From a5150b3bac6f0a68d17bcab2ad2f495d31fff6d8 Mon Sep 17 00:00:00 2001
From: Nikolaus Vahrenkamp <vahrenkamp@kit.edu>
Date: Wed, 29 Oct 2014 21:46:57 +0100
Subject: [PATCH] Moved gui plugins form ArmarXGui
---
CMakeLists.txt | 1 +
source/RobotAPI/CMakeLists.txt | 1 +
source/RobotAPI/gui_plugins/CMakeLists.txt | 10 +
.../gui_plugins/HandUnitPlugin/CMakeLists.txt | 38 +
.../HandUnitPlugin/HandUnitConfigDialog.cpp | 38 +
.../HandUnitPlugin/HandUnitConfigDialog.h | 51 +
.../HandUnitPlugin/HandUnitConfigDialog.ui | 92 ++
.../HandUnitPlugin/HandUnitGuiPlugin.cpp | 157 +++
.../HandUnitPlugin/HandUnitGuiPlugin.h | 131 +++
.../HandUnitPlugin/HandUnitGuiPlugin.ui | 94 ++
.../HapticUnitPlugin/CMakeLists.txt | 46 +
.../HapticUnitConfigDialog.cpp | 38 +
.../HapticUnitPlugin/HapticUnitConfigDialog.h | 51 +
.../HapticUnitConfigDialog.ui | 92 ++
.../HapticUnitPlugin/HapticUnitGuiPlugin.cpp | 177 +++
.../HapticUnitPlugin/HapticUnitGuiPlugin.h | 135 +++
.../HapticUnitPlugin/HapticUnitGuiPlugin.ui | 25 +
.../HapticUnitPlugin/MatrixDisplayWidget.cpp | 73 ++
.../HapticUnitPlugin/MatrixDisplayWidget.h | 67 ++
.../HapticUnitPlugin/MatrixDisplayWidget.ui | 19 +
.../KinematicUnitPlugin/CMakeLists.txt | 46 +
.../KinematicUnitConfigDialog.cpp | 93 ++
.../KinematicUnitConfigDialog.h | 72 ++
.../KinematicUnitConfigDialog.ui | 129 +++
.../KinematicUnitGuiPlugin.cpp | 1019 +++++++++++++++++
.../KinematicUnitGuiPlugin.h | 227 ++++
.../kinematicunitguiplugin.ui | 365 ++++++
.../PlatformUnitPlugin/CMakeLists.txt | 39 +
.../PlatformUnitConfigDialog.cpp | 38 +
.../PlatformUnitConfigDialog.h | 51 +
.../PlatformUnitConfigDialog.ui | 92 ++
.../PlatformUnitGuiPlugin.cpp | 115 ++
.../PlatformUnitGuiPlugin.h | 123 ++
.../PlatformUnitGuiPlugin.ui | 115 ++
.../ArmarXPlotter/ArmarXPlotter.cpp | 387 +++++++
.../ArmarXPlotter/ArmarXPlotter.h | 138 +++
.../ArmarXPlotter/ArmarXPlotter.ui | 120 ++
.../ArmarXPlotter/ArmarXPlotterDialog.cpp | 189 +++
.../ArmarXPlotter/ArmarXPlotterDialog.h | 99 ++
.../ArmarXPlotter/ArmarXPlotterDialog.ui | 260 +++++
.../ArmarXTCPMover/TCPMover.cpp | 392 +++++++
.../ArmarXTCPMover/TCPMover.h | 137 +++
.../ArmarXTCPMover/TCPMover.ui | 525 +++++++++
.../SensorActorWidgetsPlugin/CMakeLists.txt | 69 ++
.../SensorActorWidgetsPlugin.cpp | 39 +
.../SensorActorWidgetsPlugin.h | 49 +
46 files changed, 6264 insertions(+)
create mode 100644 source/RobotAPI/gui_plugins/CMakeLists.txt
create mode 100644 source/RobotAPI/gui_plugins/HandUnitPlugin/CMakeLists.txt
create mode 100644 source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitConfigDialog.cpp
create mode 100644 source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitConfigDialog.h
create mode 100644 source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitConfigDialog.ui
create mode 100644 source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
create mode 100644 source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.h
create mode 100644 source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
create mode 100644 source/RobotAPI/gui_plugins/HapticUnitPlugin/CMakeLists.txt
create mode 100644 source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitConfigDialog.cpp
create mode 100644 source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitConfigDialog.h
create mode 100644 source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitConfigDialog.ui
create mode 100644 source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.cpp
create mode 100644 source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
create mode 100644 source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.ui
create mode 100644 source/RobotAPI/gui_plugins/HapticUnitPlugin/MatrixDisplayWidget.cpp
create mode 100644 source/RobotAPI/gui_plugins/HapticUnitPlugin/MatrixDisplayWidget.h
create mode 100644 source/RobotAPI/gui_plugins/HapticUnitPlugin/MatrixDisplayWidget.ui
create mode 100644 source/RobotAPI/gui_plugins/KinematicUnitPlugin/CMakeLists.txt
create mode 100644 source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.cpp
create mode 100644 source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
create mode 100644 source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.ui
create mode 100644 source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
create mode 100644 source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
create mode 100644 source/RobotAPI/gui_plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui
create mode 100644 source/RobotAPI/gui_plugins/PlatformUnitPlugin/CMakeLists.txt
create mode 100644 source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.cpp
create mode 100644 source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h
create mode 100644 source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.ui
create mode 100644 source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
create mode 100644 source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
create mode 100644 source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.ui
create mode 100644 source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
create mode 100644 source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
create mode 100644 source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.ui
create mode 100644 source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp
create mode 100644 source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h
create mode 100644 source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui
create mode 100644 source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.cpp
create mode 100644 source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
create mode 100644 source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.ui
create mode 100644 source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/CMakeLists.txt
create mode 100644 source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp
create mode 100644 source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 27938ddc1..1e8ca5feb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,6 +9,7 @@ find_package("ArmarXCore" REQUIRED
include(${ArmarXCore_USE_FILE})
armarx_project("RobotAPI")
+depends_on_armarx_package(ArmarXGui "OPTIONAL")
add_subdirectory(source)
diff --git a/source/RobotAPI/CMakeLists.txt b/source/RobotAPI/CMakeLists.txt
index 32014297c..1397fba29 100644
--- a/source/RobotAPI/CMakeLists.txt
+++ b/source/RobotAPI/CMakeLists.txt
@@ -3,5 +3,6 @@ add_subdirectory(applications)
add_subdirectory(components)
add_subdirectory(statecharts)
add_subdirectory(libraries)
+add_subdirectory(gui_plugins)
diff --git a/source/RobotAPI/gui_plugins/CMakeLists.txt b/source/RobotAPI/gui_plugins/CMakeLists.txt
new file mode 100644
index 000000000..93cb2fb67
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/CMakeLists.txt
@@ -0,0 +1,10 @@
+add_subdirectory(KinematicUnitPlugin)
+
+add_subdirectory(HandUnitPlugin)
+add_subdirectory(PlatformUnitPlugin)
+add_subdirectory(SensorActorWidgetsPlugin)
+add_subdirectory(HapticUnitPlugin)
+
+#add_subdirectory(ObjectExaminerPlugin)
+
+
diff --git a/source/RobotAPI/gui_plugins/HandUnitPlugin/CMakeLists.txt b/source/RobotAPI/gui_plugins/HandUnitPlugin/CMakeLists.txt
new file mode 100644
index 000000000..cb8eb84ba
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HandUnitPlugin/CMakeLists.txt
@@ -0,0 +1,38 @@
+armarx_set_target("HandUnitUnitGuiPlugin")
+
+find_package(Qt4 COMPONENTS QtCore QtGui QUIET)
+armarx_build_if(QT_FOUND "Qt not available")
+
+find_package(Simox QUIET)
+find_package(ArmarXGui QUIET)
+
+armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
+armarx_build_if(Simox_FOUND "Simox not available")
+
+include(${QT_USE_FILE})
+
+
+file(GLOB SOURCES HandUnitGuiPlugin.cpp
+ HandUnitConfigDialog.cpp)
+file(GLOB HEADERS HandUnitGuiPlugin.h
+ HandUnitConfigDialog.h)
+
+set(GUI_MOC_HDRS
+ HandUnitGuiPlugin.h
+ HandUnitConfigDialog.h
+)
+
+set(GUI_UIS
+ HandUnitGuiPlugin.ui
+ HandUnitConfigDialog.ui
+)
+
+set(COMPONENT_LIBS RobotAPIUnits ArmarXInterfaces ${Simox_LIBRARIES})
+
+set(LIB_VERSION 0.1.0)
+set(LIB_SOVERSION 0)
+
+if (ArmarXGui_FOUND)
+ armarx_gui_library(HandUnitGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" "${LIB_VERSION}" "${LIB_SOVERSION}")
+endif()
+
diff --git a/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitConfigDialog.cpp b/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitConfigDialog.cpp
new file mode 100644
index 000000000..12bcce40d
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitConfigDialog.cpp
@@ -0,0 +1,38 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::
+* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
+* @date 2012
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#include "HandUnitConfigDialog.h"
+#include "ui_HandUnitConfigDialog.h"
+
+armarx::HandUnitConfigDialog::HandUnitConfigDialog(QWidget *parent) :
+ QDialog(parent),
+ ui(new Ui::HandUnitConfigDialog)
+{
+ ui->setupUi(this);
+}
+
+armarx::HandUnitConfigDialog::~HandUnitConfigDialog()
+{
+ delete ui;
+}
+
diff --git a/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitConfigDialog.h b/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitConfigDialog.h
new file mode 100644
index 000000000..5fd1f2486
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitConfigDialog.h
@@ -0,0 +1,51 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::
+* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
+* @date 2012
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#ifndef _ARMARXGUI_PLUGINS_HANDUNITCONFIGDIALOG_H
+#define _ARMARXGUI_PLUGINS_HANDUNITCONFIGDIALOG_H
+
+#include <QDialog>
+
+namespace Ui {
+ class HandUnitConfigDialog;
+}
+
+namespace armarx
+{
+ class HandUnitConfigDialog :
+ public QDialog
+ {
+ Q_OBJECT
+
+ public:
+ explicit HandUnitConfigDialog(QWidget *parent = 0);
+ ~HandUnitConfigDialog();
+
+ private:
+ Ui::HandUnitConfigDialog *ui;
+
+ friend class HandUnitWidget;
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitConfigDialog.ui b/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitConfigDialog.ui
new file mode 100644
index 000000000..672e7d189
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitConfigDialog.ui
@@ -0,0 +1,92 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>HandUnitConfigDialog</class>
+ <widget class="QDialog" name="HandUnitConfigDialog">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>527</width>
+ <height>113</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>Dialog</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="3" column="0">
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="1">
+ <widget class="QLineEdit" name="editHandUnitName"/>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="labelHandUnitName">
+ <property name="text">
+ <string>HandUnit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="editHandName"/>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="labelHandName">
+ <property name="text">
+ <string>Hand Name</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <tabstops>
+ <tabstop>editHandUnitName</tabstop>
+ <tabstop>buttonBox</tabstop>
+ </tabstops>
+ <resources/>
+ <connections>
+ <connection>
+ <sender>buttonBox</sender>
+ <signal>accepted()</signal>
+ <receiver>HandUnitConfigDialog</receiver>
+ <slot>accept()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>248</x>
+ <y>254</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>157</x>
+ <y>274</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>buttonBox</sender>
+ <signal>rejected()</signal>
+ <receiver>HandUnitConfigDialog</receiver>
+ <slot>reject()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>316</x>
+ <y>260</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>286</x>
+ <y>274</y>
+ </hint>
+ </hints>
+ </connection>
+ </connections>
+</ui>
diff --git a/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp b/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
new file mode 100644
index 000000000..dbd2fa78e
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp
@@ -0,0 +1,157 @@
+#include "HandUnitGuiPlugin.h"
+#include "HandUnitConfigDialog.h"
+#include "ui_HandUnitConfigDialog.h"
+
+#include <Core/core/system/ArmarXDataPath.h>
+#include <Core/observers/variant/SingleTypeVariantList.h>
+
+
+// Qt headers
+#include <Qt>
+#include <QtGlobal>
+#include <QtGui/QPushButton>
+#include <QtGui/QComboBox>
+
+using namespace armarx;
+
+
+HandUnitGuiPlugin::HandUnitGuiPlugin()
+{
+ addWidget<HandUnitWidget>();
+}
+
+
+HandUnitWidget::HandUnitWidget() :
+ handName(""),
+ preshapeName(""),
+ handUnitProxyName("")
+{
+ // init gui
+ ui.setupUi(getWidget());
+ ui.stateOpen->setChecked(true);
+}
+
+
+void HandUnitWidget::onInitObserver()
+{
+ usingProxy(handUnitProxyName);
+ usingTopic(handName + "State");
+ ARMARX_WARNING << "Listening on Topic: " << handName + "State";
+}
+
+
+void HandUnitWidget::onConnectObserver()
+{
+ connectSlots();
+ handUnitProxy = getProxy<HandUnitInterfacePrx>(handUnitProxyName);
+
+ SingleTypeVariantListPtr preshapeStrings = SingleTypeVariantListPtr::dynamicCast(handUnitProxy->getShapeNames());
+ QStringList list;
+ int preshapeCount = preshapeStrings->getSize();
+ for (int i = 0; i < preshapeCount; ++i)
+ {
+ std::string shape = ((preshapeStrings->getVariant(i))->get<std::string>());
+ list << QString::fromStdString(shape);
+ }
+ ui.comboPreshapes->addItems(list);
+}
+
+
+void HandUnitWidget::onExitObserver()
+{
+}
+
+
+QPointer<QDialog> HandUnitWidget::getConfigDialog(QWidget* parent)
+{
+ if(!dialog)
+ {
+ dialog = new HandUnitConfigDialog(parent);
+ }
+ dialog->ui->editHandUnitName->setText(QString::fromStdString(handUnitProxyName));
+ dialog->ui->editHandName->setText(QString::fromStdString(handName));
+ return qobject_cast<HandUnitConfigDialog*>(dialog);
+}
+
+
+ void HandUnitWidget::configured()
+ {
+ handUnitProxyName = dialog->ui->editHandUnitName->text().toStdString();
+ handName = dialog->ui->editHandName->text().toStdString();
+ }
+
+
+void HandUnitWidget::loadSettings(QSettings *settings)
+{
+ handUnitProxyName = settings->value("handUnitProxyName", QString::fromStdString(handUnitProxyName)).toString().toStdString();
+ handName = settings->value("handName", QString::fromStdString(handName)).toString().toStdString();
+}
+
+
+void HandUnitWidget::saveSettings(QSettings *settings)
+{
+ settings->setValue("handUnitProxyName", QString::fromStdString(handUnitProxyName));
+ settings->setValue("handName", QString::fromStdString(handName));
+}
+
+
+void HandUnitWidget::connectSlots()
+{
+ connect(ui.buttonOpen, SIGNAL(clicked()), this, SLOT(openHand()));
+ connect(ui.buttonClose, SIGNAL(clicked()), this, SLOT(closeHand()));
+ connect(ui.buttonPreshape, SIGNAL(clicked()), this, SLOT(preshapeHand()));
+ connect(ui.comboPreshapes, SIGNAL(currentIndexChanged(const QString&)), this, SLOT(selectPreshape(const QString&)));
+}
+
+
+void HandUnitWidget::openHand()
+{
+ ARMARX_VERBOSE << "Open hand not longer supported, use shapes...";
+ //handUnitProxy->open();
+}
+
+
+void HandUnitWidget::closeHand()
+{
+ ARMARX_VERBOSE << "Close hand not longer supported, use shapes...";
+ //handUnitProxy->close();
+}
+
+
+void HandUnitWidget::preshapeHand()
+{
+ handUnitProxy->setShape(preshapeName);
+}
+
+
+void HandUnitWidget::selectPreshape(const QString& preshapeString)
+{
+ preshapeName = preshapeString.toStdString();
+}
+
+/*
+void HandUnitWidget::reportHandOpened(bool isLeftHand, const ::Ice::Current&)
+{
+ ui.stateOpen->setChecked(true);
+}
+
+
+void HandUnitWidget::reportHandClosed(bool isLeftHand, const ::Ice::Current&)
+{
+ ui.stateClosed->setChecked(true);
+}
+*/
+
+void HandUnitWidget::reportHandShaped(const std::string& handName, const std::string& handShapeName, const ::Ice::Current&)
+{
+ ui.statePreshaped->setChecked(true);
+}
+
+
+void HandUnitWidget::reportNewHandShapeName(const std::string& handName, const std::string& handShapeName, const::Ice::Current&)
+{
+
+}
+
+Q_EXPORT_PLUGIN2(armar3_gui_HandUnitGuiPlugin, HandUnitGuiPlugin)
+
diff --git a/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.h b/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.h
new file mode 100644
index 000000000..ad453ca79
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.h
@@ -0,0 +1,131 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::Component::ObjectExaminerGuiPlugin
+* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
+* @copyright 2012
+* @license http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+
+*/
+
+#ifndef _ARMARXGUI_PLUGINS_HANDUNITWIDGET_H
+#define _ARMARXGUI_PLUGINS_HANDUNITWIDGET_H
+
+/* ArmarX headers */
+#include "ui_HandUnitGuiPlugin.h"
+#include <Core/core/Component.h>
+#include <Core/observers/Observer.h>
+#include <Gui/ArmarXGuiLib/ArmarXGuiPlugin.h>
+#include <Gui/ArmarXGuiLib/ArmarXComponentWidgetController.h>
+
+#include <RobotAPI/interface/units/HandUnitInterface.h>
+
+/* Qt headers */
+#include <QtGui/QMainWindow>
+
+#include <string>
+
+
+namespace armarx
+{
+ class HandUnitConfigDialog;
+
+ /**
+ \class HandUnitGuiPlugin
+ \brief With this plugin the HandUnit can be controlled.
+ \ingroup ArmarXGuiPlugins
+
+ \see HandUnitWidget
+ */
+ class HandUnitGuiPlugin :
+ public ArmarXGuiPlugin
+ {
+ public:
+ HandUnitGuiPlugin();
+ QString getPluginName()
+ {
+ return "HandUnitGuiPlugin";
+ }
+ };
+
+ /**
+ \class HandUnitWidget
+ \brief With this widget the HandUnit can be controlled.
+ \ingroup ArmarXGuiPlugins
+
+ \see HandUnitGuiPlugin
+ */
+ class HandUnitWidget :
+ public ArmarXComponentWidgetController,
+ public HandUnitListener,
+ virtual public Observer
+ {
+ Q_OBJECT
+ public:
+ HandUnitWidget();
+ ~HandUnitWidget()
+ {}
+
+ // inherited from Observer
+ virtual std::string getDefaultName() const { return "HandUnitGUI"; }
+ virtual void onInitObserver();
+ virtual void onConnectObserver();
+ virtual void onExitObserver();
+
+ // slice interface implementation
+ //virtual void reportHandClosed(bool isLeftHand, const ::Ice::Current& = ::Ice::Current());
+ //virtual void reportHandOpened(bool isLeftHand, const ::Ice::Current& = ::Ice::Current());
+ virtual void reportHandShaped(const std::string& handName, const std::string& handShapeName, const ::Ice::Current& = ::Ice::Current());
+ virtual void reportNewHandShapeName(const std::string& handName, const std::string& handShapeName, const ::Ice::Current& = ::Ice::Current());
+
+ // inherited of ArmarXWidget
+ virtual QString getWidgetName() const
+ {
+ return getDefaultName().c_str();
+ }
+
+ QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
+ virtual void loadSettings(QSettings * settings);
+ virtual void saveSettings(QSettings * settings);
+ void configured();
+
+ public slots:
+
+ void openHand();
+ void closeHand();
+ void preshapeHand();
+ void selectPreshape(const QString& preshapeString);
+
+ protected:
+ void connectSlots();
+
+ Ui::HandUnitGuiPlugin ui;
+
+ private:
+ std::string handName;
+ std::string preshapeName;
+
+ std::string handUnitProxyName;
+ HandUnitInterfacePrx handUnitProxy;
+
+ QPointer<QWidget> __widget;
+ QPointer<HandUnitConfigDialog> dialog;
+ };
+ typedef boost::shared_ptr<HandUnitWidget> HandUnitGuiPluginPtr;
+}
+
+#endif
diff --git a/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.ui b/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
new file mode 100644
index 000000000..d4a673fca
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.ui
@@ -0,0 +1,94 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>HandUnitGuiPlugin</class>
+ <widget class="QWidget" name="HandUnitGuiPlugin">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>338</width>
+ <height>210</height>
+ </rect>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="windowTitle">
+ <string>Form</string>
+ </property>
+ <widget class="QWidget" name="layoutWidget">
+ <property name="geometry">
+ <rect>
+ <x>9</x>
+ <y>9</y>
+ <width>321</width>
+ <height>191</height>
+ </rect>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="1">
+ <widget class="QPushButton" name="buttonOpen">
+ <property name="text">
+ <string>Open</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QComboBox" name="comboPreshapes"/>
+ </item>
+ <item row="2" column="1">
+ <widget class="QPushButton" name="buttonClose">
+ <property name="text">
+ <string>Close</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QPushButton" name="buttonPreshape">
+ <property name="text">
+ <string>Preshape</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0" rowspan="2">
+ <widget class="QGroupBox" name="handstateGroupBox">
+ <property name="title">
+ <string>Handstate</string>
+ </property>
+ <property name="checkable">
+ <bool>false</bool>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QRadioButton" name="stateOpen">
+ <property name="text">
+ <string>Open</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="stateClosed">
+ <property name="text">
+ <string>Closed</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="statePreshaped">
+ <property name="text">
+ <string>Preshaped</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui_plugins/HapticUnitPlugin/CMakeLists.txt b/source/RobotAPI/gui_plugins/HapticUnitPlugin/CMakeLists.txt
new file mode 100644
index 000000000..cfcc61b5f
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HapticUnitPlugin/CMakeLists.txt
@@ -0,0 +1,46 @@
+armarx_set_target("HapticUnitUnitGuiPlugin")
+
+find_package(Qt4 COMPONENTS QtCore QtGui QUIET)
+armarx_build_if(QT_FOUND "Qt not available")
+
+find_package(Simox QUIET)
+find_package(ArmarXGui QUIET)
+
+armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
+armarx_build_if(Simox_FOUND "Simox not available")
+
+find_package(Eigen3 QUIET)
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+include_directories(${Eigen3_INCLUDE_DIR})
+
+include(${QT_USE_FILE})
+
+include(${ArmarXGui_CMAKE_DIR}/ArmarXGui.cmake)
+
+file(GLOB SOURCES HapticUnitGuiPlugin.cpp
+ HapticUnitConfigDialog.cpp
+ MatrixDisplayWidget.cpp)
+file(GLOB HEADERS HapticUnitGuiPlugin.h
+ HapticUnitConfigDialog.h
+ MatrixDisplayWidget.h)
+
+set(GUI_MOC_HDRS
+ HapticUnitGuiPlugin.h
+ HapticUnitConfigDialog.h
+ MatrixDisplayWidget.h
+)
+
+set(GUI_UIS
+ HapticUnitGuiPlugin.ui
+ HapticUnitConfigDialog.ui
+ MatrixDisplayWidget.ui
+)
+
+set(COMPONENT_LIBS RobotAPIUnits ArmarXInterfaces ArmarXCoreEigen3Variants ${Simox_LIBRARIES})
+
+set(LIB_VERSION 0.1.0)
+set(LIB_SOVERSION 0)
+
+if (ArmarXGui_FOUND)
+ armarx_gui_library(HapticUnitGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" "${LIB_VERSION}" "${LIB_SOVERSION}")
+endif()
diff --git a/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitConfigDialog.cpp b/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitConfigDialog.cpp
new file mode 100644
index 000000000..55aefcec1
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitConfigDialog.cpp
@@ -0,0 +1,38 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::
+* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
+* @date 2012
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#include "HapticUnitConfigDialog.h"
+#include "ui_HapticUnitConfigDialog.h"
+
+armarx::HapticUnitConfigDialog::HapticUnitConfigDialog(QWidget *parent) :
+ QDialog(parent),
+ ui(new Ui::HapticUnitConfigDialog)
+{
+ ui->setupUi(this);
+}
+
+armarx::HapticUnitConfigDialog::~HapticUnitConfigDialog()
+{
+ delete ui;
+}
+
diff --git a/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitConfigDialog.h b/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitConfigDialog.h
new file mode 100644
index 000000000..1e7f3f94a
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitConfigDialog.h
@@ -0,0 +1,51 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::
+* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
+* @date 2012
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#ifndef _ARMARXGUI_PLUGINS_HapticUnitCONFIGDIALOG_H
+#define _ARMARXGUI_PLUGINS_HapticUnitCONFIGDIALOG_H
+
+#include <QDialog>
+
+namespace Ui {
+ class HapticUnitConfigDialog;
+}
+
+namespace armarx
+{
+ class HapticUnitConfigDialog :
+ public QDialog
+ {
+ Q_OBJECT
+
+ public:
+ explicit HapticUnitConfigDialog(QWidget *parent = 0);
+ ~HapticUnitConfigDialog();
+
+ private:
+ Ui::HapticUnitConfigDialog *ui;
+
+ //friend class HapticUnitWidget;
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitConfigDialog.ui b/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitConfigDialog.ui
new file mode 100644
index 000000000..741b94b0a
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitConfigDialog.ui
@@ -0,0 +1,92 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>HapticUnitConfigDialog</class>
+ <widget class="QDialog" name="HapticUnitConfigDialog">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>527</width>
+ <height>113</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>Dialog</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="3" column="0">
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="1">
+ <widget class="QLineEdit" name="editHapticUnitName"/>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="labelHapticUnitName">
+ <property name="text">
+ <string>HapticUnit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="editHandName"/>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="labelHandName">
+ <property name="text">
+ <string>Hand Name</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <tabstops>
+ <tabstop>editHapticUnitName</tabstop>
+ <tabstop>buttonBox</tabstop>
+ </tabstops>
+ <resources/>
+ <connections>
+ <connection>
+ <sender>buttonBox</sender>
+ <signal>accepted()</signal>
+ <receiver>HapticUnitConfigDialog</receiver>
+ <slot>accept()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>248</x>
+ <y>254</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>157</x>
+ <y>274</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>buttonBox</sender>
+ <signal>rejected()</signal>
+ <receiver>HapticUnitConfigDialog</receiver>
+ <slot>reject()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>316</x>
+ <y>260</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>286</x>
+ <y>274</y>
+ </hint>
+ </hints>
+ </connection>
+ </connections>
+</ui>
diff --git a/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.cpp b/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.cpp
new file mode 100644
index 000000000..c40d50f2f
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.cpp
@@ -0,0 +1,177 @@
+#include "HapticUnitGuiPlugin.h"
+#include "HapticUnitConfigDialog.h"
+#include "ui_HapticUnitConfigDialog.h"
+
+#include <Core/core/system/ArmarXDataPath.h>
+#include <Core/observers/variant/SingleTypeVariantList.h>
+#include <Core/util/variants/eigen3/MatrixVariant.h>
+#include <Core/observers/variant/TimestampVariant.h>
+#include <IceUtil/Time.h>
+
+
+// Qt headers
+#include <Qt>
+#include <QtGlobal>
+#include <QtGui/QPushButton>
+#include <QtGui/QComboBox>
+
+using namespace armarx;
+
+
+HapticUnitGuiPlugin::HapticUnitGuiPlugin()
+{
+ addWidget<HapticUnitWidget>();
+}
+
+
+HapticUnitWidget::HapticUnitWidget()
+{
+ // init gui
+ ui.setupUi(getWidget());
+ //ui.stateOpen->setChecked(true);
+ HapticObserverProxyName = "HapticUnitObserver";
+
+ updateTimer = new QTimer(this);
+ layout = new QGridLayout(getWidget());
+
+
+
+
+}
+
+
+void HapticUnitWidget::onInitComponent()
+{
+ usingProxy(HapticObserverProxyName);
+ //usingTopic(handName + "State");
+ //ARMARX_WARNING << "Listening on Topic: " << handName + "State";
+}
+
+
+void HapticUnitWidget::onConnectComponent()
+{
+ HapticObserverProxy = getProxy<ObserverInterfacePrx>(HapticObserverProxyName);
+ connectSlots();
+ createMatrixWidgets();
+ updateTimer->start(25); // 50 Hz
+
+
+ /*SingleTypeVariantListPtr preshapeStrings = SingleTypeVariantListPtr::dynamicCast(HapticUnitProxy->getPreshapeNames());
+ QStringList list;
+ int preshapeCount = preshapeStrings->getSize();
+ for (int i = 0; i < preshapeCount; ++i)
+ {
+ std::string shape = ((preshapeStrings->getVariant(i))->get<std::string>());
+ list << QString::fromStdString(shape);
+ }
+ ui.comboPreshapes->addItems(list);*/
+}
+
+
+void HapticUnitWidget::onExitComponent()
+{
+ updateTimer->stop();
+}
+
+
+QPointer<QDialog> HapticUnitWidget::getConfigDialog(QWidget* parent)
+{
+ if(!dialog)
+ {
+ dialog = new HapticUnitConfigDialog(parent);
+ }
+ /*dialog->ui->editHapticUnitName->setText(QString::fromStdString(HapticUnitProxyName));
+ dialog->ui->editHandName->setText(QString::fromStdString(handName));*/
+ return qobject_cast<HapticUnitConfigDialog*>(dialog);
+}
+
+
+ void HapticUnitWidget::configured()
+ {
+ //HapticUnitProxyName = dialog->ui->editHapticUnitName->text().toStdString();
+ //handName = dialog->ui->editHandName->text().toStdString();
+ }
+
+ void HapticUnitWidget::updateData()
+ {
+ /*//::armarx::ChannelRegistryEntry channel = HapticObserverProxy->getAvailableChannels().at("A");
+ //float max = HapticObserverProxy->getDataField(new DataFieldIdentifier(HapticObserverProxyName, "A", "max"))->getFloat();
+ MatrixFloatPtr matrix1 = VariantPtr::dynamicCast(HapticObserverProxy->getDataField(new DataFieldIdentifier(HapticObserverProxyName, "A", "matrix")))->get<MatrixFloat>();
+ MatrixFloatPtr matrix2 = VariantPtr::dynamicCast(HapticObserverProxy->getDataField(new DataFieldIdentifier(HapticObserverProxyName, "B", "matrix")))->get<MatrixFloat>();
+
+ //::armarx::DataFieldRegistryEntry dataFieldMax = channel.dataFields.at("max");
+ //float max = dataFieldMax.value->getFloat();
+ //::armarx::DataFieldRegistryEntry dataFieldMatrix = channel.dataFields.at("matrix");
+
+ //MatrixFloatPtr matrix = VariantPtr::dynamicCast(dataFieldMatrix.value)->get<MatrixFloat>();
+
+ //ARMARX_LOG << max;
+ //ARMARX_LOG << matrix1->toEigen();
+ matrixDisplays.at(0)->setData(matrix1->toEigen().cast<double>());
+ matrixDisplays.at(0)->invokeUpdate();
+ matrixDisplays.at(1)->setData(matrix2->toEigen().cast<double>());
+ matrixDisplays.at(1)->invokeUpdate();*/
+
+ for(std::map<std::string,MatrixDisplayWidget*>::iterator it = matrixDisplays.begin(); it != matrixDisplays.end(); it++)
+ {
+ MatrixFloatPtr matrix = VariantPtr::dynamicCast(HapticObserverProxy->getDataField(new DataFieldIdentifier(HapticObserverProxyName, it->first, "matrix")))->get<MatrixFloat>();
+ std::string name = HapticObserverProxy->getDataField(new DataFieldIdentifier(HapticObserverProxyName, it->first, "name"))->getString();
+ float rate = HapticObserverProxy->getDataField(new DataFieldIdentifier(HapticObserverProxyName, it->first, "rate"))->getFloat();
+ TimestampVariantPtr timestamp = VariantPtr::dynamicCast(HapticObserverProxy->getDataField(new DataFieldIdentifier(HapticObserverProxyName, it->first, "timestamp")))->get<TimestampVariant>();
+ MatrixDisplayWidget* matrixDisplay = it->second;
+ matrixDisplay->setData(matrix->toEigen().cast<double>());
+ matrixDisplay->setInfoOverlay(QString::fromStdString(it->first) + ": " + QString::fromStdString(name) + " " + QString::fromStdString(timestamp->toTime().toDateTime()) + " " + QString::number(rate, 'g', 4) + " Frames/s");
+ matrixDisplay->invokeUpdate();
+ }
+
+ }
+
+
+void HapticUnitWidget::loadSettings(QSettings *settings)
+{
+ //HapticUnitProxyName = settings->value("HapticUnitProxyName", QString::fromStdString(HapticUnitProxyName)).toString().toStdString();
+ //handName = settings->value("handName", QString::fromStdString(handName)).toString().toStdString();
+}
+
+
+void HapticUnitWidget::saveSettings(QSettings *settings)
+{
+ //settings->setValue("HapticUnitProxyName", QString::fromStdString(HapticUnitProxyName));
+ //settings->setValue("handName", QString::fromStdString(handName));
+}
+
+
+void HapticUnitWidget::connectSlots()
+{
+ connect(this, SIGNAL(doUpdateDisplayWidgets()), SLOT(updateDisplayWidgets()), Qt::QueuedConnection);
+ connect(updateTimer, SIGNAL(timeout()), this, SLOT(updateData()));
+ /*connect(ui.buttonOpen, SIGNAL(clicked()), this, SLOT(openHand()));
+ connect(ui.buttonClose, SIGNAL(clicked()), this, SLOT(closeHand()));
+ connect(ui.buttonPreshape, SIGNAL(clicked()), this, SLOT(preshapeHand()));
+ connect(ui.comboPreshapes, SIGNAL(currentIndexChanged(const QString&)), this, SLOT(selectPreshape(const QString&)));*/
+}
+
+void HapticUnitWidget::createMatrixWidgets()
+{
+ ARMARX_LOG << "HapticUnitWidget::createMatrixWidgets()";
+ emit doUpdateDisplayWidgets();
+}
+
+void HapticUnitWidget::updateDisplayWidgets()
+{
+ int i = 0;
+ ChannelRegistry channels = HapticObserverProxy->getAvailableChannels();
+ for(ChannelRegistry::iterator it = channels.begin(); it != channels.end(); it++)
+ {
+ ARMARX_LOG << it->first;
+ MatrixDisplayWidget* matrixDisplay = new MatrixDisplayWidget();
+ matrixDisplay->setRange(0, 4095);
+ matrixDisplays[it->first] = matrixDisplay;
+ layout->addWidget(matrixDisplay, 0, i);
+ i++;
+ }
+}
+
+
+Q_EXPORT_PLUGIN2(armar3_gui_HapticUnitGuiPlugin, HapticUnitGuiPlugin)
+
diff --git a/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h b/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
new file mode 100644
index 000000000..6defbcd7c
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
@@ -0,0 +1,135 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::Component::ObjectExaminerGuiPlugin
+* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
+* @copyright 2012
+* @license http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+
+*/
+
+#ifndef _ARMARXGUI_PLUGINS_HapticUnitWIDGET_H
+#define _ARMARXGUI_PLUGINS_HapticUnitWIDGET_H
+
+/* ArmarX headers */
+#include "ui_HapticUnitGuiPlugin.h"
+#include <Core/core/Component.h>
+#include <Gui/ArmarXGuiLib/ArmarXGuiPlugin.h>
+#include <Gui/ArmarXGuiLib/ArmarXComponentWidgetController.h>
+#include <Core/observers/Observer.h>
+
+/* Qt headers */
+#include <QtGui/QMainWindow>
+#include <QtCore/QTimer>
+
+#include <string>
+#include <QLayout>
+#include "MatrixDisplayWidget.h"
+
+
+namespace armarx
+{
+ class HapticUnitConfigDialog;
+
+ /**
+ \class HapticUnitGuiPlugin
+ \brief With this plugin the HapticUnit can be controlled.
+ \ingroup ArmarXGuiPlugins
+
+ \see HapticUnitWidget
+ */
+ class HapticUnitGuiPlugin :
+ public ArmarXGuiPlugin
+ {
+ public:
+ HapticUnitGuiPlugin();
+ QString getPluginName()
+ {
+ return "HapticUnitGuiPlugin";
+ }
+ };
+
+ /**
+ \class HapticUnitWidget
+ \brief With this widget the HapticUnit can be controlled.
+ \ingroup ArmarXGuiPlugins
+
+ \see HapticUnitGuiPlugin
+ */
+ class HapticUnitWidget :
+ public ArmarXComponentWidgetController
+ {
+ Q_OBJECT
+ public:
+ HapticUnitWidget();
+ ~HapticUnitWidget()
+ {}
+
+ // inherited from Component
+ virtual void onInitComponent();
+ virtual void onConnectComponent();
+ virtual void onExitComponent();
+
+
+ // inherited of ArmarXWidget
+ virtual QString getWidgetName() const
+ {
+ return "HapticUnitGUI";
+ }
+
+ QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
+ virtual void loadSettings(QSettings * settings);
+ virtual void saveSettings(QSettings * settings);
+ void configured();
+
+ public slots:
+ void updateData();
+
+ signals:
+ void doUpdateDisplayWidgets();
+
+ private slots:
+ void updateDisplayWidgets();
+
+ protected:
+ void connectSlots();
+
+ Ui::HapticUnitGuiPlugin ui;
+
+ private:
+
+ void createMatrixWidgets();
+
+ private:
+
+ std::string HapticObserverProxyName;
+ ObserverInterfacePrx HapticObserverProxy;
+
+ QPointer<QWidget> __widget;
+ QPointer<HapticUnitConfigDialog> dialog;
+
+ QTimer* updateTimer;
+
+ QGridLayout* layout;
+
+ std::map<std::string, MatrixDisplayWidget*> matrixDisplays;
+
+ };
+ //typedef boost::shared_ptr<HapticUnitWidget> HapticUnitGuiPluginPtr;
+}
+
+#endif
diff --git a/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.ui b/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.ui
new file mode 100644
index 000000000..51d71fb84
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HapticUnitPlugin/HapticUnitGuiPlugin.ui
@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>HapticUnitGuiPlugin</class>
+ <widget class="QWidget" name="HapticUnitGuiPlugin">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>338</width>
+ <height>210</height>
+ </rect>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="windowTitle">
+ <string>Form</string>
+ </property>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui_plugins/HapticUnitPlugin/MatrixDisplayWidget.cpp b/source/RobotAPI/gui_plugins/HapticUnitPlugin/MatrixDisplayWidget.cpp
new file mode 100644
index 000000000..102a023af
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HapticUnitPlugin/MatrixDisplayWidget.cpp
@@ -0,0 +1,73 @@
+#include "MatrixDisplayWidget.h"
+#include "ui_MatrixDisplayWidget.h"
+
+#include <QPainter>
+#include <pthread.h>
+#include <iostream>
+
+using namespace std;
+using namespace armarx;
+
+MatrixDisplayWidget::MatrixDisplayWidget(QWidget *parent) :
+ QWidget(parent),
+ ui(new Ui::MatrixDisplayWidget)
+{
+ ui->setupUi(this);
+ this->min = 0;
+ this->max = 1;
+ this->data = MatrixXd(1, 1);
+ this->data(0, 0) = 0;
+ QColor c[] = {QColor::fromHsv(0, 0, 0), QColor::fromHsv(240, 255, 255), QColor::fromHsv(270, 255, 255), QColor::fromHsv(300, 255, 255),
+ QColor::fromHsv(0, 255, 255), QColor::fromHsv(30, 255, 255), QColor::fromHsv(60, 255, 255)};
+ this->colors = std::valarray<QColor>(c, sizeof c / sizeof c[0]);
+
+ //connect(this, SIGNAL(updateData(MatrixXd)), SLOT(setData(MatrixXd)), Qt::QueuedConnection);
+ connect(this, SIGNAL(doUpdate()), SLOT(update()), Qt::QueuedConnection);
+}
+
+MatrixDisplayWidget::~MatrixDisplayWidget()
+{
+ delete ui;
+}
+
+void MatrixDisplayWidget::paintEvent(QPaintEvent *)
+{
+ mtx.lock();
+ MatrixXd data = this->data;
+
+ //cout << "[" << pthread_self() << "] MatrixDisplayWidget::paintEvent" << endl;
+
+ int pixelSize = std::min(width() / data.cols(), height() / data.rows());
+ int dx = (width() - pixelSize * data.cols()) / 2;
+ int dy = (height() - pixelSize * data.rows()) / 2;
+ QPainter painter(this);
+ painter.fillRect(rect(), QColor::fromRgb(0,0,0));
+ painter.setFont(QFont("Arial", 8));
+
+ for(int x = 0; x < data.cols(); x++)
+ {
+ for(int y = 0; y < data.rows(); y++)
+ {
+ QRect target = QRect(dx + x * pixelSize, dy + y * pixelSize, pixelSize, pixelSize);
+ painter.fillRect(target, getColor(data(y, x), min, max));
+ painter.drawText(target, Qt::AlignCenter, QString::number(data(y, x)));
+ }
+ }
+ painter.setFont(QFont("Arial", 12));
+ painter.drawText(rect(), Qt::AlignBottom | Qt::AlignRight, infoOverlay);
+
+ mtx.unlock();
+}
+
+QColor MatrixDisplayWidget::getColor(double value, double min, double max)
+{
+ value = (value - min) / (max - min) * (colors.size() - 1);
+ if(value < 0) return colors[0];
+ if(value >= colors.size() - 1) return colors[colors.size() - 1];
+ int i = (int)value;
+ double f2 = value - i;
+ double f1 = 1- f2;
+ QColor c1 = colors[i];
+ QColor c2 = colors[i + 1];
+ return QColor((int)(c1.red() * f1 + c2.red() * f2), (int)(c1.green() * f1 + c2.green() * f2), (int)(c1.blue() * f1 + c2.blue() * f2));
+}
diff --git a/source/RobotAPI/gui_plugins/HapticUnitPlugin/MatrixDisplayWidget.h b/source/RobotAPI/gui_plugins/HapticUnitPlugin/MatrixDisplayWidget.h
new file mode 100644
index 000000000..2978adac4
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HapticUnitPlugin/MatrixDisplayWidget.h
@@ -0,0 +1,67 @@
+#ifndef MATRIXDISPLAYWIDGET_H
+#define MATRIXDISPLAYWIDGET_H
+
+#include <QWidget>
+#include <QMutex>
+#include <eigen3/Eigen/Dense>
+#include <valarray>
+
+using Eigen::MatrixXd;
+
+namespace Ui {
+class MatrixDisplayWidget;
+}
+
+namespace armarx
+{
+ class MatrixDisplayWidget : public QWidget
+ {
+ Q_OBJECT
+
+ signals:
+ void doUpdate();
+
+ public slots:
+ void setData(MatrixXd data)
+ {
+ mtx.lock();
+ this->data = data;
+ mtx.unlock();
+ //this->update();
+ }
+
+ public:
+ explicit MatrixDisplayWidget(QWidget *parent = 0);
+ ~MatrixDisplayWidget();
+ void paintEvent(QPaintEvent *);
+
+
+
+ void setRange(double min, double max)
+ {
+ this->min = min;
+ this->max = max;
+ }
+ QColor getColor(double value, double min, double max);
+
+ void invokeUpdate(){
+ emit doUpdate();
+ }
+ void setInfoOverlay(QString infoOverlay)
+ {
+ mtx.lock();
+ this->infoOverlay = infoOverlay;
+ mtx.unlock();
+ }
+
+ private:
+ Ui::MatrixDisplayWidget *ui;
+ MatrixXd data;
+ double min, max;
+ std::valarray<QColor> colors;
+ QMutex mtx;
+ QString infoOverlay;
+ };
+}
+
+#endif // MATRIXDISPLAYWIDGET_H
diff --git a/source/RobotAPI/gui_plugins/HapticUnitPlugin/MatrixDisplayWidget.ui b/source/RobotAPI/gui_plugins/HapticUnitPlugin/MatrixDisplayWidget.ui
new file mode 100644
index 000000000..2ccbb9a34
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/HapticUnitPlugin/MatrixDisplayWidget.ui
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MatrixDisplayWidget</class>
+ <widget class="QWidget" name="MatrixDisplayWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>372</width>
+ <height>318</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>Form</string>
+ </property>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/CMakeLists.txt b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/CMakeLists.txt
new file mode 100644
index 000000000..827da5184
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/CMakeLists.txt
@@ -0,0 +1,46 @@
+armarx_set_target("KinematicUnitGuiPlugin")
+
+find_package(Qt4 COMPONENTS QtCore QtGui QtOpenGL QUIET)
+
+find_package(Eigen3 QUIET)
+
+# VirtualRobot (adds dependencies to COin3D and SoQt)
+find_package(Simox 2.1.5 QUIET)
+find_package(ArmarXGui QUIET)
+
+armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
+
+armarx_build_if(QT_FOUND "Qt not available")
+armarx_build_if(QT_QTOPENGL_FOUND "QtOpenGL not available")
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+armarx_build_if(Simox_FOUND "VirtualRobot not available")
+
+include(${QT_USE_FILE})
+
+include_directories(${Eigen3_INCLUDE_DIR})
+include_directories(${Simox_INCLUDE_DIRS})
+
+
+set(SOURCES KinematicUnitGuiPlugin.cpp
+ KinematicUnitConfigDialog.cpp)
+set(HEADERS KinematicUnitGuiPlugin.h
+ KinematicUnitConfigDialog.h)
+
+set(GUI_MOC_HDRS
+ KinematicUnitGuiPlugin.h
+ KinematicUnitConfigDialog.h
+)
+
+set(GUI_UIS
+ kinematicunitguiplugin.ui
+ KinematicUnitConfigDialog.ui
+)
+
+set(COMPONENT_LIBS RobotAPIUnits ${Simox_LIBRARIES})
+
+set(LIB_VERSION 0.1.0)
+set(LIB_SOVERSION 0)
+
+if (ArmarXGui_FOUND)
+ armarx_gui_library(KinematicUnitGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" "${LIB_VERSION}" "${LIB_SOVERSION}")
+endif()
diff --git a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.cpp b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.cpp
new file mode 100644
index 000000000..34d5e2b48
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.cpp
@@ -0,0 +1,93 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::
+* @author Mirko Waechter ( mirko.waechter at kit dot edu)
+* @date 2012
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#include "KinematicUnitConfigDialog.h"
+#include "ui_KinematicUnitConfigDialog.h"
+
+#include <QTimer>
+#include <QPushButton>
+
+
+// ArmarX
+#include <RobotAPI/interface/units/KinematicUnitInterface.h>
+
+#include <IceUtil/UUID.h>
+
+#include <Gui/ArmarXGuiLib/utility/IceProxyFinder.h>
+
+using namespace armarx;
+
+KinematicUnitConfigDialog::KinematicUnitConfigDialog(QWidget *parent) :
+ QDialog(parent),
+ ui(new Ui::KinematicUnitConfigDialog),
+ uuid(IceUtil::generateUUID())
+{
+ ui->setupUi(this);
+ fileDialog = new QFileDialog(parent);
+ fileDialog->setModal(true);
+ fileDialog->setFileMode(QFileDialog::ExistingFiles);
+ QStringList fileTypes;
+ fileTypes << tr("XML (*.xml)")
+ << tr("All Files (*.*)");
+ fileDialog->setNameFilters(fileTypes);
+ connect(ui->btnSelectModelFile, SIGNAL(clicked()), fileDialog, SLOT(show()));
+ connect(fileDialog, SIGNAL(accepted()), this, SLOT(modelFileSelected()));
+ ui->buttonBox->button( QDialogButtonBox::Ok )->setDefault(true);
+ proxyFinder = new IceProxyFinder<KinematicUnitInterfacePrx>(this);
+ proxyFinder->setSearchMask("*Unit");
+ ui->gridLayout->addWidget(proxyFinder, 2,1,1,2);
+
+}
+
+KinematicUnitConfigDialog::~KinematicUnitConfigDialog()
+{
+ delete ui;
+}
+
+void
+KinematicUnitConfigDialog::onInitComponent()
+{
+ proxyFinder->setIceManager(getIceManager());
+}
+
+void
+KinematicUnitConfigDialog::onConnectComponent()
+{
+
+}
+
+void KinematicUnitConfigDialog::onExitComponent()
+{
+ QObject::disconnect();
+
+}
+
+
+
+void KinematicUnitConfigDialog::modelFileSelected()
+{
+ ui->editRobotFilepath->setText(fileDialog->selectedFiles()[0]);
+}
+
+
+
diff --git a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
new file mode 100644
index 000000000..de40adddd
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
@@ -0,0 +1,72 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::
+* @author Mirko Waechter ( mirko.waechter at kit dot edu)
+* @date 2012
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#ifndef KINEMATICUNITCONFIGDIALOG_H
+#define KINEMATICUNITCONFIGDIALOG_H
+
+#include <QDialog>
+#include <QFileDialog>
+
+#include <Core/core/services/tasks/RunningTask.h>
+#include <Core/core/IceManager.h>
+#include <Core/core/ManagedIceObject.h>
+#include <Gui/ArmarXGuiLib/utility/IceProxyFinder.h>
+
+namespace Ui {
+ class KinematicUnitConfigDialog;
+}
+
+namespace armarx{
+ class KinematicUnitConfigDialog :
+ public QDialog,
+ virtual public ManagedIceObject
+ {
+ Q_OBJECT
+
+ public:
+ explicit KinematicUnitConfigDialog(QWidget *parent = 0);
+ ~KinematicUnitConfigDialog();
+
+ // inherited from ManagedIceObject
+ std::string getDefaultName() const { return "KinematicUnitConfigDialog" + uuid;}
+ void onInitComponent();
+ void onConnectComponent();
+ void onExitComponent();
+
+ void updateKinematicUnitList();
+ signals:
+
+ public slots:
+ void modelFileSelected();
+ private:
+
+ IceManagerPtr iceManager;
+ IceProxyFinderBase* proxyFinder;
+ Ui::KinematicUnitConfigDialog *ui;
+ QFileDialog* fileDialog;
+ std::string uuid;
+ friend class KinematicUnitWidgetController;
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.ui b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.ui
new file mode 100644
index 000000000..377f3b242
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.ui
@@ -0,0 +1,129 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>KinematicUnitConfigDialog</class>
+ <widget class="QDialog" name="KinematicUnitConfigDialog">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>527</width>
+ <height>133</height>
+ </rect>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="windowTitle">
+ <string>Dialog</string>
+ </property>
+ <property name="toolTip">
+ <string/>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="2" column="0">
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="2" column="0">
+ <widget class="QLabel" name="labelKinematicUnitName">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Kinematic unit name</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1" colspan="2">
+ <widget class="QLineEdit" name="ediRobotNodeSetName"/>
+ </item>
+ <item row="0" column="2">
+ <widget class="QToolButton" name="btnSelectModelFile">
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="icon">
+ <iconset resource="../../ArmarXGui/icons.qrc">
+ <normaloff>:/icons/document-open-folder.png</normaloff>:/icons/document-open-folder.png</iconset>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLineEdit" name="editRobotFilepath"/>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="labelRobotFilepath">
+ <property name="text">
+ <string>Robot model filepath</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="labelRobotNodeSetName">
+ <property name="text">
+ <string>Robot nodeset name</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <tabstops>
+ <tabstop>editRobotFilepath</tabstop>
+ <tabstop>btnSelectModelFile</tabstop>
+ <tabstop>ediRobotNodeSetName</tabstop>
+ <tabstop>buttonBox</tabstop>
+ </tabstops>
+ <resources>
+ <include location="../../ArmarXGui/icons.qrc"/>
+ </resources>
+ <connections>
+ <connection>
+ <sender>buttonBox</sender>
+ <signal>accepted()</signal>
+ <receiver>KinematicUnitConfigDialog</receiver>
+ <slot>accept()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>248</x>
+ <y>254</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>157</x>
+ <y>274</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>buttonBox</sender>
+ <signal>rejected()</signal>
+ <receiver>KinematicUnitConfigDialog</receiver>
+ <slot>reject()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>316</x>
+ <y>260</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>286</x>
+ <y>274</y>
+ </hint>
+ </hints>
+ </connection>
+ </connections>
+</ui>
diff --git a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
new file mode 100644
index 000000000..19e8bb04f
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -0,0 +1,1019 @@
+#include "KinematicUnitGuiPlugin.h"
+#include "KinematicUnitConfigDialog.h"
+#include "ui_KinematicUnitConfigDialog.h"
+#include <Core/core/system/ArmarXDataPath.h>
+#include <Core/core/ArmarXObjectScheduler.h>
+
+// Qt headers
+#include <Qt>
+#include <QtGlobal>
+#include <QSpinBox>
+#include <QSlider>
+#include <QPushButton>
+#include <QStringList>
+//#include <QTableWidget>
+#include <QTableView>
+#include <QCheckBox>
+
+#include <Inventor/SoDB.h>
+#include <Inventor/Qt/SoQt.h>
+
+// System
+#include <stdio.h>
+#include <string>
+#include <string.h>
+#include <stdlib.h>
+#include <iostream>
+#include <math.h>
+
+#include <boost/filesystem.hpp>
+
+
+// VirtualRobot
+#include <VirtualRobot/XML/RobotIO.h>
+
+using namespace armarx;
+using namespace VirtualRobot;
+using namespace std;
+
+
+KinematicUnitGuiPlugin::KinematicUnitGuiPlugin()
+{
+ addWidget<KinematicUnitWidgetController>();
+}
+
+
+KinematicUnitWidgetController::KinematicUnitWidgetController() :
+ kinematicUnitNode(NULL),
+ selectedControlMode(ePositionControl)
+{
+ // init gui
+
+ ui.setupUi(getWidget());
+ ARMARX_INFO << " setup of ui finished" << flush;
+}
+
+
+void KinematicUnitWidgetController::onInitComponent()
+{
+// if(kinematicUnitFile.empty())
+// {
+// KinematicUnitConfigDialog dialog;
+// if(dialog.exec())
+// {
+// kinematicUnitFile = dialog.ui->editRobotFilepath->text().toStdString();
+// robotNodeSetName = dialog.ui->ediRobotNodeSetName->text().toStdString();
+// kinematicUnitName = dialog.ui->editKinematicUnitName->text().toStdString();
+// }
+// else {
+// return;
+// }
+// }
+
+ dirty_squaresum_old.resize(5,0);
+ ARMARX_INFO << flush;
+ verbose = true;
+
+// // parsing properties from ice config
+// kinematicUnitFile = getProperty<std::string>("RobotFileName").getValue();
+// robotNodeSetName = getProperty<std::string>("RobotNodeSetName").getValue();
+// kinematicUnitName = getProperty<std::string>("KinematicUnitName").getValue();
+
+ ARMARX_INFO << "RobotFileName: " << kinematicUnitFile << flush;
+ ARMARX_INFO << "RobotNodeSetName: " << robotNodeSetName << flush;
+ ARMARX_INFO << "KinematicUnitName: " << kinematicUnitName << flush;
+
+ // VirtualRobot::RobotPtr robot = VirtualRobot::RobotIO::loadRobot(robotFile, VirtualRobot::RobotIO::eStructure);
+
+ // init
+ robot = loadRobotFile(kinematicUnitFile);
+ if(!robot)
+ {
+ getObjectScheduler()->terminate();
+ if(getWidget()->parentWidget())
+ getWidget()->parentWidget()->close();
+ std::cout << "returning" << std::endl;
+ return;
+ }
+ kinematicUnitVisualization = getCoinVisualization(robot);
+ kinematicUnitNode = kinematicUnitVisualization->getCoinVisualization();
+ kinematicUnitNode->ref();
+
+ robotNodeSet = getRobotNodeSet(robot, robotNodeSetName);
+
+
+
+ string widgetLabel = "KinematicUnit: " + kinematicUnitName;
+ ui.labelKinematicUnitName->setText(QString(widgetLabel.c_str()));
+ initGUIComboBox(robotNodeSet); // init the pull down menu (QT: ComboBox)
+ initGUIJointListTable(robotNodeSet);
+
+ connect(this, SIGNAL(jointAnglesReported()), this, SLOT(updateJointAnglesTable()), Qt::QueuedConnection);
+ connect(this, SIGNAL(jointVelocitiesReported()), this, SLOT(updateJointVelocitiesTable()), Qt::QueuedConnection);
+ connect(this, SIGNAL(jointTorquesReported()), this, SLOT(updateJointTorquesTable()), Qt::QueuedConnection);
+ connect(this, SIGNAL(jointCurrentsReported()), this, SLOT(updateJointCurrentsTable()), Qt::QueuedConnection);
+ connect(this, SIGNAL(jointControlModesReported()), this, SLOT(updateControlModesTable()), Qt::QueuedConnection);
+ connect(this, SIGNAL(jointMotorTemperaturesReported()), this, SLOT(updateJointMotorTemperaturesTable()), Qt::QueuedConnection);
+ connect(this, SIGNAL(jointStatusesReported()), this, SLOT(updateJointStatusesTable()), Qt::QueuedConnection);
+
+ ui.radioButtonPositionControl->setChecked(true);
+
+ std::string kinematicUnitReporterName = robotNodeSetName + "State";
+ ARMARX_INFO << "topicname: " << kinematicUnitReporterName << flush;
+ usingTopic(kinematicUnitReporterName);
+
+ usingProxy(kinematicUnitName);
+}
+
+void KinematicUnitWidgetController::onConnectComponent()
+{
+ if(!robot)
+ return;
+ ARMARX_INFO << flush;
+
+ // subscribe topic in order to receive the kinematic unit reports
+ std::string kinematicUnitReporterName = robotNodeSetName + "State";
+
+ kinematicUnitListenerPrx = getTopic<KinematicUnitListenerPrx>(kinematicUnitReporterName);
+ ARMARX_INFO << "subscribing topic: " << kinematicUnitReporterName << flush;
+
+ // get proxy to send commands to the kinematic unit
+ std::string kinematicUnitInstructionChannel = kinematicUnitName;
+ // NOW: kinematicUnitInstructionChannel -> HeadKinematicUnit
+ kinematicUnitInterfacePrx = getProxy<KinematicUnitInterfacePrx>(kinematicUnitInstructionChannel);
+ ARMARX_INFO << "setting instruction channel to: " << kinematicUnitReporterName << flush; //HeadState //RobotState
+ connectSlots();
+}
+
+void KinematicUnitWidgetController::onExitComponent()
+{
+
+ if (kinematicUnitNode)
+ kinematicUnitNode->unref();
+}
+
+QPointer<QDialog> KinematicUnitWidgetController::getConfigDialog(QWidget* parent)
+{
+ if(!dialog)
+ {
+ dialog = new KinematicUnitConfigDialog(parent);
+ dialog->setName(dialog->getDefaultName());
+ boost::filesystem::path dir(KINEMATIC_UNIT_FILE_DEFAULT);
+
+ dialog->fileDialog->setDirectory(QString::fromStdString(dir.remove_filename().string()));
+ dialog->ui->editRobotFilepath->setText(QString::fromStdString(KINEMATIC_UNIT_FILE_DEFAULT));
+ dialog->ui->ediRobotNodeSetName->setText(KINEMATIC_UNIT_NAME_DEFAULT);
+
+ }
+ return qobject_cast<KinematicUnitConfigDialog*>(dialog);
+}
+
+
+
+ void KinematicUnitWidgetController::configured()
+ {
+ ARMARX_VERBOSE << "KinematicUnitWidget::configured()";
+ kinematicUnitFile = dialog->ui->editRobotFilepath->text().toStdString();
+ robotNodeSetName = dialog->ui->ediRobotNodeSetName->text().toStdString();
+ kinematicUnitName = dialog->proxyFinder->getSelectedProxyName().toStdString();
+ }
+
+
+void KinematicUnitWidgetController::loadSettings(QSettings *settings)
+{
+ kinematicUnitFile = settings->value("kinematicUnitFile", QString::fromStdString(KINEMATIC_UNIT_FILE_DEFAULT)).toString().toStdString();
+ ArmarXDataPath::getAbsolutePath(kinematicUnitFile, kinematicUnitFile);
+ kinematicUnitName = settings->value("kinematicUnitName", KINEMATIC_UNIT_NAME_DEFAULT).toString().toStdString();
+ robotNodeSetName = settings->value("robotNodeSetName", KINEMATIC_UNIT_NAME_DEFAULT).toString().toStdString();
+}
+
+void KinematicUnitWidgetController::saveSettings(QSettings *settings)
+{
+
+ settings->setValue("kinematicUnitName", QString::fromStdString(kinematicUnitName));
+ settings->setValue("robotNodeSetName", QString::fromStdString(robotNodeSetName));
+ settings->setValue("kinematicUnitFile", QString::fromStdString(ArmarXDataPath::getRelativeArmarXPath(kinematicUnitFile)));
+}
+
+
+
+void KinematicUnitWidgetController::updateGuiElements()
+{
+ // modelUpdateCB();
+}
+
+void KinematicUnitWidgetController::modelUpdateCB()
+{
+
+
+ /*
+ if (data->getDirtyFlag())
+ {
+ FloatVector angles;
+ FloatVector velocities;
+ Armar3ControlMode m;
+ Armar3ComponentState s;
+
+ if (data->getDirtyFlagAngles())
+ {
+ data->getDataAngles(angles);
+ reportKinematicUnitJointAnglesDegree(angles);
+ }
+ if (data->getDirtyFlagComponentState())
+ {
+ data->getDataComponentState(s);
+ reportKinematicUnitStateChanged(s);
+ }
+ if (data->getDirtyFlagControlMode())
+ {
+ data->getDataControlMode(m);if (!currentNode)
+ return;
+ float ticks = (float)(ui.horizontalSliderKinematicUnitPos->maximum() - ui.horizontalSliderKinematicUnitPos->minimum()+1);
+ float value = (float)ui.horizontalSliderKinematicUnitPos->value();
+ float perc = (value - (float)ui.horizontalSliderKinematicUnitPos->minimum()) / ticks;
+ float lo = currentNode->getJointLimitLo();
+ float hi = currentNode->getJointLimitHi();
+ float result = lo + (hi-lo)*perc;
+
+ if (KinematicUnitPrx)
+ KinematicUnitPrx->begin_setJoint(currentNodeType,result*180.0f/(float)M_PI);
+ reportKinematicUnitControlModeChanged(m);
+ }
+ }
+*/
+}
+
+SoNode *KinematicUnitWidgetController::getScene()
+{
+ if(kinematicUnitNode)
+ std::cout << "returning scene=" << kinematicUnitNode->getName() << std::endl;
+ return kinematicUnitNode;
+}
+
+
+
+void KinematicUnitWidgetController::connectSlots()
+{
+ ui.labelKinematicUnitState->setText(QString("KinematicUnitState: --"));
+
+ // setup kinematic unit slots
+ connect(ui.requestUnitCheckBox, SIGNAL(toggled(bool)), this, SLOT(kinematicUnitRequestChange()));
+
+ connect(ui.pushButtonKinematicUnitStart, SIGNAL(clicked()), this, SLOT(kinematicUnitStart()));
+ connect(ui.pushButtonKinematicUnitStop, SIGNAL(clicked()), this, SLOT(kinematicUnitStop()));
+ connect(ui.pushButtonKinematicUnitInit, SIGNAL(clicked()), this, SLOT(kinematicUnitInit()));
+ connect(ui.pushButtonKinematicUnitTest, SIGNAL(clicked()), this, SLOT(kinematicUnitTest()));
+
+ connect(ui.pushButtonKinematicUnitPos1, SIGNAL(clicked()), this, SLOT(kinematicUnitZeroPosition()));
+ connect(ui.pushButtonKinematicUnitPos2, SIGNAL(clicked()), this, SLOT(kinematicUnitPos2()));
+
+
+ connect(ui.nodeListComboBox, SIGNAL(activated(int)), this, SLOT(selectJoint(int)));
+ connect(ui.horizontalSliderKinematicUnitPos, SIGNAL(valueChanged(int)), this, SLOT(sliderValueChanged(int)));
+
+ connect(ui.radioButtonPositionControl, SIGNAL(clicked(bool)), this, SLOT(setControlModePosition()));
+ connect(ui.radioButtonVelocityControl, SIGNAL(clicked(bool)), this, SLOT(setControlModeVelocity()));
+ connect(ui.radioButtonTorqueControl, SIGNAL(clicked(bool)), this, SLOT(setControlModeTorque()));
+
+ connect(this, SIGNAL(jointAnglesReported()), this, SLOT(updateJointAnglesTable()), Qt::QueuedConnection);
+ connect(this, SIGNAL(jointVelocitiesReported()), this, SLOT(updateJointVelocitiesTable()), Qt::QueuedConnection);
+ connect(this, SIGNAL(jointTorquesReported()), this, SLOT(updateJointTorquesTable()), Qt::QueuedConnection);
+ connect(this, SIGNAL(jointControlModesReported()), this, SLOT(updateControlModesTable()), Qt::QueuedConnection);
+ connect(this, SIGNAL(jointMotorTemperaturesReported()), this, SLOT(updateJointMotorTemperaturesTable()), Qt::QueuedConnection);
+}
+
+void KinematicUnitWidgetController::kinematicUnitRequestChange()
+{
+ ARMARX_INFO << "toggled" << flush;
+
+ if (!kinematicUnitInterfacePrx) return;
+
+ if ( ui.requestUnitCheckBox->checkState() == Qt::Checked )
+ {
+ ARMARX_INFO << "request" << flush;
+ kinematicUnitInterfacePrx->request();
+ }
+ else
+ {
+ ARMARX_INFO << "release" << flush;
+ kinematicUnitInterfacePrx->release();
+ }
+
+}
+
+void KinematicUnitWidgetController::kinematicUnitInit()
+{
+ if (kinematicUnitInterfacePrx)
+ {
+ if (kinematicUnitInterfacePrx->getExecutionState() == eUnitInitialized)
+ {
+ ui.labelKinematicUnitState->setText(QString("Is already Initialized"));
+ } else
+ {
+ kinematicUnitInterfacePrx->init();
+ ui.labelKinematicUnitState->setText(QString("Initialized"));
+ }
+ }
+
+ // initalliy set the default control mode
+ const ControlMode defaultControlMode = ePositionControl;
+ std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
+ for (unsigned int i=0;i<rn.size();i++)
+ {
+ reportedJointControlModes.insert(std::make_pair(rn[i]->getName(), defaultControlMode));
+ }
+ emit updateControlModesTable();
+}
+
+
+
+
+
+void KinematicUnitWidgetController::kinematicUnitStart()
+{
+ if (kinematicUnitInterfacePrx)
+ {
+ if (kinematicUnitInterfacePrx->getExecutionState() == eUnitStarted)
+ {
+ ui.labelKinematicUnitState->setText(QString("Has already started"));
+ } else
+ { kinematicUnitInterfacePrx->start();
+ ui.labelKinematicUnitState->setText(QString("Started"));
+ }
+ } else
+ {
+ ARMARX_INFO << "kinematicUnitInterfacePrx not found" << flush;
+ }
+}
+
+void KinematicUnitWidgetController::kinematicUnitStop()
+{
+
+ if (kinematicUnitInterfacePrx)
+ {
+ ARMARX_INFO << flush;
+
+ if (kinematicUnitInterfacePrx->getExecutionState() == eUnitStopped)
+ {
+
+ ui.labelKinematicUnitState->setText(QString("Is already stopped"));
+ } else
+ {
+
+ kinematicUnitInterfacePrx->stop();
+ ui.labelKinematicUnitState->setText(QString("Stopped"));
+ }
+ }
+}
+
+
+void KinematicUnitWidgetController::kinematicUnitTest()
+{
+// std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
+// NameValueMap jointAngles;
+// for (unsigned int i=0;i<rn.size();i++)
+// jointAngles[rn[i]->getName()]=(float)2;
+
+// kinematicUnitInterfacePrx->setJointAngles(jointAngles);
+// // updateModel();
+}
+
+
+void KinematicUnitWidgetController::kinematicUnitZeroPosition()
+{
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
+ NameValueMap jointAngles;
+ for (unsigned int i=0;i<rn.size();i++)
+ jointAngles[rn[i]->getName()]=(float)0;
+
+ kinematicUnitInterfacePrx->setJointAngles(jointAngles);
+}
+
+void KinematicUnitWidgetController::kinematicUnitPos2()
+{
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
+ NameValueMap jointAngles;
+
+
+ for (unsigned int i=0;i<rn.size();i++)
+ {
+ VirtualRobot::RobotNodePtr myNode;
+
+ myNode = robotNodeSet->getAllRobotNodes()[i];
+ //ARMARX_INFO << "Robot Node Name: "<< rn[i]->getName() << flush;
+ float lo = myNode->getJointLimitLo();
+ //ARMARX_INFO << "lo: "<< lo << flush;
+ float hi = myNode->getJointLimitHi();
+ //ARMARX_INFO << "hi: "<< hi << flush;
+ float result = lo + (hi-lo)*0.5;
+ // result*=180.0f/(float)M_PI;
+ //ARMARX_INFO << "result: "<< result << flush;
+ jointAngles[rn[i]->getName()]=(float)result;
+ }
+ kinematicUnitInterfacePrx->setJointAngles(jointAngles);
+ //updateModel();
+}
+
+
+void KinematicUnitWidgetController::setControlModePosition()
+{
+ NameControlModeMap jointModes;
+ jointModes[currentNode->getName()] = ePositionControl;
+
+ ARMARX_INFO << "setting position control for current Node Name: " << currentNode->getName() << flush;
+
+ if (kinematicUnitInterfacePrx)
+ kinematicUnitInterfacePrx->switchControlMode(jointModes);
+
+ selectedControlMode = ePositionControl;
+}
+
+void KinematicUnitWidgetController::setControlModeVelocity()
+{
+ NameControlModeMap jointModes;
+ jointModes[currentNode->getName()] = eVelocityControl;
+
+ ARMARX_INFO << "setting velocity control for current Node Name: " << currentNode->getName() << flush;
+
+ if (kinematicUnitInterfacePrx)
+ kinematicUnitInterfacePrx->switchControlMode(jointModes);
+
+ selectedControlMode = eVelocityControl;
+}
+
+void KinematicUnitWidgetController::setControlModeTorque()
+{
+ NameControlModeMap jointModes;
+ jointModes[currentNode->getName()] = eTorqueControl;
+
+ ARMARX_INFO << "setting torque control for current Node Name: " << currentNode->getName() << flush;
+
+ if (kinematicUnitInterfacePrx)
+ kinematicUnitInterfacePrx->switchControlMode(jointModes);
+
+ selectedControlMode = eTorqueControl;
+}
+
+VirtualRobot::RobotPtr KinematicUnitWidgetController::loadRobotFile(std::string fileName)
+{
+ VirtualRobot::RobotPtr robot;
+
+ if (verbose)
+ ARMARX_INFO << "Loading KinematicUnit " << kinematicUnitName << " from " << kinematicUnitFile << " ..." << flush;
+
+ if (!ArmarXDataPath::getAbsolutePath(fileName,fileName))
+ {
+ ARMARX_INFO << "Could not find Robot XML file with name " << fileName << flush;
+ }
+ robot = RobotIO::loadRobot(fileName);
+ if (!robot)
+ {
+ ARMARX_INFO << "Could not find Robot XML file with name " << fileName << "(" << kinematicUnitName << ")" << flush;
+ }
+
+ return robot;
+}
+
+CoinVisualizationPtr KinematicUnitWidgetController::getCoinVisualization(VirtualRobot::RobotPtr robot)
+{
+ CoinVisualizationPtr coinVisualization;
+
+ if (robot != NULL)
+ {
+ ARMARX_INFO << "getting coin visualization" << flush;
+ coinVisualization = robot->getVisualization<CoinVisualization>();
+
+ if (!coinVisualization || !coinVisualization->getCoinVisualization())
+ {
+ ARMARX_INFO << "could not get coin visualization" << flush;
+ }
+ }
+
+ return coinVisualization;
+}
+
+VirtualRobot::RobotNodeSetPtr KinematicUnitWidgetController::getRobotNodeSet(VirtualRobot::RobotPtr robot, std::string nodeSetName)
+{
+ VirtualRobot::RobotNodeSetPtr nodeSetPtr;
+
+ if (robot)
+ {
+ nodeSetPtr = robot->getRobotNodeSet(nodeSetName);
+
+ if (!nodeSetPtr)
+ {
+ ARMARX_INFO << "RobotNodeSet with name " << nodeSetName << " is not defined" << flush;
+
+ }
+ }
+ return nodeSetPtr;
+}
+
+
+bool KinematicUnitWidgetController::initGUIComboBox(VirtualRobot::RobotNodeSetPtr robotNodeSet)
+{
+ ui.nodeListComboBox->clear();
+
+ if (robotNodeSet)
+ {
+ std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
+ for (unsigned int i=0;i<rn.size();i++)
+ {
+ // ARMARX_INFO << "adding item to joint combo box" << rn[i]->getName() << flush;
+ QString name(rn[i]->getName().c_str());
+ ui.nodeListComboBox->addItem(name);
+ }
+ selectJoint(0);
+ return true;
+ }
+ return false;
+}
+
+bool KinematicUnitWidgetController::initGUIJointListTable(VirtualRobot::RobotNodeSetPtr robotNodeSet)
+{
+ uint numberOfColumns = 12;
+
+ ui.tableJointList->clear();
+
+ if (robotNodeSet)
+ {
+ std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
+
+ //set dimension of table
+ //ui.tableJointList->setColumnWidth(0,110);
+
+ //ui.tableJointList->horizontalHeader()->setResizeMode(QHeaderView::ResizeToContents);
+ ui.tableJointList->setRowCount(rn.size());
+ ui.tableJointList->setColumnCount(numberOfColumns);
+
+
+ //ui.tableJointList->setSizePolicy(QSizePolicy::Expanding,QSizePolicy::Expanding);
+
+ // set table header
+ QStringList s;
+ s << "Joint Name" << "Op" << "Er" << "En" << "Em" << "Control Mode" << "Angle [rad]" << "Velocity [rad/s]" << "Torque [Nm]" << "Current [A]" << "Temperature [C]";
+ ui.tableJointList->setHorizontalHeaderLabels(s);
+
+
+ // fill in joint names
+ for (unsigned int i=0;i<rn.size();i++)
+ {
+ // ARMARX_INFO << "adding item to joint table" << rn[i]->getName() << flush;
+ QString name(rn[i]->getName().c_str());
+
+ QTableWidgetItem *newItem = new QTableWidgetItem(name);
+ ui.tableJointList->setItem(i, 0, newItem);
+ }
+
+ // init missing table fields with default values
+ for (unsigned int i=0;i<rn.size();i++)
+ {
+ for (unsigned int j=1;j<numberOfColumns;j++)
+ {
+ QString state = "--";
+ QTableWidgetItem *newItem = new QTableWidgetItem(state);
+ ui.tableJointList->setItem(i, j, newItem);
+ }
+ }
+
+ return true;
+ }
+ return false;
+}
+
+
+void KinematicUnitWidgetController::selectJoint(int i)
+{
+ ARMARX_INFO << "select joint" << flush;
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ if (!robotNodeSet || i<0 || i>=(int)robotNodeSet->getSize())
+ return;
+
+ currentNode = robotNodeSet->getAllRobotNodes()[i];
+
+ /*float lo = currentNode->getJointLimitLo();
+ float hi = currentNode->getJointLimitHi();
+ if (hi-lo <= 0.0f)
+ return;
+ float pos = currentNode->getJointValue();
+ float ticks = (float)(ui.horizontalSliderKinematicUnitPos->maximum() - ui.horizontalSliderKinematicUnitPos->minimum()+1);
+ float posT = (pos-lo) / (hi-lo) * ticks + (float)ui.horizontalSliderKinematicUnitPos->minimum();
+ ui.horizontalSliderKinematicUnitPos->setSliderPosition((int)posT);
+ //ui.lcdNumberKinematicUnitJointValue->display(pos*180.0f/(float)M_PI);
+ ui.lcdNumberKinematicUnitJointValue->display(posT);
+ */
+
+ ui.horizontalSliderKinematicUnitPos->setSliderPosition(50);
+}
+
+void KinematicUnitWidgetController::sliderValueChanged(int pos)
+{
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ if (!currentNode)
+ return;
+
+ float ticks = (float)(ui.horizontalSliderKinematicUnitPos->maximum() - ui.horizontalSliderKinematicUnitPos->minimum()+1);
+ float value = (float)ui.horizontalSliderKinematicUnitPos->value();
+ float perc = (value - (float)ui.horizontalSliderKinematicUnitPos->minimum()) / ticks;
+
+// NameControlModeMap::const_iterator it;
+// it = reportedJointControlModes.find(currentNode->getName());
+// const ControlMode currentControlMode = it->second;
+ const ControlMode currentControlMode = selectedControlMode;
+
+ if (currentControlMode == ePositionControl)
+ {
+ // TODO: Joint limits are not respected
+ //float lo = currentNode->getJointLimitLo();
+ //float hi = currentNode->getJointLimitHi();
+ //float result = lo + (hi-lo)*perc;
+
+ NameValueMap jointAngles;
+ jointAngles[currentNode->getName()] = (perc - 0.5) * 2 * M_PI;
+ if (kinematicUnitInterfacePrx)
+ {
+ kinematicUnitInterfacePrx->setJointAngles(jointAngles);
+ updateModel();
+ }
+ }
+ else if (currentControlMode == eVelocityControl)
+ {
+ NameValueMap jointVelocities;
+ jointVelocities[currentNode->getName()] = (perc - 0.5) * M_PI;
+ if (kinematicUnitInterfacePrx)
+ {
+ kinematicUnitInterfacePrx->setJointVelocities(jointVelocities);
+ updateModel();
+ }
+ }
+ else if(currentControlMode == eTorqueControl)
+ {
+ NameValueMap jointTorques;
+ jointTorques[currentNode->getName()] = (perc - 0.5) * 150;
+ if (kinematicUnitInterfacePrx)
+ {
+ kinematicUnitInterfacePrx->setJointTorques(jointTorques);
+ updateModel();
+ }
+ }
+ else
+ {
+ ARMARX_INFO << "current ControlModes unknown" << flush;
+ }
+}
+
+
+
+void KinematicUnitWidgetController::updateControlModesTable()
+{
+ if(!getWidget())
+ return;
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
+ for (unsigned int i = 0; i < rn.size(); i++)
+ {
+ NameControlModeMap::const_iterator it;
+ it = reportedJointControlModes.find(rn[i]->getName());
+ ControlMode currentMode = it->second;
+
+ QString state;
+
+ switch (currentMode)
+ {
+ /*case eNoMode:
+ state = "None";
+ break;
+
+ case eUnknownMode:
+ state = "Unknown";
+ break;
+ */
+ case ePositionControl:
+ state = "Position";
+ break;
+
+ case eVelocityControl:
+ state = "Velocity";
+ break;
+
+ case eTorqueControl:
+ state = "Torque";
+ break;
+
+ default:
+ state = "<nyi>";
+ break;
+ }
+
+ QTableWidgetItem *newItem = new QTableWidgetItem(state);
+ ui.tableJointList->setItem(i, 5, newItem);
+ }
+}
+
+void KinematicUnitWidgetController::updateJointStatusesTable()
+{
+ if(!getWidget())
+ return;
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
+ for (unsigned int i = 0; i < rn.size(); i++)
+ {
+ NameStatusMap::const_iterator it;
+ it = reportedJointStatuses.find(rn[i]->getName());
+ JointStatus currentStatus = it->second;
+
+ QString state = translateStatus(currentStatus.operation);
+ QTableWidgetItem *newItem = new QTableWidgetItem(state);
+ ui.tableJointList->setItem(i, 1, newItem);
+
+ state = translateStatus(currentStatus.error);
+ newItem = new QTableWidgetItem(state);
+ ui.tableJointList->setItem(i, 2, newItem);
+
+ state = currentStatus.enabled? "X" : "-";
+ newItem = new QTableWidgetItem(state);
+ ui.tableJointList->setItem(i, 3, newItem);
+
+ state = currentStatus.emergencyStop? "X" : "-";
+ newItem = new QTableWidgetItem(state);
+ ui.tableJointList->setItem(i, 4, newItem);
+ }
+}
+
+QString KinematicUnitWidgetController::translateStatus(OperationStatus status)
+{
+ switch(status)
+ {
+ case eOffline:
+ return "Off";
+
+ case eOnline:
+ return "On";
+
+ case eInitialized:
+ return "In";
+
+ default:
+ return "?";
+ }
+}
+
+QString KinematicUnitWidgetController::translateStatus(ErrorStatus status)
+{
+ switch(status)
+ {
+ case eOk:
+ return "Ok";
+
+ case eWarning:
+ return "Wr";
+
+ case eError:
+ return "Er";
+
+ default:
+ return "?";
+ }
+}
+
+void KinematicUnitWidgetController::updateJointAnglesTable()
+{
+ float dirty_squaresum = 0;
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
+
+ FloatVector kinematicUnitAnglesCurrent; // obe line or in header
+ kinematicUnitAnglesCurrent = FloatVector(7, 0.0f); // fix here 7 ELemente ?!?!?
+
+ QTableWidgetItem* newItem;
+ for (unsigned int i = 0; i < rn.size(); i++)
+ {
+ NameValueMap::const_iterator it;
+ it = reportedJointAngles.find(rn[i]->getName());
+ if(it == reportedJointAngles.end())
+ {
+ continue;
+ }
+ const float currentValue = it->second;
+ dirty_squaresum += currentValue*currentValue;
+ const QString Text = QString::number(currentValue);
+
+ newItem = new QTableWidgetItem(Text);
+ ui.tableJointList->setItem(i, 6, newItem);
+ }
+
+ //update only if values changed
+ if ((fabs(dirty_squaresum_old[0] - dirty_squaresum)) > 0.0000005)
+ {
+ updateModel();
+ dirty_squaresum_old[0] = dirty_squaresum;
+// ARMARX_INFO << "update model" << flush;
+ }
+}
+
+void KinematicUnitWidgetController::updateJointVelocitiesTable(){
+ if(!getWidget())
+ return;
+
+ float dirty_squaresum = 0;
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
+ QTableWidgetItem* newItem;
+ for (unsigned int i = 0; i < rn.size(); i++)
+ {
+ NameValueMap::const_iterator it;
+ it = reportedJointVelocities.find(rn[i]->getName());
+ if(it == reportedJointVelocities.end())
+ {
+ continue;
+ }
+ const float currentValue = it->second;
+ dirty_squaresum += currentValue*currentValue;
+ const QString Text = QString::number(currentValue);
+ newItem = new QTableWidgetItem(Text);
+ ui.tableJointList->setItem(i, 7, newItem);
+ }
+ if ( (fabs(dirty_squaresum_old[1] - dirty_squaresum)) > 0.0000005) {
+ updateModel();
+ dirty_squaresum_old[1] = dirty_squaresum;
+ }
+}
+
+void KinematicUnitWidgetController::updateJointTorquesTable()
+{
+ if(!getWidget())
+ return;
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
+ QTableWidgetItem* newItem;
+ NameValueMap::const_iterator it;
+
+ for (unsigned int i = 0; i < rn.size(); i++)
+ {
+ it = reportedJointTorques.find(rn[i]->getName());
+ if(it == reportedJointTorques.end())
+ {
+ continue;
+ }
+
+ const float currentValue = it->second;
+ newItem = new QTableWidgetItem(QString::number(currentValue));
+ ui.tableJointList->setItem(i, 8, newItem);
+ }
+}
+
+void KinematicUnitWidgetController::updateJointCurrentsTable()
+{
+ if(!getWidget())
+ return;
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
+ QTableWidgetItem* newItem;
+ NameValueMap::const_iterator it;
+
+ for (unsigned int i = 0; i < rn.size(); i++)
+ {
+ it = reportedJointCurrents.find(rn[i]->getName());
+ if(it == reportedJointCurrents.end())
+ {
+ continue;
+ }
+
+ const float currentValue = it->second;
+ newItem = new QTableWidgetItem(QString::number(currentValue));
+ ui.tableJointList->setItem(i, 9, newItem);
+ }
+}
+
+void KinematicUnitWidgetController::updateJointMotorTemperaturesTable()
+{
+ if(!getWidget())
+ return;
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ std::vector< RobotNodePtr > rn = robotNodeSet->getAllRobotNodes();
+ QTableWidgetItem* newItem;
+ NameValueMap::const_iterator it;
+
+ for (unsigned int i = 0; i < rn.size(); i++)
+ {
+ it = reportedJointMotorTemperatures.find(rn[i]->getName());
+ if(it == reportedJointMotorTemperatures.end())
+ {
+ continue;
+ }
+
+ const float currentValue = it->second;
+ newItem = new QTableWidgetItem(QString::number(currentValue));
+ ui.tableJointList->setItem(i, 10, newItem);
+ }
+}
+
+void KinematicUnitWidgetController::reportJointAngles(const NameValueMap& jointAngles, bool aValueChanged, const Ice::Current& c)
+{
+ if(!aValueChanged && reportedJointAngles.size() > 0)
+ return;
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ reportedJointAngles = jointAngles;
+ emit jointAnglesReported();
+}
+
+void KinematicUnitWidgetController::reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged, const Ice::Current& c)
+{
+ if(!aValueChanged && reportedJointVelocities.size() > 0)
+ return;
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ reportedJointVelocities = jointVelocities;
+ emit jointVelocitiesReported();
+}
+
+void KinematicUnitWidgetController::reportJointTorques(const NameValueMap& jointTorques, bool aValueChanged, const Ice::Current& c)
+{
+ if(!aValueChanged && reportedJointTorques.size() > 0)
+ return;
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ reportedJointTorques = jointTorques;
+
+ emit jointTorquesReported();
+}
+
+void KinematicUnitWidgetController::reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged, const Ice::Current& c)
+{
+ if(!aValueChanged && reportedJointControlModes.size() > 0)
+ return;
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ reportedJointControlModes = jointModes;
+
+ emit jointControlModesReported();
+}
+
+void KinematicUnitWidgetController::reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged, const Ice::Current& c)
+{
+ if(!aValueChanged && reportedJointCurrents.size() > 0)
+ return;
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ reportedJointCurrents = jointCurrents;
+
+ emit jointCurrentsReported();
+}
+
+void KinematicUnitWidgetController::reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, bool aValueChanged, const Ice::Current& c)
+{
+ if(!aValueChanged && reportedJointMotorTemperatures.size() > 0)
+ return;
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ reportedJointMotorTemperatures = jointMotorTemperatures;
+
+ emit jointMotorTemperaturesReported();
+}
+
+void KinematicUnitWidgetController::reportJointStatuses(const NameStatusMap &jointStatuses, bool aValueChanged, const Ice::Current &)
+{
+ if(!aValueChanged && reportedJointStatuses.size() > 0)
+ return;
+
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ reportedJointStatuses = jointStatuses;
+
+ emit jointStatusesReported();
+}
+
+
+void KinematicUnitWidgetController::updateModel()
+{
+// ARMARX_INFO << "updateModel()" << flush;
+ boost::recursive_mutex::scoped_lock lock(mutexNodeSet);
+ std::vector< RobotNodePtr > rn2 = robotNodeSet->getAllRobotNodes();
+
+ std::vector< RobotNodePtr > usedNodes;
+ std::vector< float > jv;
+
+ for (unsigned int i = 0; i < rn2.size(); i++)
+ {
+ VirtualRobot::RobotNodePtr node = robot->getRobotNode(rn2[i]->getName());
+ NameValueMap::const_iterator it;
+ it = reportedJointAngles.find(node->getName());
+ if(it != reportedJointAngles.end())
+ {
+ usedNodes.push_back(node);
+ jv.push_back(it->second);
+ }
+ }
+ robot->setJointValues(usedNodes, jv);
+}
+
+Q_EXPORT_PLUGIN2(armar3_gui_KinematicUnitGuiPlugin, KinematicUnitGuiPlugin)
diff --git a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
new file mode 100644
index 000000000..951e5368d
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -0,0 +1,227 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::Component::KinematicUnitGuiPlugin
+* @author Christian Boege <boege at kit dot edu>
+* @copyright 2011 Christian Böge
+* @license http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+
+*/
+
+#ifndef ARMARX_COMPONENT_GUIHANDLERKINEMATICUNIT_GUI_H
+#define ARMARX_COMPONENT_GUIHANDLERKINEMATICUNIT_GUI_H
+
+/* ArmarX headers */
+#include "ui_kinematicunitguiplugin.h"
+#include <RobotAPI/interface/units/KinematicUnitInterface.h>
+#include <Core/core/Component.h>
+#include <Gui/ArmarXGuiLib/ArmarXGuiPlugin.h>
+#include <Gui/ArmarXGuiLib/ArmarXComponentWidgetController.h>
+
+/* Qt headers */
+#include <QtGui/QMainWindow>
+
+/* SoQt headers */
+#include <Inventor/nodes/SoNode.h>
+
+/* Boost headers */
+#include <boost/shared_ptr.hpp>
+#include <boost/cstdint.hpp>
+
+#include <Inventor/sensors/SoTimerSensor.h>
+#include <Inventor/nodes/SoEventCallback.h>
+#include <Inventor/nodes/SoSeparator.h>
+#include <Inventor/Qt/viewers/SoQtExaminerViewer.h>
+#include <Inventor/Qt/SoQt.h>
+
+/* VirtualRobot headers */
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
+
+#include <VirtualRobot/Visualization/VisualizationFactory.h>
+#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
+
+#define KINEMATIC_UNIT_FILE_DEFAULT armarx::ArmarXDataPath::getHomePath()+std::string("Armar4/data/Armar4/robotmodel/ArmarIV.xml")
+#define KINEMATIC_UNIT_NAME_DEFAULT "Robot"
+
+namespace armarx
+{
+ typedef boost::shared_ptr<VirtualRobot::CoinVisualization> CoinVisualizationPtr;
+
+ class KinematicUnitConfigDialog;
+
+ /**
+ \class KinematicUnitGuiPlugin
+ \brief This plugin provides a generic widget showing position and velocity of all joints. Optionally a 3d robot model can be visualized.
+ \ingroup ArmarXGuiPlugins
+
+ \see KinematicUnitWidget
+ */
+ class KinematicUnitGuiPlugin :
+ public ArmarXGuiPlugin
+ {
+ public:
+ KinematicUnitGuiPlugin();
+
+ QString getPluginName()
+ {
+ return "KinematicUnitGuiPlugin";
+ }
+ };
+
+ /**
+ \class KinematicUnitWidget
+ \ingroup ArmarXGuiPlugins
+ \see KinematicUnitGuiPlugin
+ */
+ class KinematicUnitWidgetController :
+ public ArmarXComponentWidgetController,
+ public KinematicUnitListener
+ {
+ Q_OBJECT
+ public:
+ KinematicUnitWidgetController();
+ virtual ~KinematicUnitWidgetController() {}
+
+ // inherited from Component
+ virtual void onInitComponent();
+ virtual void onConnectComponent();
+ virtual void onExitComponent();
+
+ // inherited of ArmarXWidget
+ virtual QString getWidgetName() const
+ {
+ return "KinematicUnitGUI";
+ }
+ QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
+ virtual void loadSettings(QSettings * settings);
+ virtual void saveSettings(QSettings * settings);
+ void configured();
+
+ SoNode* getScene();
+
+ bool kinematicUnitSetupViewer();
+
+ void modelUpdateCB();
+
+ void updateGuiElements();
+
+ signals:
+
+ void jointAnglesReported();
+ void jointVelocitiesReported();
+ void jointControlModesReported();
+ void jointTorquesReported();
+ void jointCurrentsReported();
+ void jointMotorTemperaturesReported();
+ void jointStatusesReported();
+
+
+ public slots:
+
+ // KinematicUnit
+ void kinematicUnitRequestChange();
+ void kinematicUnitInit();
+ void kinematicUnitStart();
+ void kinematicUnitStop();
+ void kinematicUnitTest();
+ void kinematicUnitZeroPosition();
+ void kinematicUnitPos2();
+ void setControlModePosition();
+ void setControlModeVelocity();
+ void setControlModeTorque();
+ void selectJoint(int i);
+ void sliderValueChanged(int i);
+
+ void updateJointAnglesTable();
+ void updateJointVelocitiesTable();
+ void updateJointTorquesTable();
+ void updateJointCurrentsTable();
+ void updateJointMotorTemperaturesTable();
+ void updateJointStatusesTable();
+ void updateControlModesTable();
+ void updateKinematicUnitListInDialog() {}
+
+
+ protected:
+ void connectSlots();
+
+ QString translateStatus(OperationStatus status);
+ QString translateStatus(ErrorStatus status);
+
+ Ui::KinematicUnitGuiPlugin ui;
+
+ // ice proxies
+ KinematicUnitInterfacePrx kinematicUnitInterfacePrx;// send commands to kinematic unit
+ KinematicUnitListenerPrx kinematicUnitListenerPrx; // receive reports from kinematic unit
+
+ bool verbose;
+
+ std::string kinematicUnitFile;
+ std::string kinematicUnitFileDefault;
+ std::string kinematicUnitName;
+ std::string robotNodeSetName;
+
+ VirtualRobot::RobotPtr robot;
+ VirtualRobot::RobotNodeSetPtr robotNodeSet;
+ VirtualRobot::RobotNodePtr currentNode;
+
+ CoinVisualizationPtr kinematicUnitVisualization;
+ SoNode* kinematicUnitNode;
+
+ // interface implementation
+ void reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged, const Ice::Current& c);
+ void reportJointAngles(const NameValueMap& jointAngles, bool aValueChanged, const Ice::Current& c);
+ void reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged, const Ice::Current& c);
+ void reportJointTorques(const NameValueMap& jointTorques, bool aValueChanged, const Ice::Current& c);
+ void reportJointCurrents(const NameValueMap& jointCurrents, bool aValueChanged, const Ice::Current& c);
+ void reportJointMotorTemperatures(const NameValueMap& jointMotorTemperatures, bool aValueChanged, const Ice::Current& c);
+ void reportJointStatuses(const NameStatusMap& jointStatuses, bool aValueChanged, const Ice::Current &);
+
+
+ void updateModel();
+
+ private:
+
+ boost::recursive_mutex mutexNodeSet;
+ // init stuff
+ VirtualRobot::RobotPtr loadRobotFile(std::string fileName);
+ CoinVisualizationPtr getCoinVisualization(VirtualRobot::RobotPtr robot);
+ VirtualRobot::RobotNodeSetPtr getRobotNodeSet(VirtualRobot::RobotPtr robot, std::string nodeSetName);
+ bool initGUIComboBox(VirtualRobot::RobotNodeSetPtr robotNodeSet);
+ bool initGUIJointListTable(VirtualRobot::RobotNodeSetPtr robotNodeSet);
+
+ NameValueMap reportedJointAngles;
+ NameValueMap reportedJointVelocities;
+ NameControlModeMap reportedJointControlModes;
+ NameValueMap reportedJointTorques;
+ NameValueMap reportedJointCurrents;
+ NameValueMap reportedJointMotorTemperatures;
+ NameStatusMap reportedJointStatuses;
+
+ std::vector<float> dirty_squaresum_old;
+
+ QPointer<QWidget> __widget;
+ QPointer<KinematicUnitConfigDialog> dialog;
+ ControlMode selectedControlMode;
+ };
+ typedef ::std::vector< ::Ice::Float> FloatVector;
+ typedef boost::shared_ptr<KinematicUnitWidgetController> KinematicUnitGuiPluginPtr;
+}
+
+#endif
diff --git a/source/RobotAPI/gui_plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui
new file mode 100644
index 000000000..5db8f50eb
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui
@@ -0,0 +1,365 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>KinematicUnitGuiPlugin</class>
+ <widget class="QWidget" name="KinematicUnitGuiPlugin">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>822</width>
+ <height>547</height>
+ </rect>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>300</height>
+ </size>
+ </property>
+ <property name="windowTitle">
+ <string>Form</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="0" column="0">
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <property name="sizeConstraint">
+ <enum>QLayout::SetMaximumSize</enum>
+ </property>
+ <item>
+ <widget class="QLabel" name="labelKinematicUnitName">
+ <property name="font">
+ <font>
+ <family>AlArabiya</family>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>KinematicUnit</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButtonKinematicUnitStart">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>Start</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QCheckBox" name="requestUnitCheckBox">
+ <property name="text">
+ <string>request unit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QPushButton" name="pushButtonKinematicUnitInit">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>Init</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Select Joint</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="0">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>Control Mode</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="0">
+ <widget class="QLCDNumber" name="lcdNumberKinematicUnitJointValue">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>100</height>
+ </size>
+ </property>
+ <property name="toolTip">
+ <string>Value in percent between low and high limit of joint</string>
+ </property>
+ <property name="smallDecimalPoint">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QPushButton" name="pushButtonKinematicUnitTest">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Test</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QPushButton" name="pushButtonKinematicUnitPos1">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>ZeroPosition</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="2">
+ <widget class="QPushButton" name="pushButtonKinematicUnitPos2">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Position 50 %</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="1" colspan="2">
+ <widget class="QComboBox" name="nodeListComboBox">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1" colspan="2">
+ <widget class="QLabel" name="labelKinematicUnitState">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QPushButton" name="pushButtonKinematicUnitStop">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Stop</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1" colspan="2">
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QRadioButton" name="radioButtonPositionControl">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="autoFillBackground">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>Position Control</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="radioButtonVelocityControl">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Velocity Control</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="radioButtonTorqueControl">
+ <property name="text">
+ <string>Torque Control</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ <item row="6" column="1" colspan="2">
+ <widget class="QSlider" name="horizontalSliderKinematicUnitPos">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="tickPosition">
+ <enum>QSlider::TicksBelow</enum>
+ </property>
+ <property name="tickInterval">
+ <number>0</number>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="QTableWidget" name="tableJointList">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>8</pointsize>
+ </font>
+ </property>
+ <property name="alternatingRowColors">
+ <bool>true</bool>
+ </property>
+ <attribute name="verticalHeaderDefaultSectionSize">
+ <number>17</number>
+ </attribute>
+ <attribute name="verticalHeaderMinimumSectionSize">
+ <number>12</number>
+ </attribute>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections>
+ <connection>
+ <sender>pushButtonKinematicUnitInit</sender>
+ <signal>toggled(bool)</signal>
+ <receiver>pushButtonKinematicUnitStart</receiver>
+ <slot>setEnabled(bool)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>130</x>
+ <y>107</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>41</x>
+ <y>143</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>pushButtonKinematicUnitStart</sender>
+ <signal>clicked(bool)</signal>
+ <receiver>pushButtonKinematicUnitStop</receiver>
+ <slot>setEnabled(bool)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>123</x>
+ <y>153</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>125</x>
+ <y>173</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>horizontalSliderKinematicUnitPos</sender>
+ <signal>valueChanged(int)</signal>
+ <receiver>lcdNumberKinematicUnitJointValue</receiver>
+ <slot>display(int)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>190</x>
+ <y>268</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>88</x>
+ <y>266</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>requestUnitCheckBox</sender>
+ <signal>clicked(bool)</signal>
+ <receiver>pushButtonKinematicUnitInit</receiver>
+ <slot>setEnabled(bool)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>81</x>
+ <y>81</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>80</x>
+ <y>104</y>
+ </hint>
+ </hints>
+ </connection>
+ </connections>
+</ui>
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/CMakeLists.txt b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/CMakeLists.txt
new file mode 100644
index 000000000..6808b22ee
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/CMakeLists.txt
@@ -0,0 +1,39 @@
+armarx_set_target("PlatformUnitGuiPlugin")
+
+find_package(Qt4 COMPONENTS QtCore QtGui QUIET)
+armarx_build_if(QT_FOUND "Qt not available")
+
+find_package(Simox QUIET)
+find_package(ArmarXGui QUIET)
+
+armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
+armarx_build_if(Simox_FOUND "Simox not available")
+
+
+include(${QT_USE_FILE})
+
+include(${ArmarXGui_CMAKE_DIR}/ArmarXGui.cmake)
+
+file(GLOB SOURCES PlatformUnitGuiPlugin.cpp
+ PlatformUnitConfigDialog.cpp)
+file(GLOB HEADERS PlatformUnitGuiPlugin.h
+ PlatformUnitConfigDialog.h)
+
+set(GUI_MOC_HDRS
+ PlatformUnitGuiPlugin.h
+ PlatformUnitConfigDialog.h
+)
+
+set(GUI_UIS
+ PlatformUnitGuiPlugin.ui
+ PlatformUnitConfigDialog.ui
+)
+
+set(COMPONENT_LIBS RobotAPIUnits ArmarXInterfaces ${Simox_LIBRARIES})
+
+set(LIB_VERSION 0.1.0)
+set(LIB_SOVERSION 0)
+
+if (ArmarXGui_FOUND)
+ armarx_gui_library(PlatformUnitGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" "${LIB_VERSION}" "${LIB_SOVERSION}")
+endif()
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.cpp b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.cpp
new file mode 100644
index 000000000..654b370d6
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.cpp
@@ -0,0 +1,38 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::
+* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
+* @date 2012
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#include "PlatformUnitConfigDialog.h"
+#include "ui_PlatformUnitConfigDialog.h"
+
+armarx::PlatformUnitConfigDialog::PlatformUnitConfigDialog(QWidget *parent) :
+ QDialog(parent),
+ ui(new Ui::PlatformUnitConfigDialog)
+{
+ ui->setupUi(this);
+}
+
+armarx::PlatformUnitConfigDialog::~PlatformUnitConfigDialog()
+{
+ delete ui;
+}
+
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h
new file mode 100644
index 000000000..1283a5089
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h
@@ -0,0 +1,51 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::
+* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
+* @date 2012
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#ifndef _ARMARXGUI_PLUGINS_PLATFORMUNITCONFIGDIALOG_H
+#define _ARMARXGUI_PLUGINS_PLATFORMUNITCONFIGDIALOG_H
+
+#include <QDialog>
+
+namespace Ui {
+ class PlatformUnitConfigDialog;
+}
+
+namespace armarx
+{
+ class PlatformUnitConfigDialog :
+ public QDialog
+ {
+ Q_OBJECT
+
+ public:
+ explicit PlatformUnitConfigDialog(QWidget *parent = 0);
+ ~PlatformUnitConfigDialog();
+
+ private:
+ Ui::PlatformUnitConfigDialog *ui;
+
+ friend class PlatformUnitWidget;
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.ui b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.ui
new file mode 100644
index 000000000..53b89acf0
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.ui
@@ -0,0 +1,92 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>PlatformUnitConfigDialog</class>
+ <widget class="QDialog" name="PlatformUnitConfigDialog">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>527</width>
+ <height>113</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>Dialog</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="3" column="0">
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="1">
+ <widget class="QLineEdit" name="editPlatformUnitName"/>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="labelPlatformUnitName">
+ <property name="text">
+ <string>PlatformUnit</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="editPlatformName"/>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="labelPlatformName">
+ <property name="text">
+ <string>Platform Name</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <tabstops>
+ <tabstop>editPlatformUnitName</tabstop>
+ <tabstop>buttonBox</tabstop>
+ </tabstops>
+ <resources/>
+ <connections>
+ <connection>
+ <sender>buttonBox</sender>
+ <signal>accepted()</signal>
+ <receiver>PlatformUnitConfigDialog</receiver>
+ <slot>accept()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>248</x>
+ <y>254</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>157</x>
+ <y>274</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>buttonBox</sender>
+ <signal>rejected()</signal>
+ <receiver>PlatformUnitConfigDialog</receiver>
+ <slot>reject()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>316</x>
+ <y>260</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>286</x>
+ <y>274</y>
+ </hint>
+ </hints>
+ </connection>
+ </connections>
+</ui>
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
new file mode 100644
index 000000000..fc01d3ee6
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
@@ -0,0 +1,115 @@
+#include "PlatformUnitGuiPlugin.h"
+#include "PlatformUnitConfigDialog.h"
+#include "ui_PlatformUnitConfigDialog.h"
+#include <Core/core/system/ArmarXDataPath.h>
+
+// Qt headers
+#include <Qt>
+#include <QtGlobal>
+#include <QPushButton>
+#include <QLabel>
+#include <QLineEdit>
+
+using namespace armarx;
+
+
+PlatformUnitGuiPlugin::PlatformUnitGuiPlugin()
+{
+ addWidget<PlatformUnitWidget>();
+}
+
+
+PlatformUnitWidget::PlatformUnitWidget() :
+ platformUnitProxyName("PlatformUnitDynamicSimulation"),
+ platformName("Platform")
+{
+ // init gui
+ ui.setupUi(getWidget());
+}
+
+
+void PlatformUnitWidget::onInitComponent()
+{
+ usingProxy(platformUnitProxyName);
+ usingTopic(platformName + "State");
+ ARMARX_WARNING << "Listening on Topic: " << platformName + "State";
+}
+
+void PlatformUnitWidget::onConnectComponent()
+{
+ connectSlots();
+ platformUnitProxy = getProxy<PlatformUnitInterfacePrx>(platformUnitProxyName);
+}
+
+void PlatformUnitWidget::onExitComponent()
+{
+}
+
+QPointer<QDialog> PlatformUnitWidget::getConfigDialog(QWidget* parent)
+{
+ if(!dialog)
+ {
+ dialog = new PlatformUnitConfigDialog(parent);
+ }
+ dialog->ui->editPlatformUnitName->setText(QString::fromStdString(platformUnitProxyName));
+ dialog->ui->editPlatformName->setText(QString::fromStdString(platformName));
+ return qobject_cast<PlatformUnitConfigDialog*>(dialog);
+}
+
+ void PlatformUnitWidget::configured()
+ {
+ platformUnitProxyName = dialog->ui->editPlatformUnitName->text().toStdString();
+ platformName = dialog->ui->editPlatformName->text().toStdString();
+ }
+
+
+void PlatformUnitWidget::loadSettings(QSettings *settings)
+{
+ platformUnitProxyName = settings->value("platformUnitProxyName", QString::fromStdString(platformUnitProxyName)).toString().toStdString();
+ platformName = settings->value("platformName", QString::fromStdString(platformName)).toString().toStdString();
+}
+
+void PlatformUnitWidget::saveSettings(QSettings *settings)
+{
+ settings->setValue("platformUnitProxyName", QString::fromStdString(platformUnitProxyName));
+ settings->setValue("platformName", QString::fromStdString(platformName));
+}
+
+
+void PlatformUnitWidget::connectSlots()
+{
+ connect(ui.buttonMoveToPosition, SIGNAL(clicked()), this, SLOT(moveTo()));
+}
+
+void PlatformUnitWidget::moveTo()
+{
+ ARMARX_LOG << "Moving Platform";
+ ::Ice::Float positionX = ui.editTargetPositionX->text().toFloat();
+ ::Ice::Float positionY = ui.editTargetPositionY->text().toFloat();
+ ::Ice::Float rotation = ui.editTargetRotation->text().toFloat();
+ ::Ice::Float posAcc = 10.0f;
+ ::Ice::Float rotAcc = 0.1f;
+ platformUnitProxy->moveTo(positionX, positionY, rotation, posAcc, rotAcc);
+}
+
+void PlatformUnitWidget::reportPlatformPose(::Ice::Float currentPlatformPositionX, ::Ice::Float currentPlatformPositionY, ::Ice::Float currentPlatformRotation, const Ice::Current& c)
+{
+ ui.labelCurrentPositionX->setText(QString::number(currentPlatformPositionX));
+ ui.labelCurrentPositionY->setText(QString::number(currentPlatformPositionY));
+ ui.labelCurrentRotation->setText(QString::number(currentPlatformRotation));
+}
+
+void PlatformUnitWidget::reportNewTargetPose(::Ice::Float newPlatformPositionX, ::Ice::Float newPlatformPositionY, ::Ice::Float newPlatformRotation, const Ice::Current& c)
+{
+ ui.editTargetPositionX->setText(QString::number(newPlatformPositionX));
+ ui.editTargetPositionY->setText(QString::number(newPlatformPositionY));
+ ui.editTargetRotation->setText(QString::number(newPlatformRotation));
+}
+
+void PlatformUnitWidget::reportPlatformVelocity(::Ice::Float currentPlatformVelocityX, ::Ice::Float currentPlatformVelocityY, ::Ice::Float currentPlatformVelocityRotation, const Ice::Current& c)
+{
+
+}
+
+Q_EXPORT_PLUGIN2(armar3_gui_PlatformUnitGuiPlugin, PlatformUnitGuiPlugin)
+
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
new file mode 100644
index 000000000..f791b42d1
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
@@ -0,0 +1,123 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::Component::ObjectExaminerGuiPlugin
+* @author Nikolaus Vahrenkamp ( vahrenkamp at kit dot edu)
+* @copyright 2012
+* @license http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+
+*/
+
+#ifndef _ARMARXGUI_PLUGINS_PLATFORMUNITWIDGET_H
+#define _ARMARXGUI_PLUGINS_PLATFORMUNITWIDGET_H
+
+/* ArmarX headers */
+#include "ui_PlatformUnitGuiPlugin.h"
+#include <Core/core/Component.h>
+#include <Gui/ArmarXGuiLib/ArmarXGuiPlugin.h>
+#include <Gui/ArmarXGuiLib/ArmarXComponentWidgetController.h>
+
+#include <RobotAPI/interface/units/PlatformUnitInterface.h>
+
+/* Qt headers */
+#include <QtGui/QMainWindow>
+
+#include <string>
+
+
+namespace armarx
+{
+ class PlatformUnitConfigDialog;
+
+ /**
+ \class PlatformUnitGuiPlugin
+ \brief With this plugin the PlatformUnit can be controlled.
+ \ingroup ArmarXGuiPlugins
+
+ \see PlatformUnitWidget
+ */
+ class PlatformUnitGuiPlugin :
+ public ArmarXGuiPlugin
+ {
+ public:
+ PlatformUnitGuiPlugin();
+ QString getPluginName()
+ {
+ return "PlatformUnitGuiPlugin";
+ }
+ };
+
+ /**
+ \class PlatformUnitWidget
+ \brief With this widget the PlatformUnit can be controlled.
+ \ingroup ArmarXGuiPlugins
+
+ \see PlatformUnitGuiPlugin
+ */
+ class PlatformUnitWidget :
+ public ArmarXComponentWidgetController,
+ public PlatformUnitListener
+ {
+ Q_OBJECT
+ public:
+ PlatformUnitWidget();
+ ~PlatformUnitWidget()
+ {}
+
+ // inherited from Component
+ virtual void onInitComponent();
+ virtual void onConnectComponent();
+ virtual void onExitComponent();
+
+ // slice interface implementation
+ void reportPlatformPose(::Ice::Float currentPlatformPositionX, ::Ice::Float currentPlatformPositionY, ::Ice::Float currentPlatformRotation, const Ice::Current& c = ::Ice::Current());
+ void reportNewTargetPose(::Ice::Float newPlatformPositionX, ::Ice::Float newPlatformPositionY, ::Ice::Float newPlatformRotation, const Ice::Current& c = ::Ice::Current());
+ void reportPlatformVelocity(::Ice::Float currentPlatformVelocityX, ::Ice::Float currentPlatformVelocityY, ::Ice::Float currentPlatformVelocityRotation, const Ice::Current& c = ::Ice::Current());
+
+ // inherited of ArmarXWidget
+ virtual QString getWidgetName() const
+ {
+ return "PlatformUnitGUI";
+ }
+
+ QPointer<QDialog> getConfigDialog(QWidget* parent = 0);
+ virtual void loadSettings(QSettings * settings);
+ virtual void saveSettings(QSettings * settings);
+ void configured();
+
+ public slots:
+
+ void moveTo();
+
+ protected:
+ void connectSlots();
+
+ Ui::PlatformUnitGuiPlugin ui;
+
+ private:
+ std::string platformUnitProxyName;
+ std::string platformName;
+
+ PlatformUnitInterfacePrx platformUnitProxy;
+
+ QPointer<QWidget> __widget;
+ QPointer<PlatformUnitConfigDialog> dialog;
+ };
+ typedef boost::shared_ptr<PlatformUnitWidget> PlatformUnitGuiPluginPtr;
+}
+
+#endif
diff --git a/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.ui b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.ui
new file mode 100644
index 000000000..5a21e34a0
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.ui
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>PlatformUnitGuiPlugin</class>
+ <widget class="QWidget" name="PlatformUnitGuiPlugin">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>360</width>
+ <height>190</height>
+ </rect>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="windowTitle">
+ <string>Form</string>
+ </property>
+ <widget class="QWidget" name="layoutWidget">
+ <property name="geometry">
+ <rect>
+ <x>9</x>
+ <y>9</y>
+ <width>341</width>
+ <height>171</height>
+ </rect>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="1">
+ <widget class="QLabel" name="labelCurrent">
+ <property name="text">
+ <string>Current Position</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="2">
+ <widget class="QLineEdit" name="editTargetPositionY"/>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="labelPositionX">
+ <property name="text">
+ <string>X Position</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="2">
+ <widget class="QLineEdit" name="editTargetRotation"/>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="labelPositionY">
+ <property name="text">
+ <string>Y Position</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="labelRotation">
+ <property name="text">
+ <string>Rotation</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QLabel" name="labelTarget">
+ <property name="text">
+ <string>Target Position</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QLineEdit" name="editTargetPositionX"/>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLabel" name="labelCurrentPositionY">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLabel" name="labelCurrentPositionX">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLabel" name="labelCurrentRotation">
+ <property name="text">
+ <string>0</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="2">
+ <widget class="QPushButton" name="buttonMoveToPosition">
+ <property name="text">
+ <string>Move To Position</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ <tabstops>
+ <tabstop>editTargetPositionX</tabstop>
+ <tabstop>editTargetPositionY</tabstop>
+ <tabstop>editTargetRotation</tabstop>
+ <tabstop>buttonMoveToPosition</tabstop>
+ </tabstops>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
new file mode 100644
index 000000000..59b59d5c7
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
@@ -0,0 +1,387 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::Gui
+* @author Mirko Waechter ( mirko.waechter at kit dot edu)
+* @date 2012
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#include "ArmarXPlotter.h"
+
+//QWT
+#include <qwt_plot.h>
+#include <qwt_plot_curve.h>
+#include <qwt_plot_panner.h>
+#include <qwt_plot_magnifier.h>
+#include <qwt_plot_canvas.h>
+#include <qwt_legend.h>
+#include <qwt_legend_item.h>
+#include <qwt_series_data.h>
+
+//QT
+#include <QTimer>
+#include <QTime>
+#include <QSettings>
+
+//STL
+#include <sstream>
+
+//ArmarX
+//#include <Core/observers/variant/Variant.h>
+#include <Core/observers/ObserverObjectFactories.h>
+#include <Core/observers/variant/DataFieldIdentifier.h>
+#include "ArmarXPlotterDialog.h"
+#include <Core/observers/exceptions/local/InvalidChannelException.h>
+
+#include <boost/date_time/posix_time/posix_time.hpp>
+
+#include <IceUtil/IceUtil.h>
+
+using namespace std;
+
+namespace armarx
+{
+
+ ArmarXPlotter::ArmarXPlotter() :
+ ArmarXComponentWidgetController(),
+ updateInterval(100),
+ shownInterval(60),
+ startUpTime(QDateTime::currentDateTime())
+
+
+ {
+ setTag("Plotter");
+ ui.setupUi(getWidget());
+ timer = new QTimer(getWidget());
+
+ ////////////////
+ // Setup Plotter
+ ///////////////
+ // panning with the left mouse button
+ ( void ) new QwtPlotPanner( ui.qwtPlot->canvas() );
+
+ // zoom in/out with the wheel
+ QwtPlotMagnifier * magnifier = new QwtPlotMagnifier( ui.qwtPlot->canvas() );
+ magnifier->setAxisEnabled(QwtPlot::xBottom, false);
+
+ ui.qwtPlot->canvas()->setPaintAttribute(QwtPlotCanvas::BackingStore, false); //increases performance for incremental drawing
+
+ QwtLegend *legend = new QwtLegend;
+ legend->setItemMode( QwtLegend::CheckableItem );
+ ui.qwtPlot->insertLegend( legend, QwtPlot::BottomLegend );
+
+
+ ui.qwtPlot->setAxisTitle( QwtPlot::xBottom, "Time (in sec)");
+ // ui.qwtPlot->setAutoReplot();
+
+ dialog = new ArmarXPlotterDialog(getWidget(), NULL);
+
+ }
+
+ ArmarXPlotter::~ArmarXPlotter()
+ {
+ // if(dialog && this->getState() == eManagedIceObjectInitialized)
+ // getArmarXManager()->removeObjectNonBlocking(dialog);
+ // delete dialog;
+ }
+
+
+
+
+
+
+
+ void ArmarXPlotter::onInitComponent()
+ {
+ }
+
+ void ArmarXPlotter::onConnectComponent()
+ {
+ ARMARX_VERBOSE<< "ArmarXPlotter started" << flush;
+ dialog->setIceManager(getIceManager());
+
+ connect(dialog, SIGNAL(accepted()), this, SLOT(configDone()));
+ connect(ui.BTNEdit, SIGNAL(clicked()), this, SLOT(configDialog()));
+ connect(timer, SIGNAL(timeout()), this, SLOT(updateGraph()));
+ connect(ui.BTNPlotterStatus, SIGNAL(toggled(bool)), this, SLOT(plottingPaused(bool)));
+
+ connect(ui.BTNAutoScale, SIGNAL(toggled(bool)), this, SLOT(autoScale(bool)));
+ connect( ui.qwtPlot, SIGNAL( legendChecked( QwtPlotItem *, bool ) ),
+ SLOT( showCurve( QwtPlotItem *, bool ) ) );
+
+ }
+
+ void ArmarXPlotter::onCloseWidget(QCloseEvent *event)
+ {
+ ARMARX_VERBOSE << "closing" << flush;
+ timer->stop();
+ }
+
+ void ArmarXPlotter::ButtonAddSensorChannelClicked()
+ {
+ }
+
+ void ArmarXPlotter::configDialog()
+ {
+ if(!dialog)
+ return;
+ dialog->ui.spinBoxUpdateInterval->setValue(updateInterval);
+ dialog->ui.spinBoxShownInterval->setValue(shownInterval);
+ dialog->ui.listWidget->clear();
+ dialog->ui.listWidget->addItems(selectedChannels);
+ // if(dialog->exec())
+ // configDone();
+ dialog->setModal(true);
+ dialog->show();
+ // dialog->raise();
+ // dialog->activateWindow();
+ // dialog->setParent(0);
+ }
+
+ void ArmarXPlotter::configDone()
+ {
+ ScopedLock lock(dataMutex);
+ updateInterval = dialog->ui.spinBoxUpdateInterval->value();
+ shownInterval = dialog->ui.spinBoxShownInterval->value();
+ selectedChannels = dialog->getSelectedChannels();
+
+ curves.clear();
+ ui.qwtPlot->detachItems();
+
+ applyCurves();
+ }
+
+
+
+ void ArmarXPlotter::updateGraph()
+ {
+ ScopedLock lock(dataMutex);
+ //get new data from observers for all selected channels and append them to the dataMap
+ QPointF p;
+ getData(selectedChannels, dataMap);
+ int size = shownInterval*1000/updateInterval;
+ GraphDataMap::iterator it = dataMap.begin();
+ boost::system_time curTime = boost::get_system_time();
+
+ for(; it != dataMap.end(); ++it)
+ {
+
+ QVector<QPointF> pointList;
+ pointList.clear();
+ std::vector<TimeData>& dataVec = it->second;
+ pointList.resize(min(size,(int)dataVec.size()));
+ try
+ {
+ for (unsigned int i = 0; i < dataVec.size(); ++i) {
+ TimeData& data = dataVec[i];
+ boost::posix_time::time_duration age = (data.time - curTime);
+ if(age.total_milliseconds() <= shownInterval*1000)
+ {
+ VariantPtr var = VariantPtr::dynamicCast(data.data);
+ if(var->getInitialized())
+ {
+ if((signed int)i < pointList.size())
+ {
+ if(var->getType() == VariantType::Float)
+ pointList[i].setY(var->getFloat());
+ else if(var->getType() == VariantType::Int)
+ pointList[i].setY(var->getInt());
+ else continue;
+ pointList[i].setX(0.001f*age.total_milliseconds());
+ }else
+ {
+ if(var->getType() == VariantType::Float)
+ p.setY(var->getFloat());
+ else if(var->getType() == VariantType::Int)
+ p.setY(var->getInt());
+ else continue;
+ p.setX(0.001*age.total_milliseconds());
+ pointList.push_back(p);
+ }
+ }
+ }
+ }
+ }
+ catch(...)
+ {
+ handleExceptions();
+ }
+
+ QwtSeriesData<QPointF>* pointSeries = new QwtPointSeriesData(pointList);
+ if(curves.find(it->first) != curves.end()){
+ QwtPlotCurve *curve = curves[it->first];
+ curve->setData(pointSeries);
+ }
+ }
+
+
+ ui.qwtPlot->setAxisScale( QwtPlot::xBottom, shownInterval*-1, 0.f);
+ if(ui.BTNAutoScale->isChecked())
+ ui.qwtPlot->setAxisAutoScale(QwtPlot::yLeft, true);
+ // ui.qwtPlot->setAxisScale( QwtPlot::yLeft, -1, 1);
+
+ ui.qwtPlot->replot();
+ }
+
+ void ArmarXPlotter::showCurve( QwtPlotItem *item, bool on )
+ {
+ item->setVisible( on );
+
+ QwtLegendItem *legendItem =
+ qobject_cast<QwtLegendItem *>( ui.qwtPlot->legend()->find( item ) );
+
+ if ( legendItem )
+ legendItem->setChecked( on );
+
+ ui.qwtPlot->replot();
+ }
+
+ void ArmarXPlotter::autoScale(bool toggled)
+ {
+ ARMARX_VERBOSE << "clicked autoscale" << flush;
+
+ ui.qwtPlot->setAxisAutoScale(QwtPlot::yLeft, toggled);
+ ui.qwtPlot->replot();
+
+
+ }
+
+ void ArmarXPlotter::plottingPaused(bool toggled)
+ {
+ __plottingPaused = toggled;
+ if(__plottingPaused)
+ timer->stop();
+ else
+ timer->start();
+ }
+
+
+
+ void ArmarXPlotter::saveSettings(QSettings * settings)
+ {
+ ScopedLock lock(dataMutex);
+ settings->setValue("updateInterval", updateInterval);
+ settings->setValue("shownInterval", shownInterval);
+ settings->setValue("selectedChannels", selectedChannels);
+ settings->setValue("autoScaleActive", ui.BTNAutoScale->isChecked());
+ }
+
+ void ArmarXPlotter::loadSettings(QSettings * settings)
+ {
+ ScopedLock lock(dataMutex);
+ updateInterval = settings->value("updateInterval", 100).toInt();
+ shownInterval = settings->value("shownInterval", 60).toInt();
+ selectedChannels = settings->value("selectedChannels", QStringList()).toStringList();
+ ui.BTNAutoScale->setChecked(settings->value("autoScaleActive", true).toBool());
+ applyCurves();
+ ARMARX_VERBOSE << "Settings loaded" << flush;
+ }
+
+ void ArmarXPlotter::applyCurves()
+ {
+ for(int i = 0; i < selectedChannels.size(); i++){
+ ARMARX_VERBOSE << "Channel: " << selectedChannels.at(i).toStdString() << flush;
+ QwtPlotCurve* curve = new QwtPlotCurve(selectedChannels.at(i));
+
+ curve->setPen( QColor( Qt::GlobalColor((i+7)%15) ) );
+ curve->setStyle( QwtPlotCurve::Lines );
+
+ curve->attach(ui.qwtPlot);
+ showCurve(curve, true);
+ curves[selectedChannels.at(i).toStdString()]=curve;
+ }
+ ui.qwtPlot->replot();
+ timer->start(updateInterval);
+ }
+
+ void ArmarXPlotter::getData(const QStringList &channels, GraphDataMap &dataMaptoAppend)
+ {
+ map< std::string, DataFieldIdentifierBaseList > channelsSplittedByObserver;
+ foreach(QString channel, channels)
+ {
+ DataFieldIdentifierPtr identifier = new DataFieldIdentifier(channel.toStdString());
+ channelsSplittedByObserver[identifier->getObserverName()].push_back(identifier);
+// ARMARX_INFO << identifier;
+ }
+
+ // first clear to old entries
+ GraphDataMap::iterator itmap = dataMaptoAppend.begin();
+ for(; itmap != dataMaptoAppend.end(); ++itmap)
+ {
+ std::vector<TimeData>& dataVec = itmap->second;
+ int thresholdIndex = -1;
+ for(unsigned int i=0; dataVec.size(); ++i)
+ {
+ // only delete if entries are older than 2*showninterval
+ // and delete then all entries that are older than showninterval.
+ // otherwise it would delete items on every call, which would be very slow
+
+
+ if((boost::get_system_time() - dataVec[i].time).total_milliseconds() > shownInterval*2*1000
+ || (thresholdIndex != -1 && (boost::get_system_time() - dataVec[i].time ).total_milliseconds() > shownInterval*1000)
+ )
+ {
+ thresholdIndex = i;
+ }else
+ break;
+ }
+ if(thresholdIndex!=-1)
+ dataVec.erase(dataVec.begin(), dataVec.begin()+std::min((int)dataVec.size(),thresholdIndex));
+ }
+ // now get new data
+ map<string, DataFieldIdentifierBaseList >::iterator it = channelsSplittedByObserver.begin();
+ try
+ {
+ for(; it != channelsSplittedByObserver.end(); ++it)
+ {
+ std::string observerName = it->first;
+
+ if(proxyMap.find(observerName) == proxyMap.end())
+ {
+ proxyMap[observerName] = getProxy<ObserverInterfacePrx>(observerName);
+
+ }
+ // QDateTime time(QDateTime::currentDateTime());
+ boost::system_time time = boost::get_system_time();
+ VariantBaseList variants = proxyMap[observerName]->getDataFields(it->second);
+// ARMARX_IMPORTANT << "data from observer: " << observerName;
+ for(unsigned int i = 0; i < variants.size(); ++i)
+ {
+// ARMARX_IMPORTANT << "Variant: " << VariantPtr::dynamicCast(variants[i]);
+ dataMaptoAppend[DataFieldIdentifierPtr::dynamicCast(it->second[i])->getIdentifierStr()].push_back(TimeData(time, VariantPtr::dynamicCast(variants[i])));
+ }
+
+ }
+ }
+ catch(Ice::NotRegisteredException &e){
+ ARMARX_WARNING << deactivateSpam(3) << "Caught Exception: " << e.what();
+ }
+ catch(exceptions::local::InvalidDataFieldException &e){
+ ARMARX_WARNING << deactivateSpam(5) << "Caught InvalidDataFieldException: " << e.what();
+ }
+ catch(exceptions::local::InvalidChannelException &e){
+ ARMARX_WARNING << deactivateSpam(5) << "Caught InvalidDataFieldException: " << e.what();
+ }
+ catch(...)
+ {
+ handleExceptions();
+ }
+ }
+
+
+}
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
new file mode 100644
index 000000000..633ed6efc
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
@@ -0,0 +1,138 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::Gui
+* @author Mirko Waechter ( mirko.waechter at kit dot edu)
+* @date 2012
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#ifndef ARMARXPLOTTER_H
+#define ARMARXPLOTTER_H
+
+#include "ui_ArmarXPlotter.h"
+
+// ArmarX
+#include <Core/core/Component.h>
+#include <Core/core/system/ImportExportComponent.h>
+#include <Core/core/system/AbstractFactoryMethod.h>
+#include <Core/interface/observers/ConditionHandlerInterface.h>
+#include <Core/observers/variant/DataFieldIdentifier.h>
+#include <Core/observers/variant/Variant.h>
+#include <Gui/ArmarXGuiLib/ArmarXComponentWidgetController.h>
+
+#include <Gui/gui_plugins/ObserverPropertiesPlugin/ObserverItemModel.h>
+
+// QT
+#include <QWidget>
+#include <QDialog>
+#include <QDateTime>
+
+
+//STL
+#include <vector>
+
+
+
+//forward declarations
+class QwtPlotCurve;
+
+namespace armarx
+{
+ struct TimeData{
+ TimeData(const boost::system_time &time, const VariantPtr &data): time(time), data(data){}
+
+ boost::system_time time;
+ VariantPtr data;
+ };
+
+ typedef std::map< std::string, ObserverInterfacePrx> ProxyMap;
+ typedef std::map< std::string, std::vector<TimeData> > GraphDataMap;
+
+ class ArmarXPlotterDialog;
+ /**
+ \class ArmarXPlotter
+ \ingroup ArmarXGuiPlugins
+ */
+ class ARMARXCOMPONENT_IMPORT_EXPORT
+ ArmarXPlotter:
+ public ArmarXComponentWidgetController
+ {
+ Q_OBJECT
+ public:
+
+
+ std::map<std::string, QwtPlotCurve *> curves;
+ Ui::ArmarXPlotter ui;
+ QPointer<ArmarXPlotterDialog> dialog;
+ QTimer * timer;
+ ConditionHandlerInterfacePrx handler;
+
+ // Configuration Parameters
+ int updateInterval;
+ int shownInterval;
+ QStringList selectedChannels;
+
+ explicit ArmarXPlotter();
+ ~ArmarXPlotter();
+ //inherited from ArmarXWidget
+ virtual QString getWidgetName() const { return "Plotter";}
+ void loadSettings(QSettings * settings);
+ void saveSettings(QSettings * settings);
+ //for AbstractFactoryMethod class
+
+
+ // inherited from Component
+ virtual void onInitComponent();
+ virtual void onConnectComponent();
+
+
+
+ /**
+ * emits the closeRequest signal
+ */
+ void onCloseWidget(QCloseEvent *event);
+ signals:
+
+ public slots:
+ void ButtonAddSensorChannelClicked();
+ void configDialog();
+ void updateGraph();
+ void showCurve(QwtPlotItem *item, bool on);
+ void autoScale(bool toggled);
+ void plottingPaused(bool toggled);
+ void configDone();
+
+
+ protected:
+ boost::shared_ptr<QSettings> settings;
+ private:
+ QDateTime startUpTime;
+ GraphDataMap dataMap;
+ std::map< std::string, ObserverInterfacePrx> proxyMap;
+ bool __plottingPaused;
+
+
+ void applyCurves();
+ void getData(const QStringList &channels, GraphDataMap &dataMaptoAppend);
+
+ Mutex dataMutex;
+ };
+
+}
+
+#endif
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.ui b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.ui
new file mode 100644
index 000000000..dce7941c6
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.ui
@@ -0,0 +1,120 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ArmarXPlotter</class>
+ <widget class="QWidget" name="ArmarXPlotter">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>400</width>
+ <height>400</height>
+ </rect>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>150</width>
+ <height>150</height>
+ </size>
+ </property>
+ <property name="windowTitle">
+ <string>ArmarX Plotter</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <property name="spacing">
+ <number>3</number>
+ </property>
+ <property name="margin">
+ <number>3</number>
+ </property>
+ <item>
+ <widget class="QwtPlot" name="qwtPlot"/>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QToolButton" name="BTNEdit">
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="icon">
+ <iconset resource="../../../ArmarXGui/icons.qrc">
+ <normaloff>:/icons/configure-3.png</normaloff>:/icons/configure-3.png</iconset>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QToolButton" name="BTNPlotterStatus">
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="icon">
+ <iconset resource="../../../ArmarXGui/icons.qrc">
+ <normaloff>:/icons/media-playback-pause.ico</normaloff>:/icons/media-playback-pause.ico</iconset>
+ </property>
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QToolButton" name="BTNAutoScale">
+ <property name="toolTip">
+ <string>Automatic scaling of the graph</string>
+ </property>
+ <property name="text">
+ <string>Auto Scale</string>
+ </property>
+ <property name="icon">
+ <iconset resource="../../../ArmarXGui/icons.qrc">
+ <normaloff>:/icons/zoom-original-2.png</normaloff>:/icons/zoom-original-2.png</iconset>
+ </property>
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <customwidgets>
+ <customwidget>
+ <class>QwtPlot</class>
+ <extends>QFrame</extends>
+ <header>qwt_plot.h</header>
+ <container>1</container>
+ </customwidget>
+ </customwidgets>
+ <resources>
+ <include location="../../../ArmarXGui/icons.qrc"/>
+ </resources>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp
new file mode 100644
index 000000000..2a88cb830
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp
@@ -0,0 +1,189 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::Gui
+* @author Mirko Waechter ( mirko.waechter at kit dot edu)
+* @date 2012
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#include "ArmarXPlotterDialog.h"
+#include "ArmarXPlotter.h"
+#include <sstream>
+
+#include <IceUtil/UUID.h>
+
+
+
+using namespace armarx;
+using namespace std;
+
+
+ArmarXPlotterDialog::ArmarXPlotterDialog(QWidget *parent, IceManagerPtr iceManager) :
+ QDialog(parent),
+ uuid(IceUtil::generateUUID()),
+ iceManager(iceManager)
+{
+ ui.setupUi(this);
+ model = NULL;
+
+
+ connect(ui.BTNAddSelectedChannels, SIGNAL(clicked()), this, SLOT(ButtonAddSelectedChannelClicked()));
+ connect(ui.BTNRemoveSelected, SIGNAL(clicked()), this, SLOT(ButtonRemoveChannelClicked()));
+ connect(ui.treeViewObservers, SIGNAL(doubleClicked(QModelIndex)), this, SLOT(treeView_doubleClick(QModelIndex)));
+ connect(ui.listWidget, SIGNAL(doubleClicked(QModelIndex)), this, SLOT(ButtonRemoveChannelClicked(QModelIndex)));
+ connect(ui.btnRefresh, SIGNAL(clicked()), this, SLOT(updateObservers()));
+
+
+}
+
+ArmarXPlotterDialog::~ArmarXPlotterDialog()
+{
+// ARMARX_INFO << "~ArmarXPlotterDialog" ;
+}
+
+void ArmarXPlotterDialog::setIceManager(IceManagerPtr iceManager)
+{
+ this->iceManager = iceManager;
+}
+
+
+
+//string ArmarXPlotterDialog::getDefaultName() const
+//{
+// stringstream str;
+// str << "ArmarXPlotterDialog" << uuid;
+// return str.str();
+//}
+
+
+//void ArmarXPlotterDialog::onInitComponent()
+//{
+// usingProxy("ConditionHandler");
+//}
+
+//void ArmarXPlotterDialog::onConnectComponent()
+//{
+// // get proxy of conditionhandler
+// handler = getProxy<ConditionHandlerInterfacePrx>("ConditionHandler");
+
+// updateObservers();
+//}
+
+//void ArmarXPlotterDialog::onExitComponent()
+//{
+
+//}
+
+void ArmarXPlotterDialog::onCloseWidget(QCloseEvent *event)
+{
+
+}
+
+void ArmarXPlotterDialog::updateObservers()
+{
+ if(!model)
+ {
+ model = new ObserverItemModel(iceManager);
+ ui.treeViewObservers->setModel(model);
+
+ }
+
+ model->updateObservers();
+
+// if(!iceManager)
+// return;
+// ObserverList observerList = iceManager->getIceGridSession()->getRegisteredObjectNames<ObserverInterfacePrx>("*Observer");
+// ObserverList::iterator iter = observerList.begin();
+
+// while(iter != observerList.end())
+// {
+// model->updateModel(*iter, iceManager->getProxy<ObserverInterfacePrx>(*iter)->getAvailableChannels(), StringConditionCheckMap());
+// iter++;
+// }
+}
+
+
+
+
+
+
+void ArmarXPlotterDialog::ButtonAddSelectedChannelClicked()
+{
+ QItemSelectionModel* selectionModel = ui.treeViewObservers->selectionModel();
+ for(int i = 0; i < selectionModel->selectedIndexes().size(); ++i)
+ {
+ QModelIndex index = selectionModel->selectedIndexes().at(i);
+ treeView_doubleClick(index);
+ }
+ ui.treeViewObservers->clearSelection();
+
+}
+
+void ArmarXPlotterDialog::ButtonRemoveChannelClicked()
+{
+ QList<QListWidgetItem*> selectedItems = ui.listWidget->selectedItems();
+ for(int i=0; i < selectedItems.size(); ++i)
+ {
+ delete selectedItems.at(i);
+ }
+}
+
+void ArmarXPlotterDialog::ButtonRemoveChannelClicked(QModelIndex index)
+{
+ delete ui.listWidget->item(index.row());
+}
+
+QStringList ArmarXPlotterDialog::getSelectedChannels()
+{
+ QStringList result;
+ QList <QListWidgetItem*> items = ui.listWidget->findItems(QString("*"), Qt::MatchWrap | Qt::MatchWildcard);
+ foreach(QListWidgetItem *item, items)
+ result.append(item->text());
+
+ return result;
+}
+
+void ArmarXPlotterDialog::treeView_selected(const QItemSelection& selected, const QItemSelection& deselected)
+{
+}
+
+void ArmarXPlotterDialog::treeView_doubleClick(const QModelIndex &index)
+{
+
+ QStandardItem* item = model->itemFromIndex(index);
+ QVariant id = item->data(OBSERVER_ITEM_ID);
+ switch(item->data(OBSERVER_ITEM_TYPE).toInt())
+ {
+ case eDataFieldItem:
+ if(ui.listWidget->findItems(id.toString(),Qt::MatchExactly).size() == 0)
+ ui.listWidget->addItem(id.toString());
+ break;
+
+ }
+}
+
+void ArmarXPlotterDialog::destroyed(QObject *)
+{
+ setParent(0);
+}
+
+void ArmarXPlotterDialog::showEvent(QShowEvent *)
+{
+ updateObservers();
+}
+
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h
new file mode 100644
index 000000000..d7fca1bd3
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h
@@ -0,0 +1,99 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::Gui
+* @author Mirko Waechter ( mirko.waechter at kit dot edu)
+* @date 2012
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#ifndef ARMARXPLOTTERDIALOG_H
+#define ARMARXPLOTTERDIALOG_H
+
+
+// QT
+#include "ui_ArmarXPlotterDialog.h"
+#include <QDialog>
+#include <QComboBox>
+#include <QList>
+#include <QMenu>
+#include <QAction>
+#include <QItemSelectionModel>
+#include <QStandardItemModel>
+//STL
+#include <vector>
+
+//ArmarX
+#include <Core/core/IceManager.h>
+
+#include <Core/interface/observers/ConditionHandlerInterface.h>
+#include "../../ObserverPropertiesPlugin/ObserverItemModel.h"
+
+
+
+namespace armarx
+{
+ class ArmarXPlotter;
+ class ArmarXPlotterDialog:
+ public QDialog
+ {
+ Q_OBJECT
+ QStringList availableChannelsList;
+ ObserverItemModel *model;
+ std::string uuid;
+ IceManagerPtr iceManager;
+ int mdiId;
+
+
+ public:
+ ArmarXPlotterDialog(QWidget *parent, IceManagerPtr iceManager);
+ ~ArmarXPlotterDialog();
+ ConditionHandlerInterfacePrx handler;
+ struct ChannelWidgetsEntry{
+ QComboBox* comboBox;
+ QLabel *label;
+ QPushButton *deleteButton;
+ };
+
+ void setIceManager(IceManagerPtr iceManager);
+
+ Ui::ArmarXPlotterDialog ui;
+ std::vector< ChannelWidgetsEntry > sensorChannelList;
+ QStringList getSelectedChannels();
+
+
+// // inherited from Component
+// std::string getDefaultName() const;
+// virtual void onInitComponent();
+// virtual void onConnectComponent();
+// void onExitComponent();
+ /**
+ * emits the closeRequest signal
+ */
+ void onCloseWidget(QCloseEvent *event);
+ public slots:
+ void ButtonAddSelectedChannelClicked();
+ void ButtonRemoveChannelClicked();
+ void ButtonRemoveChannelClicked(QModelIndex index);
+ void updateObservers();
+ void treeView_selected(const QItemSelection& selected, const QItemSelection& deselected);
+ void treeView_doubleClick(const QModelIndex &index);
+ void destroyed(QObject *);
+ void showEvent(QShowEvent *);
+ };
+}
+#endif // ARMARXPLOTTERDIALOG_H
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui
new file mode 100644
index 000000000..dd5c23165
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui
@@ -0,0 +1,260 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ArmarXPlotterDialog</class>
+ <widget class="QDialog" name="ArmarXPlotterDialog">
+ <property name="windowModality">
+ <enum>Qt::ApplicationModal</enum>
+ </property>
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>586</width>
+ <height>599</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>ArmarX Plotter Config Dialog</string>
+ </property>
+ <property name="sizeGripEnabled">
+ <bool>true</bool>
+ </property>
+ <property name="modal">
+ <bool>true</bool>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="0">
+ <widget class="QLabel" name="LblUpdateInterval">
+ <property name="text">
+ <string>Update interval (in ms)</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="LBLShownInterval">
+ <property name="text">
+ <string>Shown Interval (in s)</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QSpinBox" name="spinBoxShownInterval">
+ <property name="minimum">
+ <number>1</number>
+ </property>
+ <property name="maximum">
+ <number>6000</number>
+ </property>
+ <property name="value">
+ <number>60</number>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QSpinBox" name="spinBoxUpdateInterval">
+ <property name="buttonSymbols">
+ <enum>QAbstractSpinBox::UpDownArrows</enum>
+ </property>
+ <property name="minimum">
+ <number>0</number>
+ </property>
+ <property name="maximum">
+ <number>999999999</number>
+ </property>
+ <property name="singleStep">
+ <number>10</number>
+ </property>
+ <property name="value">
+ <number>100</number>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="QGroupBox" name="groupBoxSensorChannels">
+ <property name="minimumSize">
+ <size>
+ <width>200</width>
+ <height>200</height>
+ </size>
+ </property>
+ <property name="title">
+ <string>Sensor Channels</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_3">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="FilterableTreeView" name="treeViewObservers">
+ <property name="editTriggers">
+ <set>QAbstractItemView::NoEditTriggers</set>
+ </property>
+ <property name="selectionMode">
+ <enum>QAbstractItemView::ExtendedSelection</enum>
+ </property>
+ <property name="animated">
+ <bool>true</bool>
+ </property>
+ <property name="headerHidden">
+ <bool>true</bool>
+ </property>
+ </widget>
+ <widget class="QListWidget" name="listWidget">
+ <property name="editTriggers">
+ <set>QAbstractItemView::NoEditTriggers</set>
+ </property>
+ <property name="selectionMode">
+ <enum>QAbstractItemView::ExtendedSelection</enum>
+ </property>
+ </widget>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <widget class="QToolButton" name="BTNAddSelectedChannels">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="toolTip">
+ <string>Add selected datafields</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="icon">
+ <iconset resource="../../../ArmarXGui/icons.qrc">
+ <normaloff>:/icons/edit-add.ico</normaloff>:/icons/edit-add.ico</iconset>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QToolButton" name="btnRefresh">
+ <property name="toolTip">
+ <string>Refresh observerlist</string>
+ </property>
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="icon">
+ <iconset resource="../../../ArmarXGui/icons.qrc">
+ <normaloff>:/icons/view-refresh-7.png</normaloff>:/icons/view-refresh-7.png</iconset>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QToolButton" name="BTNRemoveSelected">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="toolTip">
+ <string>Remove selected datafields</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="icon">
+ <iconset resource="../../../ArmarXGui/icons.qrc">
+ <normaloff>:/icons/dialog-cancel-5.svg</normaloff>:/icons/dialog-cancel-5.svg</iconset>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <customwidgets>
+ <customwidget>
+ <class>FilterableTreeView</class>
+ <extends>QTreeView</extends>
+ <header location="global">Gui/ArmarXGui/Widgets/FilterableTreeView.h</header>
+ </customwidget>
+ </customwidgets>
+ <resources>
+ <include location="../../../ArmarXGui/icons.qrc"/>
+ </resources>
+ <connections>
+ <connection>
+ <sender>buttonBox</sender>
+ <signal>accepted()</signal>
+ <receiver>ArmarXPlotterDialog</receiver>
+ <slot>accept()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>248</x>
+ <y>254</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>157</x>
+ <y>274</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>buttonBox</sender>
+ <signal>rejected()</signal>
+ <receiver>ArmarXPlotterDialog</receiver>
+ <slot>reject()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>316</x>
+ <y>260</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>286</x>
+ <y>274</y>
+ </hint>
+ </hints>
+ </connection>
+ </connections>
+</ui>
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.cpp b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.cpp
new file mode 100644
index 000000000..df6c4e205
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.cpp
@@ -0,0 +1,392 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::
+* @author Mirko Waechter ( mirko.waechter at kit dot edu)
+* @date 2012
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#include "TCPMover.h"
+
+
+//VirtualRobot
+#include <VirtualRobot/XML/RobotIO.h>
+#include <VirtualRobot/LinkedCoordinate.h>
+#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
+
+
+// C++ includes
+#include <sstream>
+
+// Qt includes
+#include <QScrollBar>
+#include <QLineEdit>
+#include <QDialogButtonBox>
+
+using namespace armarx;
+using namespace VirtualRobot;
+
+
+TCPMover::TCPMover() :
+ robotRequested(false)
+
+{
+
+// handData[selectedTCP][0] = handData[selectedTCP][1] = handData[selectedTCP][2] = 0.0f;
+// handData[selectedTCP][3] = handData[selectedTCP][4] = handData[selectedTCP][5] = 0.0f;
+ ui.setupUi(getWidget());
+ ui.gridLayout->setEnabled(false);
+ // SIGNALS AND SLOTS CONNECTIONS
+ connect(ui.cbselectedTCP, SIGNAL(currentIndexChanged(int)), this, SLOT(selectHand(int)));
+ connect(ui.BtnRequestControl, SIGNAL(clicked(bool)), this, SLOT(robotControl(bool)));
+ connect(ui.btnUp, SIGNAL(clicked()), this, SLOT(moveUp()));
+ connect(ui.btnDown, SIGNAL(clicked()), this, SLOT(moveDown()));
+ connect(ui.btnZUp, SIGNAL(clicked()), this, SLOT(moveZUp()));
+ connect(ui.btnZDown, SIGNAL(clicked()), this, SLOT(moveZDown()));
+ connect(ui.btnLeft, SIGNAL(clicked()), this, SLOT(moveRight()));
+ connect(ui.btnRight, SIGNAL(clicked()), this, SLOT(moveLeft()));
+ connect(ui.btnIncreaseAlpha, SIGNAL(clicked()), this, SLOT(increaseAlpha()));
+ connect(ui.btnDecreaseAlpha, SIGNAL(clicked()), this, SLOT(decreaseAlpha()));
+ connect(ui.btnIncreaseBeta, SIGNAL(clicked()), this, SLOT(increaseBeta()));
+ connect(ui.btnDecreaseBeta, SIGNAL(clicked()), this, SLOT(decreaseBeta()));
+ connect(ui.btnIncreaseGamma, SIGNAL(clicked()), this, SLOT(increaseGamma()));
+ connect(ui.btnDecreaseGamma, SIGNAL(clicked()), this, SLOT(decreaseGamma()));
+
+ connect(ui.btnRight, SIGNAL(clicked()), this, SLOT(moveLeft()));
+ connect(ui.btnStop, SIGNAL(clicked()), this, SLOT(stopMoving()));
+ connect(ui.btnResetJoinAngles, SIGNAL(clicked()), this, SLOT(reset()));
+
+}
+
+TCPMover::~TCPMover()
+{
+
+}
+
+
+
+void armarx::TCPMover::loadSettings(QSettings *settings)
+{
+ tcpMoverUnitName = settings->value("TCPControlUnitName", "TCPControlUnit").toString().toStdString();
+}
+
+void armarx::TCPMover::saveSettings(QSettings *settings)
+{
+ settings->setValue("TCPControlUnitName", tcpMoverUnitName.c_str());
+}
+
+QPointer<QDialog> TCPMover::getConfigDialog(QWidget *parent)
+{
+ if(!configDialog)
+ configDialog = new TCPMoverConfigDialog(parent);
+ return qobject_cast<TCPMoverConfigDialog*>(configDialog);
+}
+
+void TCPMover::configured()
+{
+ tcpMoverUnitName = qobject_cast<TCPMoverConfigDialog*>(getConfigDialog())->editTCPMoverUnitName->text().toStdString();
+}
+
+
+
+
+void armarx::TCPMover::onInitComponent()
+{
+// kinematicUnitFile = getProperty<std::string>("RobotFileName", KINEMATIC_UNIT_FILE_DEFAULT).getValueOrDefault();
+// kinematicUnitName = getProperty<std::string>("RobotNodeSetName",KINEMATIC_UNIT_NAME_DEFAULT).getValueOrDefault();
+
+// // Load Robot
+// ARMARX_VERBOSE << ": Loading KinematicUnit " << kinematicUnitName << " from '" << kinematicUnitFile << "' ..." << flush;
+// robot = RobotIO::loadRobot(kinematicUnitFile);
+// if (!robot)
+// {
+// ARMARX_ERROR << "Could not find Robot XML file with name '" << kinematicUnitFile << "'" << flush;
+// }
+
+
+// usingProxy(kinematicUnitName);
+ usingProxy(tcpMoverUnitName);
+ usingProxy("RobotStateComponent");
+
+}
+
+void armarx::TCPMover::onConnectComponent()
+{
+
+ tcpMoverUnitPrx = getProxy<TCPControlUnitInterfacePrx>(tcpMoverUnitName);
+ robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>("RobotStateComponent");
+
+ robotPrx = robotStateComponentPrx->getSynchronizedRobot();
+ NameList nodeSets = robotPrx->getRobotNodeSets();
+ QStringList nodeSetsQStr;
+ for(unsigned int i=0; i < nodeSets.size(); i++)
+ {
+ if(!robotPrx->getRobotNodeSet(nodeSets.at(i))->tcpName.empty())
+ {
+ tcpData[nodeSets.at(i)].resize(6, 0.f);
+ nodeSetsQStr << QString::fromStdString(nodeSets.at(i));
+ }
+ }
+ QString selected = ui.cbselectedTCP->currentText();
+ ui.cbselectedTCP->clear();
+ ui.cbselectedTCP->addItems(nodeSetsQStr);
+ int index = ui.cbselectedTCP->findText(selected);
+ if(index != -1)
+ ui.cbselectedTCP->setCurrentIndex(index);
+ refFrame = robotStateComponentPrx->getSynchronizedRobot()->getRootNode()->getName();
+
+// kinematicUnitPrx = getProxy<KinematicUnitInterfacePrx>(kinematicUnitName);
+
+// tcpNodeSetName = "LARM";
+// tcpNodeSet = robot->getRobotNodeSet(tcpNodeSetName);
+// NameControlModeMap modeMap;
+// for(unsigned int i = 0; i < tcpNodeSet->getSize(); i++)
+// {
+// modeMap[tcpNodeSet->getNode(i)->getName()] = eVelocityControl;
+// }
+// kinematicUnitPrx->switchControlMode(modeMap);
+// ik = DifferentialIKPtr(new DifferentialIK(tcpNodeSet));
+ ui.gridLayout->setEnabled(false);
+}
+
+void TCPMover::onExitComponent()
+{
+
+// if(robotRequested)
+// kinematicUnitPrx->release();
+}
+
+void TCPMover::moveUp()
+{
+// moveRelative(-1,0,0);
+ tcpData[selectedTCP][0]++;
+ execMove();
+}
+
+void TCPMover::moveDown()
+{
+// moveRelative(1,0,0);
+ tcpData[selectedTCP][0]--;
+ execMove();
+}
+
+void TCPMover::moveZUp()
+{
+ tcpData[selectedTCP][2]++;
+ execMove();
+}
+
+void TCPMover::moveZDown()
+{
+ tcpData[selectedTCP][2]--;
+ execMove();
+}
+
+void TCPMover::moveLeft()
+{
+// moveRelative(0,1,0);
+ tcpData[selectedTCP][1] ++;
+ execMove();
+
+}
+
+void TCPMover::moveRight()
+{
+ tcpData[selectedTCP][1] --;
+ execMove();
+
+ // moveRelative(0,-1,0);
+}
+
+void TCPMover::increaseAlpha()
+{
+ tcpData[selectedTCP].at(3) += 2.f;
+ execMove();
+}
+
+void TCPMover::decreaseAlpha()
+{
+ tcpData[selectedTCP].at(3) -= 2.f;
+ execMove();
+}
+
+void TCPMover::increaseBeta()
+{
+ tcpData[selectedTCP].at(4) += 2.f;
+ execMove();
+}
+
+void TCPMover::decreaseBeta()
+{
+ tcpData[selectedTCP].at(4) -= 2.f;
+ execMove();
+}
+
+void TCPMover::increaseGamma()
+{
+ tcpData[selectedTCP].at(5) += 2.f;
+ execMove();
+}
+
+void TCPMover::decreaseGamma()
+{
+ tcpData[selectedTCP].at(5) -= 2.f;
+ execMove();
+}
+
+void TCPMover::stopMoving()
+{
+ tcpData[selectedTCP][0] = tcpData[selectedTCP][1] = tcpData[selectedTCP][2] = 0.0f;
+
+ execMove();
+}
+
+void TCPMover::reset()
+{
+ tcpData[selectedTCP][0] = tcpData[selectedTCP][1] = tcpData[selectedTCP][2] = 0.0f;
+ tcpData[selectedTCP].at(3) = tcpData[selectedTCP].at(4) = tcpData[selectedTCP].at(5) = 0.0f;
+ execMove();
+ tcpMoverUnitPrx->release();
+// tcpMoverUnitPrx->resetArmToHomePosition(eLeftHand);
+
+}
+
+void TCPMover::robotControl(bool request)
+{
+ tcpMoverUnitPrx->request();
+// try{
+// if(request)
+// kinematicUnitPrx->request();
+// else
+// kinematicUnitPrx->release();
+// }catch(ResourceUnavailableException &e){
+// ui.BtnRequestControl->setChecked(false);
+
+// }catch(ResourceNotOwnedException &e){
+// ui.BtnRequestControl->setChecked(true);
+// }
+// robotRequested = ui.BtnRequestControl->isChecked();
+
+}
+
+void TCPMover::selectHand(int index)
+{
+ selectedTCP = ui.cbselectedTCP->itemText(index).toStdString();
+}
+
+void TCPMover::execMove()
+{
+ ARMARX_INFO << "Setting new velos and orientation";
+ ui.lblXValue->setText(QString::number(tcpData[selectedTCP][0]));
+ ui.lblYValue->setText(QString::number(tcpData[selectedTCP][1]));
+ ui.lblZValue->setText(QString::number(tcpData[selectedTCP][2]));
+ ui.lblAlphaValue->setText(QString::number(tcpData[selectedTCP].at(3)));
+ ui.lblBetaValue->setText(QString::number(tcpData[selectedTCP].at(4)));
+ ui.lblGammaValue->setText(QString::number(tcpData[selectedTCP].at(5)));
+
+ Eigen::Vector3f vec;
+ vec << tcpData[selectedTCP][0], tcpData[selectedTCP][1], tcpData[selectedTCP][2];
+ vec *= ui.sbFactor->value();
+ FramedVector3Ptr tcpVel = new FramedVector3(vec, refFrame);
+ Eigen::Vector3f vecOri;
+ vecOri << tcpData[selectedTCP].at(3)/180.f*3.145f, tcpData[selectedTCP].at(4)/180.f*3.145f, tcpData[selectedTCP].at(5)/180.f*3.145f;
+ vecOri *= ui.sbFactor->value();
+ FramedVector3Ptr tcpOri = new FramedVector3(vecOri, refFrame);
+
+ if(!ui.cbTranslation->isChecked() )
+ tcpVel = NULL;
+ if(!ui.cbOrientation->isChecked() )
+ tcpOri = NULL;
+ tcpMoverUnitPrx->begin_setTCPVelocity(selectedTCP,ui.edtTCPName->text().toStdString(), tcpVel,tcpOri);
+
+// tcpMoverUnitPrx->setCartesianTCPVelocity(selectedTCP, handData[selectedTCP][0], handData[selectedTCP][1], handData[selectedTCP][2], ui.sbFactor->value());
+// tcpMoverUnitPrx->setTCPOrientation(selectedTCP, handData[selectedTCP].at(3)/180.f*3.145f, handData[selectedTCP].at(4)/180.f*3.145f, handData[selectedTCP].at(5)/180.f*3.145f);
+}
+
+void TCPMover::moveRelative(float x, float y, float z)
+{
+// RobotNodePtr tcpNode = tcpNodeSet->getTCP();
+// // calculate cartesian error
+// Eigen::Matrix4f newPosRelative;
+// newPosRelative
+// << 1, 0, 0, 10*ui.sbFactor->value(),
+// 0, 1, 0, 0,
+// 0, 0, 1, 0,
+// 0, 0, 0, 1;
+// Eigen::VectorXf errorCartVec(3);
+// errorCartVec << x*ui.sbFactor->value(),y*ui.sbFactor->value(),z*ui.sbFactor->value();
+//// errorCartVec.segment(0,3) = newPosRelative.block(0,3,3,1);
+
+
+
+
+// Eigen::MatrixXf Ji = ik->getPseudoInverseJacobianMatrix(tcpNode, IKSolver::Position);
+// // calculat joint error
+// Eigen::VectorXf errorJoint(tcpNodeSet->getSize());
+// errorJoint = Ji * errorCartVec;
+// std::vector<float> angles = tcpNodeSet->getJointValues();
+// std::vector<float> targetAngles(tcpNodeSet->getSize());
+// NameValueMap targetAnglesMap;
+
+// for(unsigned int i = 0; i < tcpNodeSet->getSize(); i++)
+// {
+//// float newAngle = angles[i] + errorJoint(i);
+// float newAngle = errorJoint(i);
+// targetAngles[i] = newAngle;
+// targetAnglesMap[tcpNodeSet->getNode(i)->getName()] = newAngle;
+// //ARMARX_VERBOSE << tcpNodeSet->getNode(i)->getName() << ": " << newAngle;
+// }
+// tcpNodeSet->setJointValues(targetAngles);
+// kinematicUnitPrx->setJointVelocities(targetAnglesMap);
+}
+
+
+void TCPMoverConfigDialog::setupUI(QWidget *parent)
+{
+ this->setWindowTitle("Enter name of TCPMoverUnit");
+
+ layout = new QGridLayout(parent);
+
+ label = new QLabel("TCPMoverUnit name:", parent);
+ layout->addWidget(label, 0,0);
+
+ editTCPMoverUnitName = new QLineEdit("TCPMoverUnit", parent);
+ layout->addWidget(editTCPMoverUnitName, 0, 1);
+
+ buttonBox = new QDialogButtonBox(parent);
+ buttonBox->setObjectName(QString::fromUtf8("buttonBox"));
+ buttonBox->setOrientation(Qt::Horizontal);
+ buttonBox->setStandardButtons(QDialogButtonBox::Cancel|QDialogButtonBox::Ok);
+
+ layout->addWidget(buttonBox, 1, 0, 1, 2);
+
+
+ QObject::connect(buttonBox, SIGNAL(accepted()), this, SLOT(accept()));
+ QObject::connect(buttonBox, SIGNAL(rejected()), this, SLOT(reject()));
+
+
+
+}
+
+
+TCPMoverConfigDialog::TCPMoverConfigDialog(QWidget *parent) :
+ QDialog(parent)
+{
+
+ setupUI(this);
+}
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
new file mode 100644
index 000000000..d647ab82d
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
@@ -0,0 +1,137 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::
+* @author Mirko Waechter ( mirko.waechter at kit dot edu)
+* @date 2012
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#ifndef ARMARXGUI_TCPMOVER_H
+#define ARMARXGUI_TCPMOVER_H
+
+/** ArmarX headers **/
+#include "ui_TCPMover.h"
+
+// ArmarX includes
+#include <RobotAPI/interface/units/TCPMoverUnitInterface.h>
+#include <RobotAPI/interface/units/TCPControlUnit.h>
+/** VirtualRobot headers **/
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/Nodes/RobotNode.h>
+#include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/IK/DifferentialIK.h>
+
+#include <Gui/ArmarXGuiLib/ArmarXComponentWidgetController.h>
+
+// Qt includes
+#include <QDialog>
+
+#define KINEMATIC_UNIT_FILE_DEFAULT armarx::ArmarXDataPath::getHomePath()+std::string("Armar4/ARMAR_IV_simox.xml")
+#define KINEMATIC_UNIT_NAME_DEFAULT "RobotKinematicUnit"
+
+
+class QDialogButtonBox;
+
+namespace armarx {
+
+ class TCPMoverConfigDialog : public QDialog
+ {
+ Q_OBJECT
+
+ public:
+ TCPMoverConfigDialog(QWidget *parent = 0);
+
+ friend class TCPMover;
+ protected:
+ QGridLayout *layout;
+ QLabel *label;
+ QLineEdit *editTCPMoverUnitName;
+ QDialogButtonBox *buttonBox;
+
+ void setupUI(QWidget *parent);
+ };
+
+
+
+ class TCPMover :
+ public ArmarXComponentWidgetController
+ {
+ Q_OBJECT
+
+ public:
+ TCPMover();
+ ~TCPMover();
+ //inherited from ArmarXMdiWidget
+ void loadSettings(QSettings * settings);
+ void saveSettings(QSettings * settings);
+ QString getWidgetName() const { return "TCPMover";}
+ QPointer<QDialog> getConfigDialog(QWidget *parent = 0);
+ void configured();
+
+ // inherited from Component
+ virtual void onInitComponent();
+ virtual void onConnectComponent();
+ virtual void onExitComponent();
+
+
+ public slots:
+ void moveUp();
+ void moveDown();
+ void moveZUp();
+ void moveZDown();
+ void moveLeft();
+ void moveRight();
+ void increaseAlpha();
+ void decreaseAlpha();
+ void increaseBeta();
+ void decreaseBeta();
+ void increaseGamma();
+ void decreaseGamma();
+ void stopMoving();
+ void reset();
+ void robotControl(bool request);
+ void selectHand(int index);
+ signals:
+
+ protected:
+ void execMove();
+
+ void moveRelative(float x, float y, float z);
+ std::map<std::string, std::vector<float> > tcpData;
+ std::string selectedTCP;
+ std::string refFrame;
+// float velocities[2][3];
+// float orientation[2][3];
+ NameValueMap velocityMap;
+ bool robotRequested;
+ VirtualRobot::RobotNodeSetPtr tcpNodeSet;
+ std::string tcpNodeSetName;
+ VirtualRobot::DifferentialIKPtr ik;
+ Ui::TCPMover ui;
+ std::string kinematicUnitName;
+ std::string kinematicUnitFile;
+ std::string tcpMoverUnitName;
+ VirtualRobot::RobotPtr robot;
+ TCPControlUnitInterfacePrx tcpMoverUnitPrx;
+ RobotStateComponentInterfacePrx robotStateComponentPrx;
+ SharedRobotInterfacePrx robotPrx;
+ QPointer<TCPMoverConfigDialog> configDialog;
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.ui b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.ui
new file mode 100644
index 000000000..b44a4e31e
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.ui
@@ -0,0 +1,525 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>TCPMover</class>
+ <widget class="QWidget" name="TCPMover">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>260</width>
+ <height>196</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>100</width>
+ <height>100</height>
+ </size>
+ </property>
+ <property name="windowTitle">
+ <string>TCPMover</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <property name="margin">
+ <number>3</number>
+ </property>
+ <property name="spacing">
+ <number>3</number>
+ </property>
+ <item row="1" column="0">
+ <widget class="QDoubleSpinBox" name="sbFactor">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximum">
+ <double>999999.000000000000000</double>
+ </property>
+ <property name="value">
+ <double>10.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="4" column="1">
+ <widget class="QToolButton" name="btnUp">
+ <property name="toolTip">
+ <string>Move Up</string>
+ </property>
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>24</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="arrowType">
+ <enum>Qt::UpArrow</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="6">
+ <widget class="QToolButton" name="btnDecreaseGamma">
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>24</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="arrowType">
+ <enum>Qt::DownArrow</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="3" colspan="4">
+ <widget class="QCheckBox" name="cbOrientation">
+ <property name="text">
+ <string>Orientation</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="3" colspan="4">
+ <widget class="QComboBox" name="cbselectedTCP">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="currentIndex">
+ <number>-1</number>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="5">
+ <widget class="QToolButton" name="btnDecreaseBeta">
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>24</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="arrowType">
+ <enum>Qt::DownArrow</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="4">
+ <widget class="QLabel" name="lblAlphaValue">
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="1">
+ <widget class="QLabel" name="lblXValue">
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="3">
+ <widget class="QLabel" name="lblZValue">
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="2">
+ <widget class="QLabel" name="label_3">
+ <property name="text">
+ <string>Y</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="6">
+ <widget class="QLabel" name="label_6">
+ <property name="text">
+ <string>G</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="5">
+ <widget class="QLabel" name="lblBetaValue">
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="0">
+ <widget class="QToolButton" name="btnResetJoinAngles">
+ <property name="toolTip">
+ <string>Reset Both Arms to Home Position</string>
+ </property>
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="icon">
+ <iconset resource="../../../ArmarXGui/icons.qrc">
+ <normaloff>:/icons/dialog-close.ico</normaloff>:/icons/dialog-close.ico</iconset>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>24</width>
+ <height>24</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="3">
+ <widget class="QToolButton" name="btnZUp">
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>24</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="arrowType">
+ <enum>Qt::UpArrow</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="6">
+ <widget class="QLabel" name="lblGammaValue">
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QToolButton" name="BtnRequestControl">
+ <property name="toolTip">
+ <string>Request Control over Kinematic Unit</string>
+ </property>
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="icon">
+ <iconset resource="../../../ArmarXGui/icons.qrc">
+ <normaloff>:/icons/games.ico</normaloff>:/icons/games.ico</iconset>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>24</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="4">
+ <widget class="QToolButton" name="btnDecreaseAlpha">
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>24</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="arrowType">
+ <enum>Qt::DownArrow</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="2">
+ <widget class="QToolButton" name="btnLeft">
+ <property name="toolTip">
+ <string>Move Left</string>
+ </property>
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>24</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="arrowType">
+ <enum>Qt::DownArrow</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="2">
+ <widget class="QToolButton" name="btnRight">
+ <property name="toolTip">
+ <string>Move Right</string>
+ </property>
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>24</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="arrowType">
+ <enum>Qt::UpArrow</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="5">
+ <widget class="QLabel" name="label_5">
+ <property name="text">
+ <string>B</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="4">
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>A</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="3">
+ <widget class="QLabel" name="label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="layoutDirection">
+ <enum>Qt::LeftToRight</enum>
+ </property>
+ <property name="text">
+ <string>Z</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="3">
+ <widget class="QToolButton" name="btnZDown">
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>24</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="arrowType">
+ <enum>Qt::DownArrow</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>X</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="2">
+ <widget class="QLabel" name="lblYValue">
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="1">
+ <widget class="QToolButton" name="btnDown">
+ <property name="toolTip">
+ <string>Move Down</string>
+ </property>
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>24</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="toolButtonStyle">
+ <enum>Qt::ToolButtonIconOnly</enum>
+ </property>
+ <property name="autoRaise">
+ <bool>false</bool>
+ </property>
+ <property name="arrowType">
+ <enum>Qt::DownArrow</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="5">
+ <widget class="QToolButton" name="btnIncreaseBeta">
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>24</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="arrowType">
+ <enum>Qt::UpArrow</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0" colspan="3">
+ <widget class="QLabel" name="lblHand">
+ <property name="text">
+ <string>Robot Node set</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="6">
+ <widget class="QToolButton" name="btnIncreaseGamma">
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>24</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="arrowType">
+ <enum>Qt::UpArrow</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="0">
+ <widget class="QToolButton" name="btnStop">
+ <property name="toolTip">
+ <string>Stop Motion</string>
+ </property>
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="icon">
+ <iconset>
+ <normaloff>:/icons/edit-delete.ico</normaloff>:/icons/edit-delete.ico</iconset>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>24</width>
+ <height>24</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="4">
+ <widget class="QToolButton" name="btnIncreaseAlpha">
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>24</width>
+ <height>24</height>
+ </size>
+ </property>
+ <property name="arrowType">
+ <enum>Qt::UpArrow</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0" colspan="3">
+ <widget class="QCheckBox" name="cbTranslation">
+ <property name="text">
+ <string> Translation</string>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0" colspan="3">
+ <widget class="QLabel" name="label_7">
+ <property name="text">
+ <string>TCP Name</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="3" colspan="4">
+ <widget class="QLineEdit" name="edtTCPName"/>
+ </item>
+ </layout>
+ </item>
+ <item row="0" column="1">
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeType">
+ <enum>QSizePolicy::Expanding</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>5</width>
+ <height>1</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="2" column="0">
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>1</width>
+ <height>1</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ <action name="actionSaveAs">
+ <property name="text">
+ <string>Save As..</string>
+ </property>
+ </action>
+ <action name="actionSave">
+ <property name="text">
+ <string>Save</string>
+ </property>
+ </action>
+ </widget>
+ <resources>
+ <include location="../../../ArmarXGui/icons.qrc"/>
+ </resources>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/CMakeLists.txt b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/CMakeLists.txt
new file mode 100644
index 000000000..2c9a66d30
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/CMakeLists.txt
@@ -0,0 +1,69 @@
+armarx_set_target("SensorActorWidgetsGuiPlugin")
+
+
+find_package(Qt4 COMPONENTS QtCore QtGui)
+find_package(qwt QUIET)
+
+find_package(Eigen3 QUIET)
+# VirtualRobot
+find_package(Simox QUIET)
+find_package(ArmarXGui QUIET)
+
+armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
+
+armarx_build_if(QT_FOUND "Qt not available")
+armarx_build_if(QT_QTOPENGL_FOUND "QtOpenGL not available")
+armarx_build_if(qwt_FOUND "Qwt not available")
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+armarx_build_if(Simox_FOUND "VirtualRobot not available")
+
+include(${QT_USE_FILE})
+
+include(${ArmarXGui_CMAKE_DIR}/ArmarXGui.cmake)
+
+if (qwt_FOUND AND Eigen3_FOUND AND Simox_FOUND AND RobotAPI_FOUND)
+ include_directories(${qwt_INCLUDE_DIR}
+ ${Eigen3_INCLUDE_DIR}
+ ${Simox_INCLUDE_DIRS}
+ ${RobotAPI_INCLUDE_DIRS})
+endif()
+
+set(SOURCES
+ SensorActorWidgetsPlugin.cpp
+ ArmarXPlotter/ArmarXPlotter.cpp
+ ArmarXPlotter/ArmarXPlotterDialog.cpp
+
+ ArmarXTCPMover/TCPMover.cpp
+)
+
+set(HEADERS
+ SensorActorWidgetsPlugin.h
+ ArmarXPlotter/ArmarXPlotter.h
+ ArmarXPlotter/ArmarXPlotterDialog.h
+
+ ArmarXTCPMover/TCPMover.h
+)
+
+set(GUI_MOC_HDRS
+ ArmarXPlotter/ArmarXPlotter.h
+ ArmarXPlotter/ArmarXPlotterDialog.h
+
+ ArmarXTCPMover/TCPMover.h
+)
+
+set(GUI_UIS
+ ArmarXPlotter/ArmarXPlotter.ui
+ ArmarXPlotter/ArmarXPlotterDialog.ui
+
+ ArmarXTCPMover/TCPMover.ui
+)
+
+
+set(COMPONENT_LIBS RobotAPIUnits ArmarXCoreObservers ObserverPropertiesGuiPlugin RobotAPIInterfaces ${qwt_LIBRARIES} ${Simox_LIBRARIES} ${QT_LIBRARIES})
+
+set(LIB_VERSION 0.1.0)
+set(LIB_SOVERSION 0)
+
+if (ArmarXGui_FOUND)
+ armarx_gui_library(SensorActorWidgetsGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}" "${LIB_VERSION}" "${LIB_SOVERSION}")
+endif()
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp
new file mode 100644
index 000000000..ba223fa22
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp
@@ -0,0 +1,39 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::Gui::SensorActorWidgetsPlugin
+* @author ( at kit dot edu)
+* @date
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#include "SensorActorWidgetsPlugin.h"
+
+//ArmarX
+#include "ArmarXPlotter/ArmarXPlotter.h"
+#include "ArmarXTCPMover/TCPMover.h"
+
+namespace armarx
+{
+
+ MdiPlugin::MdiPlugin(){
+ addWidget<TCPMover>();
+ addWidget<ArmarXPlotter>();
+ }
+
+ Q_EXPORT_PLUGIN2(armarX_gui_MdiPlugin, MdiPlugin)
+}
diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
new file mode 100644
index 000000000..0ab65e97a
--- /dev/null
+++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
@@ -0,0 +1,49 @@
+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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 ArmarX::Gui::SensorActorWidgetsPlugin
+* @author ( at kit dot edu)
+* @date
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#ifndef ARMARX_COMPONENT_MDIGUIPLUGIN_H
+#define ARMARX_COMPONENT_MDIGUIPLUGIN_H
+
+
+//ArmarX
+#include <Core/core/system/ImportExportComponent.h>
+
+#include <Gui/ArmarXGuiLib/ArmarXGuiPlugin.h>
+
+namespace armarx
+{
+ /**
+ * @brief The MdiPlugin class
+ *
+ *
+ */
+ class ARMARXCOMPONENT_IMPORT_EXPORT MdiPlugin :
+ public ArmarXGuiPlugin
+ {
+ public:
+ MdiPlugin();
+ };
+
+}
+
+#endif
--
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