From a10bf77575706d7f3b19f46d850bb71a5962bbc1 Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Tue, 8 Feb 2022 11:55:21 +0100
Subject: [PATCH] better fix for kinematic unit gui plugin (setZero)
---
.../KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp | 7 +++++++
.../KinematicUnitPlugin/kinematicunitguiplugin.ui | 2 +-
2 files changed, 8 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 624239145..5312cde46 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -225,6 +225,13 @@ void KinematicUnitWidgetController::onConnectComponent()
return;
}
+ // check robot name and disable setZero Button if necessary
+ if (robot->getName() != "Armar3")
+ {
+ ARMARX_IMPORTANT << "Disable the SetZero button because the robot name is " << robot->getName();
+ ui.pushButtonKinematicUnitPos1->setDisabled(true);
+ }
+
kinematicUnitFile = rfile;
robotNodeSet = robot->getRobotNodeSet(robotNodeSetName);
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui
index 79c6c2ff2..a265252ea 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui
@@ -163,7 +163,7 @@
<item>
<widget class="QPushButton" name="pushButtonKinematicUnitPos1">
<property name="enabled">
- <bool>false</bool>
+ <bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
--
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