),widget.lineEdit11->text().toDouble(),widget.lineEdit12->text().toDouble(),0,
- widget.lineEdit20->text().toDouble(),widget.lineEdit21->text().toDouble(),widget.lineEdit22->text().toDouble(),0,
- 0 ,0 ,0 ,1;
+ m << widget.lineEdit00->text().toDouble(), widget.lineEdit01->text().toDouble(), widget.lineEdit02->text().toDouble(), widget.lineEdit03->text().toDouble(),
+ widget.lineEdit10->text().toDouble(), widget.lineEdit11->text().toDouble(), widget.lineEdit12->text().toDouble(), widget.lineEdit13->text().toDouble(),
+ widget.lineEdit20->text().toDouble(), widget.lineEdit21->text().toDouble(), widget.lineEdit22->text().toDouble(), widget.lineEdit23->text().toDouble(),
+ widget.lineEdit30->text().toDouble(), widget.lineEdit31->text().toDouble(), widget.lineEdit32->text().toDouble(), widget.lineEdit33->text().toDouble();
+ return m;
+}
+
+void armarx::HomogeneousMatrixCalculatorWidgetController::changed4f()
+{
+ Eigen::Matrix4d m = getMatrix();
Eigen::Vector3f rpy = VirtualRobot::MathTools::eigen4f2rpy(m.cast<float>());
widget.lineEditRX->setText(QString::number(rpy(0)));
widget.lineEditRY->setText(QString::number(rpy(1)));
widget.lineEditRZ->setText(QString::number(rpy(2)));
+ recalcInvAndProd();
}
void armarx::HomogeneousMatrixCalculatorWidgetController::changedrpy()
@@ -163,14 +139,56 @@ void armarx::HomogeneousMatrixCalculatorWidgetController::changedrpy()
float r = static_cast<float>(widget.lineEditRX->text().toDouble());
float p = static_cast<float>(widget.lineEditRY->text().toDouble());
float y = static_cast<float>(widget.lineEditRZ->text().toDouble());
- Eigen::Matrix4f m = VirtualRobot::MathTools::rpy2eigen4f(r,p,y);
- widget.lineEdit00->setText(QString::number(m(0,0)));
- widget.lineEdit01->setText(QString::number(m(0,1)));
- widget.lineEdit02->setText(QString::number(m(0,2)));
- widget.lineEdit10->setText(QString::number(m(1,0)));
- widget.lineEdit11->setText(QString::number(m(1,1)));
- widget.lineEdit12->setText(QString::number(m(1,2)));
- widget.lineEdit20->setText(QString::number(m(2,0)));
- widget.lineEdit21->setText(QString::number(m(2,1)));
- widget.lineEdit22->setText(QString::number(m(2,2)));
+ Eigen::Matrix4f m = VirtualRobot::MathTools::rpy2eigen4f(r, p, y);
+ widget.lineEdit00->setText(QString::number(m(0, 0)));
+ widget.lineEdit01->setText(QString::number(m(0, 1)));
+ widget.lineEdit02->setText(QString::number(m(0, 2)));
+ widget.lineEdit10->setText(QString::number(m(1, 0)));
+ widget.lineEdit11->setText(QString::number(m(1, 1)));
+ widget.lineEdit12->setText(QString::number(m(1, 2)));
+ widget.lineEdit20->setText(QString::number(m(2, 0)));
+ widget.lineEdit21->setText(QString::number(m(2, 1)));
+ widget.lineEdit22->setText(QString::number(m(2, 2)));
+ recalcInvAndProd();
+}
+
+void HomogeneousMatrixCalculatorWidgetController::recalcInv()
+{
+ Eigen::Matrix4d m = getMatrix().inverse();
+ widget.lineEditI00->setText(QString::number(m(0, 0)));
+ widget.lineEditI01->setText(QString::number(m(0, 1)));
+ widget.lineEditI02->setText(QString::number(m(0, 2)));
+ widget.lineEditI03->setText(QString::number(m(0, 3)));
+ widget.lineEditI10->setText(QString::number(m(1, 0)));
+ widget.lineEditI11->setText(QString::number(m(1, 1)));
+ widget.lineEditI12->setText(QString::number(m(1, 2)));
+ widget.lineEditI13->setText(QString::number(m(1, 3)));
+ widget.lineEditI20->setText(QString::number(m(2, 0)));
+ widget.lineEditI21->setText(QString::number(m(2, 1)));
+ widget.lineEditI22->setText(QString::number(m(2, 2)));
+ widget.lineEditI23->setText(QString::number(m(2, 3)));
+ widget.lineEditI30->setText(QString::number(m(3, 0)));
+ widget.lineEditI31->setText(QString::number(m(3, 1)));
+ widget.lineEditI32->setText(QString::number(m(3, 2)));
+ widget.lineEditI33->setText(QString::number(m(3, 3)));
+}
+
+void HomogeneousMatrixCalculatorWidgetController::recalcProd()
+{
+ Eigen::Vector4d v;
+ v << widget.lineEditM0->text().toDouble(),
+ widget.lineEditM1->text().toDouble(),
+ widget.lineEditM2->text().toDouble(),
+ widget.lineEditM3->text().toDouble();
+ Eigen::Vector4d r = getMatrix() * v;
+ widget.lineEditR0->setText(QString::number(r(0)));
+ widget.lineEditR1->setText(QString::number(r(1)));
+ widget.lineEditR2->setText(QString::number(r(2)));
+ widget.lineEditR3->setText(QString::number(r(3)));
+}
+
+void HomogeneousMatrixCalculatorWidgetController::recalcInvAndProd()
+{
+ recalcInv();
+ recalcProd();
}
diff --git a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.h b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.h
index 75b64d19eda7f1dddaa4e5c5525cd91125356b32..996e6dfb358db75365f116826554ff64dc0a4def 100644
--- a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.h
@@ -25,6 +25,8 @@
#include "ui_HomogeneousMatrixCalculatorWidget.h"
+#include <VirtualRobot/MathTools.h>
+
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
@@ -52,7 +54,7 @@ namespace armarx
*/
class ARMARXCOMPONENT_IMPORT_EXPORT
HomogeneousMatrixCalculatorWidgetController:
- public armarx::ArmarXComponentWidgetController
+ public armarx::ArmarXComponentWidgetController
{
Q_OBJECT
@@ -96,6 +98,7 @@ namespace armarx
*/
virtual void onConnectComponent();
+ Eigen::Matrix4d getMatrix();
public slots:
/* QT slot declarations */
@@ -107,6 +110,11 @@ namespace armarx
void changedrpy();
+ void recalcInv();
+ void recalcProd();
+ void recalcInvAndProd();
+
+
private:
/**
* Widget Form