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Commit bac9a337 authored by Raphael Grimm's avatar Raphael Grimm
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Improve CartesianWaypointControlGui

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source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidget.ui
+ 281
− 2
View file @ bac9a337
...@@ -163,7 +163,135 @@ ...@@ -163,7 +163,135 @@
<item row="0" column="0"> <item row="0" column="0">
<widget class="QWidget" name="widgetSettings" native="true"> <widget class="QWidget" name="widgetSettings" native="true">
<layout class="QGridLayout" name="gridLayout_5"> <layout class="QGridLayout" name="gridLayout_5">
<item row="2" column="4">
<widget class="QDoubleSpinBox" name="doubleSpinBoxPosReached">
<property name="maximum">
<double>500.000000000000000</double>
</property>
<property name="value">
<double>5.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="6">
<widget class="QDoubleSpinBox" name="doubleSpinBoxPosMaxVel">
<property name="maximum">
<double>500.000000000000000</double>
</property>
<property name="value">
<double>80.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Position</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_15">
<property name="text">
<string>Orientation</string>
</property>
</widget>
</item>
<item row="3" column="5">
<widget class="QLabel" name="label_20">
<property name="text">
<string>Max vel</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBoxOriNear">
<property name="maximum">
<double>5.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_16">
<property name="text">
<string>Near</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLabel" name="label_17">
<property name="text">
<string>Reached</string>
</property>
</widget>
</item>
<item row="1" column="0"> <item row="1" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Joint limit avoidance</string>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QDoubleSpinBox" name="doubleSpinBoxOriReached">
<property name="maximum">
<double>5.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.050000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_14">
<property name="text">
<string>Near</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBoxPosNear">
<property name="maximum">
<double>500.000000000000000</double>
</property>
<property name="value">
<double>50.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QDoubleSpinBox" name="doubleSpinBoxMaxAccOri">
<property name="maximum">
<double>4.000000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_9">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Pos</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_4"> <widget class="QLabel" name="label_4">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred"> <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
...@@ -176,7 +304,131 @@ ...@@ -176,7 +304,131 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="0" colspan="2"> <item row="0" column="6">
<widget class="QDoubleSpinBox" name="doubleSpinBoxMaxAccNull">
<property name="maximum">
<double>5.000000000000000</double>
</property>
<property name="value">
<double>2.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="6">
<widget class="QDoubleSpinBox" name="doubleSpinBoxOriMaxVel">
<property name="maximum">
<double>5.000000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Max acc</string>
</property>
</widget>
</item>
<item row="2" column="8">
<widget class="QDoubleSpinBox" name="doubleSpinBoxPosKP">
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QDoubleSpinBox" name="doubleSpinBoxLimitAvoidScale">
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="value">
<double>2.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_12">
<property name="text">
<string>KP</string>
</property>
</widget>
</item>
<item row="0" column="5">
<widget class="QLabel" name="label_11">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Nullspace</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLabel" name="label_13">
<property name="text">
<string>Scale</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_10">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Ori</string>
</property>
</widget>
</item>
<item row="3" column="8">
<widget class="QDoubleSpinBox" name="doubleSpinBoxOriKP">
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="5">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Max vel</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBoxMaxAccPos">
<property name="maximum">
<double>2000.000000000000000</double>
</property>
<property name="value">
<double>500.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBoxLimitAvoidKP">
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="0" colspan="9">
<layout class="QHBoxLayout" name="horizontalLayout_2"> <layout class="QHBoxLayout" name="horizontalLayout_2">
<item> <item>
<widget class="QPushButton" name="pushButtonZeroFT"> <widget class="QPushButton" name="pushButtonZeroFT">
...@@ -194,7 +446,34 @@ ...@@ -194,7 +446,34 @@
</item> </item>
</layout> </layout>
</item> </item>
<item row="1" column="1"> <item row="3" column="3">
<widget class="QLabel" name="label_18">
<property name="text">
<string>Reached</string>
</property>
</widget>
</item>
<item row="2" column="7">
<widget class="QLabel" name="label_21">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Kp</string>
</property>
</widget>
</item>
<item row="3" column="7">
<widget class="QLabel" name="label_22">
<property name="text">
<string>Kp</string>
</property>
</widget>
</item>
<item row="4" column="2" colspan="7">
<widget class="QDoubleSpinBox" name="doubleSpinBoxFTLimit"> <widget class="QDoubleSpinBox" name="doubleSpinBoxFTLimit">
<property name="minimum"> <property name="minimum">
<double>-1.000000000000000</double> <double>-1.000000000000000</double>
......
source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp
+ 19
− 3
View file @ bac9a337
...@@ -188,7 +188,6 @@ namespace armarx ...@@ -188,7 +188,6 @@ namespace armarx
{ {
_lastParsedWPs.clear(); _lastParsedWPs.clear();
_ui.labelParsingSuccess->setText("<pre parsing>"); _ui.labelParsingSuccess->setText("<pre parsing>");
///TODO _lastParsedWPs labelParsingSuccess
if (_ui.radioButtonWPJson->isChecked()) if (_ui.radioButtonWPJson->isChecked())
{ {
//parse json //parse json
...@@ -220,8 +219,25 @@ namespace armarx ...@@ -220,8 +219,25 @@ namespace armarx
CartesianWaypointControllerConfigWithForceLimit CartesianWaypointControlGuiWidgetController::readRunCfg() const CartesianWaypointControllerConfigWithForceLimit CartesianWaypointControlGuiWidgetController::readRunCfg() const
{ {
CartesianWaypointControllerConfigWithForceLimit cfg; CartesianWaypointControllerConfigWithForceLimit cfg;
cfg.forceThreshold = static_cast<float>(_ui.doubleSpinBoxFTLimit->value());
///TODO add more gui elemetns to change the execution parameters cfg.wpCfg.maxPositionAcceleration = static_cast<float>(_ui.doubleSpinBoxMaxAccPos->value());
cfg.wpCfg.maxOrientationAcceleration = static_cast<float>(_ui.doubleSpinBoxMaxAccOri->value());
cfg.wpCfg.maxNullspaceAcceleration = static_cast<float>(_ui.doubleSpinBoxMaxAccNull->value());
cfg.wpCfg.kpJointLimitAvoidance = static_cast<float>(_ui.doubleSpinBoxLimitAvoidKP->value());
cfg.wpCfg.jointLimitAvoidanceScale = static_cast<float>(_ui.doubleSpinBoxLimitAvoidScale->value());
cfg.wpCfg.thresholdOrientationNear = static_cast<float>(_ui.doubleSpinBoxOriNear->value());
cfg.wpCfg.thresholdOrientationReached = static_cast<float>(_ui.doubleSpinBoxOriReached->value());
cfg.wpCfg.thresholdPositionNear = static_cast<float>(_ui.doubleSpinBoxPosNear->value());
cfg.wpCfg.thresholdPositionReached = static_cast<float>(_ui.doubleSpinBoxPosReached->value());
cfg.wpCfg.maxOriVel = static_cast<float>(_ui.doubleSpinBoxOriMaxVel->value());
cfg.wpCfg.maxPosVel = static_cast<float>(_ui.doubleSpinBoxPosMaxVel->value());
cfg.wpCfg.kpOri = static_cast<float>(_ui.doubleSpinBoxOriKP->value());
cfg.wpCfg.kpPos = static_cast<float>(_ui.doubleSpinBoxPosKP->value());
cfg.forceThreshold = static_cast<float>(_ui.doubleSpinBoxFTLimit->value());
return cfg; return cfg;
} }
......
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