From bcde4bc6a68ef36a4e687ecbd1284937598c4fd2 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Fri, 26 Mar 2021 16:10:50 +0100
Subject: [PATCH] Allow more draw options elements of ArVizDrawerGui
---
.../ArVizDrawerGui/Elements/PoseWidget.cpp | 3 +-
.../ArVizDrawerGui/Elements/PoseWidget.ui | 153 +++++++-----
.../ArVizDrawerGui/Elements/RobotWidget.cpp | 26 ++-
.../ArVizDrawerGui/Elements/RobotWidget.ui | 221 +++++++++++-------
4 files changed, 252 insertions(+), 151 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/ArVizDrawerGui/Elements/PoseWidget.cpp b/source/RobotAPI/gui-plugins/ArVizDrawerGui/Elements/PoseWidget.cpp
index 9935aa736..61e5af2ff 100644
--- a/source/RobotAPI/gui-plugins/ArVizDrawerGui/Elements/PoseWidget.cpp
+++ b/source/RobotAPI/gui-plugins/ArVizDrawerGui/Elements/PoseWidget.cpp
@@ -11,6 +11,7 @@ namespace armarx
_ui.doubleSpinBoxTZ->value())
.orientation(_ui.doubleSpinBoxRX->value(),
_ui.doubleSpinBoxRY->value(),
- _ui.doubleSpinBoxRZ->value()));
+ _ui.doubleSpinBoxRZ->value())
+ .scale(_ui.doubleSpinBoxScale->value()));
}
}
diff --git a/source/RobotAPI/gui-plugins/ArVizDrawerGui/Elements/PoseWidget.ui b/source/RobotAPI/gui-plugins/ArVizDrawerGui/Elements/PoseWidget.ui
index 4d29e4f91..fc726d091 100644
--- a/source/RobotAPI/gui-plugins/ArVizDrawerGui/Elements/PoseWidget.ui
+++ b/source/RobotAPI/gui-plugins/ArVizDrawerGui/Elements/PoseWidget.ui
@@ -26,6 +26,22 @@
<property name="bottomMargin">
<number>0</number>
</property>
+ <item row="3" column="2">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxRY">
+ <property name="decimals">
+ <number>3</number>
+ </property>
+ <property name="minimum">
+ <double>-10.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.010000000000000</double>
+ </property>
+ </widget>
+ </item>
<item row="0" column="0" colspan="4">
<widget class="Line" name="line">
<property name="orientation">
@@ -33,62 +49,38 @@
</property>
</widget>
</item>
- <item row="1" column="0" colspan="4">
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <widget class="QLabel" name="label">
- <property name="text">
- <string>Pose</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pushButtonDelete">
- <property name="maximumSize">
- <size>
- <width>22</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="text">
- <string>X</string>
- </property>
- <property name="checkable">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- </layout>
+ <item row="2" column="1">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxTX">
+ <property name="maximum">
+ <double>100000.000000000000000</double>
+ </property>
+ <property name="value">
+ <double>0.000000000000000</double>
+ </property>
+ </widget>
</item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_4">
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_5">
<property name="text">
- <string>XYZ</string>
+ <string>RPY</string>
</property>
</widget>
</item>
- <item row="2" column="2">
- <widget class="QDoubleSpinBox" name="doubleSpinBoxTY">
+ <item row="2" column="3">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxTZ">
<property name="minimum">
<double>-100000.000000000000000</double>
</property>
<property name="maximum">
<double>100000.000000000000000</double>
</property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QDoubleSpinBox" name="doubleSpinBoxTX">
- <property name="maximum">
- <double>100000.000000000000000</double>
- </property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
- <item row="3" column="2">
- <widget class="QDoubleSpinBox" name="doubleSpinBoxRY">
+ <item row="3" column="1">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxRX">
<property name="decimals">
<number>3</number>
</property>
@@ -98,30 +90,50 @@
<property name="maximum">
<double>10.000000000000000</double>
</property>
+ <property name="singleStep">
+ <double>0.010000000000000</double>
+ </property>
</widget>
</item>
- <item row="3" column="3">
- <widget class="QDoubleSpinBox" name="doubleSpinBoxRZ">
- <property name="decimals">
- <number>3</number>
- </property>
+ <item row="2" column="2">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxTY">
<property name="minimum">
- <double>-10.000000000000000</double>
+ <double>-100000.000000000000000</double>
</property>
<property name="maximum">
- <double>10.000000000000000</double>
+ <double>100000.000000000000000</double>
</property>
</widget>
</item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_5">
- <property name="text">
- <string>RPY</string>
- </property>
- </widget>
+ <item row="1" column="0" colspan="4">
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Pose</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pushButtonDelete">
+ <property name="maximumSize">
+ <size>
+ <width>22</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>X</string>
+ </property>
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
</item>
- <item row="3" column="1">
- <widget class="QDoubleSpinBox" name="doubleSpinBoxRX">
+ <item row="3" column="3">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxRZ">
<property name="decimals">
<number>3</number>
</property>
@@ -131,9 +143,12 @@
<property name="maximum">
<double>10.000000000000000</double>
</property>
+ <property name="singleStep">
+ <double>0.010000000000000</double>
+ </property>
</widget>
</item>
- <item row="4" column="1">
+ <item row="5" column="1">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
@@ -146,16 +161,30 @@
</property>
</spacer>
</item>
- <item row="2" column="3">
- <widget class="QDoubleSpinBox" name="doubleSpinBoxTZ">
- <property name="minimum">
- <double>-100000.000000000000000</double>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>XYZ</string>
</property>
+ </widget>
+ </item>
+ <item row="4" column="1">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxScale">
<property name="maximum">
- <double>100000.000000000000000</double>
+ <double>1000.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.100000000000000</double>
</property>
<property name="value">
- <double>0.000000000000000</double>
+ <double>1.000000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>Scale</string>
</property>
</widget>
</item>
diff --git a/source/RobotAPI/gui-plugins/ArVizDrawerGui/Elements/RobotWidget.cpp b/source/RobotAPI/gui-plugins/ArVizDrawerGui/Elements/RobotWidget.cpp
index d9acbc51e..1e1866223 100644
--- a/source/RobotAPI/gui-plugins/ArVizDrawerGui/Elements/RobotWidget.cpp
+++ b/source/RobotAPI/gui-plugins/ArVizDrawerGui/Elements/RobotWidget.cpp
@@ -5,14 +5,22 @@ namespace armarx
void RobotWidget::addTo(viz::Layer& layer) const
{
const auto adr = reinterpret_cast<std::intptr_t>(this);
- layer.add(viz::Robot("Robot_" + std::to_string(adr))
- .file(_ui.lineEditProject->text().toStdString(),
- _ui.comboBoxFile->currentText().toStdString())
- .position(_ui.doubleSpinBoxTX->value(),
- _ui.doubleSpinBoxTY->value(),
- _ui.doubleSpinBoxTZ->value())
- .orientation(_ui.doubleSpinBoxRX->value(),
- _ui.doubleSpinBoxRY->value(),
- _ui.doubleSpinBoxRZ->value()));
+ auto r = viz::Robot("Robot_" + std::to_string(adr))
+ .file(_ui.lineEditProject->text().toStdString(),
+ _ui.comboBoxFile->currentText().toStdString())
+ .position(_ui.doubleSpinBoxTX->value(),
+ _ui.doubleSpinBoxTY->value(),
+ _ui.doubleSpinBoxTZ->value())
+ .orientation(_ui.doubleSpinBoxRX->value(),
+ _ui.doubleSpinBoxRY->value(),
+ _ui.doubleSpinBoxRZ->value());
+ if (_ui.checkBoxColor->isChecked())
+ {
+ r.overrideColor(viz::Color{static_cast<float>(_ui.doubleSpinBoxR->value()),
+ static_cast<float>(_ui.doubleSpinBoxG->value()),
+ static_cast<float>(_ui.doubleSpinBoxB->value()),
+ static_cast<float>(_ui.doubleSpinBoxA->value())});
+ }
+ layer.add(r);
}
}
diff --git a/source/RobotAPI/gui-plugins/ArVizDrawerGui/Elements/RobotWidget.ui b/source/RobotAPI/gui-plugins/ArVizDrawerGui/Elements/RobotWidget.ui
index e8e294d6e..0858c31b0 100644
--- a/source/RobotAPI/gui-plugins/ArVizDrawerGui/Elements/RobotWidget.ui
+++ b/source/RobotAPI/gui-plugins/ArVizDrawerGui/Elements/RobotWidget.ui
@@ -39,10 +39,66 @@
</property>
</widget>
</item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_3">
+ <item row="4" column="0">
+ <widget class="QLabel" name="label_4">
<property name="text">
- <string>Robot file</string>
+ <string>Base XYZ</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1" colspan="3">
+ <widget class="QComboBox" name="comboBoxFile">
+ <property name="editable">
+ <bool>true</bool>
+ </property>
+ <item>
+ <property name="text">
+ <string>Armar6RT/robotmodel/Armar6-SH/Armar6-SH.xml</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>Armar6RT/robotmodel/Armar6-SH/Armar6-RightHand-v3.xml</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>Armar6RT/robotmodel/Armar6-SH/Armar6-LeftHand-v3.xml</string>
+ </property>
+ </item>
+ </widget>
+ </item>
+ <item row="1" column="0" colspan="4">
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Robot</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pushButtonDelete">
+ <property name="maximumSize">
+ <size>
+ <width>22</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>X</string>
+ </property>
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="0" column="0" colspan="4">
+ <widget class="Line" name="line">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
@@ -57,28 +113,31 @@
<property name="maximum">
<double>10.000000000000000</double>
</property>
+ <property name="singleStep">
+ <double>0.010000000000000</double>
+ </property>
</widget>
</item>
- <item row="4" column="1">
- <widget class="QDoubleSpinBox" name="doubleSpinBoxTX">
- <property name="maximum">
- <double>100000.000000000000000</double>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_2">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
</property>
- <property name="value">
- <double>0.000000000000000</double>
+ <property name="text">
+ <string>Project name</string>
</property>
</widget>
</item>
- <item row="5" column="3">
- <widget class="QDoubleSpinBox" name="doubleSpinBoxRZ">
- <property name="decimals">
- <number>3</number>
- </property>
+ <item row="4" column="2">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxTY">
<property name="minimum">
- <double>-10.000000000000000</double>
+ <double>-100000.000000000000000</double>
</property>
<property name="maximum">
- <double>10.000000000000000</double>
+ <double>100000.000000000000000</double>
</property>
</widget>
</item>
@@ -89,51 +148,42 @@
</property>
</widget>
</item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_2">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <item row="4" column="1">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxTX">
+ <property name="maximum">
+ <double>100000.000000000000000</double>
</property>
- <property name="text">
- <string>Project name</string>
+ <property name="value">
+ <double>0.000000000000000</double>
</property>
</widget>
</item>
- <item row="4" column="0">
- <widget class="QLabel" name="label_4">
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_3">
<property name="text">
- <string>Base XYZ</string>
+ <string>Robot file</string>
</property>
</widget>
</item>
- <item row="2" column="1" colspan="3">
- <widget class="QLineEdit" name="lineEditProject"/>
- </item>
- <item row="3" column="1" colspan="3">
- <widget class="QComboBox" name="comboBoxFile">
- <property name="editable">
- <bool>true</bool>
+ <item row="5" column="3">
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxRZ">
+ <property name="decimals">
+ <number>3</number>
+ </property>
+ <property name="minimum">
+ <double>-10.000000000000000</double>
+ </property>
+ <property name="maximum">
+ <double>10.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.010000000000000</double>
</property>
- <item>
- <property name="text">
- <string>Armar6RT/robotmodel/Armar6-SH/Armar6-SH.xml</string>
- </property>
- </item>
- <item>
- <property name="text">
- <string>Armar6RT/robotmodel/Armar6-SH/Armar6-RightHand-v3.xml</string>
- </property>
- </item>
- <item>
- <property name="text">
- <string>Armar6RT/robotmodel/Armar6-SH/Armar6-LeftHand-v3.xml</string>
- </property>
- </item>
</widget>
</item>
+ <item row="2" column="1" colspan="3">
+ <widget class="QLineEdit" name="lineEditProject"/>
+ </item>
<item row="5" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBoxRX">
<property name="decimals">
@@ -145,52 +195,65 @@
<property name="maximum">
<double>10.000000000000000</double>
</property>
+ <property name="singleStep">
+ <double>0.010000000000000</double>
+ </property>
</widget>
</item>
- <item row="4" column="2">
- <widget class="QDoubleSpinBox" name="doubleSpinBoxTY">
- <property name="minimum">
- <double>-100000.000000000000000</double>
- </property>
- <property name="maximum">
- <double>100000.000000000000000</double>
+ <item row="6" column="0">
+ <widget class="QCheckBox" name="checkBoxColor">
+ <property name="text">
+ <string>RGBA</string>
</property>
</widget>
</item>
- <item row="1" column="0" colspan="4">
- <layout class="QHBoxLayout" name="horizontalLayout">
+ <item row="6" column="1" colspan="3">
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
- <widget class="QLabel" name="label">
- <property name="text">
- <string>Robot</string>
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxR">
+ <property name="maximum">
+ <double>1.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.010000000000000</double>
</property>
</widget>
</item>
<item>
- <widget class="QPushButton" name="pushButtonDelete">
- <property name="maximumSize">
- <size>
- <width>22</width>
- <height>16777215</height>
- </size>
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxG">
+ <property name="maximum">
+ <double>1.000000000000000</double>
</property>
- <property name="text">
- <string>X</string>
+ <property name="singleStep">
+ <double>0.010000000000000</double>
</property>
- <property name="checkable">
- <bool>true</bool>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxB">
+ <property name="maximum">
+ <double>1.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.010000000000000</double>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDoubleSpinBox" name="doubleSpinBoxA">
+ <property name="maximum">
+ <double>1.000000000000000</double>
+ </property>
+ <property name="singleStep">
+ <double>0.010000000000000</double>
+ </property>
+ <property name="value">
+ <double>1.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
- <item row="0" column="0" colspan="4">
- <widget class="Line" name="line">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
</layout>
</widget>
<resources/>
--
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