From da0f3986d252b82fae9d67be72d6ce08c39065b9 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 25 Oct 2023 16:46:29 +0200
Subject: [PATCH] KinematicUnitGui: fixing FourBar joint
---
.../KinematicUnitGuiPlugin.cpp | 16 ++++++++--------
1 file changed, 8 insertions(+), 8 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 7c7cfae4d..bdf8a1cd6 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -651,7 +651,7 @@ namespace armarx
{
if (currentNode)
{
- if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint())
+ if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or currentNode->isFourBarJoint())
{
const bool isDeg = ui.checkBoxUseDegree->isChecked();
const auto factor =
@@ -728,7 +728,7 @@ namespace armarx
{
const QString unit = [&]() -> QString
{
- if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint())
+ if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or currentNode->isFourBarJoint())
{
if (ui.checkBoxUseDegree->isChecked())
{
@@ -751,7 +751,7 @@ namespace armarx
const auto [factor, conversionFactor] = [&]() -> std::pair<float, float>
{
- if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint())
+ if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or currentNode->isFourBarJoint())
{
const bool isDeg = ui.checkBoxUseDegree->isChecked();
if (isDeg)
@@ -841,7 +841,7 @@ namespace armarx
const QString unit = [&]() -> QString
{
- if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint())
+ if (currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or currentNode->isFourBarJoint())
{
if (ui.checkBoxUseDegree->isChecked())
{
@@ -865,7 +865,7 @@ namespace armarx
<< currentNode->getName() << flush;
const bool isDeg = ui.checkBoxUseDegree->isChecked();
- const bool isRot = currentNode->isRotationalJoint() or currentNode->isHemisphereJoint();
+ const bool isRot = currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or currentNode->isFourBarJoint();
const float lo = isRot ? (isDeg ? -90 : -M_PI * 100) : -1000;
const float hi = isRot ? (isDeg ? +90 : +M_PI * 100) : 1000;
@@ -1186,7 +1186,7 @@ namespace armarx
const ControlMode currentControlMode = getSelectedControlMode();
const bool isDeg = ui.checkBoxUseDegree->isChecked();
- const bool isRot = currentNode->isRotationalJoint() or currentNode->isHemisphereJoint();
+ const bool isRot = currentNode->isRotationalJoint() or currentNode->isHemisphereJoint() or currentNode->isFourBarJoint();
if (currentControlMode == ePositionControl)
{
@@ -1443,7 +1443,7 @@ namespace armarx
QModelIndex index = ui.tableJointList->model()->index(i, eTabelColumnAngleProgressbar);
float conversionFactor =
ui.checkBoxUseDegree->isChecked() &&
- (node->isRotationalJoint() or node->isHemisphereJoint())
+ (node->isRotationalJoint() or node->isHemisphereJoint() or node->isFourBarJoint())
? 180.0 / M_PI
: 1;
ui.tableJointList->model()->setData(
@@ -1486,7 +1486,7 @@ namespace armarx
float currentValue = it->second;
if (ui.checkBoxUseDegree->isChecked() &&
- (rn[i]->isRotationalJoint() or rn[i]->isHemisphereJoint()))
+ (rn[i]->isRotationalJoint() or rn[i]->isHemisphereJoint() or rn[i]->isFourBarJoint()))
{
currentValue *= 180.0 / M_PI;
}
--
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