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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* 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 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 Philipp Schmidt
* @date 2015
* @license http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#include "RobotIKGuiPlugin.h"
#include "RobotViewer.h"
/* ArmarX includes */
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/ArmarXObjectScheduler.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
#include <ArmarXCore/core/application/Application.h>
/* Virtual Robot includes */
#include <VirtualRobot/XML/RobotIO.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
/* Coin includes */
#include <Inventor/actions/SoGetMatrixAction.h>
#include <Inventor/actions/SoSearchAction.h>
#include <Inventor/SbViewportRegion.h>
#define ROBOT_UPDATE_TIMER_MS 33
#define TEXTFIELD_UPDATE_TIMER_MS 200
#define AUTO_FOLLOW_UPDATE 333
armarx::RobotIKGuiPlugin::RobotIKGuiPlugin()
{
addWidget<RobotIKWidgetController>();
}
armarx::RobotIKWidgetController::RobotIKWidgetController() : startUpCameraPositioningFlag(true)
{
//Initialize Gui
ui.setupUi(getWidget());
getWidget()->setEnabled(false);
//Alignment for ui
this->ui.verticalLayout->setAlignment(Qt::AlignTop);
//Label color can not be set in designer, so we do it here
this->ui.reachableLabel->setStyleSheet("QLabel { color : red; }");
//Component names
robotStateComponentName = "";
robotIKComponentName = "";
kinematicUnitComponentName = "";
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visualization = NULL;
robotUpdateSensor = NULL;
textFieldUpdateSensor = NULL;
}
void armarx::RobotIKWidgetController::onInitComponent()
{
//Prepare proxies
usingProxy(robotStateComponentName);
usingProxy(robotIKComponentName);
usingProxy(kinematicUnitComponentName);
}
void armarx::RobotIKWidgetController::onConnectComponent()
{
//Get all proxies
robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>(robotStateComponentName);
kinematicUnitInterfacePrx = getProxy<KinematicUnitInterfacePrx>(kinematicUnitComponentName);
robotIKPrx = getProxy<RobotIKInterfacePrx>(robotIKComponentName);
//Load robot
robot = loadRobot(getIncludePaths());
if(!robot)
{
getObjectScheduler()->terminate();
if(getWidget()->parentWidget())
{
getWidget()->parentWidget()->close();
}
ARMARX_ERROR << "RobotIKPlugin: Unable to load robot file! Terminating." << std::endl;
return;
}
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//Add in our visualization for manipulators
visualization = new ManipulatorVisualization;
this->ui.robotViewer->getRobotViewer()->getRootNode()->addChild((SoNode*)visualization);
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//Get visualization for our robot and add it to scene graph
CoinVisualizationPtr robotViewerVisualization = robot->getVisualization<VirtualRobot::CoinVisualization>();
this->ui.robotViewer->getRobotViewer()->getRootNode()->addChild(robotViewerVisualization->getCoinVisualization());
//Make a timer update robo pose every time tick
SoSensorManager* sensor_mgr = SoDB::getSensorManager();
robotUpdateSensor = new SoTimerSensor(robotUpdateTimerCB, this);
robotUpdateSensor->setInterval(SbTime(ROBOT_UPDATE_TIMER_MS / 1000.0f));
sensor_mgr->insertTimerSensor(robotUpdateSensor);
//And a timer to update the labels
textFieldUpdateSensor = new SoTimerSensor(textFieldUpdateTimerCB, this);
textFieldUpdateSensor->setInterval(SbTime(TEXTFIELD_UPDATE_TIMER_MS / 1000.0f));
sensor_mgr->insertTimerSensor(textFieldUpdateSensor);
//Get all kinematic chain descriptions and add them to the combo box
auto robotNodeSets = robot->getRobotNodeSets();
for(VirtualRobot::RobotNodeSetPtr s : robotNodeSets) {
this->ui.comboBox->addItem(QString::fromStdString(s->getName()));
}
//Make sure comboBox is enabled so you can select a kinematic chain
this->ui.comboBox->setEnabled(true);
//Get all caertesian selections and add them
this->ui.cartesianselection->addItem(QString::fromStdString("Orientation and Position"));
this->ui.cartesianselection->addItem(QString::fromStdString("Position"));
this->ui.cartesianselection->addItem(QString::fromStdString("Orientation"));
this->ui.cartesianselection->addItem(QString::fromStdString("X position"));
this->ui.cartesianselection->addItem(QString::fromStdString("Y position"));
this->ui.cartesianselection->addItem(QString::fromStdString("Z position"));
//Make sure it is enabled
this->ui.cartesianselection->setEnabled(true);
this->ui.cartesianselection->setCurrentIndex(0);
connectSlots();
enableMainWidgetAsync(true);
}
void armarx::RobotIKWidgetController::onDisconnectComponent()
{
//Stop timers
SoSensorManager* sensor_mgr = SoDB::getSensorManager();
sensor_mgr->removeTimerSensor(textFieldUpdateSensor);
sensor_mgr->removeTimerSensor(robotUpdateSensor);
//Remove all options in comboBox
this->ui.comboBox->clear();
//Disable ui controls
this->ui.comboBox->setEnabled(false);
this->ui.moveTCP->setEnabled(false);
this->ui.reachableLabel->setEnabled(false);
this->ui.reachableLabel->setText(QString::fromStdString("No kinematic chain selected"));
this->ui.reachableLabel->setStyleSheet("QLabel { color : red; }");
this->ui.errorValue->setEnabled(false);
this->ui.errorValue->setText(QString::fromStdString("Calculated error: 0"));
this->ui.errorValue->setEnabled(false);
this->ui.pushButton->setEnabled(false);
this->ui.checkBox->setChecked(false);
this->ui.checkBox->setEnabled(false);
this->ui.currentPose->setEnabled(false);
this->ui.currentPoseMatrix->setEnabled(false);
this->ui.desiredPose->setEnabled(false);
this->ui.desiredPoseMatrix->setEnabled(false);
this->ui.resetManip->setEnabled(false);
//Remove all visualization
this->ui.robotViewer->getRobotViewer()->getRootNode()->removeAllChildren();
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visualization = NULL;
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robotUpdateSensor = NULL;
textFieldUpdateSensor = NULL;
//Delete proxies
robotStateComponentPrx = NULL;
kinematicUnitInterfacePrx = NULL;
robotIKPrx = NULL;
}
void armarx::RobotIKWidgetController::onExitComponent()
{
enableMainWidgetAsync(false);
}
QPointer<QDialog> armarx::RobotIKWidgetController::getConfigDialog(QWidget *parent)
{
if(!dialog)
{
dialog = new RobotIKConfigDialog(parent);
}
return qobject_cast<RobotIKConfigDialog*>(dialog);
}
void armarx::RobotIKWidgetController::loadSettings(QSettings *settings)
{
}
void armarx::RobotIKWidgetController::saveSettings(QSettings *settings)
{
}
void armarx::RobotIKWidgetController::configured()
{
robotStateComponentName = dialog->robotStateComponentProxyFinder->getSelectedProxyName().trimmed().toStdString();
robotIKComponentName = dialog->robotIKComponentProxyFinder->getSelectedProxyName().trimmed().toStdString();
kinematicUnitComponentName = dialog->kinematicUnitComponentProxyFinder->getSelectedProxyName().trimmed().toStdString();
}
void armarx::RobotIKWidgetController::solveIK()
{
auto targetJointAngles = getIKSolution();
if(targetJointAngles.isReachable) {
//Switch all control modes to ePositionControl
std::vector<VirtualRobot::RobotNodePtr> rn = robot->getRobotNodeSet(this->ui.comboBox->currentText().toStdString())->getAllRobotNodes();
NameControlModeMap jointModes;
NameValueMap jointAngles;
for (unsigned int i=0;i<rn.size();i++)
{
jointModes[rn[i]->getName()] = ePositionControl;
jointAngles[rn[i]->getName()]=0.0f;
}
kinematicUnitInterfacePrx->switchControlMode(jointModes);
kinematicUnitInterfacePrx->setJointAngles(targetJointAngles.jointAngles);
}
}
void armarx::RobotIKWidgetController::kinematicChainChanged(const QString &arg1)
{
//An item has been selected, so we can allow the user to use the ui now
//The manipulator will be set to the position of the current tcp, so this pose
//has to be reachable!
this->ui.moveTCP->setEnabled(true);
this->ui.reachableLabel->setEnabled(true);
this->ui.reachableLabel->setText(QString::fromStdString("Pose reachable!"));
this->ui.reachableLabel->setStyleSheet("QLabel { color : green; }");
this->ui.errorValue->setText(QString::fromStdString("Calculated error: 0"));
this->ui.errorValue->setEnabled(true);
this->ui.pushButton->setEnabled(true);
this->ui.currentPose->setEnabled(true);
this->ui.currentPoseMatrix->setEnabled(true);
this->ui.desiredPose->setEnabled(true);
this->ui.desiredPoseMatrix->setEnabled(true);
this->ui.resetManip->setEnabled(true);
this->ui.checkBox->setEnabled(true);
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//Add visualization
visualization->setVisualization(robot, robot->getRobotNodeSet(arg1.toStdString()));
//Add callback
visualization->addManipFinishCallback(manipFinishCallback, this);
}
void armarx::RobotIKWidgetController::caertesianSelectionChanged(const QString &arg1)
{
//If there is a manip in the scene we pretend it just moved to update color etc.
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if(visualization->getIsVisualizing()) {
manipFinishCallback(this, NULL);
}
}
void armarx::RobotIKWidgetController::resetManip()
{
//Triggers reset of manipulator in kinematicChainChanged
kinematicChainChanged(this->ui.comboBox->currentText());
}
void armarx::RobotIKWidgetController::connectSlots()
{
connect(ui.resetManip, SIGNAL(clicked()), this, SLOT(resetManip()), Qt::QueuedConnection);
connect(ui.pushButton, SIGNAL(clicked()), this, SLOT(solveIK()), Qt::QueuedConnection);
connect(ui.comboBox, SIGNAL(currentIndexChanged(QString)), this, SLOT(kinematicChainChanged(QString)), Qt::UniqueConnection);
connect(ui.cartesianselection, SIGNAL(currentIndexChanged(QString)), this, SLOT(caertesianSelectionChanged(QString)), Qt::UniqueConnection);
connect(ui.checkBox, SIGNAL(toggled(bool)), this, SLOT(autoFollowChanged(bool)), Qt::UniqueConnection);
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}
armarx::StringList armarx::RobotIKWidgetController::getIncludePaths()
{
StringList includePaths;
try {
StringList packages = robotStateComponentPrx->getArmarXPackages();
packages.push_back(Application::GetProjectName());
for(const std::string &projectName : packages)
{
if(projectName.empty())
continue;
CMakePackageFinder project(projectName);
StringList projectIncludePaths;
auto pathsString = project.getDataDir();
boost::split(projectIncludePaths,
pathsString,
boost::is_any_of(";,"),
boost::token_compress_on);
includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
}
} catch (...)
{
ARMARX_ERROR << "Unable to retrieve robot filename." << std::endl;
}
return includePaths;
}
VirtualRobot::RobotPtr armarx::RobotIKWidgetController::loadRobot(StringList includePaths)
{
try
{
std::string rfile = robotStateComponentPrx->getRobotFilename();
ArmarXDataPath::getAbsolutePath(rfile, rfile, includePaths);
return VirtualRobot::RobotIO::loadRobot(rfile);
}
catch(...)
{
ARMARX_ERROR << "Unable to load robot from file" << std::endl;
return VirtualRobot::RobotPtr();
}
}
void armarx::RobotIKWidgetController::manipFinishCallback(void* data, SoDragger* dragger) {
RobotIKWidgetController* controller = static_cast<RobotIKWidgetController*>(data);
auto targetJointAngles = controller->getIKSolution();
if(targetJointAngles.isReachable) {
//Green
controller->ui.reachableLabel->setText(QString::fromStdString("Pose reachable!"));
controller->ui.reachableLabel->setStyleSheet("QLabel { color : green; }");
controller->visualization->setColor(0, 1, 0);
}
else {
//Red
controller->ui.reachableLabel->setText(QString::fromStdString("Pose unreachable!"));
controller->ui.reachableLabel->setStyleSheet("QLabel { color : red; }");
controller->visualization->setColor(1, 0, 0);
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}
//Display calculated error
controller->ui.errorValue->setText(QString::fromStdString("Calculated error: " + boost::lexical_cast<std::string>(targetJointAngles.error)));
}
void armarx::RobotIKWidgetController::robotUpdateTimerCB(void *data, SoSensor *sensor)
{
RobotIKWidgetController* controller = static_cast<RobotIKWidgetController*>(data);
if (!controller || !controller->robotStateComponentPrx || !controller->robot)
return;
try
{
armarx::RemoteRobot::synchronizeLocalClone(controller->robot,controller->robotStateComponentPrx);
if(controller->startUpCameraPositioningFlag) {
controller->ui.robotViewer->getRobotViewer()->cameraViewAll();
controller->startUpCameraPositioningFlag = false;
}
} catch (...){};
}
void armarx::RobotIKWidgetController::textFieldUpdateTimerCB(void *data, SoSensor *sensor)
{
RobotIKWidgetController* controller = static_cast<RobotIKWidgetController*>(data);
if (!controller)
return;
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if(controller->visualization->getIsVisualizing()) {
Eigen::Matrix4f tcpMatrix = controller->robot->getRobotNodeSet(controller->ui.comboBox->currentText().toStdString())->getTCP()->getGlobalPose();
//Set text label to tcp matrix
std::stringstream buffer;
buffer << tcpMatrix;
std::string matrixText = buffer.str();
controller->ui.currentPoseMatrix->setText(QString::fromStdString(matrixText));
//Set text label for desired tcp pose
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controller->ui.desiredPoseMatrix->setText(QString::fromStdString(controller->visualization->getUserDesiredPoseString()));
void armarx::RobotIKWidgetController::autoFollowSensorTimerCB(void *data, SoSensor *sensor)
{
RobotIKWidgetController* controller = static_cast<RobotIKWidgetController*>(data);
if (!controller)
return;
controller->solveIK();
}
armarx::ExtendedIKResult armarx::RobotIKWidgetController::getIKSolution()
{
// mat = robot->getRootNode()->toLocalCoordinateSystem(mat);
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return(robotIKPrx->computeExtendedIKGlobalPose(this->ui.comboBox->currentText().toStdString(),new armarx::Pose(visualization->getUserDesiredPose()),
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convertOption(this->ui.cartesianselection->currentText().toStdString())));
}
armarx::CartesianSelection armarx::RobotIKWidgetController::convertOption(std::string option)
{
if(option == "Orientation and Position") {
return eAll;
}
else if(option == "Position") {
return ePosition;
}
else if(option == "Orientation") {
return eOrientation;
}
else if(option == "X position") {
return eX;
}
else if(option == "Y position") {
return eY;
}
else if(option == "Z position") {
return eZ;
}
return eAll;
}
Q_EXPORT_PLUGIN2(armarx_gui_RobotIKGuiPlugin, armarx::RobotIKGuiPlugin)
void armarx::RobotIKWidgetController::autoFollowChanged(bool checked)
{
if(checked)
{
//Make a timer update robo pose every time tick
SoSensorManager* sensor_mgr = SoDB::getSensorManager();
autoFollowSensor = new SoTimerSensor(autoFollowSensorTimerCB, this);
autoFollowSensor->setInterval(SbTime(AUTO_FOLLOW_UPDATE / 1000.0f));
sensor_mgr->insertTimerSensor(autoFollowSensor);
}
else
{
SoSensorManager* sensor_mgr = SoDB::getSensorManager();
sensor_mgr->removeTimerSensor(autoFollowSensor);
}
}