From c18706c873fc7af3a41070c17500832466762b9c Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 24 Aug 2021 08:12:19 +0200
Subject: [PATCH] Implement adding edges
---
.../LocationGraphEditorWidgetController.cpp | 69 +++++++++++++------
.../LocationGraphEditorWidgetController.h | 2 +
.../widgets/EdgeTableWidget.cpp | 9 ++-
.../widgets/EdgeTableWidget.h | 11 ++-
.../widgets/graph_scene/Scene.cpp | 27 +++-----
.../widgets/graph_scene/Scene.h | 23 ++++++-
6 files changed, 97 insertions(+), 44 deletions(-)
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
index 649b6631..50e45488 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.cpp
@@ -341,21 +341,59 @@ namespace armarx::nav::locgrapheditor
GuiGraph::Edge
LocationGraphEditorWidgetController::addEdge(graph::Graph::ConstEdge edge)
{
- ARMARX_CHECK(not model.graph.hasEdge(edge.sourceObjectID(), edge.targetObjectID()))
- << "Edge must not exist before being added: '"
- << edge.source().attrib().getName() << "' -> '"
- << edge.target().attrib().getName() << "'";
-
auto source = model.graph.vertex(edge.sourceObjectID());
auto target = model.graph.vertex(edge.targetObjectID());
- EdgeData attrib { edge.attrib() };
- attrib.tableWidgetItem = view.edgeTable->addEdge(edge);
- attrib.graphicsItem = view.graph->scene()->addEdge(edge);
- return model.graph.addEdge(source, target, attrib);
+ return addEdge(source, target, { edge.attrib() });
+ }
+
+
+ GuiGraph::Edge
+ LocationGraphEditorWidgetController::addEdge(
+ GuiGraph::ConstVertex source,
+ GuiGraph::ConstVertex target,
+ const EdgeData& defaultAttribs)
+ {
+ ARMARX_CHECK(not model.graph.hasEdge(source.objectID(), target.objectID()))
+ << "Edge must not exist before being added: '"
+ << source.attrib().getName() << "' -> '"
+ << target.attrib().getName() << "'";
+
+ GuiGraph::Edge edge = model.graph.addEdge(source, target, defaultAttribs);
+ edge.attrib().tableWidgetItem = view.edgeTable->addEdge(edge);
+ edge.attrib().graphicsItem = view.graph->scene()->addEdge(edge);
+ return edge;
}
+ void LocationGraphEditorWidgetController::addEdges(
+ QList<QPair<QTableWidgetItem*, QTableWidgetItem*>> vertexItems)
+ {
+ if (/* DISABLES CODE */ (false))
+ {
+ std::stringstream ss;
+ ss << "Adding edges ...";
+ for (const auto& [source, target] : vertexItems)
+ {
+ ss << "\n- " << source->text() << " to " << target->text();
+ }
+ ARMARX_IMPORTANT << ss.str();
+ }
+
+ const auto itemToVertexMap = model.graph.getTableItemToVertexMap();
+ for (const auto& [sourceItem, targetItem] : vertexItems)
+ {
+ GuiGraph::Vertex source = itemToVertexMap.at(sourceItem);
+ GuiGraph::Vertex target = itemToVertexMap.at(targetItem);
+ if (not model.graph.hasEdge(source, target))
+ {
+ addEdge(source, target, {});
+ }
+ }
+
+ emit graphChanged();
+ }
+
void LocationGraphEditorWidgetController::updateGraphView()
{
@@ -466,19 +504,6 @@ 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())
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
index 0fb66749..3a7d9dd3 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/LocationGraphEditorWidgetController.h
@@ -142,6 +142,8 @@ namespace armarx::nav::locgrapheditor
void setGraph(graph::Graph& nav);
GuiGraph::Vertex addVertex(graph::Graph::ConstVertex vertex);
GuiGraph::Edge addEdge(graph::Graph::ConstEdge edge);
+ GuiGraph::Edge addEdge(GuiGraph::ConstVertex source, GuiGraph::ConstVertex target,
+ const EdgeData& defaultAttribs);
void clearEdges();
void clearGraph();
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
index 45d852df..9e7a16ff 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.cpp
@@ -51,12 +51,15 @@ namespace armarx::nav::locgrapheditor
QTableWidgetItem*
- EdgeTableWidget::addEdge(graph::Graph::ConstEdge edge)
+ EdgeTableWidget::addEdge(
+ const graph::VertexAttribs& sourceAttrib,
+ const graph::VertexAttribs& targetAttrib)
{
int row = rowCount();
setRowCount(row + 1);
- setItem(row, 0, new QTableWidgetItem {QString::fromStdString(edge.source().attrib().getName())});
- setItem(row, 1, new QTableWidgetItem {QString::fromStdString(edge.target().attrib().getName())});
+
+ setItem(row, 0, new QTableWidgetItem {QString::fromStdString(sourceAttrib.getName())});
+ setItem(row, 1, new QTableWidgetItem {QString::fromStdString(targetAttrib.getName())});
return item(row, 0);
}
diff --git a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.h b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.h
index bf6a496f..296e6a6f 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/EdgeTableWidget.h
@@ -42,7 +42,16 @@ namespace armarx::nav::locgrapheditor
EdgeTableWidget();
- QTableWidgetItem* addEdge(graph::Graph::ConstEdge edge);
+ template <class EdgeT>
+ QTableWidgetItem* addEdge(const EdgeT& edge)
+ {
+ return addEdge(edge.source().attrib(), edge.target().attrib());
+ }
+
+ QTableWidgetItem*
+ addEdge(const graph::VertexAttribs& sourceAttrib,
+ const graph::VertexAttribs& targetAttrib);
+
void updateEdge(GuiGraph::Edge edge);
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
index 32c33382..cfa598c2 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Scene.cpp
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Scene.cpp
@@ -11,38 +11,34 @@ namespace armarx::nav::locgrapheditor::graph_scene
{
QGraphicsEllipseItem*
- Scene::addVertex(graph::Graph::ConstVertex vertex)
+ Scene::addVertex(semrel::ShapeID vertexID, const graph::VertexAttribs& attrib)
{
- const Eigen::Matrix4d pose = vertex.attrib().getPose().cast<qreal>();
-
- // To capture by copy
- semrel::ShapeID vertexID = vertex.objectID();
+ const Eigen::Matrix4d pose = attrib.getPose().cast<qreal>();
GraphVisualizerGraphicsEllipseItem* item = new GraphVisualizerGraphicsEllipseItem
{
[this, vertexID]() { emit vertexSelected(vertexID); },
- pose(0, 3), - pose(1, 3),
- 1, 1
+ pose(0, 3),
+ - pose(1, 3),
+ 2, 2
};
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() + "'"));
+ item->setToolTip(QString::fromStdString("Vertex '" + attrib.getName() + "'"));
return item;
}
QGraphicsLineItem*
- Scene::addEdge(graph::Graph::ConstEdge edge)
+ Scene::addEdge(semrel::ShapeID sourceID, const graph::VertexAttribs& sourceAttrib,
+ semrel::ShapeID targetID, const graph::VertexAttribs& targetAttrib)
{
- 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>();
+ Eigen::Matrix4d sourcePose = sourceAttrib.getPose().cast<qreal>();
+ Eigen::Matrix4d targetPose = targetAttrib.getPose().cast<qreal>();
GraphVisualizerGraphicsLineItem* item = new GraphVisualizerGraphicsLineItem
{
@@ -54,8 +50,7 @@ namespace armarx::nav::locgrapheditor::graph_scene
// setToolTip on item does not work
std::stringstream toolTip;
- toolTip << "Edge '" << edge.source().attrib().getName()
- << "' -> '" << edge.target().attrib().getName();
+ toolTip << "Edge '" << sourceAttrib.getName() << "' -> '" << targetAttrib.getName();
item->setToolTip(QString::fromStdString(toolTip.str()));
return item;
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
index 95965d34..6afc6a7f 100644
--- a/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Scene.h
+++ b/source/armarx/navigation/gui-plugins/LocationGraphEditor/widgets/graph_scene/Scene.h
@@ -24,8 +24,27 @@ namespace armarx::nav::locgrapheditor::graph_scene
using QGraphicsScene::QGraphicsScene;
- QGraphicsEllipseItem* addVertex(graph::Graph::ConstVertex vertex);
- QGraphicsLineItem* addEdge(graph::Graph::ConstEdge Edge);
+ template <class VertexT>
+ QGraphicsEllipseItem*
+ addVertex(const VertexT& vertex)
+ {
+ return addVertex(vertex.objectID(), vertex.attrib());
+ }
+ QGraphicsEllipseItem*
+ addVertex(semrel::ShapeID vertexID, const graph::VertexAttribs& attribs);
+
+
+ template <class EdgeT>
+ QGraphicsLineItem*
+ addEdge(const EdgeT& edge)
+ {
+ return addEdge(edge.sourceObjectID(), edge.source().attrib(),
+ edge.targetObjectID(), edge.target().attrib());
+ }
+ QGraphicsLineItem*
+ addEdge(semrel::ShapeID sourceID, const graph::VertexAttribs& sourceAttrib,
+ semrel::ShapeID targetID, const graph::VertexAttribs& targetAttrib);
+
void updateVertex(GuiGraph::Vertex& vertex);
void updateEdge(GuiGraph::Edge& edge);
--
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