RobotAPIVariantWidget.cpp
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1 /*
2  * This file is part of ArmarX.
3  *
4  * ArmarX is free software; you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License version 2 as
6  * published by the Free Software Foundation.
7  *
8  * ArmarX is distributed in the hope that it will be useful, but
9  * WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11  * GNU General Public License for more details.
12  *
13  * You should have received a copy of the GNU General Public License
14  * along with this program. If not, see <http://www.gnu.org/licenses/>.
15  *
16  * @package RobotAPI::ArmarXObjects::RobotAPIVariantWidget
17  * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
18  * @date 2017
19  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
20  * GNU General Public License
21  */
22 
23 #include "RobotAPIVariantWidget.h"
24 
25 #include <QFormLayout>
26 #include <QLabel>
27 #include <QString>
28 #include <QTableWidget>
29 #include <QVBoxLayout>
30 
31 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
32 
33 #include <RobotAPI/interface/core/FramedPoseBase.h>
34 #include <RobotAPI/interface/core/LinkedPoseBase.h>
35 #include <RobotAPI/interface/core/OrientedPoint.h>
36 #include <RobotAPI/interface/core/PoseBase.h>
37 
38 namespace armarx::detail
39 {
40  RobotAPIVariantWidgetDummySymbol::RobotAPIVariantWidgetDummySymbol(int)
41  {
42  }
43 } // namespace armarx::detail
44 
45 namespace armarx::VariantDataWidgets
46 {
47  class Vector2BaseWidget : public VariantDataWidgetBase
48  {
49  public:
50  Vector2BaseWidget(const VariantDataPtr& v)
51  {
52  auto l = new QFormLayout;
53  l->setContentsMargins(0, 0, 0, 0);
54  setLayout(l);
55  labelX = new QLabel;
56  labelY = new QLabel;
57  l->addRow("X", labelX);
58  l->addRow("Y", labelY);
59  update(v);
60  }
61 
62  void
63  update(const VariantDataPtr& p) override
64  {
65  Vector2BasePtr v = Vector2BasePtr::dynamicCast(p);
66  ARMARX_CHECK_EXPRESSION(v);
67  labelX->setText(QString::number(v->x));
68  labelY->setText(QString::number(v->y));
69  }
70 
71  private:
72  QLabel* labelX;
73  QLabel* labelY;
74  };
75 
76  VariantDataWidgetFactoryRegistration<Vector2BaseWidget> registerVector2BaseWidget{
77  Vector2Base::ice_staticId()};
78 
79  class Vector3BaseWidget : public VariantDataWidgetBase
80  {
81  public:
82  Vector3BaseWidget(const VariantDataPtr& v)
83  {
84  auto l = new QFormLayout;
85  l->setContentsMargins(0, 0, 0, 0);
86  setLayout(l);
87  labelX = new QLabel;
88  labelY = new QLabel;
89  labelZ = new QLabel;
90  l->addRow("X", labelX);
91  l->addRow("Y", labelY);
92  l->addRow("Z", labelZ);
93  update(v);
94  }
95 
96  void
97  update(const VariantDataPtr& p) override
98  {
99  Vector3BasePtr v = Vector3BasePtr::dynamicCast(p);
100  ARMARX_CHECK_EXPRESSION(v);
101  labelX->setText(QString::number(v->x));
102  labelY->setText(QString::number(v->y));
103  labelZ->setText(QString::number(v->z));
104  }
105 
106  private:
107  QLabel* labelX;
108  QLabel* labelY;
109  QLabel* labelZ;
110  };
111 
112  VariantDataWidgetFactoryRegistration<Vector3BaseWidget> registerVector3BaseWidget{
113  Vector3Base::ice_staticId()};
114 
115  class FramedPositionBaseWidget : public VariantDataWidgetBase
116  {
117  public:
118  FramedPositionBaseWidget(const VariantDataPtr& v)
119  {
120  auto l = new QFormLayout;
121  l->setContentsMargins(0, 0, 0, 0);
122  setLayout(l);
123  labelAg = new QLabel;
124  labelFr = new QLabel;
125  labelX = new QLabel;
126  labelY = new QLabel;
127  labelZ = new QLabel;
128  l->addRow("Agent", labelAg);
129  l->addRow("Frame", labelFr);
130  l->addRow("X", labelX);
131  l->addRow("Y", labelY);
132  l->addRow("Z", labelZ);
133  update(v);
134  }
135 
136  void
137  update(const VariantDataPtr& p) override
138  {
139  FramedPositionBasePtr v = FramedPositionBasePtr::dynamicCast(p);
140  ARMARX_CHECK_EXPRESSION(v);
141  labelAg->setText(QString::fromStdString(v->agent));
142  labelFr->setText(QString::fromStdString(v->frame));
143  labelX->setText(QString::number(v->x));
144  labelY->setText(QString::number(v->y));
145  labelZ->setText(QString::number(v->z));
146  }
147 
148  private:
149  QLabel* labelAg;
150  QLabel* labelFr;
151  QLabel* labelX;
152  QLabel* labelY;
153  QLabel* labelZ;
154  };
155 
156  VariantDataWidgetFactoryRegistration<FramedPositionBaseWidget> registerFramedPositionBaseWidget{
157  FramedPositionBase::ice_staticId()};
158 
159  class FramedDirectionBaseWidget : public VariantDataWidgetBase
160  {
161  public:
162  FramedDirectionBaseWidget(const VariantDataPtr& v)
163  {
164  auto l = new QFormLayout;
165  l->setContentsMargins(0, 0, 0, 0);
166  setLayout(l);
167  labelAg = new QLabel;
168  labelFr = new QLabel;
169  labelX = new QLabel;
170  labelY = new QLabel;
171  labelZ = new QLabel;
172  l->addRow("Agent", labelAg);
173  l->addRow("Frame", labelFr);
174  l->addRow("X", labelX);
175  l->addRow("Y", labelY);
176  l->addRow("Z", labelZ);
177  update(v);
178  }
179 
180  void
181  update(const VariantDataPtr& p) override
182  {
183  FramedDirectionBasePtr v = FramedDirectionBasePtr::dynamicCast(p);
184  ARMARX_CHECK_EXPRESSION(v);
185  labelAg->setText(QString::fromStdString(v->agent));
186  labelFr->setText(QString::fromStdString(v->frame));
187  labelX->setText(QString::number(v->x));
188  labelY->setText(QString::number(v->y));
189  labelZ->setText(QString::number(v->z));
190  }
191 
192  private:
193  QLabel* labelAg;
194  QLabel* labelFr;
195  QLabel* labelX;
196  QLabel* labelY;
197  QLabel* labelZ;
198  };
199 
200  VariantDataWidgetFactoryRegistration<FramedDirectionBaseWidget>
201  registerFramedDirectionBaseWidget{FramedDirectionBase::ice_staticId()};
202 
203  class OrientedPointBaseWidget : public VariantDataWidgetBase
204  {
205  public:
206  OrientedPointBaseWidget(const VariantDataPtr& v)
207  {
208  auto l = new QFormLayout;
209  l->setContentsMargins(0, 0, 0, 0);
210  setLayout(l);
211  labelPX = new QLabel;
212  labelPY = new QLabel;
213  labelPZ = new QLabel;
214  labelNX = new QLabel;
215  labelNY = new QLabel;
216  labelNZ = new QLabel;
217  l->addRow("PX", labelPX);
218  l->addRow("PY", labelPY);
219  l->addRow("PZ", labelPZ);
220  l->addRow("NX", labelNX);
221  l->addRow("NY", labelNY);
222  l->addRow("NZ", labelNZ);
223  update(v);
224  }
225 
226  void
227  update(const VariantDataPtr& p) override
228  {
229  OrientedPointBasePtr v = OrientedPointBasePtr::dynamicCast(p);
230  ARMARX_CHECK_EXPRESSION(v);
231  labelPX->setText(QString::number(v->px));
232  labelPY->setText(QString::number(v->py));
233  labelPZ->setText(QString::number(v->pz));
234  labelNX->setText(QString::number(v->nx));
235  labelNY->setText(QString::number(v->ny));
236  labelNZ->setText(QString::number(v->nz));
237  }
238 
239  private:
240  QLabel* labelPX;
241  QLabel* labelPY;
242  QLabel* labelPZ;
243  QLabel* labelNX;
244  QLabel* labelNY;
245  QLabel* labelNZ;
246  };
247 
248  VariantDataWidgetFactoryRegistration<OrientedPointBaseWidget> registerOrientedPointBaseWidget{
249  OrientedPointBase::ice_staticId()};
250 
251  class FramedOrientedPointBaseWidget : public VariantDataWidgetBase
252  {
253  public:
254  FramedOrientedPointBaseWidget(const VariantDataPtr& v)
255  {
256  auto l = new QFormLayout;
257  l->setContentsMargins(0, 0, 0, 0);
258  setLayout(l);
259  labelAg = new QLabel;
260  labelFr = new QLabel;
261  labelPX = new QLabel;
262  labelPY = new QLabel;
263  labelPZ = new QLabel;
264  labelNX = new QLabel;
265  labelNY = new QLabel;
266  labelNZ = new QLabel;
267  l->addRow("Agent", labelAg);
268  l->addRow("Frame", labelFr);
269  l->addRow("PX", labelPX);
270  l->addRow("PY", labelPY);
271  l->addRow("PZ", labelPZ);
272  l->addRow("NX", labelNX);
273  l->addRow("NY", labelNY);
274  l->addRow("NZ", labelNZ);
275  update(v);
276  }
277 
278  void
279  update(const VariantDataPtr& p) override
280  {
281  FramedOrientedPointBasePtr v = FramedOrientedPointBasePtr::dynamicCast(p);
282  ARMARX_CHECK_EXPRESSION(v);
283  labelAg->setText(QString::fromStdString(v->agent));
284  labelFr->setText(QString::fromStdString(v->frame));
285  labelPX->setText(QString::number(v->px));
286  labelPY->setText(QString::number(v->py));
287  labelPZ->setText(QString::number(v->pz));
288  labelNX->setText(QString::number(v->nx));
289  labelNY->setText(QString::number(v->ny));
290  labelNZ->setText(QString::number(v->nz));
291  }
292 
293  private:
294  QLabel* labelAg;
295  QLabel* labelFr;
296  QLabel* labelPX;
297  QLabel* labelPY;
298  QLabel* labelPZ;
299  QLabel* labelNX;
300  QLabel* labelNY;
301  QLabel* labelNZ;
302  };
303 
304  VariantDataWidgetFactoryRegistration<FramedOrientedPointBaseWidget>
305  registerFramedOrientedPointBaseWidget{FramedOrientedPointBase::ice_staticId()};
306 
307  class QuaternionBaseWidget : public VariantDataWidgetBase
308  {
309  public:
310  QuaternionBaseWidget(const VariantDataPtr& v)
311  {
312  auto l = new QFormLayout;
313  l->setContentsMargins(0, 0, 0, 0);
314  setLayout(l);
315  labelQW = new QLabel;
316  labelQX = new QLabel;
317  labelQY = new QLabel;
318  labelQZ = new QLabel;
319  l->addRow("QW", labelQW);
320  l->addRow("QX", labelQX);
321  l->addRow("QY", labelQY);
322  l->addRow("QZ", labelQZ);
323  update(v);
324  }
325 
326  void
327  update(const VariantDataPtr& p) override
328  {
329  QuaternionBasePtr v = QuaternionBasePtr::dynamicCast(p);
330  ARMARX_CHECK_EXPRESSION(v);
331  labelQW->setText(QString::number(v->qw));
332  labelQX->setText(QString::number(v->qx));
333  labelQY->setText(QString::number(v->qy));
334  labelQZ->setText(QString::number(v->qz));
335  }
336 
337  private:
338  QLabel* labelQW;
339  QLabel* labelQX;
340  QLabel* labelQY;
341  QLabel* labelQZ;
342  };
343 
344  VariantDataWidgetFactoryRegistration<QuaternionBaseWidget> registerQuaternionBaseWidget{
345  QuaternionBase::ice_staticId()};
346 
347  class FramedOrientationBaseWidget : public VariantDataWidgetBase
348  {
349  public:
350  FramedOrientationBaseWidget(const VariantDataPtr& v)
351  {
352  auto l = new QFormLayout;
353  l->setContentsMargins(0, 0, 0, 0);
354  setLayout(l);
355  labelAg = new QLabel;
356  labelFr = new QLabel;
357  labelQW = new QLabel;
358  labelQX = new QLabel;
359  labelQY = new QLabel;
360  labelQZ = new QLabel;
361  l->addRow("Agent", labelAg);
362  l->addRow("Frame", labelFr);
363  l->addRow("QW", labelQW);
364  l->addRow("QX", labelQX);
365  l->addRow("QY", labelQY);
366  l->addRow("QZ", labelQZ);
367  update(v);
368  }
369 
370  void
371  update(const VariantDataPtr& p) override
372  {
373  FramedOrientationBasePtr v = FramedOrientationBasePtr::dynamicCast(p);
374  ARMARX_CHECK_EXPRESSION(v);
375  labelAg->setText(QString::fromStdString(v->agent));
376  labelFr->setText(QString::fromStdString(v->frame));
377  labelQW->setText(QString::number(v->qw));
378  labelQX->setText(QString::number(v->qx));
379  labelQY->setText(QString::number(v->qy));
380  labelQZ->setText(QString::number(v->qz));
381  }
382 
383  private:
384  QLabel* labelAg;
385  QLabel* labelFr;
386  QLabel* labelQW;
387  QLabel* labelQX;
388  QLabel* labelQY;
389  QLabel* labelQZ;
390  };
391 
392  VariantDataWidgetFactoryRegistration<FramedOrientationBaseWidget>
393  registerFramedOrientationBaseWidget{FramedOrientationBase::ice_staticId()};
394 
395  class PoseBaseWidget : public VariantDataWidgetBase
396  {
397  public:
398  PoseBaseWidget(const VariantDataPtr& v)
399  {
400  auto l = new QFormLayout;
401  l->setContentsMargins(0, 0, 0, 0);
402  setLayout(l);
403  labelX = new QLabel;
404  labelY = new QLabel;
405  labelZ = new QLabel;
406  labelQW = new QLabel;
407  labelQX = new QLabel;
408  labelQY = new QLabel;
409  labelQZ = new QLabel;
410  l->addRow("X", labelX);
411  l->addRow("Y", labelY);
412  l->addRow("Z", labelZ);
413  l->addRow("QW", labelQW);
414  l->addRow("QX", labelQX);
415  l->addRow("QY", labelQY);
416  l->addRow("QZ", labelQZ);
417  update(v);
418  }
419 
420  void
421  update(const VariantDataPtr& p) override
422  {
423  PoseBasePtr v = PoseBasePtr::dynamicCast(p);
424  ARMARX_CHECK_EXPRESSION(v);
425  ARMARX_CHECK_EXPRESSION(v->position);
426  ARMARX_CHECK_EXPRESSION(v->orientation);
427  labelX->setText(QString::number(v->position->x));
428  labelY->setText(QString::number(v->position->y));
429  labelZ->setText(QString::number(v->position->z));
430  labelQW->setText(QString::number(v->orientation->qw));
431  labelQX->setText(QString::number(v->orientation->qx));
432  labelQY->setText(QString::number(v->orientation->qy));
433  labelQZ->setText(QString::number(v->orientation->qz));
434  }
435 
436  private:
437  QLabel* labelX;
438  QLabel* labelY;
439  QLabel* labelZ;
440  QLabel* labelQW;
441  QLabel* labelQX;
442  QLabel* labelQY;
443  QLabel* labelQZ;
444  };
445 
446  VariantDataWidgetFactoryRegistration<PoseBaseWidget> registerPoseBaseWidget{
447  PoseBase::ice_staticId()};
448 
449  class FramedPoseBaseWidget : public VariantDataWidgetBase
450  {
451  public:
452  FramedPoseBaseWidget(const VariantDataPtr& v)
453  {
454  auto l = new QFormLayout;
455  l->setContentsMargins(0, 0, 0, 0);
456  setLayout(l);
457  labelAg = new QLabel;
458  labelFr = new QLabel;
459  labelX = new QLabel;
460  labelY = new QLabel;
461  labelZ = new QLabel;
462  labelQW = new QLabel;
463  labelQX = new QLabel;
464  labelQY = new QLabel;
465  labelQZ = new QLabel;
466  l->addRow("Agent", labelAg);
467  l->addRow("Frame", labelFr);
468  l->addRow("X", labelX);
469  l->addRow("Y", labelY);
470  l->addRow("Z", labelZ);
471  l->addRow("QW", labelQW);
472  l->addRow("QX", labelQX);
473  l->addRow("QY", labelQY);
474  l->addRow("QZ", labelQZ);
475  update(v);
476  }
477 
478  void
479  update(const VariantDataPtr& p) override
480  {
481  FramedPoseBasePtr v = FramedPoseBasePtr::dynamicCast(p);
482  ARMARX_CHECK_EXPRESSION(v);
483  ARMARX_CHECK_EXPRESSION(v->position);
484  ARMARX_CHECK_EXPRESSION(v->orientation);
485  labelAg->setText(QString::fromStdString(v->agent));
486  labelFr->setText(QString::fromStdString(v->frame));
487  labelX->setText(QString::number(v->position->x));
488  labelY->setText(QString::number(v->position->y));
489  labelZ->setText(QString::number(v->position->z));
490  labelQW->setText(QString::number(v->orientation->qw));
491  labelQX->setText(QString::number(v->orientation->qx));
492  labelQY->setText(QString::number(v->orientation->qy));
493  labelQZ->setText(QString::number(v->orientation->qz));
494  }
495 
496  private:
497  QLabel* labelAg;
498  QLabel* labelFr;
499  QLabel* labelX;
500  QLabel* labelY;
501  QLabel* labelZ;
502  QLabel* labelQW;
503  QLabel* labelQX;
504  QLabel* labelQY;
505  QLabel* labelQZ;
506  };
507 
508  VariantDataWidgetFactoryRegistration<FramedPoseBaseWidget> registerFramedPoseBaseWidget{
509  FramedPoseBase::ice_staticId()};
510 } // namespace armarx::VariantDataWidgets
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Definition: RobotAPIVariantWidget.cpp:162
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Definition: RobotAPIVariantWidget.cpp:115
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Definition: RobotAPIVariantWidget.cpp:350
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Definition: RobotAPIVariantWidget.cpp:327
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Definition: RobotAPIVariantWidget.cpp:40
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Definition: RobotAPIVariantWidget.cpp:508
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Definition: RobotAPIVariantWidget.cpp:310
RobotAPIVariantWidget.h
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Definition: RobotAPIVariantWidget.cpp:203
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Definition: RobotAPIVariantWidget.cpp:206
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Definition: RobotAPIVariantWidget.cpp:452
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Definition: RobotAPIVariantWidget.cpp:82
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Definition: RobotAPIVariantWidget.cpp:347
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Definition: RobotAPIVariantWidget.cpp:307
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Definition: RobotAPIVariantWidget.cpp:479
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Definition: RobotAPIVariantWidget.cpp:181
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Definition: RobotAPIVariantWidget.cpp:63
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Definition: RobotAPIVariantWidget.cpp:97
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Definition: RobotAPIVariantWidget.cpp:305
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Definition: RobotAPIVariantWidget.cpp:76
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Definition: RobotAPIVariantWidget.cpp:201
ExpressionException.h
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Definition: CtrlUtil.h:39
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#define ARMARX_CHECK_EXPRESSION(expression)
This macro evaluates the expression and if it turns out to be false it will throw an ExpressionExcept...
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Definition: RobotAPIVariantWidget.cpp:137
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Definition: RobotAPIVariantWidget.cpp:118
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Definition: RobotAPIVariantWidget.cpp:344
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Definition: RobotAPIVariantWidget.cpp:446
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Definition: RobotAPIVariantWidget.cpp:393
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Definition: RobotAPIVariantWidget.cpp:50
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Definition: RobotAPIVariantWidget.cpp:79
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Definition: RobotAPIVariantWidget.cpp:279
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Definition: RobotAPIVariantWidget.cpp:254
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Definition: RobotAPIVariantWidget.cpp:112
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Definition: RobotAPIVariantWidget.cpp:156
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Definition: RobotAPIVariantWidget.cpp:398
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Definition: RobotAPIVariantWidget.cpp:227
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Definition: RobotAPIVariantWidget.cpp:371
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Definition: RobotAPIVariantWidget.cpp:248
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Definition: RobotAPIVariantWidget.cpp:421
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