diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui
index a25894c76c31254fb42c7dc9611d2fa5d404d4f3..63dbb94234cc38e42417b1892bd1b76ef87ef616 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui
@@ -58,31 +58,6 @@
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
- <widget class="QFrame" name="graphFrame">
- <property name="frameShape">
- <enum>QFrame::NoFrame</enum>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout_4">
- <property name="spacing">
- <number>0</number>
- </property>
- <property name="leftMargin">
- <number>0</number>
- </property>
- <property name="topMargin">
- <number>0</number>
- </property>
- <property name="rightMargin">
- <number>0</number>
- </property>
- <property name="bottomMargin">
- <number>0</number>
- </property>
- <item>
- <layout class="QVBoxLayout" name="graphSceneLayout"/>
- </item>
- </layout>
- </widget>
<widget class="QWidget" name="tables" native="true">
<layout class="QVBoxLayout" name="verticalLayout">
<property name="leftMargin">
@@ -186,6 +161,32 @@
</item>
</layout>
</widget>
+
+ <widget class="QFrame" name="graphFrame">
+ <property name="frameShape">
+ <enum>QFrame::NoFrame</enum>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_4">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item>
+ <layout class="QVBoxLayout" name="graphSceneLayout"/>
+ </item>
+ </layout>
+ </widget>
</widget>
</item>
<item>
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
index 59de014fbcfe3a4dafe8069aff80ae67732d9735..649b663181e84c073934943cf75f38b0d58098cb 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
@@ -147,20 +147,8 @@ namespace armarx::nav::locgrapheditor
connect(view.edgeTable, &EdgeTableWidget::itemSelectionChanged,
this, &This::updateEdgeHighlighting);
-
-#if 0
- // Tables
- connect(view.vertexTable, &QTableWidget::cellDoubleClicked, this, &This::vertexTableDoubleClicked);
- connect(view.vertexTable, &QTableWidget::customContextMenuRequested, this, &This::tableWidgetVerticesCustomContextMenu);
- connect(view.edgeTable, &QTableWidget::cellDoubleClicked, this, &This::edgeTableDoubleClicked);
- connect(view.edgeTable, &QTableWidget::customContextMenuRequested, this, &This::tableWidgetEdgesCustomContextMenu);
-
- connect(widget.btnAdd, &QPushButton::pressed, this, &This::addNewGraphVertex);
- connect(widget.btnAddEdge, &QPushButton::pressed, this, &This::addNewEdgeBoth);
- connect(widget.btnAddEdgeStartEnd, &QPushButton::pressed, this, &This::addNewEdgeStartEnd);
- connect(widget.btnAddEdgeEndStart, &QPushButton::pressed, this, &This::addNewEdgeEndStart);
- connect(widget.btnEdit, &QPushButton::pressed, this, &This::editGraphVertex);
-#endif
+ connect(view.vertexTable, &VertexTableWidget::newEdgesRequested,
+ this, &This::addEdges);
}
@@ -478,6 +466,19 @@ namespace armarx::nav::locgrapheditor
}
+ void LocationGraphEditorWidgetController::addEdges(
+ QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> vertexItems)
+ {
+ std::stringstream ss;
+ ss << "Adding edges ...";
+ for (const auto& [source, target] : vertexItems)
+ {
+ ss << "\n- " << source->text() << " to " << target->text();
+ }
+ ARMARX_IMPORTANT << ss.str();
+ }
+
+
void LocationGraphEditorWidgetController::resetHighlighting()
{
for (auto vertex : model.graph.vertices())
@@ -548,213 +549,4 @@ namespace armarx::nav::locgrapheditor
view.vertexData->setVertex(vertex);
}
-
-#if 0
- bool LocationGraphEditorWidgetController::addNewEdge(const std::string& fromId, const std::string& toId)
- {
- std::string errorMsg;
-
- if (!graphSeg->hasEntityById(fromId))
- {
- errorMsg = "start vertex with Id '" + fromId + "' not found in segment";
- }
- else if (!graphSeg->hasEntityById(toId))
- {
- errorMsg = "end vertex with Id '" + toId + "' not found in segment";
-
- }
- else if (fromId == toId)
- {
- errorMsg = "starting and ending vertex are the same";
- }
- else
- {
- auto fromVertex = graphSeg->getVertexById(fromId);
- for (const auto& adjacent : fromVertex->getAdjacentVertices())
- {
- if (toId == adjacent->getId())
- {
- errorMsg = "edge '" + fromVertex->getName() + "' -> '" + adjacent->getName() + "' already exists";
- break;
- }
- }
- }
-
- if (errorMsg.empty())
- {
- widget.labelAddEdgeStatus->setText(QString::fromStdString("Ok"));
- graphSeg->addEdge(fromId, toId);
- graphVertexPoseResolver->forceRefetch(fromId);
- graphVertexPoseResolver->forceRefetch(toId);
- addEdge(fromId, toId);
- updateVertex(fromId);
- updateVertex(toId);
- widget.labelAddEdgeStatus->setStyleSheet("QLabel { background-color : lime; }");
- }
- else
- {
- ARMARX_WARNING << errorMsg;
- widget.labelAddEdgeStatus->setText(QString::fromStdString(errorMsg));
- widget.labelAddEdgeStatus->setStyleSheet("QLabel { background-color : orange; }");
- }
-
- return errorMsg.empty();
- }
-
-
- void LocationGraphEditorWidgetController::addNewEdgeBoth()
- {
- std::string startId = widget.editStartVertexId->text().toStdString();
- std::string endId = widget.editEndVertexId->text().toStdString();
- addNewEdge(startId, endId);
- addNewEdge(endId, startId);
- }
-
-
- void LocationGraphEditorWidgetController::addNewEdgeStartEnd()
- {
- std::string startId = widget.editStartVertexId->text().toStdString();
- std::string endId = widget.editEndVertexId->text().toStdString();
- addNewEdge(startId, endId);
- }
-
-
- void LocationGraphEditorWidgetController::addNewEdgeEndStart()
- {
- std::string startId = widget.editEndVertexId->text().toStdString();
- std::string endId = widget.editStartVertexId->text().toStdString();
- addNewEdge(startId, endId);
- }
-
-
-
- void LocationGraphEditorWidgetController::addKitchenGraph()
- {
- std::string scene {"GraphKitchen"};
- graphSeg->clearScene(scene);
-
- // if you insist on hardcoding scenes, use these convenience functions for improved readability:
- auto addVertex = [&](const std::string & name, float x, float y, float angle)
- {
- graphSeg->addVertex(new ::memoryx::GraphVertex {x, y, angle, name, scene});
- ARMARX_INFO_S << "added vertex '" << name << "' at (" << x << ", " << y << ", " << angle << "rad)";
- };
-
- auto addEdges = [&](const std::string & vertexFromName, const std::string & vertexToName, bool bidirectional)
- {
- auto vertexFrom = graphSeg->getVertexFromSceneByName(scene, vertexFromName);
- auto vertexTo = graphSeg->getVertexFromSceneByName(scene, vertexToName);
- ARMARX_CHECK(vertexFrom);
- ARMARX_CHECK(vertexTo);
- ARMARX_INFO_S << "'" << vertexFrom->getName() << "' -> '" << vertexTo->getName() << "', status: " << graphSeg->addEdge(vertexFrom->getId(), vertexTo->getId());
- if (bidirectional)
- {
- ARMARX_INFO_S << "'" << vertexTo->getName() << "' -> '" << vertexFrom->getName() << "', status: " << graphSeg->addEdge(vertexTo->getId(), vertexFrom->getId());
- }
- };
-
- // ex
- addVertex("initialvertex", 2900, 7000, 0);
- addVertex("sideboard", 3400, 7000, 0);
- addEdges("initialvertex", "sideboard", true);
- }
-
-
- void LocationGraphEditorWidgetController::addNewGraphVertex()
- {
- Eigen::Matrix4f mat;
- Eigen::Vector3f rpy;
- Eigen::Vector3f pos;
- rpy << VirtualRobot::MathTools::deg2rad(widget.spinBoxRoll->value()),
- VirtualRobot::MathTools::deg2rad(widget.spinBoxPitch->value()),
- VirtualRobot::MathTools::deg2rad(widget.spinBoxYaw->value());
- pos << widget.spinBoxX->value(), widget.spinBoxY->value(), widget.spinBoxZ->value();
- VirtualRobot::MathTools::posrpy2eigen4f(pos, rpy, mat);
- armarx::FramedPosePtr pose = new armarx::FramedPose(mat,
- widget.editFrameName->text().toStdString(),
- widget.editAgentName->text().toStdString());
- memoryx::GraphVertexPtr vertex = new memoryx::GraphVertex(pose,
- widget.editVertexName->text().toStdString(),
- widget.editSceneName->text().toStdString());
- auto entityId = graphSeg->addVertex(vertex);
- graphVertexPoseResolver->forceRefetch(entityId);
- vertex->setId(entityId);
- if (widget.graphsComboBox->currentText().toStdString() == widget.editSceneName->text().toStdString())
- {
- widget.editVertexId->setText(QString::fromStdString(entityId));
- addVertex(vertex);
- }
- }
-
-
- void LocationGraphEditorWidgetController::editGraphVertex()
- {
- Eigen::Matrix4f mat;
- Eigen::Vector3f rpy;
- Eigen::Vector3f pos;
- rpy << VirtualRobot::MathTools::deg2rad(widget.spinBoxRoll->value()),
- VirtualRobot::MathTools::deg2rad(widget.spinBoxPitch->value()),
- VirtualRobot::MathTools::deg2rad(widget.spinBoxYaw->value());
- pos << widget.spinBoxX->value(),
- widget.spinBoxY->value(),
- widget.spinBoxZ->value();
- VirtualRobot::MathTools::posrpy2eigen4f(pos, rpy, mat);
- armarx::FramedPosePtr pose = new armarx::FramedPose(mat,
- widget.editFrameName->text().toStdString(),
- widget.editAgentName->text().toStdString());
- memoryx::GraphVertexPtr vertex = new memoryx::GraphVertex(pose,
- widget.editVertexName->text().toStdString(),
- widget.editSceneName->text().toStdString());
- auto id = widget.editVertexId->text().toStdString();
-
- vertex->setId(id);
- graphSeg->updateEntity(id, vertex);
- graphVertexPoseResolver->forceRefetch(id);
- if (widget.graphsComboBox->currentText().toStdString() == widget.editSceneName->text().toStdString())
- {
- addVertex(vertex);
- }
- }
-
-
- void LocationGraphEditorWidgetController::tableWidgetVerticesCustomContextMenu(QPoint pos)
- {
- int row = view.vertexTable->rowAt(pos.y());
- auto vertexIt = std::find_if(vertices.begin(), vertices.end(), [&](const std::pair<std::string, VertexData>& d)
- {
- return d.attrib().tableWidgetVerticesIndex == row;
- });
- QMenu menu;
- QAction* deleteAction = menu.addAction("Delete Vertex");
-
- if (menu.exec(QCursor::pos()) == deleteAction)
- {
- ARMARX_CHECK(vertexIt != vertices.end());
- graphSeg->removeVertex(vertexIt->second.vertex->getId());
- loadGraph();
- }
- }
-
-
- void LocationGraphEditorWidgetController::tableWidgetEdgesCustomContextMenu(QPoint pos)
- {
- int row = view.edgeTable->rowAt(pos.y());
- auto edgeIt = std::find_if(edges.begin(), edges.end(), [&](const std::pair<EdgeId, EdgeData>& d)
- {
- return d.attrib().tableWidgetEdgesIndex == row;
- });
- QMenu menu;
- QAction* deleteAction = menu.addAction("Delete Edge");
-
- if (menu.exec(QCursor::pos()) == deleteAction)
- {
- ARMARX_CHECK(edgeIt != edges.end());
- graphSeg->removeEdge(edgeIt->first.first, edgeIt->first.attrib());
- loadGraph();
- }
- }
-
-
-#endif
-
}
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
index fe1610651b5e2a24a7da2b70e69364dcf8d700b4..0fb66749e874fdb3880882d9a049e95834c8bee5 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
@@ -133,7 +133,8 @@ namespace armarx::nav::locgrapheditor
private slots:
- // Data
+ // Model
+
void queryGraphs();
void updateGraphList();
void loadGraph();
@@ -145,6 +146,8 @@ namespace armarx::nav::locgrapheditor
void clearEdges();
void clearGraph();
+ void addEdges(QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> vertexItems);
+
// View & Tables
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/Visu.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/Visu.cpp
index d978ffb66a7618c6f13af5f49b195fb72c0756b2..dfe8587af6df7c5906b5e4091ef64c6e7365be9d 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/Visu.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/Visu.cpp
@@ -86,6 +86,7 @@ namespace armarx::nav::locgrapheditor
if (edge.highlighted)
{
arrow.color(colorHighlighted);
+ arrow.width(width * 1.5f);
}
return arrow;
}
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
index 6c60fac3a54c34e66e07081d6ce6299a3052fc43..45d852df365d887d90c8d659883ab2760480794f 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
@@ -20,11 +20,8 @@
*/
#include "EdgeTableWidget.h"
-
#include "utils.h"
-#include <ArmarXCore/core/logging/Logging.h>
-
#include <QHeaderView>
@@ -43,10 +40,11 @@ namespace armarx::nav::locgrapheditor
setEditTriggers(QAbstractItemView::NoEditTriggers);
setSortingEnabled(true);
+ setAlternatingRowColors(true);
+
QString styleSheet = this->styleSheet();
- ARMARX_IMPORTANT << VAROUT(styleSheet.toStdString());
- styleSheet = styleSheet + "\n" + "selection-background-color: orange;";
- this->setStyleSheet(styleSheet);
+ styleSheet = styleSheet + "\n" + "selection-background-color: #FF8000;";
+ setStyleSheet(styleSheet);
setContextMenuPolicy(Qt::CustomContextMenu);
}
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp
index c06f36de491895a6a86694b9ad07f5806dc1a376..692e18b8c1761537cba273d2a770e6f66ffdb54e 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.cpp
@@ -22,7 +22,9 @@
#include "VertexTableWidget.h"
#include "utils.h"
+#include <QAction>
#include <QHeaderView>
+#include <QMenu>
namespace armarx::nav::locgrapheditor
@@ -39,9 +41,15 @@ namespace armarx::nav::locgrapheditor
setEditTriggers(QAbstractItemView::NoEditTriggers);
setSortingEnabled(true);
- setContextMenuPolicy(Qt::CustomContextMenu);
-
setAlternatingRowColors(true);
+
+ QString styleSheet = this->styleSheet();
+ styleSheet = styleSheet + "\n" + "selection-background-color: #FF8000;";
+ setStyleSheet(styleSheet);
+
+ setContextMenuPolicy(Qt::CustomContextMenu);
+ connect(this, &This::customContextMenuRequested,
+ this, &This::makeContextMenu);
}
@@ -101,4 +109,125 @@ namespace armarx::nav::locgrapheditor
return utils::getSelectedItemsOfColumn(this, 0);
}
+
+ void VertexTableWidget::makeContextMenu(QPoint pos)
+ {
+ QList<QTableWidgetItem*> items = selectedVertexItems();
+
+ QMenu menu;
+ if (items.size() == 0)
+ {
+ QAction* action = menu.addAction("No locations selected");
+ action->setEnabled(false);
+ }
+
+ // <- https://unicode-table.com/de/2190/
+ const QString arrowLeft = QStringLiteral("â†");
+ // -> https://unicode-table.com/de/2192/
+ const QString arrowRight = QStringLiteral("\u2192");
+ // <-> https://unicode-table.com/de/21C4/
+ const QString arrowBoth = QStringLiteral("⇄");
+
+ // Partners selected
+ if (items.size() == 2)
+ {
+ menu.addSection("Selected pair of locations");
+
+ // Generate actions for connecting these two nodes.
+ std::sort(items.begin(), items.end(), [](QTableWidgetItem* first, QTableWidgetItem* second)
+ {
+ return first->text() < second->text();
+ });
+ QTableWidgetItem* first = items[0];
+ QTableWidgetItem* second = items[1];
+
+ connect(menu.addAction("Add edge '" + first->text() + "' " + arrowRight + " '" + second->text() + "'"),
+ &QAction::triggered, [this, first, second]()
+ {
+ emit newEdgesRequested({{first, second}});
+ });
+ connect(menu.addAction("Add edge '" + first->text() + "' " + arrowLeft + " '" + second->text() + "'"),
+ &QAction::triggered, [this, first, second]()
+ {
+ emit newEdgesRequested({{second, first}});
+ });
+ connect(menu.addAction("Add edges '" + first->text() + "' " + arrowBoth + " '" + second->text() + "'"),
+ &QAction::triggered, [this, first, second]()
+ {
+ emit newEdgesRequested({{first, second}, {second, first}});
+ });
+ }
+
+ // Partners via context menu
+ if (items.size() > 0)
+ {
+ QString edges = items.size() == 1
+ ? "edge"
+ : "edges";
+ QString desc = items.size() == 1
+ ? "'" + items[0]->text() + "'"
+ : QString::number(items.size()) + " locations";
+
+ if (items.size() == 1)
+ {
+ // QAction* deleteAction = menu.addAction("Delete location '" + );
+ menu.addSection("Selected single location " + desc);
+ }
+ else
+ {
+ menu.addSection("Selected bulk of " + desc);
+ }
+
+ using Item = QTableWidgetItem;
+ using ListOfEdges = QList<QPair<Item*, Item*>>;
+ using AppendFunc = std::function<void(ListOfEdges& edges, Item* selected, Item* action)>;
+
+ auto addBulkActions = [this, &items](QMenu* submenu, AppendFunc appendFunc)
+ {
+ if (items.size() == rowCount())
+ {
+ QAction* a = submenu->addAction("No other locations");
+ a->setDisabled(true);
+ }
+ for (int row = 0; row < rowCount(); ++row)
+ {
+ QTableWidgetItem* action = this->item(row, 0);
+ if (items.count(action) == 0) // Do no generate self-edges
+ {
+ QAction* a = submenu->addAction(action->text());
+ connect(a, &QAction::triggered,
+ [this, &items, action, appendFunc]()
+ {
+ QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> edges;
+ for (auto* selected : items)
+ {
+ appendFunc(edges, selected, action);
+ }
+ emit newEdgesRequested(edges);
+ });
+ }
+ }
+ };
+
+ addBulkActions(menu.addMenu("Add " + edges + " " + desc + " " + arrowRight + " ..."),
+ [](ListOfEdges& edges, Item* selected, Item* action)
+ {
+ edges.append({selected, action});
+ });
+ addBulkActions(menu.addMenu("Add " + edges + " " + desc + " " + arrowLeft + " ..."),
+ [](ListOfEdges& edges, Item* selected, Item* action)
+ {
+ edges.append({action, selected});
+ });
+ addBulkActions(menu.addMenu("Add " + edges + " " + desc + " " + arrowBoth + " ..."),
+ [](ListOfEdges& edges, Item* selected, Item* action)
+ {
+ edges.append({selected, action});
+ edges.append({action, selected});
+ });
+ }
+
+ menu.exec(mapToGlobal(pos));
+ }
+
}
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h
index 7fea8530d486ba05e3d9bf328653bc5462728da9..6d9a227f364bf5c26e90b6e2b08b65ba7ba9d641 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/VertexTableWidget.h
@@ -50,8 +50,15 @@ namespace armarx::nav::locgrapheditor
QList<QTableWidgetItem*> selectedVertexItems();
+ signals:
+
+ void newEdgesRequested(QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> edges);
+
+
public slots:
+ void makeContextMenu(QPoint pos);
+
private slots: