diff --git a/source/armarx/navigation/graph/Graph.cpp b/source/armarx/navigation/graph/Graph.cpp
index bce79ae3d6c1222928d2b87ea764f0c24a6527e1..f8086dce0b3252e37585f034c6b44642d315f02f 100644
--- a/source/armarx/navigation/graph/Graph.cpp
+++ b/source/armarx/navigation/graph/Graph.cpp
@@ -36,6 +36,11 @@ namespace armarx::nav::graph
return aron.globalRobotPose;
}
+ void VertexAttribs::setPose(const Eigen::Matrix4f& pose)
+ {
+ this->aron.globalRobotPose = pose;
+ }
+
}
diff --git a/source/armarx/navigation/graph/Graph.h b/source/armarx/navigation/graph/Graph.h
index dd5704bcbdb82f65fa28189e249635662f0f3ea1..d895dd635e690c0c4a737b11fca9a7523faeb535 100644
--- a/source/armarx/navigation/graph/Graph.h
+++ b/source/armarx/navigation/graph/Graph.h
@@ -35,7 +35,9 @@ namespace armarx::nav::graph
armarx::nav::graph::arondto::Vertex aron;
std::string getName() const;
+
Eigen::Matrix4f getPose() const;
+ void setPose(const Eigen::Matrix4f& pose);
};
struct EdgeAttribs
{
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/CMakeLists.txt b/source/armarx/navigation/gui-plugins/LocationGraphEditor/CMakeLists.txt
index 8235d2811d307784175818c8bb183a142e90828e..d2661dbac93f5ecba03215cc9dfad01921beffa3 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/CMakeLists.txt
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/CMakeLists.txt
@@ -14,25 +14,32 @@ set(SOURCES
LocationGraphEditorWidgetController.cpp
FunctionalEventFilter.cpp
- GraphScene.cpp
GuiGraph.cpp
widgets/default_colors.cpp
widgets/EdgeTableWidget.cpp
widgets/VertexDataWidget.cpp
widgets/VertexTableWidget.cpp
+
+ widgets/graph_scene/ControlWidget.cpp
+ widgets/graph_scene/Scene.cpp
+ widgets/graph_scene/Widget.cpp
)
set(HEADERS
LocationGraphEditorWidgetController.h
FunctionalEventFilter.h
- GraphScene.h
GuiGraph.h
widgets/default_colors.h
widgets/EdgeTableWidget.h
widgets/VertexDataWidget.h
widgets/VertexTableWidget.h
+
+ widgets/graph_scene.h
+ widgets/graph_scene/ControlWidget.h
+ widgets/graph_scene/Scene.h
+ widgets/graph_scene/Widget.h
)
set(GUI_UIS
LocationGraphEditorWidget.ui
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.cpp
index 377f726e295e0918776d19eb7154ed72f06b2ff1..f4fd3e1d100fe63545cb55c7fd80ae870fb52a2d 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.cpp
@@ -29,24 +29,54 @@
namespace armarx::nav::locgrapheditor
{
+ std::optional<GuiGraph::Vertex>
+ GuiGraph::getVertexFromTableItem(QTableWidgetItem* item)
+ {
+ for (auto vertex : vertices())
+ {
+ if (vertex.attrib().tableWidgetItem == item)
+ {
+ return vertex;
+ }
+ }
+ return std::nullopt;
+ }
+
+
+ std::map<QTableWidgetItem*, GuiGraph::Vertex>
+ GuiGraph::getTableItemToVertexMap()
+ {
+ std::map<QTableWidgetItem*, GuiGraph::Vertex> map;
+
+ for (auto vertex : vertices())
+ {
+ if (vertex.attrib().tableWidgetItem != nullptr)
+ {
+ map[vertex.attrib().tableWidgetItem] = vertex;
+ }
+ }
+
+ return map;
+ }
+
}
namespace armarx::nav
{
- float locgrapheditor::getYawAngleDegree(const Eigen::Matrix4f& pose)
- {
- Eigen::Vector3f rpy = simox::math::mat4f_to_rpy(pose);
- return simox::math::rad_to_deg(rpy[2]);
- }
+float locgrapheditor::getYawAngleDegree(const Eigen::Matrix4f& pose)
+{
+ Eigen::Vector3f rpy = simox::math::mat4f_to_rpy(pose);
+ return simox::math::rad_to_deg(rpy[2]);
+}
- auto locgrapheditor::toGuiGraph(const graph::Graph& nav) -> GuiGraph
+auto locgrapheditor::toGuiGraph(const graph::Graph& nav) -> GuiGraph
+{
+ GuiGraph gui;
+ for (auto v : nav.vertices())
{
- GuiGraph gui;
- for (auto v : nav.vertices())
- {
- gui.addVertex(v.objectID(), { v.attrib() });
- }
+ gui.addVertex(v.objectID(), { v.attrib() });
+ }
for (auto e : nav.edges())
{
gui.addEdge(e.sourceObjectID(), e.targetObjectID(), { e.attrib() });
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.h
index f0b6e0bba09fcc68240f42eb24f9798220092950..87395a1fb13350128ea78fd1d5cffa6ed2f761e7 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.h
@@ -25,6 +25,9 @@
#include <SemanticObjectRelations/RelationGraph/RelationGraph.h>
+#include <map>
+#include <optional>
+
class QGraphicsEllipseItem;
class QGraphicsLineItem;
@@ -73,7 +76,18 @@ namespace armarx::nav::locgrapheditor
};
- using GuiGraph = semrel::RelationGraph<VertexData, EdgeData, GraphData>;
+ class GuiGraph : public semrel::RelationGraph<VertexData, EdgeData, GraphData>
+ {
+ public:
+
+ using RelationGraph::RelationGraph;
+
+
+ std::optional<Vertex> getVertexFromTableItem(QTableWidgetItem* item);
+
+ std::map<QTableWidgetItem*, Vertex> getTableItemToVertexMap();
+
+ };
GuiGraph toGuiGraph(const graph::Graph& graph);
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui
index 6a33a0128448d77ed4e8c65e410055cb448c93ad..a25894c76c31254fb42c7dc9611d2fa5d404d4f3 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidget.ui
@@ -79,95 +79,7 @@
<number>0</number>
</property>
<item>
- <widget class="QWidget" name="graphHead" native="true">
- <layout class="QHBoxLayout" name="horizontalLayout_2">
- <item>
- <widget class="QLabel" name="label_graph">
- <property name="text">
- <string>Graph</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="buttonRedraw">
- <property name="text">
- <string>Repaint</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="buttonClear">
- <property name="text">
- <string>Clear Graph</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QToolButton" name="buttonRotateClock">
- <property name="text">
- <string>↻</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QToolButton" name="buttonRotateCounterClock">
- <property name="text">
- <string>↺</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="Line" name="line_3">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_zoom">
- <property name="text">
- <string>Zoom</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QDoubleSpinBox" name="viewZoomFactor">
- <property name="decimals">
- <number>5</number>
- </property>
- <property name="singleStep">
- <double>0.001000000000000</double>
- </property>
- <property name="value">
- <double>0.100000000000000</double>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QToolButton" name="buttonAutoAdjust">
- <property name="text">
- <string>Auto</string>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <widget class="QGraphicsView" name="graphicsViewGraph"/>
+ <layout class="QVBoxLayout" name="graphSceneLayout"/>
</item>
</layout>
</widget>
@@ -193,11 +105,11 @@
<widget class="QWidget" name="verticalLayout_12Widget">
<layout class="QVBoxLayout" name="verticalLayout_12">
<item>
- <widget class="QGroupBox" name="locationsTableGroupBox">
+ <widget class="QGroupBox" name="locationDataGroupBox">
<property name="title">
- <string>Locations (Graph Vertices)</string>
+ <string>Location Data</string>
</property>
- <layout class="QVBoxLayout" name="verticalLayout_7">
+ <layout class="QVBoxLayout" name="verticalLayout_3">
<property name="leftMargin">
<number>3</number>
</property>
@@ -218,11 +130,11 @@
<widget class="QWidget" name="verticalLayout_13Widget">
<layout class="QVBoxLayout" name="verticalLayout_13">
<item>
- <widget class="QGroupBox" name="edgesTableGroupBox">
+ <widget class="QGroupBox" name="locationsTableGroupBox">
<property name="title">
- <string>Graph Edges</string>
+ <string>Locations (Graph Vertices)</string>
</property>
- <layout class="QVBoxLayout" name="verticalLayout_8">
+ <layout class="QVBoxLayout" name="verticalLayout_7">
<property name="leftMargin">
<number>3</number>
</property>
@@ -243,11 +155,24 @@
<widget class="QWidget" name="verticalLayout_6Widget">
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
- <widget class="QGroupBox" name="locationDataGroupBox">
+ <widget class="QGroupBox" name="edgesTableGroupBox">
<property name="title">
- <string>Location Data</string>
+ <string>Graph Edges</string>
</property>
- <layout class="QVBoxLayout" name="verticalLayout_3"/>
+ <layout class="QVBoxLayout" name="verticalLayout_8">
+ <property name="leftMargin">
+ <number>3</number>
+ </property>
+ <property name="topMargin">
+ <number>3</number>
+ </property>
+ <property name="rightMargin">
+ <number>3</number>
+ </property>
+ <property name="bottomMargin">
+ <number>3</number>
+ </property>
+ </layout>
</widget>
</item>
</layout>
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
index 9510d82c920b9e8500e91322dbfe2aede3416466..e23d674833f93d45484578ff73f493f7a6012746 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
@@ -24,6 +24,8 @@
#include "widgets/EdgeTableWidget.h"
#include "widgets/VertexDataWidget.h"
#include "widgets/VertexTableWidget.h"
+#include "widgets/graph_scene/Scene.h"
+#include "widgets/graph_scene/Widget.h"
#include <Navigation/gui-plugins/LocationGraphEditor/ui_LocationGraphEditorWidget.h>
@@ -110,20 +112,22 @@ namespace armarx::nav::locgrapheditor
loadAutomaticSettings();
- dataWidgets.edgeTable = new EdgeTableWidget();
- dataWidgets.vertexTable = new VertexTableWidget();
- dataWidgets.vertexData = new VertexDataWidget();
- widget.edgesTableGroupBox->layout()->addWidget(dataWidgets.edgeTable);
- widget.locationsTableGroupBox->layout()->addWidget(dataWidgets.vertexTable);
- widget.locationDataGroupBox->layout()->addWidget(dataWidgets.vertexData);
+ widget.loadGraphButton->setEnabled(false);
- // Add scene
- view.view = widget.graphicsViewGraph;
- view.setScene(new GraphScene());
+ view.edgeTable = new EdgeTableWidget();
+ view.vertexTable = new VertexTableWidget();
+ view.vertexData = new VertexDataWidget();
+ view.vertexData->setEnabled(false); // Enable on first selection of vertex.
+ widget.edgesTableGroupBox->layout()->addWidget(view.edgeTable);
+ widget.locationsTableGroupBox->layout()->addWidget(view.vertexTable);
+ widget.locationDataGroupBox->layout()->addWidget(view.vertexData);
+ view.graph = new GraphSceneWidget();
+ widget.graphSceneLayout->addWidget(view.graph);
+
+#if 0
auto eventFilter = [this](QObject* obj, QEvent* event) -> bool
{
-#if 0
if (obj == this->view.view && event->type() == QEvent::MouseButtonPress)
{
QMouseEvent* me = static_cast<QMouseEvent*>(event);
@@ -158,54 +162,38 @@ namespace armarx::nav::locgrapheditor
{
this->adjustView();
}
-#endif
- return QObject::eventFilter(obj, event);
+ else
+ {
+ return false;
+ }
};
view.view->installEventFilter(new simox::gui::FunctionalEventFilter(eventFilter));
-
-
- // Transform view
- transformView();
+#endif
// Widgets -> This
// Memory Access
- connect(widget.refreshGraphsButton, &QPushButton::clicked, this, &This::updateGraphList);
- connect(widget.loadGraphButton, &QPushButton::clicked, this, &This::loadGraph);
+ connect(widget.refreshGraphsButton, &QPushButton::pressed, this, &This::updateGraphList);
+ connect(widget.loadGraphButton, &QPushButton::pressed, this, &This::loadGraph);
#if 0
// Tables
- connect(dataWidgets.vertexTable, &QTableWidget::cellDoubleClicked, this, &This::vertexTableDoubleClicked);
- connect(dataWidgets.vertexTable, &QTableWidget::customContextMenuRequested, this, &This::tableWidgetVerticesCustomContextMenu);
- connect(dataWidgets.edgeTable, &QTableWidget::cellDoubleClicked, this, &This::edgeTableDoubleClicked);
- connect(dataWidgets.edgeTable, &QTableWidget::customContextMenuRequested, this, &This::tableWidgetEdgesCustomContextMenu);
-
- connect(widget.btnAdd, &QPushButton::clicked, this, &This::addNewGraphVertex);
- connect(widget.btnAddEdge, &QPushButton::clicked, this, &This::addNewEdgeBoth);
- connect(widget.btnAddEdgeStartEnd, &QPushButton::clicked, this, &This::addNewEdgeStartEnd);
- connect(widget.btnAddEdgeEndStart, &QPushButton::clicked, this, &This::addNewEdgeEndStart);
- connect(widget.btnEdit, &QPushButton::clicked, this, &This::editGraphVertex);
+ 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
- // Zoom
- connect(widget.viewZoomFactor, QOverload<double>::of(&QDoubleSpinBox::valueChanged), this, &This::transformView);
-
-#if 0
- // Rotation
- connect(widget.buttonRotateClock, &QPushButton::clicked, this, &This::viewRotatedClock);
- connect(widget.buttonRotateCounterClock, &QPushButton::clicked, this, &This::viewRotatedCounterClock);
-
- // Redraw+clear
- connect(widget.buttonRedraw, &QPushButton::clicked, this, &This::redraw);
- connect(widget.buttonClear, &QPushButton::clicked, this, &This::clearGraph);
-
- // Auto adjust view
- connect(widget.buttonAutoAdjust, &QPushButton::clicked, this, &This::adjustView);
-#endif
-
- connect(view.scene, &GraphScene::vertexSelected, this, &This::toggleVertexSelected);
+ // View
+ // connect(view.graph->scene(), &GraphScene::vertexSelected, this, &This::toggleVertexSelected);
// This -> This
@@ -213,13 +201,19 @@ namespace armarx::nav::locgrapheditor
connect(this, &This::connected, this, &This::queryGraphs);
connect(this, &This::memoryDataChanged, this, &This::updateGraphList);
- }
+ connect(view.vertexData, &VertexDataWidget::vertexDataChanged,
+ this, &This::updateVertexView);
- void LocationGraphEditorWidgetController::GraphView::setScene(GraphScene* scene)
- {
- this->scene = scene;
- this->view->setScene(this->scene);
+ connect(view.vertexTable, &VertexTableWidget::currentItemChanged,
+ [this](QTableWidgetItem* current, QTableWidgetItem* previous)
+ {
+ (void) previous;
+ this->selectVertex(current);
+ });
+
+ connect(view.vertexTable, &VertexTableWidget::itemSelectionChanged,
+ this, &This::updateVertexHighlighting);
}
@@ -327,10 +321,13 @@ namespace armarx::nav::locgrapheditor
{
widget.graphsComboBox->clear();
- data.memory.forEachEntity([this](const armem::wm::Entity& entity)
+ bool enable = false;
+ data.memory.forEachEntity([this, &enable](const armem::wm::Entity& entity)
{
widget.graphsComboBox->addItem(QString::fromStdString(entity.id().str()));
+ enable = true;
});
+ widget.loadGraphButton->setEnabled(enable);
}
@@ -384,7 +381,7 @@ namespace armarx::nav::locgrapheditor
if (vertex.objectID() == vertexID)
{
vertex.attrib().highlighted = true;
- updateVertex(vertex);
+ updateVertexView(vertex);
}
}
}
@@ -399,11 +396,11 @@ namespace armarx::nav::locgrapheditor
ARMARX_CHECK(not data.graph.hasVertex(vertex.objectID()));
VertexData attrib { vertex.attrib() };
- attrib.graphicsItem = view.scene->addVertex(vertex);
- attrib.tableWidgetItem = dataWidgets.vertexTable->addVertex(vertex);
+ attrib.graphicsItem = view.graph->scene()->addVertex(vertex);
+ attrib.tableWidgetItem = view.vertexTable->addVertex(vertex);
auto guiVertex = data.graph.addVertex(vertex.objectID(), attrib);
- updateVertex(guiVertex);
+ updateVertexView(guiVertex);
return guiVertex;
}
@@ -420,22 +417,21 @@ namespace armarx::nav::locgrapheditor
auto target = data.graph.vertex(edge.targetObjectID());
EdgeData attrib { edge.attrib() };
- attrib.tableWidgetItem = dataWidgets.edgeTable->addEdge(edge);
- attrib.graphicsItem = view.scene->addEdge(edge);
+ attrib.tableWidgetItem = view.edgeTable->addEdge(edge);
+ attrib.graphicsItem = view.graph->scene()->addEdge(edge);
auto guiEdge = data.graph.addEdge(source, target, attrib);
- updateEdge(guiEdge);
+ updateEdgeView(guiEdge);
return guiEdge;
}
- void LocationGraphEditorWidgetController::updateVertex(GuiGraph::Vertex vertex)
+ void LocationGraphEditorWidgetController::updateVertexView(GuiGraph::Vertex vertex)
{
- view.scene->updateVertex(vertex);
- dataWidgets.vertexTable->updateVertex(vertex);
-
- setEditFields(vertex);
+ view.graph->scene()->updateVertex(vertex);
+ view.vertexTable->updateVertex(vertex);
+ if (/* DISABLES CODE */ (false)) // Disable this for the moment.
{
// Highlight all edges between highlighted vertices
std::set<semrel::ShapeID> highlightedVertices;
@@ -458,7 +454,7 @@ namespace armarx::nav::locgrapheditor
if (edge.attrib().highlighted != verticesHighlighted)
{
edge.attrib().highlighted = verticesHighlighted;
- updateEdge(edge);
+ updateEdgeView(edge);
}
}
}
@@ -480,10 +476,10 @@ namespace armarx::nav::locgrapheditor
}
- void LocationGraphEditorWidgetController::updateEdge(GuiGraph::Edge edge)
+ void LocationGraphEditorWidgetController::updateEdgeView(GuiGraph::Edge edge)
{
- view.scene->updateEdge(edge);
- dataWidgets.edgeTable->updateEdge(edge);
+ view.graph->scene()->updateEdge(edge);
+ view.edgeTable->updateEdge(edge);
#if 0
armarx::Vector3Ptr posStart = new armarx::Vector3(armarx::Vector3Ptr::dynamicCast(vertices.at(id.first).pose->position)->toEigen());
@@ -507,12 +503,12 @@ namespace armarx::nav::locgrapheditor
// Remove from graphics scene
for (auto edge : data.graph.edges())
{
- view.scene->removeEdge(edge.attrib().graphicsItem);
+ view.graph->scene()->removeEdge(edge.attrib().graphicsItem);
}
// Clear table widget
- dataWidgets.edgeTable->clearContents();
- dataWidgets.edgeTable->setRowCount(0);
+ view.edgeTable->clearContents();
+ view.edgeTable->setRowCount(0);
// Clear data structure
while (data.graph.edges().begin() != data.graph.edges().end())
@@ -527,13 +523,13 @@ namespace armarx::nav::locgrapheditor
void LocationGraphEditorWidgetController::clearGraph()
{
// Clear scene
- view.scene->clear();
+ view.graph->scene()->clear();
// Clear table widgets
- dataWidgets.edgeTable->clearContents();
- dataWidgets.edgeTable->setRowCount(0);
- dataWidgets.vertexTable->clearContents();
- dataWidgets.vertexTable->setRowCount(0);
+ view.edgeTable->clearContents();
+ view.edgeTable->setRowCount(0);
+ view.vertexTable->clearContents();
+ view.vertexTable->setRowCount(0);
// Clear data structure
data.graph.clear();
@@ -544,11 +540,10 @@ namespace armarx::nav::locgrapheditor
{
auto vertex = data.graph.vertex(vertexID);
vertex.attrib().highlighted ^= true;
- updateVertex(vertex);
+ updateVertexView(vertex);
}
-
void LocationGraphEditorWidgetController::resetHighlighting()
{
for (auto vertex : data.graph.vertices())
@@ -556,7 +551,7 @@ namespace armarx::nav::locgrapheditor
if (vertex.attrib().highlighted)
{
vertex.attrib().highlighted = false;
- updateVertex(vertex);
+ updateVertexView(vertex);
}
}
for (auto edge : data.graph.edges())
@@ -564,12 +559,32 @@ namespace armarx::nav::locgrapheditor
if (edge.attrib().highlighted)
{
edge.attrib().highlighted = false;
- updateEdge(edge);
+ updateEdgeView(edge);
}
}
}
+ void LocationGraphEditorWidgetController::updateVertexHighlighting()
+ {
+ std::map<QTableWidgetItem*, GuiGraph::Vertex> map = data.graph.getTableItemToVertexMap();
+
+ for (QTableWidgetItem* selected : view.vertexTable->selectedEdgeItems())
+ {
+ if (auto it = map.find(selected); it != map.end())
+ {
+ it->second.attrib().highlighted = true;
+ updateVertexView(it->second);
+ map.erase(it);
+ }
+ }
+ for (auto& [_, unselected] : map)
+ {
+ unselected.attrib().highlighted = false;
+ updateVertexView(unselected);
+ }
+ }
+
#if 0
@@ -612,7 +627,7 @@ namespace armarx::nav::locgrapheditor
{
auto vertexIt = std::find_if(vertices.cbegin(), vertices.cend(), [&](const std::pair<std::string, VertexData>& d)
{
- // return d.attrib().vertex->getName() == dataWidgets.vertexTable->item(row, 0)->text().toStdString();
+ // return d.attrib().vertex->getName() == view.vertexTable->item(row, 0)->text().toStdString();
return d.attrib().tableWidgetVerticesIndex == row;
});
auto vertexId = vertexIt->second.vertex->getId();
@@ -643,35 +658,9 @@ namespace armarx::nav::locgrapheditor
updateVertex(edge.attrib());
}
-
- void LocationGraphEditorWidgetController::redraw()
- {
- loadGraph();
- }
#endif
- void LocationGraphEditorWidgetController::setEditFields(GuiGraph::Vertex vertex)
- {
-#if 0
- widget.editVertexId->setText(QString::fromStdString(vertexData.vertex->getId()));
- widget.editSceneName->setText(QString::fromStdString(vertexData.vertex->getScene()));
- widget.editVertexName->setText(QString::fromStdString(vertexData.vertex->getName()));
- widget.editFrameName->setText(QString::fromStdString(vertexData.pose->frame));
- widget.editAgentName->setText(QString::fromStdString(vertexData.pose->agent));
-
- Eigen::Vector3f rpy;
- VirtualRobot::MathTools::eigen4f2rpy(vertexData.pose->toEigen(), rpy);
- widget.spinBoxX->setValue(vertexData.pose->position->x);
- widget.spinBoxY->setValue(vertexData.pose->position->y);
- widget.spinBoxZ->setValue(vertexData.pose->position->z);
-
- widget.spinBoxRoll->setValue(VirtualRobot::MathTools::rad2deg(rpy[0]));
- widget.spinBoxPitch->setValue(VirtualRobot::MathTools::rad2deg(rpy[1]));
- widget.spinBoxYaw->setValue(VirtualRobot::MathTools::rad2deg(rpy[2]));
-#endif
- }
-
#if 0
void LocationGraphEditorWidgetController::refreshGraph()
{
@@ -681,68 +670,19 @@ namespace armarx::nav::locgrapheditor
#endif
- void LocationGraphEditorWidgetController::transformView()
- {
- double d = widget.viewZoomFactor->value();
- widget.graphicsViewGraph->setTransform(QTransform::fromScale(d, d).rotate(view.angle));
- }
-
-
-#if 0
-
- void LocationGraphEditorWidgetController::viewRotatedClock()
+ void LocationGraphEditorWidgetController::selectVertex(QTableWidgetItem* vertexItem)
{
- viewAngle = std::fmod(viewAngle + VIEW_ROTATE_STEP_SIZE_CC, 360);
- transformView();
- }
-
-
- void LocationGraphEditorWidgetController::viewRotatedCounterClock()
- {
- viewAngle = std::fmod(viewAngle + 360 - VIEW_ROTATE_STEP_SIZE_CC, 360);
- transformView();
- }
-#endif
-
- void LocationGraphEditorWidgetController::adjustView()
- {
-#if 0
- float maxX = std::numeric_limits<float>::min();
- float minX = std::numeric_limits<float>::max();
- float maxY = std::numeric_limits<float>::min();
- float minY = std::numeric_limits<float>::max();
-
- // search bounding box
- for (const auto& vertex : vertices)
+ if (auto vertex = data.graph.getVertexFromTableItem(vertexItem))
{
- maxX = (maxX < vertex.attrib().pose->position->x) ? vertex.attrib().pose->position->x : maxX;
- minX = (minX > vertex.attrib().pose->position->x) ? vertex.attrib().pose->position->x : minX;
- maxY = (maxY < vertex.attrib().pose->position->y) ? vertex.attrib().pose->position->y : maxY;
- minY = (minY > vertex.attrib().pose->position->y) ? vertex.attrib().pose->position->y : minY;
+ selectVertex(vertex.value());
}
+ }
- auto deltaX = maxX - minX; // >=0
- auto deltaY = maxY - minY; // >=0
- // compare ratio of graph and view. if both horizontal (vertical) ->rotate to 0 or 180 (90,270)
- if (std::signbit(deltaX / deltaY - 1) == std::signbit(widget.graphicsViewGraph->width() / widget.graphicsViewGraph->height() - 1))
- {
- // same => rotate to 0 or 180
- viewAngle = (viewAngle < std::abs(180 - viewAngle)) ? 0 : 180;
- // set zoom => update
- widget.viewZoomFactor->setValue(std::min(widget.graphicsViewGraph->width() / deltaX,
- widget.graphicsViewGraph->height() / deltaY) * 0.9);
- }
- else
- {
- // different rotate to 90 or 270
- viewAngle = (std::abs(90 - viewAngle) < std::abs(270 - viewAngle)) ? 90 : 270;
- // set zoom => update
- widget.viewZoomFactor->setValue(std::min(widget.graphicsViewGraph->width() / deltaY,
- widget.graphicsViewGraph->height() / deltaX) * 0.9);
- }
-#endif
+ void LocationGraphEditorWidgetController::selectVertex(GuiGraph::Vertex vertex)
+ {
+ view.vertexData->setVertex(vertex);
}
@@ -916,7 +856,7 @@ namespace armarx::nav::locgrapheditor
void LocationGraphEditorWidgetController::tableWidgetVerticesCustomContextMenu(QPoint pos)
{
- int row = dataWidgets.vertexTable->rowAt(pos.y());
+ 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;
@@ -935,7 +875,7 @@ namespace armarx::nav::locgrapheditor
void LocationGraphEditorWidgetController::tableWidgetEdgesCustomContextMenu(QPoint pos)
{
- int row = dataWidgets.edgeTable->rowAt(pos.y());
+ 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;
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
index d06303359ed86124fdd2f14fac4b3a8496eca329..ded79af18d0f42d05163b250f2138803822a32f4 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
@@ -22,8 +22,8 @@
#pragma once
#include "FunctionalEventFilter.h"
-#include "GraphScene.h"
#include "GuiGraph.h"
+#include "widgets/graph_scene.h"
#include <armarx/navigation/graph/Graph.h>
@@ -142,18 +142,17 @@ namespace armarx::nav::locgrapheditor
// View & Tables
- void updateVertex(GuiGraph::Vertex vertex);
- void updateEdge(GuiGraph::Edge edge);
-
- /// Applies the current transforamtion to the view.
- void transformView();
- /// Adjusts the view's zoom and rotation to display most of the graph.
- void adjustView();
+ void updateVertexView(GuiGraph::Vertex vertex);
+ void updateEdgeView(GuiGraph::Edge edge);
// Selection
+ void selectVertex(QTableWidgetItem* vertexItem);
+ void selectVertex(GuiGraph::Vertex vertex);
+
void resetHighlighting();
+ void updateVertexHighlighting();
void toggleVertexSelected(const semrel::ShapeID& vertexID);
@@ -184,52 +183,30 @@ namespace armarx::nav::locgrapheditor
struct Data
{
armem::wm::Memory memory;
- nav::locgrapheditor::GuiGraph graph;
+ GuiGraph graph;
};
Data data;
- struct DataWidgets
+ struct View
{
VertexTableWidget* vertexTable = nullptr;
EdgeTableWidget* edgeTable = nullptr;
VertexDataWidget* vertexData = nullptr;
- };
- DataWidgets dataWidgets;
-
-
- struct GraphView
- {
- QGraphicsView* view = nullptr;
- /**
- * @brief The scene displayed in the widget.
- *
- * For y coordinates (-y) is used to mirror the scene on the y axis.
- * If (+y) would be used the graph displayed in the scene would not
- * match the graph drawn to the debug layer.
- */
- GraphScene* scene;
-
- /// The view's rotation angle.
- qreal angle = 0;
-
- void setScene(GraphScene* scene);
+ GraphSceneWidget* graph = nullptr;
};
- GraphView view;
-
+ View view;
// Non-refactored
-
#if 0
private slots:
void highlightEdge(const std::string& vertex1Id, const std::string& vertex2Id, bool highlighted = true);
void highlightVertex(const std::string& vertexId, bool highlighted = true);
- void redraw();
void refreshGraph();
void tableWidgetVerticesCustomContextMenu(QPoint pos);
@@ -281,8 +258,6 @@ namespace armarx::nav::locgrapheditor
void editGraphVertex();
#endif
- void setEditFields(GuiGraph::Vertex vertex);
-
private:
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene.h
new file mode 100644
index 0000000000000000000000000000000000000000..5edd01203df57213a8d5b0d9099d527237c6c12a
--- /dev/null
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene.h
@@ -0,0 +1,17 @@
+#pragma once
+
+
+namespace armarx::nav::locgrapheditor::graph_scene
+{
+ class Scene;
+ class Widget;
+}
+
+namespace armarx::nav::locgrapheditor
+{
+
+ using GraphScene = graph_scene::Scene;
+ using GraphSceneWidget = graph_scene::Widget;
+
+}
+
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/ControlWidget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/ControlWidget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5549b56f46afc984490bd9abbd16e2d98cbebe1d
--- /dev/null
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/ControlWidget.cpp
@@ -0,0 +1,107 @@
+#include "ControlWidget.h"
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+#include <QDoubleSpinBox>
+#include <QFrame>
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QPushButton>
+
+#include <cmath>
+
+
+namespace armarx::nav::locgrapheditor::graph_scene
+{
+
+ ControlWidget::ControlWidget()
+ {
+ _angle.turnClockwise = new QPushButton("\u21bb"); // https://unicode-table.com/de/21BB/
+ _angle.turnCounterClockwise = new QPushButton("\u21ba"); // https://unicode-table.com/de/21BA/
+ std::vector<QPushButton*> turnButtons;
+ for (QPushButton* button : turnButtons)
+ {
+ button->setMinimumWidth(button->minimumHeight());
+ button->setMaximumWidth(button->maximumHeight());
+ button->setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Fixed);
+ }
+
+ _angle.value = new QDoubleSpinBox();
+ _angle.value->setMinimum(-360);
+ _angle.value->setMaximum(360);
+ _angle.value->setSingleStep(15);
+ _angle.value->setValue(0);
+
+ _zoom.value = new QDoubleSpinBox();
+ _zoom.value->setDecimals(5);
+ _zoom.value->setMinimum(1e-6);
+ _zoom.value->setSingleStep(0.01);
+ _zoom.value->setValue(0.1);
+ _zoom.audoAdjust = new QPushButton("Auto");
+
+
+ QHBoxLayout* layout = new QHBoxLayout();
+ this->setLayout(layout);
+
+ layout->addWidget(new QLabel("Angle: "));
+ layout->addWidget(_angle.turnClockwise);
+ layout->addWidget(_angle.value);
+ layout->addWidget(_angle.turnCounterClockwise);
+
+ // Vertical separator line.
+ QFrame* line = new QFrame();
+ line->setFrameShape(QFrame::VLine);
+ line->setFrameShadow(QFrame::Sunken);
+ layout->addWidget(line);
+
+ layout->addWidget(new QLabel("Zoom: "));
+ layout->addWidget(_zoom.value);
+ layout->addWidget(_zoom.audoAdjust);
+
+
+ // Connect
+
+ connect(_angle.value, QOverload<double>::of(&QDoubleSpinBox::valueChanged),
+ this, &This::angleChanged);
+
+ connect(_angle.turnClockwise, &QPushButton::pressed, [this]()
+ {
+ qreal newangle = std::fmod(angle() + _angle.rotateStepSize, 360.0);
+ ARMARX_IMPORTANT << VAROUT(newangle);
+ setAngle(newangle);
+ });
+ connect(_angle.turnCounterClockwise, &QPushButton::pressed, [this]()
+ {
+ setAngle(std::fmod(angle() - _angle.rotateStepSize, 360.0));
+ });
+
+ connect(_zoom.value, QOverload<double>::of(&QDoubleSpinBox::valueChanged),
+ this, &This::angleChanged);
+ connect(_zoom.audoAdjust, &QPushButton::pressed,
+ this, &This::zoomAutoAdjustRequested);
+ }
+
+
+ qreal ControlWidget::angle()
+ {
+ return _angle.value->value();
+ }
+
+ void ControlWidget::setAngle(qreal angle)
+ {
+ _angle.value->setValue(angle);
+ }
+
+
+ qreal ControlWidget::zoom()
+ {
+ return _zoom.value->value();
+ }
+
+ void ControlWidget::setZoom(qreal zoom)
+ {
+ _zoom.value->setValue(zoom);
+ }
+
+}
+
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/ControlWidget.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/ControlWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..64d4270e8c85c8493c408235b327b39012e3e5ed
--- /dev/null
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/ControlWidget.h
@@ -0,0 +1,59 @@
+#pragma once
+
+#include <QWidget>
+
+class QDoubleSpinBox;
+class QHBoxLayout;
+class QPushButton;
+
+
+namespace armarx::nav::locgrapheditor::graph_scene
+{
+
+ class ControlWidget : public QWidget
+ {
+ Q_OBJECT
+ using This = ControlWidget;
+
+
+ public:
+
+ ControlWidget();
+
+ qreal angle();
+ void setAngle(qreal angle);
+ qreal zoom();
+ void setZoom(qreal zoom);
+
+
+ signals:
+
+ void angleChanged(qreal value);
+
+ void zoomChanged(qreal value);
+ void zoomAutoAdjustRequested();
+
+
+ public:
+
+ struct Angle
+ {
+ QPushButton* turnClockwise = nullptr;
+ QDoubleSpinBox* value = nullptr;
+ QPushButton* turnCounterClockwise = nullptr;
+
+ qreal rotateStepSize = 45;
+ };
+ Angle _angle;
+
+ struct Zoom
+ {
+ QDoubleSpinBox* value = nullptr;
+ QPushButton* audoAdjust = nullptr;
+ };
+ Zoom _zoom;
+
+ };
+
+}
+
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Scene.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Scene.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d66a24e55615b8b86d8597b09c56c4a61a1db486
--- /dev/null
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Scene.cpp
@@ -0,0 +1,164 @@
+#include "Scene.h"
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <SemanticObjectRelations/Shapes/Shape.h>
+
+#include <Eigen/Core>
+
+
+namespace armarx::nav::locgrapheditor::graph_scene
+{
+
+ QGraphicsEllipseItem*
+ Scene::addVertex(const graph::Graph::Vertex& vertex)
+ {
+ const Eigen::Matrix4d pose = vertex.attrib().getPose().cast<qreal>();
+
+ // To capture by copy
+ semrel::ShapeID vertexID = vertex.objectID();
+
+ GraphVisualizerGraphicsEllipseItem* item = new GraphVisualizerGraphicsEllipseItem
+ {
+ [this, vertexID]() { emit vertexSelected(vertexID); },
+ pose(0, 3), - pose(1, 3),
+ 1, 1
+ };
+ addItem(item);
+
+ // setToolTip on graphicsItem does not work
+ item->setZValue(std::numeric_limits<qreal>::max());
+ // dynamic_cast<QGraphicsItem*>(item)->setToolTip(QString::fromStdString("Vertex '" + name + "'"));
+ item->setToolTip(QString::fromStdString("Vertex '" + vertex.attrib().getName() + "'"));
+
+ return item;
+ }
+
+
+ QGraphicsLineItem*
+ Scene::addEdge(const graph::Graph::Edge& edge)
+ {
+ semrel::ShapeID sourceID = edge.sourceObjectID();
+ semrel::ShapeID targetID = edge.targetObjectID();
+
+ Eigen::Matrix4d sourcePose = edge.source().attrib().getPose().cast<qreal>();
+ Eigen::Matrix4d targetPose = edge.target().attrib().getPose().cast<qreal>();
+
+ GraphVisualizerGraphicsLineItem* item = new GraphVisualizerGraphicsLineItem
+ {
+ [this, sourceID, targetID]() { emit edgeSelected(sourceID, targetID); },
+ sourcePose(0, 3), - sourcePose(1, 3),
+ targetPose(0, 3), - targetPose(1, 3)
+ };
+ addItem(item);
+
+ // setToolTip on item does not work
+ std::stringstream toolTip;
+ toolTip << "Edge '" << edge.source().attrib().getName()
+ << "' -> '" << edge.target().attrib().getName();
+ item->setToolTip(QString::fromStdString(toolTip.str()));
+
+ return item;
+ }
+
+
+ void Scene::updateVertex(GuiGraph::Vertex& vertex)
+ {
+ QGraphicsEllipseItem* item = vertex.attrib().graphicsItem;
+ ARMARX_CHECK_NOT_NULL(item);
+
+ const Eigen::Matrix4d pose = vertex.attrib().getPose().cast<qreal>();
+
+ QColor color = vertex.attrib().highlighted ? colorSelected : colorDefault;
+ double lineWidth = vertex.attrib().highlighted ? lineWidthSelected : lineWidthDefault;
+
+ item->setPen(QPen {color});
+ item->setBrush(QBrush {color});
+ item->setRect( pose(0, 3) - lineWidth * verticesScaleFactor / 2,
+ - pose(1, 3) - lineWidth * verticesScaleFactor / 2,
+ lineWidth * verticesScaleFactor,
+ lineWidth * verticesScaleFactor);
+ }
+
+
+ void Scene::updateEdge(GuiGraph::Edge& edge)
+ {
+ QGraphicsLineItem* item = edge.attrib().graphicsItem;
+ ARMARX_CHECK_NOT_NULL(item);
+
+ Eigen::Matrix4d sourcePose = edge.source().attrib().getPose().cast<qreal>();
+ Eigen::Matrix4d targetPose = edge.target().attrib().getPose().cast<qreal>();
+
+ QColor color = edge.attrib().highlighted ? colorSelected : colorDefault;
+ double lineWidth = edge.attrib().highlighted ? lineWidthSelected : lineWidthDefault;
+
+ QPen pen {color};
+ pen.setWidthF(lineWidth * lineScaleFactor);
+
+ item->setPen(pen);
+ item->setLine(sourcePose(0, 3), - sourcePose(1, 3),
+ targetPose(0, 3), - targetPose(1, 3));
+ }
+
+
+ void Scene::removeVertex(QGraphicsEllipseItem*& item)
+ {
+ removeItem(item);
+ delete item;
+ item = nullptr;
+ }
+
+
+ void Scene::removeEdge(QGraphicsLineItem*& item)
+ {
+ removeItem(item);
+ delete item;
+ item = nullptr;
+ }
+
+
+ GraphVisualizerGraphicsEllipseItem::GraphVisualizerGraphicsEllipseItem(
+ std::function<void(void)> onDoubleClicked,
+ qreal x, qreal y,
+ qreal width, qreal height,
+ QGraphicsItem* parent) :
+ QGraphicsEllipseItem {x, y, width, height, parent},
+ onDoubleClicked{onDoubleClicked}
+ {
+ }
+
+
+ GraphVisualizerGraphicsEllipseItem::~GraphVisualizerGraphicsEllipseItem()
+ {
+ }
+
+
+ void GraphVisualizerGraphicsEllipseItem::mouseDoubleClickEvent(QGraphicsSceneMouseEvent*)
+ {
+ onDoubleClicked();
+ }
+
+
+
+ GraphVisualizerGraphicsLineItem::GraphVisualizerGraphicsLineItem(
+ std::function<void(void)> onDoubleClicked,
+ qreal x1, qreal y1, qreal x2, qreal y2,
+ QGraphicsItem* parent) :
+ QGraphicsLineItem {x1, y1, x2, y2, parent},
+ onDoubleClicked{onDoubleClicked}
+ {
+ }
+
+
+ GraphVisualizerGraphicsLineItem::~GraphVisualizerGraphicsLineItem()
+ {
+ }
+
+
+ void GraphVisualizerGraphicsLineItem::mouseDoubleClickEvent(QGraphicsSceneMouseEvent*)
+ {
+ onDoubleClicked();
+ }
+
+}
+
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Scene.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Scene.h
new file mode 100644
index 0000000000000000000000000000000000000000..f1b1ac37a186e289b5cea0cbcd23ced1b410f117
--- /dev/null
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Scene.h
@@ -0,0 +1,118 @@
+#pragma once
+
+#include <armarx/navigation/gui-plugins/LocationGraphEditor/GuiGraph.h>
+#include <armarx/navigation/graph/Graph.h>
+
+#include <QGraphicsScene>
+#include <QGraphicsEllipseItem>
+#include <QGraphicsLineItem>
+
+#include <functional>
+
+
+namespace semrel
+{
+ struct ShapeID;
+}
+namespace armarx::nav::locgrapheditor::graph_scene
+{
+ class Scene : public QGraphicsScene
+ {
+ Q_OBJECT
+
+ public:
+
+ using QGraphicsScene::QGraphicsScene;
+
+ QGraphicsEllipseItem* addVertex(const graph::Graph::Vertex& vertex);
+ QGraphicsLineItem* addEdge(const graph::Graph::Edge& Edge);
+
+ void updateVertex(GuiGraph::Vertex& vertex);
+ void updateEdge(GuiGraph::Edge& edge);
+
+ void removeVertex(QGraphicsEllipseItem*& item);
+ void removeEdge(QGraphicsLineItem*& item);
+
+
+ public slots:
+
+
+ signals:
+
+ void vertexSelected(const semrel::ShapeID& vertexID);
+ void edgeSelected(const semrel::ShapeID& sourceID, const semrel::ShapeID& targetID);
+
+
+ public:
+
+ double lineWidthDefault = 5;
+ double lineWidthSelected = 10;
+
+ double sceneScaleFactor = 2;
+ double verticesScaleFactor = 3.0 * sceneScaleFactor;
+ double lineScaleFactor = 1.0 * sceneScaleFactor;
+
+ QColor colorDefault = QColor::fromRgb(128, 128, 255);
+ QColor colorSelected = QColor::fromRgb(255, 128, 0);
+
+ };
+
+
+
+ /**
+ * @brief Required to override the double click event.
+ * This is required to toggle the select state.
+ */
+ class GraphVisualizerGraphicsEllipseItem : public QGraphicsEllipseItem
+ {
+ public:
+
+ GraphVisualizerGraphicsEllipseItem(
+ std::function<void(void)> onDoubleClicked,
+ qreal x, qreal y, qreal width, qreal height,
+ QGraphicsItem* parent = nullptr);
+
+ ~GraphVisualizerGraphicsEllipseItem() override;
+
+
+ protected:
+
+ void mouseDoubleClickEvent(QGraphicsSceneMouseEvent*) override;
+
+
+ std::function<void(void)> onDoubleClicked;
+
+ };
+
+
+
+ /**
+ * @brief Required to override the double click event.
+ * This is required to toggle the select state.
+ */
+ class GraphVisualizerGraphicsLineItem : public QGraphicsLineItem
+ {
+ public:
+
+ GraphVisualizerGraphicsLineItem(
+ std::function<void(void)> onDoubleClicked,
+ qreal x1, qreal y1,
+ qreal x2, qreal y2,
+ QGraphicsItem* parent = nullptr);
+
+ ~GraphVisualizerGraphicsLineItem() override;
+
+
+ protected:
+
+
+ void mouseDoubleClickEvent(QGraphicsSceneMouseEvent*) override;
+
+
+ std::function<void(void)> onDoubleClicked;
+
+ };
+
+
+}
+
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Widget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Widget.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e05f7e6be1fb604701496271d440503085161655
--- /dev/null
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Widget.cpp
@@ -0,0 +1,83 @@
+#include "Widget.h"
+#include "Scene.h"
+#include "ControlWidget.h"
+
+#include <QGraphicsView>
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QVBoxLayout>
+
+
+namespace armarx::nav::locgrapheditor::graph_scene
+{
+
+ Widget::Widget()
+ {
+ _control = new ControlWidget();
+
+ _scene = new Scene();
+
+ _view = new QGraphicsView();
+ _view->setScene(_scene);
+ _view->setRenderHint(QPainter::Antialiasing, true);
+
+ int margin = 0;
+ this->setContentsMargins(margin, margin, margin, margin);
+ this->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+
+ QHBoxLayout* header = new QHBoxLayout();
+ header->setSpacing(0);
+ header->addWidget(new QLabel("Graph"));
+ header->addStretch();
+ header->addWidget(_control);
+
+ QVBoxLayout* layout = new QVBoxLayout();
+ this->setLayout(layout);
+
+ layout->addLayout(header);
+ layout->addWidget(_view);
+
+
+ connect(_control, &ControlWidget::angleChanged,
+ this, &This::transform);
+ connect(_control, &ControlWidget::zoomChanged,
+ this, &This::transform);
+ connect(_control, &ControlWidget::zoomAutoAdjustRequested,
+ this, &This::autoAdjustZoom);
+
+
+ // Initial transform.
+ transform();
+ }
+
+
+ QGraphicsView* Widget::view()
+ {
+ return _view;
+ }
+
+
+ Scene* Widget::scene()
+ {
+ return _scene;
+ }
+
+
+ void Widget::transform()
+ {
+ double angle = _control->angle();
+ double zoom = _control->zoom();
+ _view->setTransform(QTransform::fromScale(zoom, zoom).rotate(angle));
+ }
+
+
+ void Widget::autoAdjustZoom()
+ {
+ int margin = 3;
+ QRectF rect = _scene->sceneRect() + QMargins(margin, margin, margin, margin);
+ _view->fitInView(rect, Qt::AspectRatioMode::KeepAspectRatio);
+ _control->setZoom(_view->transform().rotate(- _control->angle()).m11());
+ }
+
+}
+
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Widget.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Widget.h
new file mode 100644
index 0000000000000000000000000000000000000000..c8a4b649e10ac5b7e2bde4d5a680ca36c731a2b4
--- /dev/null
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Widget.h
@@ -0,0 +1,58 @@
+#pragma once
+
+#include <QWidget>
+
+class QGraphicsView;
+
+
+namespace armarx::nav::locgrapheditor::graph_scene
+{
+ class ControlWidget;
+ class Scene;
+
+
+ class Widget : public QWidget
+ {
+ Q_OBJECT
+ using This = Widget;
+
+
+ public:
+
+ Widget();
+
+ QGraphicsView* view();
+ Scene* scene();
+
+
+ public slots:
+
+ void transform();
+ void autoAdjustZoom();
+
+
+ private:
+
+ /// Some buttons and input fields.
+ ControlWidget* _control = nullptr;
+
+ /// The "canvas".
+ QGraphicsView* _view = nullptr;
+
+ /**
+ * @brief The scene displayed in the widget.
+ *
+ * For y coordinates (-y) is used to mirror the scene on the y axis.
+ * If (+y) would be used the graph displayed in the scene would not
+ * match the graph drawn to the debug layer.
+ */
+ Scene* _scene;
+
+
+ /// The view's rotation angle.
+ qreal _angle = 0;
+
+ };
+
+}
+