diff --git a/VirtualRobot/CMakeLists.txt b/VirtualRobot/CMakeLists.txt
index c1ed06668826c716e706b5bccedf3ad20574a775..3531aa881c49c690560b1ecfe3eeed992777404a 100644
--- a/VirtualRobot/CMakeLists.txt
+++ b/VirtualRobot/CMakeLists.txt
@@ -29,7 +29,6 @@ MACRO(ADD_VR_TEST TEST_NAME)
COMMAND ${Simox_TEST_DIR}/${TEST_NAME} --output_format=XML --log_level=all --report_level=no)
ENDMACRO()
-
#################################### FILES ##################################
SET(SOURCES
CollisionDetection/CollisionChecker.cpp
@@ -232,6 +231,14 @@ Import/RobotImporterFactory.h
Import/MeshImport/STLReader.h
)
+
+
+
+
+
+
+
+
ADD_SUBDIRECTORY(Visualization/tests)
ADD_SUBDIRECTORY(Workspace/tests)
ADD_SUBDIRECTORY(Compression/tests)
@@ -357,6 +364,21 @@ ADD_SUBDIRECTORY(Transformation/tests/)
ADD_SUBDIRECTORY(examples/)
+# -----------------------------------------------------------------------------------
+# Adding the example GraspEditor to the library, because it is used in other projects
+
+SET(SOURCES ${SOURCES} examples/GraspEditor/GraspEditorWindow.cpp)
+SET(INCLUDES ${INCLUDES} examples/GraspEditor/GraspEditorWindow.h)
+set(UI examples/GraspEditor/GraspEditor.ui)
+QT4_WRAP_UI(UIC ${UI})
+QT4_WRAP_CPP(MOC_SRC examples/GraspEditor/GraspEditorWindow.h)
+INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/VirtualRobot/examples/GraspEditor)
+SET(SOURCES ${SOURCES} ${UIC} ${MOC_SRC})
+
+# Finished adding the example GraspEditor to the library
+#-----------------------------------------------------------------------------------
+
+
ADD_LIBRARY (VirtualRobot SHARED ${SOURCES} ${INCLUDES})
TARGET_LINK_LIBRARIES(VirtualRobot ColCheckerPQP ${Simox_EXTERNAL_LIBRARIES})
diff --git a/VirtualRobot/examples/GraspEditor/GraspEditor.ui b/VirtualRobot/examples/GraspEditor/GraspEditor.ui
index baa35051f97ad1acc9133d1edbfe86f38c7a6dad..769ba90cabfaae7f8c161069ef2b164585a435b8 100644
--- a/VirtualRobot/examples/GraspEditor/GraspEditor.ui
+++ b/VirtualRobot/examples/GraspEditor/GraspEditor.ui
@@ -453,7 +453,7 @@
<x>0</x>
<y>0</y>
<width>1079</width>
- <height>21</height>
+ <height>25</height>
</rect>
</property>
</widget>
diff --git a/VirtualRobot/examples/GraspEditor/GraspEditorWindow.cpp b/VirtualRobot/examples/GraspEditor/GraspEditorWindow.cpp
index dc2900802a82544c57e40e57df941606f973e698..8ca51470b53576913de55c2569375eb06b4fab49 100644
--- a/VirtualRobot/examples/GraspEditor/GraspEditorWindow.cpp
+++ b/VirtualRobot/examples/GraspEditor/GraspEditorWindow.cpp
@@ -26,16 +26,24 @@
#include <Inventor/nodes/SoEventCallback.h>
#include <sstream>
+
+#include "ui_GraspEditor.h"
+
+
using namespace std;
using namespace VirtualRobot;
float TIMER_MS = 30.0f;
-GraspEditorWindow::GraspEditorWindow(std::string& objFile, std::string& robotFile, Qt::WFlags flags)
- : QMainWindow(NULL)
-{
+GraspEditorWindow::GraspEditorWindow(std::string& objFile, std::string& robotFile,
+ bool embeddedGraspEditor, Qt::WFlags flags)
+ : QMainWindow(NULL), UI(new Ui::MainWindowGraspEditor)
+{
VR_INFO << " start " << endl;
+ // Indicates whether this program is started inside another extern program
+ this->embeddedGraspEditor = embeddedGraspEditor;
+
objectFile = objFile;
this->robotFile = robotFile;
@@ -88,7 +96,7 @@ GraspEditorWindow::GraspEditorWindow(std::string& objFile, std::string& robotFil
m_pExViewer->viewAll();
SoSensorManager* sensor_mgr = SoDB::getSensorManager();
- SoTimerSensor* timer = new SoTimerSensor(timerCB, this);
+ timer = new SoTimerSensor(timerCB, this);
timer->setInterval(SbTime(TIMER_MS / 1000.0f));
sensor_mgr->insertTimerSensor(timer);
}
@@ -96,6 +104,9 @@ GraspEditorWindow::GraspEditorWindow(std::string& objFile, std::string& robotFil
GraspEditorWindow::~GraspEditorWindow()
{
+ timer->unschedule();
+ delete m_pExViewer;
+ delete UI;
sceneSep->unref();
}
@@ -104,12 +115,12 @@ void GraspEditorWindow::timerCB(void* data, SoSensor* sensor)
{
GraspEditorWindow* ikWindow = static_cast<GraspEditorWindow*>(data);
float x[6];
- x[0] = (float)ikWindow->UI.horizontalSliderX->value();
- x[1] = (float)ikWindow->UI.horizontalSliderY->value();
- x[2] = (float)ikWindow->UI.horizontalSliderZ->value();
- x[3] = (float)ikWindow->UI.horizontalSliderRo->value();
- x[4] = (float)ikWindow->UI.horizontalSliderPi->value();
- x[5] = (float)ikWindow->UI.horizontalSliderYa->value();
+ x[0] = (float)ikWindow->UI->horizontalSliderX->value();
+ x[1] = (float)ikWindow->UI->horizontalSliderY->value();
+ x[2] = (float)ikWindow->UI->horizontalSliderZ->value();
+ x[3] = (float)ikWindow->UI->horizontalSliderRo->value();
+ x[4] = (float)ikWindow->UI->horizontalSliderPi->value();
+ x[5] = (float)ikWindow->UI->horizontalSliderYa->value();
x[0] /= 10.0f;
x[1] /= 10.0f;
x[2] /= 10.0f;
@@ -126,8 +137,8 @@ void GraspEditorWindow::timerCB(void* data, SoSensor* sensor)
void GraspEditorWindow::setupUI()
{
- UI.setupUi(this);
- m_pExViewer = new SoQtExaminerViewer(UI.frameViewer, "", TRUE, SoQtExaminerViewer::BUILD_POPUP);
+ UI->setupUi(this);
+ m_pExViewer = new SoQtExaminerViewer(UI->frameViewer, "", TRUE, SoQtExaminerViewer::BUILD_POPUP);
// setup
m_pExViewer->setBackgroundColor(SbColor(1.0f, 1.0f, 1.0f));
@@ -143,26 +154,33 @@ void GraspEditorWindow::setupUI()
m_pExViewer->setSceneGraph(sceneSep);
m_pExViewer->viewAll();
- connect(UI.pushButtonReset, SIGNAL(clicked()), this, SLOT(resetSceneryAll()));
- connect(UI.pushButtonLoadObject, SIGNAL(clicked()), this, SLOT(selectObject()));
- connect(UI.pushButtonSave, SIGNAL(clicked()), this, SLOT(saveObject()));
- connect(UI.pushButtonClose, SIGNAL(clicked()), this, SLOT(closeEEF()));
- connect(UI.pushButtonOpen, SIGNAL(clicked()), this, SLOT(openEEF()));
- connect(UI.pushButtonLoadRobot, SIGNAL(clicked()), this, SLOT(selectRobot()));
- connect(UI.comboBoxEEF, SIGNAL(activated(int)), this, SLOT(selectEEF(int)));
- connect(UI.comboBoxGrasp, SIGNAL(activated(int)), this, SLOT(selectGrasp(int)));
- connect(UI.pushButtonAddGrasp, SIGNAL(clicked()), this, SLOT(addGrasp()));
- connect(UI.pushButtonRenameGrasp, SIGNAL(clicked()), this, SLOT(renameGrasp()));
- connect(UI.checkBoxTCP, SIGNAL(clicked()), this, SLOT(buildVisu()));
-
- connect(UI.horizontalSliderX, SIGNAL(sliderReleased()), this, SLOT(sliderReleased_ObjectX()));
- connect(UI.horizontalSliderY, SIGNAL(sliderReleased()), this, SLOT(sliderReleased_ObjectY()));
- connect(UI.horizontalSliderZ, SIGNAL(sliderReleased()), this, SLOT(sliderReleased_ObjectZ()));
- connect(UI.horizontalSliderRo, SIGNAL(sliderReleased()), this, SLOT(sliderReleased_ObjectA()));
- connect(UI.horizontalSliderPi, SIGNAL(sliderReleased()), this, SLOT(sliderReleased_ObjectB()));
- connect(UI.horizontalSliderYa, SIGNAL(sliderReleased()), this, SLOT(sliderReleased_ObjectG()));
- connect(UI.checkBoxColModel, SIGNAL(clicked()), this, SLOT(buildVisu()));
- connect(UI.checkBoxGraspSet, SIGNAL(clicked()), this, SLOT(buildVisu()));
+ connect(UI->pushButtonReset, SIGNAL(clicked()), this, SLOT(resetSceneryAll()));
+ connect(UI->pushButtonLoadObject, SIGNAL(clicked()), this, SLOT(selectObject()));
+ connect(UI->pushButtonSave, SIGNAL(clicked()), this, SLOT(saveObject()));
+ connect(UI->pushButtonClose, SIGNAL(clicked()), this, SLOT(closeEEF()));
+ connect(UI->pushButtonOpen, SIGNAL(clicked()), this, SLOT(openEEF()));
+ connect(UI->pushButtonLoadRobot, SIGNAL(clicked()), this, SLOT(selectRobot()));
+ connect(UI->comboBoxEEF, SIGNAL(activated(int)), this, SLOT(selectEEF(int)));
+ connect(UI->comboBoxGrasp, SIGNAL(activated(int)), this, SLOT(selectGrasp(int)));
+ connect(UI->pushButtonAddGrasp, SIGNAL(clicked()), this, SLOT(addGrasp()));
+ connect(UI->pushButtonRenameGrasp, SIGNAL(clicked()), this, SLOT(renameGrasp()));
+ connect(UI->checkBoxTCP, SIGNAL(clicked()), this, SLOT(buildVisu()));
+
+ connect(UI->horizontalSliderX, SIGNAL(sliderReleased()), this, SLOT(sliderReleased_ObjectX()));
+ connect(UI->horizontalSliderY, SIGNAL(sliderReleased()), this, SLOT(sliderReleased_ObjectY()));
+ connect(UI->horizontalSliderZ, SIGNAL(sliderReleased()), this, SLOT(sliderReleased_ObjectZ()));
+ connect(UI->horizontalSliderRo, SIGNAL(sliderReleased()), this, SLOT(sliderReleased_ObjectA()));
+ connect(UI->horizontalSliderPi, SIGNAL(sliderReleased()), this, SLOT(sliderReleased_ObjectB()));
+ connect(UI->horizontalSliderYa, SIGNAL(sliderReleased()), this, SLOT(sliderReleased_ObjectG()));
+ connect(UI->checkBoxColModel, SIGNAL(clicked()), this, SLOT(buildVisu()));
+ connect(UI->checkBoxGraspSet, SIGNAL(clicked()), this, SLOT(buildVisu()));
+
+
+ // In case of embedded use of this program it should not be possible to load an object after the editor is started
+ if (embeddedGraspEditor)
+ {
+ UI->pushButtonLoadObject->setVisible(false);
+ }
}
QString GraspEditorWindow::formatString(const char* s, float f)
@@ -220,9 +238,9 @@ void GraspEditorWindow::buildVisu()
eefVisu->removeAllChildren();
showCoordSystem();
- SceneObject::VisualizationType colModel = (UI.checkBoxColModel->isChecked()) ? SceneObject::Collision : SceneObject::Full;
+ SceneObject::VisualizationType colModel = (UI->checkBoxColModel->isChecked()) ? SceneObject::Collision : SceneObject::Full;
- if (!UI.checkBoxTCP->isChecked())
+ if (!UI->checkBoxTCP->isChecked())
{
if (robotEEF)
{
@@ -293,10 +311,20 @@ void GraspEditorWindow::selectRobot()
loadRobot();
}
-void GraspEditorWindow::selectObject()
+void GraspEditorWindow::selectObject(std::string file)
{
- QString fi = QFileDialog::getOpenFileName(this, tr("Open ManipulationObject File"), QString(), tr("XML Files (*.xml)"));
- std::string s = std::string(fi.toAscii());
+ std::string s;
+
+ // The object must be selected manually, cannot be done in the constructor
+ if (embeddedGraspEditor)
+ {
+ s = file;
+ }
+ else
+ {
+ QString fi = QFileDialog::getOpenFileName(this, tr("Open ManipulationObject File"), QString(), tr("XML Files (*.xml)"));
+ s = std::string(fi.toAscii());
+ }
if (s != "")
{
@@ -312,8 +340,13 @@ void GraspEditorWindow::saveObject()
return;
}
- QString fi = QFileDialog::getSaveFileName(this, tr("Save ManipulationObject"), QString(), tr("XML Files (*.xml)"));
- objectFile = std::string(fi.toAscii());
+ // No need to select a file where the object is saved, it is the same as the input file
+ if (!embeddedGraspEditor)
+ {
+ QString fi = QFileDialog::getSaveFileName(this, tr("Save ManipulationObject"), QString(), tr("XML Files (*.xml)"));
+ objectFile = std::string(fi.toAscii());
+ }
+
bool ok = false;
try
@@ -332,6 +365,19 @@ void GraspEditorWindow::saveObject()
cout << " ERROR while saving object" << endl;
return;
}
+ else
+ {
+ if (embeddedGraspEditor)
+ {
+ cout << "Changes successful saved to " << objectFile << endl;
+ QMessageBox msgBox;
+ msgBox.setText(QString::fromStdString("Changes successful saved to " + objectFile));
+ msgBox.setIcon(QMessageBox::Information);
+ msgBox.setStandardButtons(QMessageBox::Ok);
+ msgBox.setDefaultButton(QMessageBox::Ok);
+ msgBox.exec();
+ }
+ }
}
void GraspEditorWindow::loadRobot()
@@ -466,6 +512,18 @@ void GraspEditorWindow::loadObject()
{
cout << " ERROR while creating object" << endl;
cout << e.what();
+
+ if (embeddedGraspEditor)
+ {
+ QMessageBox msgBox;
+ msgBox.setText(QString::fromStdString(" ERROR while creating object."));
+ msgBox.setInformativeText("Please select a valid manipulation file.");
+ msgBox.setIcon(QMessageBox::Information);
+ msgBox.setStandardButtons(QMessageBox::Ok);
+ msgBox.setDefaultButton(QMessageBox::Ok);
+ msgBox.exec();
+ }
+
return;
}
@@ -484,17 +542,17 @@ void GraspEditorWindow::loadObject()
void GraspEditorWindow::updateEEFBox()
{
- UI.comboBoxEEF->clear();
+ UI->comboBoxEEF->clear();
for (size_t i = 0; i < eefs.size(); i++)
{
- UI.comboBoxEEF->addItem(QString(eefs[i]->getName().c_str()));
+ UI->comboBoxEEF->addItem(QString(eefs[i]->getName().c_str()));
}
}
void GraspEditorWindow::updateGraspBox()
{
- UI.comboBoxGrasp->clear();
+ UI->comboBoxGrasp->clear();
if (!currentGraspSet || currentGraspSet->getSize() == 0)
{
@@ -503,7 +561,7 @@ void GraspEditorWindow::updateGraspBox()
for (unsigned int i = 0; i < currentGraspSet->getSize(); i++)
{
- UI.comboBoxGrasp->addItem(QString(currentGraspSet->getGrasp(i)->getName().c_str()));
+ UI->comboBoxGrasp->addItem(QString(currentGraspSet->getGrasp(i)->getName().c_str()));
}
}
@@ -568,8 +626,8 @@ void GraspEditorWindow::addGrasp()
GraspPtr g(new Grasp(name, robot->getType(), currentEEF->getName(), pose, std::string("GraspEditor")));
currentGraspSet->addGrasp(g);
updateGraspBox();
- UI.comboBoxGrasp->setCurrentIndex(UI.comboBoxGrasp->count() - 1);
- selectGrasp(UI.comboBoxGrasp->count() - 1);
+ UI->comboBoxGrasp->setCurrentIndex(UI->comboBoxGrasp->count() - 1);
+ selectGrasp(UI->comboBoxGrasp->count() - 1);
buildVisu();
}
@@ -592,32 +650,32 @@ void GraspEditorWindow::updateEEF(float x[6])
void GraspEditorWindow::sliderReleased_ObjectX()
{
- UI.horizontalSliderX->setValue(0);
+ UI->horizontalSliderX->setValue(0);
}
void GraspEditorWindow::sliderReleased_ObjectY()
{
- UI.horizontalSliderY->setValue(0);
+ UI->horizontalSliderY->setValue(0);
}
void GraspEditorWindow::sliderReleased_ObjectZ()
{
- UI.horizontalSliderZ->setValue(0);
+ UI->horizontalSliderZ->setValue(0);
}
void GraspEditorWindow::sliderReleased_ObjectA()
{
- UI.horizontalSliderRo->setValue(0);
+ UI->horizontalSliderRo->setValue(0);
}
void GraspEditorWindow::sliderReleased_ObjectB()
{
- UI.horizontalSliderPi->setValue(0);
+ UI->horizontalSliderPi->setValue(0);
}
void GraspEditorWindow::sliderReleased_ObjectG()
{
- UI.horizontalSliderYa->setValue(0);
+ UI->horizontalSliderYa->setValue(0);
}
@@ -646,12 +704,12 @@ void GraspEditorWindow::showCoordSystem()
return;
}
- tcp->showCoordinateSystem(UI.checkBoxTCP->isChecked());
+ tcp->showCoordinateSystem(UI->checkBoxTCP->isChecked());
}
if (object)
{
- object->showCoordinateSystem(UI.checkBoxTCP->isChecked());
+ object->showCoordinateSystem(UI->checkBoxTCP->isChecked());
}
}
@@ -660,7 +718,7 @@ void GraspEditorWindow::buildGraspSetVisu()
{
graspSetVisu->removeAllChildren();
- if (UI.checkBoxGraspSet->isChecked() && robotEEF && robotEEF_EEF && currentGraspSet && object)
+ if (UI->checkBoxGraspSet->isChecked() && robotEEF && robotEEF_EEF && currentGraspSet && object)
{
GraspSetPtr gs = currentGraspSet->clone();
gs->removeGrasp(currentGrasp);
@@ -672,4 +730,3 @@ void GraspEditorWindow::buildGraspSetVisu()
}
}
}
-
diff --git a/VirtualRobot/examples/GraspEditor/GraspEditorWindow.h b/VirtualRobot/examples/GraspEditor/GraspEditorWindow.h
index e870eb24761a8eb925fbf76ba1dbdd4eec847323..18369a49a58978686922b44adfc8a403e7026686 100644
--- a/VirtualRobot/examples/GraspEditor/GraspEditorWindow.h
+++ b/VirtualRobot/examples/GraspEditor/GraspEditorWindow.h
@@ -25,14 +25,18 @@
#include <vector>
-#include "ui_GraspEditor.h"
+// #include "ui_GraspEditor.h"
+
+namespace Ui {
+ class MainWindowGraspEditor;
+}
class GraspEditorWindow : public QMainWindow
{
Q_OBJECT
public:
- GraspEditorWindow(std::string& objFile, std::string& robotFile, Qt::WFlags flags = 0);
- ~GraspEditorWindow();
+ GraspEditorWindow(std::string& objFile, std::string& robotFile, bool embeddedGraspEditor = false, Qt::WFlags flags = 0);
+ virtual ~GraspEditorWindow();
/*!< Executes the SoQt mainLoop. You need to call this in order to execute the application. */
int main();
@@ -49,7 +53,7 @@ public slots:
void loadRobot();
void selectRobot();
- void selectObject();
+ void selectObject(std::string file = "");
void saveObject();
void selectEEF(int n);
void selectGrasp(int n);
@@ -72,6 +76,7 @@ public slots:
void showCoordSystem();
protected:
+
void setupUI();
QString formatString(const char* s, float f);
@@ -84,7 +89,12 @@ protected:
static void timerCB(void* data, SoSensor* sensor);
void setCurrentGrasp(Eigen::Matrix4f& p);
- Ui::MainWindowGraspEditor UI;
+
+ Ui::MainWindowGraspEditor *UI;
+
+ // Indicates whether this program is started embedded
+ bool embeddedGraspEditor;
+
SoQtExaminerViewer* m_pExViewer; /*!< Viewer to display the 3D model of the robot and the environment. */
SoSeparator* sceneSep;
@@ -107,6 +117,8 @@ protected:
std::string robotFile;
std::string objectFile;
+ SoTimerSensor* timer;
+
boost::shared_ptr<VirtualRobot::CoinVisualization> visualizationRobot;
boost::shared_ptr<VirtualRobot::CoinVisualization> visualizationObject;