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Commit 6ff3d34d authored by Philipp Schmidt's avatar Philipp Schmidt
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Update ui, label now shows whether pose is reachable

parent fda66b95
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source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp
+ 23
− 0
View file @ 6ff3d34d
......@@ -48,6 +48,12 @@ armarx::RobotIKWidgetController::RobotIKWidgetController() : focusCameraOnRobot(
ui.setupUi(getWidget());
getWidget()->setEnabled(false);
//Alignment for ui
this->ui.verticalLayout->setAlignment(Qt::AlignTop);
//Label color
this->ui.reachableLabel->setStyleSheet("QLabel { color : red; }");
//Component names
robotStateComponentName = "";
......@@ -247,6 +253,17 @@ void armarx::RobotIKWidgetController::timerCB(void *data, SoSensor *sensor)
void armarx::RobotIKWidgetController::kinematicChainChanged(const QString &arg1)
{
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.pushButton->setEnabled(true);
this->ui.currentPose->setEnabled(true);
this->ui.currentPoseMatrix->setEnabled(true);
this->ui.desiredPose->setEnabled(true);
this->ui.desiredPoseMatrix->setEnabled(true);
Eigen::Matrix4f mat = robot->getRobotNodeSet(arg1.toStdString())->getTCP()->getGlobalPose();
mat(0, 3) /= 1000;
mat(1, 3) /= 1000;
......@@ -308,10 +325,16 @@ void armarx::RobotIKWidgetController::manipFinishCallback(void* data, SoDragger*
if(targetJointAngles.isReachable) {
//Green
controller->tcpDesiredColor->ambientColor.setValue(0, 1, 0);
controller->ui.reachableLabel->setText(QString::fromStdString("Pose reachable!"));
controller->ui.reachableLabel->setStyleSheet("QLabel { color : green; }");
controller->ui.pushButton->setEnabled(true);
}
else {
//Red
controller->tcpDesiredColor->ambientColor.setValue(1, 0, 0);
controller->ui.reachableLabel->setText(QString::fromStdString("Pose unreachable!"));
controller->ui.reachableLabel->setStyleSheet("QLabel { color : red; }");
controller->ui.pushButton->setEnabled(false);
}
}
......
source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.ui
+ 198
− 2
View file @ 6ff3d34d
......@@ -33,20 +33,216 @@
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="sizeConstraint">
<enum>QLayout::SetMinimumSize</enum>
</property>
<item>
<widget class="QLabel" name="choseKinematic">
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Choose kinematic chain to use:</string>
</property>
<property name="scaledContents">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="comboBox"/>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="moveTCP">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Move TCP to pose of manipulator in the 3D Viewer:</string>
</property>
<property name="scaledContents">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="reachableLabel">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<pointsize>15</pointsize>
</font>
</property>
<property name="text">
<string>No kinematic chain selected</string>
</property>
<property name="textFormat">
<enum>Qt::AutoText</enum>
</property>
<property name="scaledContents">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Move TCP</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="currentPose">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>PushButton</string>
<string>Current pose of TCP:</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="currentPoseMatrix">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>No kinematic chain selected</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="desiredPose">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Desired pose of TCP:</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="desiredPoseMatrix">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>No kinematic chain selected</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QCheckBox" name="checkBox">
<property name="enabled">
<bool>true</bool>
<bool>false</bool>
</property>
<property name="text">
<string>Focus camera on robot and TCP</string>
......
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