kinematic unit gui: added units and more senseful toqrue values

source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp

@@ -433,6 +433,8 @@ void KinematicUnitWidgetController::setControlModePosition()
 
     if (currentNode)
     {
+        ui.labelUnit->setText("deg");
+
         jointModes[currentNode->getName()] = ePositionControl;
 
         if (kinematicUnitInterfacePrx)
@@ -470,7 +472,7 @@ void KinematicUnitWidgetController::setControlModeVelocity()
     if (currentNode)
     {
         jointModes[currentNode->getName()] = eVelocityControl;
-
+        ui.labelUnit->setText("deg/s");
         ARMARX_INFO << "setting velocity control for current Node Name: " << currentNode->getName() << flush;
         ui.horizontalSliderKinematicUnitPos->setMaximum(90);
         ui.horizontalSliderKinematicUnitPos->setMinimum(-90);
@@ -500,8 +502,9 @@ void KinematicUnitWidgetController::setControlModeTorque()
     if (currentNode)
     {
         jointModes[currentNode->getName()] = eTorqueControl;
-        ui.horizontalSliderKinematicUnitPos->setMaximum(20.0); // TODO: set useful values!
-        ui.horizontalSliderKinematicUnitPos->setMinimum(-20.0);
+        ui.labelUnit->setText("Ncm");
+        ui.horizontalSliderKinematicUnitPos->setMaximum(200.0); // TODO: set useful values!
+        ui.horizontalSliderKinematicUnitPos->setMinimum(-200.0);
         ARMARX_INFO << "setting torque control for current Node Name: " << currentNode->getName() << flush;
 
         if (kinematicUnitInterfacePrx)
@@ -790,7 +793,8 @@ void KinematicUnitWidgetController::sliderValueChanged(int pos)
     else if (currentControlMode == eTorqueControl)
     {
         NameValueMap jointTorques;
-        jointTorques[currentNode->getName()] = value / 10.0f;
+        float torqueTargetValue = value / 100.0f;
+        jointTorques[currentNode->getName()] = torqueTargetValue;
 
         if (kinematicUnitInterfacePrx)
         {

source/RobotAPI/gui-plugins/KinematicUnitPlugin/kinematicunitguiplugin.ui

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>900</width>
+    <width>1045</width>
     <height>547</height>
    </rect>
   </property>
@@ -46,21 +46,7 @@
      </item>
      <item>
       <layout class="QGridLayout" name="gridLayout">
-       <item row="2" column="0">
-        <widget class="QLabel" name="label">
-         <property name="text">
-          <string>Select Joint</string>
-         </property>
-        </widget>
-       </item>
-       <item row="3" column="0">
-        <widget class="QLabel" name="label_2">
-         <property name="text">
-          <string>Control Mode</string>
-         </property>
-        </widget>
-       </item>
-       <item row="2" column="1" colspan="2">
+       <item row="2" column="2" colspan="2">
         <widget class="QComboBox" name="nodeListComboBox">
          <property name="enabled">
           <bool>true</bool>
@@ -73,7 +59,7 @@
          </property>
         </widget>
        </item>
-       <item row="3" column="1" colspan="2">
+       <item row="3" column="2" colspan="2">
         <layout class="QHBoxLayout" name="horizontalLayout">
          <item>
           <widget class="QRadioButton" name="radioButtonPositionControl">
@@ -171,10 +157,10 @@
          </item>
         </layout>
        </item>
-       <item row="4" column="1">
+       <item row="4" column="2">
         <layout class="QHBoxLayout" name="horizontalLayout_4"/>
        </item>
-       <item row="5" column="2">
+       <item row="5" column="3">
         <widget class="QCheckBox" name="showDebugLayer">
          <property name="text">
           <string>debug layer</string>
@@ -184,7 +170,7 @@
          </property>
         </widget>
        </item>
-       <item row="5" column="1">
+       <item row="5" column="2">
         <widget class="QSlider" name="horizontalSliderKinematicUnitPos">
          <property name="enabled">
           <bool>true</bool>
@@ -218,13 +204,34 @@
           </size>
          </property>
          <property name="toolTip">
-          <string>Value in percent between low and high limit of joint</string>
+          <string/>
          </property>
          <property name="smallDecimalPoint">
           <bool>false</bool>
          </property>
         </widget>
        </item>
+       <item row="5" column="1">
+        <widget class="QLabel" name="labelUnit">
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="0" colspan="2">
+        <widget class="QLabel" name="label_2">
+         <property name="text">
+          <string>Control Mode</string>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0" colspan="2">
+        <widget class="QLabel" name="label">
+         <property name="text">
+          <string>Select Joint</string>
+         </property>
+        </widget>
+       </item>
       </layout>
      </item>
      <item>