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Commit 9a9da50c authored by Mirko Wächter's avatar Mirko Wächter
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Merge branch 'master' of https://i61wiki.itec.uka.de/git/robot-api

parents 0b90961a 3a604e61
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etc/doxygen/images/GraphVisualizerGuiPlugin_ConfigDialog.png 0 → 100644
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etc/doxygen/images/GraphVisualizerGuiPlugin_ConfigDialog.png

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etc/doxygen/images/PlatformUnitGuiPlugin_widgetpng.png

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source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
+ 37
− 31
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......@@ -45,9 +45,9 @@
namespace armarx{
/**
* @class ArmarXPhysicsWorldPropertyDefinitions
* @brief
/*!
* \class ArmarXPhysicsWorldPropertyDefinitions
* \brief
*/
class DebugDrawerPropertyDefinitions:
public ComponentPropertyDefinitions
......@@ -78,8 +78,8 @@ public:
/**
* @see PropertyUser::createPropertyDefinitions()
/*!
* \see PropertyUser::createPropertyDefinitions()
*/
virtual PropertyDefinitionsPtr createPropertyDefinitions()
{
......@@ -87,15 +87,11 @@ public:
getConfigIdentifier()));
}
/*!
* \brief Enable or disable debug layer visu
* \param e
*/
void enableVisu(bool e);
/* Inherited from DebugDrawerInterface. */
virtual void setPoseVisu(const std::string& layerName, const std::string& poseName, const ::armarx::PoseBasePtr& globalPose, const ::Ice::Current& = ::Ice::Current());
virtual void setScaledPoseVisu(const std::string& layerName, const std::string& poseName, const ::armarx::PoseBasePtr& globalPose, const ::Ice::Float scale, const ::Ice::Current& = ::Ice::Current());
virtual void setPoseDebugLayerVisu(const std::string& poseName, const ::armarx::PoseBasePtr& globalPose, const ::Ice::Current& = ::Ice::Current());
virtual void setScaledPoseDebugLayerVisu(const std::string& poseName, const ::armarx::PoseBasePtr& globalPose, const ::Ice::Float scale, const ::Ice::Current& = ::Ice::Current());
virtual void removePoseVisu(const std::string& layerName, const std::string& poseName, const ::Ice::Current& = ::Ice::Current());
virtual void removePoseDebugLayerVisu(const std::string& poseName, const ::Ice::Current& = ::Ice::Current());
......@@ -119,18 +115,26 @@ public:
virtual void removeSphereVisu(const std::string &layerName, const std::string &sphereName, const ::Ice::Current& = ::Ice::Current());
virtual void removeSphereDebugLayerVisu(const std::string& sphereName, const ::Ice::Current& = ::Ice::Current());
virtual void setPointCloudVisu(const std::string &layerName, const std::string &pointCloudName, const DebugDrawerPointCloud &pointCloud, const ::Ice::Current& = ::Ice::Current());
virtual void setPointCloudDebugLayerVisu(const std::string &pointCloudName, const DebugDrawerPointCloud &pointCloud, const ::Ice::Current& = ::Ice::Current());
virtual void removePointCloudVisu(const std::string &layerName, const std::string &pointCloudName, const ::Ice::Current& = ::Ice::Current());
virtual void removePointCloudDebugLayerVisu(const std::string& pointCloudName, const ::Ice::Current& = ::Ice::Current());
virtual void clear(const std::string& layerName, const ::Ice::Current& = ::Ice::Current());
virtual void clearLayer(const std::string& layerName, const ::Ice::Current& = ::Ice::Current());
virtual void clearDebugLayer(const ::Ice::Current& = ::Ice::Current());
virtual bool hasLayer(const std::string& layerName, const ::Ice::Current& = ::Ice::Current());
virtual void removeLayer(const std::string& layerName, const ::Ice::Current& = ::Ice::Current());
virtual void enableLayerVisu(const std::string& layerName, bool visible, const ::Ice::Current& = ::Ice::Current());
virtual void enableDebugLayerVisu(bool visible, const ::Ice::Current& = ::Ice::Current());
virtual ::armarx::StringSequence layerNames(const ::Ice::Current& = ::Ice::Current());
virtual ::armarx::LayerInformationSequence layerInformation(const ::Ice::Current& = ::Ice::Current());
virtual void disableAllLayers(const ::Ice::Current& = ::Ice::Current());
virtual void enableAllLayers(const ::Ice::Current& = ::Ice::Current());
/*!
* \brief getScopedLock If using the coin visualization it must be ensured that all rendering calls are protected with this mutex
* \return The lock that is automatically destructed when leaving the current scope.
......@@ -152,32 +156,29 @@ protected:
void drawBox(const std::string& layerName, const std::string &name, Eigen::Matrix4f &globalPose, float width, float height, float depth, VirtualRobot::VisualizationFactory::Color &color);
void drawText(const std::string& layerName, const std::string &name, const std::string &text, const Eigen::Vector3f &position, const VirtualRobot::VisualizationFactory::Color &color, int size);
void drawSphere(const std::string& layerName, const std::string &name, const Eigen::Vector3f &position, const VirtualRobot::VisualizationFactory::Color &color, float radius);
void drawPointCloud(const std::string& layerName, const std::string &name, const DebugDrawerPointCloud &pointCloud);
void removeCoordSystem(const std::string& layerName, const std::string &name);
void removeLine(const std::string& layerName, const std::string &name);
void removeBox(const std::string& layerName, const std::string &name);
void removeText(const std::string& layerName, const std::string &name);
void removeSphere(const std::string& layerName, const std::string &name);
void removePointCloud(const std::string& layerName, const std::string &name);
void setLayerVisibility(const std::string& layerName, bool visible);
/*!
* \brief Contains data for a layer.
*/
struct Layer
{
Layer(DebugDrawerComponent& parentDrawer);
Layer(Layer & other) = delete;
Layer& operator=(const Layer&) = delete;
Layer(Layer && other);
Layer & operator= ( Layer && other)=delete;
~Layer();
void clear();
DebugDrawerComponent& parent;
SoSeparator* mainNode;
std::map<std::string, SoSeparator*> addedCoordVisualizations;
std::map<std::string, SoSeparator*> addedLineVisualizations;
std::map<std::string, SoSeparator*> addedBoxVisualizations;
std::map<std::string, SoSeparator*> addedTextVisualizations;
std::map<std::string, SoSeparator*> addedSphereVisualizations;
std::map<std::string, SoSeparator*> addedPointCloudVisualizations;
bool visible;
};
......@@ -187,14 +188,19 @@ protected:
* \param layerName The layer.
* \return The requested layer.
*/
std::shared_ptr<Layer> requestLayer(const std::string& layerName);
Layer &requestLayer(const std::string& layerName);
SoSeparator* coinVisu;
//SoSeparator* debugVisu;
bool enable;
/*!
* \brief Main node for all layers
*/
SoSeparator* layerMainNode;
std::map<const std::string, std::shared_ptr<Layer>> layers;
/*!
* \brief All existing layers.
*/
std::map<const std::string, Layer> layers;
boost::shared_ptr<boost::recursive_mutex> mutex;
};
......
source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerConfigDialog.ui
+ 25
− 16
View file @ 9a9da50c
......@@ -7,28 +7,24 @@
<x>0</x>
<y>0</y>
<width>651</width>
<height>80</height>
<height>105</height>
</rect>
</property>
<property name="windowTitle">
<string>Dialog</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Debug drawer</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="editDebugDrawerProxyName"/>
</item>
</layout>
<layout class="QFormLayout" name="formLayout">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="1" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Debug drawer</string>
</property>
</widget>
</item>
<item>
<item row="6" column="0">
<widget class="QDialogButtonBox" name="buttonBox">
<property name="orientation">
<enum>Qt::Horizontal</enum>
......@@ -38,6 +34,19 @@
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="editDebugDrawerProxyName"/>
</item>
<item row="4" column="1">
<widget class="QLineEdit" name="editDebugDrawerLayerName"/>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Layer name</string>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
......
source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerGuiPlugin.cpp
+ 78
− 70
View file @ 9a9da50c
......@@ -13,9 +13,6 @@
#include <QLineEdit>
#include <QHBoxLayout>
#include <QGraphicsLineItem>
#include <QGraphicsEllipseItem>
//std
#include <memory>
#include <sstream>
......@@ -38,6 +35,7 @@ static const ::Ice::Float LINE_WIDTH_DEFAULT =5;
* @brief The width of selected lines drawn onto the debug layer and scene.
*/
static const ::Ice::Float LINE_WIDTH_SELECTED=10;
/**
* @brief The default color of lines drawn onto the debug layer and scene.
*/
......@@ -72,21 +70,12 @@ static const float SCENE_LINE_SCALE_FACTOR=SCENE_SCALE_FACTOR;
*/
static const float VIEW_ROTATE_STEP_SIZE_CC=45;
/**
* @brief The type of node ids. (This type implies the node exists)
*/
typedef const std::string NodeId;
/**
* @brief The type of edge ids. (This type implies the edge exists)
*/
typedef const std::pair<const std::string,const std::string> EdgeId;
/**
* @brief Returns the name used on the debug layer.
* @param edge The edge.
* @return The name used on the debug layer.
*/
inline std::string iceName(const EdgeId& edge)
inline std::string iceName(const GraphVisualizerWidget::EdgeId& edge)
{
std::stringstream s;
s<<"edge_"<<edge.first<<"_"<<edge.second;
......@@ -98,7 +87,7 @@ inline std::string iceName(const EdgeId& edge)
* @param nodeName The node.
* @return The name used on the debug layer.
*/
inline std::string iceName(const NodeId& nodeName)
inline std::string iceName(const GraphVisualizerWidget::NodeId& nodeName)
{
return nodeName;
}
......@@ -114,7 +103,7 @@ GraphVisualizerGuiPlugin::GraphVisualizerGuiPlugin()
GraphVisualizerWidget::GraphVisualizerWidget() :
debugDrawerTopicName{"DebugDrawerUpdates"},
viewAngle{0},
layerName{"DebugDrawerUpdates_Graph"}
debugDrawerLayerName{"DebugDrawerUpdates_Graph"}
{
// init gui
ui.setupUi(getWidget());
......@@ -135,7 +124,7 @@ void GraphVisualizerWidget::onInitComponent()
void GraphVisualizerWidget::onConnectComponent()
{
debugDrawer = getTopic<DebugDrawerInterfacePrx>(debugDrawerTopicName);
// ///////////////////////////////////////////////////////////////////////////////////////////////////////todo remove test function
//todo remove test function
QObject::connect(ui.b,SIGNAL(clicked ()),this,SLOT(draw()));
//tables
......@@ -163,25 +152,27 @@ QPointer<QDialog> GraphVisualizerWidget::getConfigDialog(QWidget* parent)
dialog = new GraphVisualizerConfigDialog(parent);
}
dialog->ui->editDebugDrawerProxyName->setText(QString::fromStdString(debugDrawerTopicName));
dialog->ui->editDebugDrawerLayerName->setText(QString::fromStdString(debugDrawerLayerName));
return qobject_cast<GraphVisualizerConfigDialog*>(dialog);
}
void GraphVisualizerWidget::configured()
{
debugDrawerTopicName = dialog->ui->editDebugDrawerProxyName->text().toStdString();
layerName = debugDrawerTopicName+std::string{"_Graph"};
debugDrawerLayerName = dialog->ui->editDebugDrawerLayerName->text().toStdString();
}
void GraphVisualizerWidget::loadSettings(QSettings *settings)
{
debugDrawerTopicName = settings->value("debugDrawerTopicName", QString::fromStdString(debugDrawerTopicName)).toString().toStdString();
layerName = debugDrawerTopicName+std::string{"_Graph"};
debugDrawerLayerName = settings->value("debugDrawerLayerName", QString::fromStdString(debugDrawerLayerName)).toString().toStdString();
}
void GraphVisualizerWidget::saveSettings(QSettings *settings)
{
settings->setValue("debugDrawerTopicName", QString::fromStdString(debugDrawerTopicName));
settings->setValue("debugDrawerLayerName", QString::fromStdString(debugDrawerLayerName));
}
......@@ -200,7 +191,7 @@ void GraphVisualizerWidget::addEdge(const std::string& node1, const std::string&
if(hasEdge(node1,node2))
{
//nothing needs to be updated
ARMARX_WARNING<<"Edge: "<<node1<<", "<<node2<<" already existed.";
ARMARX_VERBOSE<<"Edge: "<<node1<<", "<<node2<<" already existed.";
return;
}
auto edgeId =toEdge(node1,node2);
......@@ -215,9 +206,16 @@ void GraphVisualizerWidget::addEdge(const std::string& node1, const std::string&
ui.tableWidgetEdges->setItem(row,1,new QTableWidgetItem{QString::fromStdString(node2)});
//debug layer will be done later
//scene
auto graphicsItem= scene->addLine(node1dat.pos->x,node1dat.pos->y,
node2dat.pos->x,node2dat.pos->y);
graphicsItem->setToolTip(QString{"Edge:"}+QString::fromStdString(node1)+QChar{2194}+QString::fromStdString(node2));
QGraphicsLineItem* graphicsItem= dynamic_cast<QGraphicsLineItem*>(new GraphVisualizerGraphicsLineItem{
*this, edgeId,
node1dat.pos->x,-node1dat.pos->y,
node2dat.pos->x,-node2dat.pos->y
});
//auto graphicsItem= scene->addLine(node1dat.pos->x,-node1dat.pos->y,
// node2dat.pos->x,-node2dat.pos->y);
scene->addItem(graphicsItem);
//setToolTip on graphicsItem does not work
dynamic_cast<QGraphicsItem*>(graphicsItem)->setToolTip(QString{"Edge:"}+QString::fromStdString(node1)+QString{" <-> "}+QString::fromStdString(node2));
//data
EdgeData data{graphicsItem,row,false,false};
edges[edgeId]=data;
......@@ -230,7 +228,7 @@ void GraphVisualizerWidget::addNode(const ::armarx::FramedVector3BasePtr& node,
if(hasNode(node->frame))
{
NodeData& oldNode=nodes.at(node->frame);
ARMARX_WARNING<<"Node: "<<node->frame<<"was overwritten! Old: "
ARMARX_WARNING<<"Node: "<<node->frame<<" was overwritten! Old: "
<<oldNode.pos->x<<", " <<oldNode.pos->y<<", " <<oldNode.pos->z<<"| New: "
<<node->x<<", " <<node->y<<", " <<node->z
<<" [file: "<<__FILE__<<" | line: "<<__LINE__<<" | function: "<<__PRETTY_FUNCTION__<<"]";
......@@ -239,12 +237,17 @@ void GraphVisualizerWidget::addNode(const ::armarx::FramedVector3BasePtr& node,
ui.tableWidgetNodes->setItem(oldNode.tableWidgetNodesIndex,1,new QTableWidgetItem{QString::number(node->x)});
ui.tableWidgetNodes->setItem(oldNode.tableWidgetNodesIndex,2,new QTableWidgetItem{QString::number(node->y)});
ui.tableWidgetNodes->setItem(oldNode.tableWidgetNodesIndex,3,new QTableWidgetItem{QString::number(node->z)});
//scene
oldNode.graphicsItem->setPos(node->x,node->y);
//data
::armarx::Vector3Ptr pos{new ::armarx::Vector3{Eigen::Vector3f{node->x,node->y,node->z}}};
oldNode.pos=pos;
//update connected edges
for(const auto& edge:edges)
{
if((edge.first.first==node->frame) || (edge.first.second==node->frame))
{
updateEdge(edge.first);
}
}
}
else
{
......@@ -257,13 +260,19 @@ void GraphVisualizerWidget::addNode(const ::armarx::FramedVector3BasePtr& node,
ui.tableWidgetNodes->setItem(row,2,new QTableWidgetItem{QString::number(node->y)});
ui.tableWidgetNodes->setItem(row,3,new QTableWidgetItem{QString::number(node->z)});
//scene
auto graphicsItem= scene->addEllipse(node->x,node->y,0,0);
QGraphicsEllipseItem* graphicsItem= dynamic_cast<QGraphicsEllipseItem*>(new GraphVisualizerGraphicsEllipseItem{
*this, node->frame,
node->x,-node->y,0,0
});
//auto graphicsItem= scene->addEllipse(node->x,-node->y,0,0);
scene->addItem(graphicsItem);
//setToolTip on graphicsItem does not work
graphicsItem->setZValue(std::numeric_limits<qreal>::max());
graphicsItem->setToolTip(QString{"Node:"}+QString::fromStdString(node->frame));
dynamic_cast<QGraphicsItem*>(graphicsItem)->setToolTip(QString{"Node:"}+QString::fromStdString(node->frame));
//data
::armarx::Vector3Ptr pos{new ::armarx::Vector3{Eigen::Vector3f{node->x,node->y,node->z}}};
NodeData data{pos,nullptr, graphicsItem, row,false,false};
NodeData data{pos, nullptr, graphicsItem, row,false,false};
nodes[node->frame]=data;
}
updateNode(node->frame);
......@@ -277,7 +286,7 @@ void GraphVisualizerWidget::clearEdges(const Ice::Current&)
scene->removeItem(edge.second.graphicsItem);
delete edge.second.graphicsItem;
//remove from debug layer
debugDrawer->removePoseDebugLayerVisu(iceName(edge.first));
debugDrawer->removePoseVisu(debugDrawerLayerName,iceName(edge.first));
}
//clear table widget
ui.tableWidgetEdges->clearContents();
......@@ -291,11 +300,11 @@ void GraphVisualizerWidget::clearGraph(const Ice::Current&)
//remove from debug layer
for(auto& edge:edges)
{
debugDrawer->removeLineDebugLayerVisu(iceName(edge.first));
debugDrawer->removeLineVisu(debugDrawerLayerName,iceName(edge.first));
}
for(auto& node:nodes)
{
debugDrawer->removePoseDebugLayerVisu(iceName(node.first));
debugDrawer->removePoseVisu(debugDrawerLayerName,iceName(node.first));
}
//clear scene
scene->clear();
......@@ -342,7 +351,7 @@ void GraphVisualizerWidget::updateEdge(const EdgeId& id)
auto lineWidth=(data.selected)?LINE_WIDTH_SELECTED:LINE_WIDTH_DEFAULT;
//debug layer
debugDrawer->setLineVisu(layerName,
debugDrawer->setLineVisu(debugDrawerLayerName,
iceName(id),
nodes.at(id.first).pos,
nodes.at(id.second).pos,
......@@ -375,14 +384,14 @@ void GraphVisualizerWidget::updateNode(const NodeId& id)
//debug layer
const Eigen::Vector3f eigPos{data.pos->x,data.pos->y,data.pos->z};
data.pose = ::armarx::PoseBasePtr{new ::armarx::Pose{Eigen::Matrix3f::Identity()*lineWidth,eigPos}};
debugDrawer->setPoseVisu(layerName,iceName(id),data.pose);
data.pose = ::armarx::PoseBasePtr{new ::armarx::Pose{Eigen::Matrix3f::Identity(),eigPos}};
debugDrawer->setScaledPoseVisu(debugDrawerLayerName,iceName(id),data.pose,lineWidth/2);
//scene
data.graphicsItem->setPen(QPen{qColor});
data.graphicsItem->setBrush(QBrush{qColor});
data.graphicsItem->setRect(data.pos->x-lineWidth*SCENE_NODES_SCALE_FACTOR/2,
data.pos->y-lineWidth*SCENE_NODES_SCALE_FACTOR/2,
-data.pos->y-lineWidth*SCENE_NODES_SCALE_FACTOR/2,
lineWidth*SCENE_NODES_SCALE_FACTOR,
lineWidth*SCENE_NODES_SCALE_FACTOR);
//table
......@@ -430,32 +439,27 @@ void GraphVisualizerWidget::highlightNode(const std::string& name, bool highligh
void GraphVisualizerWidget::nodeTableDoubleClicked(int row, int)
{
//search item and update it
for(auto& node:nodes)
{
if(node.second.tableWidgetNodesIndex==row)
{
//flip selected bool
node.second.selected^=true;
//update
updateNode(node.first);
}
}
nodeDoubleClicked(ui.tableWidgetNodes->item(row,0)->text().toStdString());
}
void GraphVisualizerWidget::edgeTableDoubleClicked(int row, int)
{
//search item and update it
for(auto& edge:edges)
{
if(edge.second.tableWidgetEdgesIndex==row)
{
//flip selected bool
edge.second.selected^=true;
//update
updateEdge(edge.first);
}
}
edgeDoubleClicked(toEdge(
ui.tableWidgetEdges->item(row,0)->text().toStdString(),
ui.tableWidgetEdges->item(row,1)->text().toStdString()
));
}
void GraphVisualizerWidget::nodeDoubleClicked(NodeId id)
{
nodes.at(id).selected^=true;
updateNode(id);
}
void GraphVisualizerWidget::edgeDoubleClicked(EdgeId id)
{
edges.at(id).selected^=true;
updateEdge(id);
}
void GraphVisualizerWidget::redraw(const Ice::Current&)
......@@ -466,7 +470,7 @@ void GraphVisualizerWidget::redraw(const Ice::Current&)
auto lineWidth=(edge.second.selected )?LINE_WIDTH_SELECTED:LINE_WIDTH_DEFAULT;
//debug layer
debugDrawer->setLineVisu(layerName,
debugDrawer->setLineVisu(debugDrawerLayerName,
iceName(edge.first),
nodes.at(edge.first.first).pos,
nodes.at(edge.first.second).pos,
......@@ -475,7 +479,7 @@ void GraphVisualizerWidget::redraw(const Ice::Current&)
}
for(const auto& node:nodes)
{
debugDrawer->setPoseVisu(layerName,iceName(node.first),node.second.pose);
debugDrawer->setPoseVisu(debugDrawerLayerName,iceName(node.first),node.second.pose);
}
}
......@@ -540,19 +544,20 @@ void GraphVisualizerWidget::draw()
{
clearGraph();
static ::armarx::FramedVector3Ptr tableS {new ::armarx::FramedVector3{Eigen::Vector3f{3400.f,7300.f,1000.f}, "table" }};
static ::armarx::FramedVector3Ptr fridge {new ::armarx::FramedVector3{Eigen::Vector3f{2150.f,7750.f,1000.f}, "fridge"}};
static ::armarx::FramedVector3Ptr sink {new ::armarx::FramedVector3{Eigen::Vector3f{2500.f,9700.f,1000.f}, "sink" }};
static ::armarx::FramedVector3Ptr hub2 {new ::armarx::FramedVector3{Eigen::Vector3f{3750.f,5150.f,1000.f}, "hub2" }};
static ::armarx::FramedVector3Ptr hub1 {new ::armarx::FramedVector3{Eigen::Vector3f{2900.f,8000.f,1000.f}, "hub1" }};
static ::armarx::FramedVector3Ptr hub3 {new ::armarx::FramedVector3{Eigen::Vector3f{3400.f,2200.f,1000.f}, "hub3" }};
static ::armarx::FramedVector3Ptr hub4 {new ::armarx::FramedVector3{Eigen::Vector3f{1900.f,3000.f,1000.f}, "hub4" }};
static ::armarx::FramedVector3Ptr counter {new ::armarx::FramedVector3{Eigen::Vector3f{1890.f,4050.f,1000.f}, "counter"}};
static ::armarx::FramedVector3Ptr tableS {new ::armarx::FramedVector3{Eigen::Vector3f{3400.f,7300.f,1000.f}, "table" }};
static ::armarx::FramedVector3Ptr fridge {new ::armarx::FramedVector3{Eigen::Vector3f{2150.f,7750.f,1000.f}, "fridge" }};
static ::armarx::FramedVector3Ptr sink {new ::armarx::FramedVector3{Eigen::Vector3f{2500.f,9700.f,1000.f}, "sink" }};
static ::armarx::FramedVector3Ptr hub2fst{new ::armarx::FramedVector3{Eigen::Vector3f{3750.f,5150.f,5000.f}, "hub2" }};
static ::armarx::FramedVector3Ptr hub2snd{new ::armarx::FramedVector3{Eigen::Vector3f{3750.f,5150.f,1000.f}, "hub2" }};
static ::armarx::FramedVector3Ptr hub1 {new ::armarx::FramedVector3{Eigen::Vector3f{2900.f,8000.f,1000.f}, "hub1" }};
static ::armarx::FramedVector3Ptr hub3 {new ::armarx::FramedVector3{Eigen::Vector3f{3400.f,2200.f,1000.f}, "hub3" }};
static ::armarx::FramedVector3Ptr hub4 {new ::armarx::FramedVector3{Eigen::Vector3f{1900.f,3000.f,1000.f}, "hub4" }};
static ::armarx::FramedVector3Ptr counter{new ::armarx::FramedVector3{Eigen::Vector3f{1890.f,4050.f,1000.f}, "counter"}};
addNode(tableS);
addNode(fridge);
addNode(sink);
addNode(hub2);
addNode(hub2fst);
addNode(hub1);
addNode(hub3);
addNode(hub4);
......@@ -571,6 +576,7 @@ void GraphVisualizerWidget::draw()
resetHilight();
highlightEdge("hub2","hub3");
highlightEdge("hub3","hub4");
highlightEdge("hub3","hub4",false);
......@@ -578,6 +584,8 @@ void GraphVisualizerWidget::draw()
highlightNode("counter");
highlightNode("counter",false);
addNode(hub2snd);
addEdge("hub2","hub3");
/*
3400,7300,1000,"table"
2150,7750,1000,"fridge"
......@@ -586,7 +594,7 @@ void GraphVisualizerWidget::draw()
2900,8000,1000,"hub1"
3400,2200,1000,"hub3"
1900,3000,1000,"hub4"
1890,4050,1000,"counter"
189graphicsItem0,4050,1000,"counter"
"hub1","hub2"
......
source/RobotAPI/gui_plugins/GraphVisualizerPlugin/GraphVisualizerGuiPlugin.h
+ 235
− 13
View file @ 9a9da50c
......@@ -40,6 +40,8 @@
#include <QtGui/QMainWindow>
#include <QDialog>
#include <QGraphicsScene>
#include <QGraphicsLineItem>
#include <QGraphicsEllipseItem>
//std
#include <string>
......@@ -55,8 +57,130 @@
namespace armarx
{
class GraphVisualizerGraphicsEllipseItem;
class GraphVisualizerGraphicsLineItem;
class GraphVisualizerConfigDialog;
/**
* @brief A plugin used to visualize a undirected graph and draw it to a debug layer.
* @ingroup ArmarXGuiPlugins
* @see GraphVisualizerWidget
*
* This plugin implements the ice interface GraphVisualizerInterface and therefore
* can be provided with a undirected graph.
*
* The graph is drawn to a debug layer and a scene located in the plugin.
* The plugin has tables containing information about the nodes and edges.
* Nodes on the debug layer are visualized as coordinate systems.
* Nodes on the scene are visualized as circles.
* Edges on debug layer and scene are visualized with lines.
*
* Nodes can be added with and
* @code{.cpp}
* addNode(const ::armarx::FramedVector3BasePtr& p)
* @endcode
* are identified with the string stored in p.
*
* Edges can be added with
* @code{.cpp}
* addEdge(const ::std::string& fst, const ::std::string& snd)
* @endcode
* and are identified with {fst,snd}.
* fst and snd have to be the names of already existing nodes.
* The order of fst and snd does not matter.
*
* The existence can be checked with following methodes:
* @code{.cpp}
* hasNode(const ::std::string& name)
* hasEdge(const ::std::string& fst, const ::std::string& snd)
* @endcode
*
* All edges (the whole graph) can be deleted with:
* @code{.cpp}
* clearEdges()
* clearGraph()
* @endcode
*
* If the graph has to be redrawn to the debug layer use
* @code{.cpp}
* redraw()
* @endcode
*
* Edges and nodes have four states: {selected, not selected}X{highlighted, not highlighted}
*
* Selection affects the width of lines and the size of nodes. Selected lines are thicker and nodes have an increased size.
* Selection can be toggled by double clicking the element in the table or the scene.
*
* Highlighting affects the color. If not highlighted elements are blue. If highlighted elements are green.
* (nodes drawn on a debug layer cant change color)
* The highlight can be set and cleared with the functions
* @code{.cpp}
* highlightNode(const ::std::string& name, bool highlighted)
* highlightEdge(const ::std::string& fst, const ::std::string& snd, bool highlighted)
* resetHilight()
* @endcode
*
*
* The graph used in the following examples can be created with following code:
* @code{.cpp}
* static ::armarx::FramedVector3Ptr table {new ::armarx::FramedVector3{Eigen::Vector3f{3400.f,7300.f,1000.f}, "table" }};
* static ::armarx::FramedVector3Ptr fridge {new ::armarx::FramedVector3{Eigen::Vector3f{2150.f,7750.f,1000.f}, "fridge" }};
* static ::armarx::FramedVector3Ptr sink {new ::armarx::FramedVector3{Eigen::Vector3f{2500.f,9700.f,1000.f}, "sink" }};
* static ::armarx::FramedVector3Ptr hub2 {new ::armarx::FramedVector3{Eigen::Vector3f{3750.f,5150.f,5000.f}, "hub2" }};
* static ::armarx::FramedVector3Ptr hub1 {new ::armarx::FramedVector3{Eigen::Vector3f{2900.f,8000.f,1000.f}, "hub1" }};
* static ::armarx::FramedVector3Ptr hub3 {new ::armarx::FramedVector3{Eigen::Vector3f{3400.f,2200.f,1000.f}, "hub3" }};
* static ::armarx::FramedVector3Ptr hub4 {new ::armarx::FramedVector3{Eigen::Vector3f{1900.f,3000.f,1000.f}, "hub4" }};
* static ::armarx::FramedVector3Ptr counter{new ::armarx::FramedVector3{Eigen::Vector3f{1890.f,4050.f,1000.f}, "counter"}};
*
* //prx is a proxy passing the commands to the plugin
* //add nodes
* prx->addNode(table);
* prx->addNode(fridge);
* prx->addNode(sink);
* prx->addNode(hub2);
* prx->addNode(hub1);
* prx->addNode(hub3);
* prx->addNode(hub4);
* prx->addNode(counter);
*
* //add edges
* prx->addEdge("hub1","hub2");
* prx->addEdge("hub1","table");
* prx->addEdge("hub1","sink");
* prx->addEdge("hub1","fridge");
* prx->addEdge("hub2","hub3");
* prx->addEdge("hub3","hub4");
* prx->addEdge("hub4","counter");
*
* //highlight a node and an edge
* prx->highlightEdge("hub2","hub3");
* prx->highlightNode("table");
* @endcode
*
* @image html GraphVisualizerGuiPlugin_ConfigDialog.png "The config dialog for the plugin." width=300px
* You can set the topic of the used debug drawer and the used debug layer.
*
* @image html GraphVisualizerGuiPlugin_Simulation.png "The graph drawn to the debug layer." width=300px
* @image html GraphVisualizerGuiPlugin_Widget.png "The plugin's ui." width=300px
*
* The ui has 5 sections
* -# Display options for the graph.
* - a. Rotate the graph clockwise
* - b. Rotate the graph counter clockwise
* - c. Zoom factor for the graph
* - d. Rotate and zoom the graph to display most of it. (The rotation is a multiple of pi/4)
* -# Is the scene containing the graph
* -# The table of nodes.
* -# The table of edges.
* -# Triggers a repaint for the debug layer.
*
* - A) Shows a highlighted and selected node
* - B) Shows a selected edge
* - C) Shows a highlighted edge
* - D) Shows a node. (no highlight or selection)
* - E) Shows the tool tip of an edge.
*/
class GraphVisualizerGuiPlugin :
public ArmarXGuiPlugin
{
......@@ -69,7 +193,9 @@ namespace armarx
};
/**
* @brief A Widget used to visualize a undirected graph and draw it to a debug layer.
* @brief A widget used to visualize a undirected graph and draw it to a debug layer.
* @ingroup ArmarXGuiPlugins
* @see GraphVisualizerGuiPlugin
*/
class GraphVisualizerWidget :
public ArmarXComponentWidgetController,
......@@ -78,12 +204,26 @@ namespace armarx
Q_OBJECT
public:
/**
* @brief The type of node ids. (This type implies the node exists)
*/
typedef const std::string NodeId;
/**
* @brief The type of edge ids. (This type implies the edge exists)
*/
typedef const std::pair<const std::string,const std::string> EdgeId;
GraphVisualizerWidget();
~GraphVisualizerWidget()
{
}
// inherited from Component
/**
* @see
*/
virtual void onInitComponent();
virtual void onConnectComponent();
virtual void onExitComponent();
......@@ -141,16 +281,28 @@ namespace armarx
void draw();
/**
* @brief Toggles the double clicked node's selection.
* @brief Toggles the double clicked node's selection state.
* @param row Identifies the node.
*/
void nodeTableDoubleClicked(int row, int);
/**
* @brief Toggles the double clicked edge's selection.
* @brief Toggles the double clicked edge's selection state.
* @param row Identifies the edge.
*/
void edgeTableDoubleClicked(int row, int);
/**
* @brief Toggles the double clicked node's selection state.
* @param id Identifies the node.
*/
void nodeDoubleClicked(NodeId id);
/**
* @brief Toggles the double clicked edge's selection state.
* @param id Identifies the edge.
*/
void edgeDoubleClicked(EdgeId id);
/**
* @brief Rotates the view clockwise.
*
......@@ -176,15 +328,6 @@ namespace armarx
void adjustView();
private:
/**
* @brief The type of node ids. (This type implies the node exists)
*/
typedef const std::string NodeId;
/**
* @brief The type of edge ids. (This type implies the edge exists)
*/
typedef const std::pair<const std::string,const std::string> EdgeId;
/**
* @brief The NodeData struct holds data required for the node.
* The name is stored in the key used in the map nodes.
......@@ -287,6 +430,10 @@ namespace armarx
/**
* @brief The scene displayed in the widget.
*
* For y coordinates -pos->y is used to mirror the scene on the y axis.
* If pos->y would be used the graph displayed in the scene would not
* match the graph drawn to the debug layer.
*/
QPointer<QGraphicsScene> scene;
......@@ -308,12 +455,87 @@ namespace armarx
/**
* @brief The layer to draw on.
*/
std::string layerName;
std::string debugDrawerLayerName;
friend class GraphVisualizerGraphicsEllipseItem;
friend class GraphVisualizerGraphicsLineItem;
};
/**
* @brief Boost shared pointer to a GraphVisualizerWidget.
*/
typedef boost::shared_ptr<GraphVisualizerWidget> GraphVisualizerGuiPluginPtr;
/**
* @brief Required to override the double click event. This is required to toggle the select state.
*/
class GraphVisualizerGraphicsEllipseItem: public QGraphicsEllipseItem
{
public:
typedef GraphVisualizerWidget::NodeId NodeId;
GraphVisualizerGraphicsEllipseItem(GraphVisualizerWidget& visuWidget,NodeId name, qreal x, qreal y, qreal width, qreal height, QGraphicsItem * parent = nullptr):
QGraphicsEllipseItem{x,y,width,height,parent},
id{name},
parentVisuWidget(visuWidget)
{
}
virtual ~GraphVisualizerGraphicsEllipseItem()
{
}
protected:
virtual void mouseDoubleClickEvent(QGraphicsSceneMouseEvent*)
{
parentVisuWidget.nodeDoubleClicked(id);
}
private:
/**
* @brief Required to identify the element.
*/
const NodeId id;
/**
* @brief Required to call nodeDoubleClicked on it. (This class is no QObject so it does not support signals)
*/
GraphVisualizerWidget& parentVisuWidget;
};
/**
* @brief Required to override the double click event. This is required to toggle the select state.
*/
class GraphVisualizerGraphicsLineItem: public QGraphicsLineItem
{
public:
typedef GraphVisualizerWidget::EdgeId EdgeId;
GraphVisualizerGraphicsLineItem(GraphVisualizerWidget& visuWidget,EdgeId name, qreal x1, qreal y1, qreal x2, qreal y2, QGraphicsItem * parent = 0 ):
QGraphicsLineItem{x1,y1,x2,y2,parent},
id{name},
parentVisuWidget(visuWidget)
{
}
virtual ~GraphVisualizerGraphicsLineItem()
{
}
signals:
protected:
virtual void mouseDoubleClickEvent(QGraphicsSceneMouseEvent*)
{
parentVisuWidget.edgeDoubleClicked(id);
}
private:
/**
* @brief Required to identify the element.
*/
const EdgeId id;
/**
* @brief Required to call edgeDoubleClicked on it. (This class is no QObject so it does not support signals)
*/
GraphVisualizerWidget& parentVisuWidget;
};
}
#endif
source/RobotAPI/gui_plugins/PlatformUnitPlugin/JoystickControlWidget.h
+ 32
− 0
View file @ 9a9da50c
......@@ -79,6 +79,38 @@ namespace armarx
/**
* @brief Provides a simple joystick control.
*
* The widget emits signals when the control is moved.
*
* The signal
* @code{.cpp}
* positionChanged(QPointF)
* @endcode
* passes the nibble's current position.
* The position is in the unit circle.
* The x-axis is horizontal and increases to the right.
* The y-axis is vertical and increases upwards.
*
* The signal
* @code{.cpp}
* rotationChanged(double)
* @endcode
* passes the position vectors rotation in polar coordinates (-pi,pi].
* The up position is 0.
* The down position is pi.
* The Quadrants 1 and 4 have positive value.
*
* If the constructor is called with useQuadrant3and4==true the control is the whole unit circle.
* If the constructor is called with useQuadrant3and4==false the control is the unit circle's upper semicircle. (y>=0)
*
* Possible positions can be influenced with
* \code{.cpp}
* setSteps(int steps);
* \endcode
* - steps>0 : only position vectors with a length from {n/steps | n in {0,1,...,steps} are valid. The nibble snaps to a valid position.
* - steps<=0: all positions in the unit circle are valid.
*
* @image html JoystickControlWidget_widget.png "Left: A widget with 2 steps using the whole unit circle. Right: A widget using the unit circle's upper semi circle." width=300px
*/
class JoystickControlWidget : public QWidget
{
......
source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
+ 4
− 2
View file @ 9a9da50c
......@@ -165,9 +165,11 @@ void PlatformUnitWidget::controlTimerTick()
::Ice::Float posYInc = 0;
::Ice::Float rotationDelta=platformRotation-platformRotationAtMoveStart;
::Ice::Float rotationDelta=0;
if(std::abs(len)>0.01)
{
//we are moving and need to adjust the rotation
rotationDelta=platformRotation-platformRotationAtMoveStart;
//did the platform just start to move?
if(!platformMoves)
{
......@@ -189,7 +191,7 @@ void PlatformUnitWidget::controlTimerTick()
platformMoves=false;
}
//only update positions if required
if(rotInc!=0 || posXInc !=0 || posYInc!=0)
if(rotInc!=0 || posXInc !=0 || posYInc!=0|| rotInc!=0)
{
platformUnitProxy->moveRelative(posXInc,posYInc,rotInc-rotationDelta, posAcc, rotAcc);
}
......
source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
+ 5
− 0
View file @ 9a9da50c
......@@ -69,6 +69,11 @@ namespace armarx
\ingroup ArmarXGuiPlugins
\see PlatformUnitGuiPlugin
\image html PlatformUnitGuiPlugin_widgetpng.png "The plugin's ui." width=300px
-# The current position and rotation, fields to enter a new target and a button to set the platform in motion.
-# A joystick like control widget to move the platform. It has two speed level. The platform does not rotate to move in a direction. Up moves the platform forward.
-# A joystick like control widget to rotate the platform.
*/
class PlatformUnitWidget :
public ArmarXComponentWidgetController,
......
source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
+ 29
− 1
View file @ 9a9da50c
......@@ -56,6 +56,14 @@ module armarx
sequence<LayerInformation> LayerInformationSequence;
struct DebugDrawerPointCloudElement
{
float x;
float y;
float z;
};
sequence<DebugDrawerPointCloudElement> DebugDrawerPointCloud;
/*!
* \brief A layered drawing interface.
* All drawing operations are identified with a layer name in order to distinguish different drawing entitties.
......@@ -71,10 +79,12 @@ module armarx
* \param globalPose The pose in global coordinate syetem.
*/
void setPoseVisu(string layerName, string poseName, PoseBase globalPose);
void setScaledPoseVisu(string layerName, string poseName, PoseBase globalPose, float scale);
void setLineVisu(string layerName, string lineName, Vector3Base globalPosition1, Vector3Base globalPosition2, float lineWidth, DrawColor color);
void setBoxVisu(string layerName, string boxName, PoseBase globalPose, Vector3Base dimensions, DrawColor color);
void setTextVisu(string layerName, string textName, string text, Vector3Base globalPosition, DrawColor color, int size);
void setSphereVisu(string layerName, string sphereName, Vector3Base globalPosition, DrawColor color, float radius);
void setPointCloudVisu(string layerName, string pointCloudName, DebugDrawerPointCloud pointCloud);
/*!
* \brief setPoseVisu draws on the "debug" layer
......@@ -82,10 +92,12 @@ module armarx
* \param globalPose
*/
void setPoseDebugLayerVisu(string poseName, PoseBase globalPose);
void setScaledPoseDebugLayerVisu(string poseName, PoseBase globalPose, float scale);
void setLineDebugLayerVisu(string lineName, Vector3Base globalPosition1, Vector3Base globalPosition2, float lineWidth, DrawColor color);
void setBoxDebugLayerVisu(string boxName, PoseBase globalPose, Vector3Base dimensions, DrawColor color);
void setTextDebugLayerVisu(string textName, string text, Vector3Base globalPosition, DrawColor color, int size);
void setSphereDebugLayerVisu(string sphereName, Vector3Base globalPosition, DrawColor color, float radius);
void setPointCloudDebugLayerVisu(string pointCloudName, DebugDrawerPointCloud pointCloud);
/*!
* \brief Remove visualization of coordinate system.
......@@ -97,6 +109,7 @@ module armarx
void removeBoxVisu(string layerName, string boxName);
void removeTextVisu(string layerName, string textName);
void removeSphereVisu(string layerName, string sphereName);
void removePointCloudVisu(string layerName, string pointCloudName);
/*!
* \brief Removes pose from the "debug" layer.
......@@ -106,12 +119,13 @@ module armarx
void removeBoxDebugLayerVisu(string boxName);
void removeTextDebugLayerVisu(string textName);
void removeSphereDebugLayerVisu(string sphereName);
void removePointCloudDebugLayerVisu(string pointCloudName);
/*!
* \brief clear removes all visualizations for the given layer
* \param layerName The name identifies the layer.
*/
void clear(string layerName);
void clearLayer(string layerName);
/*!
* \brief clearDebugLayer calls <code>clear("debug");</code>
*/
......@@ -124,6 +138,8 @@ module armarx
*/
void enableLayerVisu(string layerName, bool visible);
void enableDebugLayerVisu(bool visible);
/*!
* \brief Returns the names of all layers.
* \return The names of all layers.
......@@ -149,6 +165,18 @@ module armarx
*/
void removeLayer(string layerName);
/*!
* \brief Disables the visibility of all layers. Only enableAllLayers() can reverse this.
* \see enableAllLayers
*/
void disableAllLayers();
/*!
* \brief If layers were disabled they are visualized again.
* If a layer's visibility was changed the changes are applied.
*/
void enableAllLayers();
};
......
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