Add NJointCartesianWaypointControllerConfig/RemoteGui.h

source/RobotAPI/libraries/ControllerUIUtility/CMakeLists.txt

@@ -7,9 +7,11 @@ set(LIBS ArmarXCore RobotAPIInterfaces RemoteGui)
 
 set(LIB_FILES
     CartesianWaypointControllerConfig/RemoteGui.h
+    NJointCartesianWaypointControllerConfig/RemoteGui.h
 )
 set(LIB_HEADERS
     CartesianWaypointControllerConfig/RemoteGui.cpp
+    NJointCartesianWaypointControllerConfig/RemoteGui.cpp
 )
 
 armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")

source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::ControllerUIUtility
+ * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date       2019
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "RemoteGui.h"
+namespace armarx::RemoteGui
+{
+    detail::GroupBoxBuilder makeConfigGui(
+        const std::string& name,
+        const CartesianWaypointControllerConfigWithForceLimit& val)
+    {
+        detail::GroupBoxBuilder builder = makeConfigGui(name, val.wpCfg);
+        auto& cs = builder.child(0)->children;
+        cs.emplace_back(RemoteGui::makeTextLabel("Force limit:"));
+        cs.emplace_back(RemoteGui::makeFloatSpinBox(name + "_forceThreshold")
+                        .min(-1)
+                        .max(1000)
+                        .value(val.forceThreshold)
+                        .decimals(3));
+        cs.emplace_back(new RemoteGui::HSpacer);
+        return builder;
+    }
+
+    template <>
+    CartesianWaypointControllerConfigWithForceLimit getValue<CartesianWaypointControllerConfigWithForceLimit>(
+        ValueMap const& values,
+        std::string const& name)
+    {
+        CartesianWaypointControllerConfigWithForceLimit cfg;
+        getValue(cfg.wpCfg,          values, name);
+        getValue(cfg.forceThreshold, values, name + "_forceThreshold");
+        return cfg;
+    }
+}

source/RobotAPI/libraries/ControllerUIUtility/NJointCartesianWaypointControllerConfig/RemoteGui.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::ControllerUIUtility
+ * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date       2019
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include "../CartesianWaypointControllerConfig/RemoteGui.h"
+#include <RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.h>
+
+//make
+namespace armarx::RemoteGui
+{
+    detail::GroupBoxBuilder makeConfigGui(
+        const std::string& name,
+        const CartesianWaypointControllerConfigWithForceLimit& val);
+
+    template <>
+    CartesianWaypointControllerConfigWithForceLimit getValue<CartesianWaypointControllerConfigWithForceLimit>(
+        ValueMap const& values,
+        std::string const& name);
+}