From a6065e939de439b847c479b0db495dea0698b489 Mon Sep 17 00:00:00 2001
From: jean_patrick_mathes <uomnk@student.kit.edu>
Date: Wed, 5 Oct 2022 14:30:56 +0200
Subject: [PATCH] Add operation to remove the placeholders
---
.../InteractiveMemoryEditor/Editor.cpp | 37 +++++++++++++------
.../InteractiveMemoryEditor/Editor.h | 3 +-
2 files changed, 28 insertions(+), 12 deletions(-)
diff --git a/source/RobotAPI/components/InteractiveMemoryEditor/Editor.cpp b/source/RobotAPI/components/InteractiveMemoryEditor/Editor.cpp
index 96cba7cf6..4b8db8b54 100644
--- a/source/RobotAPI/components/InteractiveMemoryEditor/Editor.cpp
+++ b/source/RobotAPI/components/InteractiveMemoryEditor/Editor.cpp
@@ -226,7 +226,11 @@ namespace armarx
void Editor::visualizePlaceholder(PlaceholderState::Placeholder const& placeholder, size_t id)
{
- viz::InteractionDescription interaction = viz::interaction().selection().transform().hideDuringTransform();
+ viz::InteractionDescription interaction = viz::interaction()
+ .selection()
+ .transform()
+ .hideDuringTransform()
+ .contextMenu({"Remove"});
viz::Box box = viz::Box("placeholder_" + std::to_string(id))
.set(placeholder.box.transformed(placeholder.transform))
@@ -234,13 +238,16 @@ namespace armarx
.enable(interaction);
observer.addObserved(metaLayer, box)
- .onTransformEnd([this, id](const Eigen::Matrix4f& transform)
- {
- placeholders.movePlaceholder(id, transform);
- isMetaVizRequired = true;
-
- ARMARX_INFO << "transform ended for " << std::to_string(id);
- });
+ .onContextMenu(0, [this, id]()
+ {
+ placeholders.removePlaceholder(id);
+ isMetaVizRequired = true;
+ })
+ .onTransformEnd([this, id](Eigen::Matrix4f const& transform)
+ {
+ placeholders.movePlaceholder(id, transform);
+ isMetaVizRequired = true;
+ });
}
void Editor::ChangeState::clear()
@@ -455,17 +462,25 @@ namespace armarx
placeholder.transform = transform * placeholder.transform;
}
+ void Editor::PlaceholderState::removePlaceholder(size_t id)
+ {
+ auto& [placeholder, isActive] = placeholders[id];
+ isActive = false;
+
+ unusedIds.push(id);
+ }
+
size_t Editor::PlaceholderState::getId()
{
- if (ids.empty())
+ if (unusedIds.empty())
{
size_t id = placeholders.size();
placeholders.emplace_back(std::make_pair(Placeholder(), false));
return id;
}
- size_t id = ids.top();
- ids.pop();
+ size_t id = unusedIds.top();
+ unusedIds.pop();
return id;
}
} // namespace armarx
diff --git a/source/RobotAPI/components/InteractiveMemoryEditor/Editor.h b/source/RobotAPI/components/InteractiveMemoryEditor/Editor.h
index 595e3942a..5b9a4a7d6 100644
--- a/source/RobotAPI/components/InteractiveMemoryEditor/Editor.h
+++ b/source/RobotAPI/components/InteractiveMemoryEditor/Editor.h
@@ -112,11 +112,12 @@ namespace armarx
void addPlaceholder(simox::OrientedBoxf box);
void visualizePlaceholders(Editor* editor);
void movePlaceholder(size_t id, Eigen::Matrix4f const& transform);
+ void removePlaceholder(size_t id);
private:
size_t getId();
- std::priority_queue<size_t, std::vector<size_t>, std::greater<>> ids;
+ std::priority_queue<size_t, std::vector<size_t>, std::greater<>> unusedIds;
std::vector<std::pair<Placeholder, bool>> placeholders;
};
--
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