KinematicUnitWidgetController Class Reference

#include <RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h>

Inheritance diagram for KinematicUnitWidgetController:

Public Types
enum	JointTabelColumnIndex : int {   eTabelColumnName = 0 , eTabelColumnControlMode , eTabelColumnAngleProgressbar , eTabelColumnVelocity ,   eTabelColumnTorque , eTabelColumnCurrent , eTabelColumnTemperature , eTabelColumnOperation ,   eTabelColumnError , eTabelColumnEnabled , eTabelColumnEmergencyStop , eTabelColumnCount }
	Holds the column index for the joint tabel. More...
enum	Roles { eJointAngleRole = Qt::UserRole + 1 , eJointHiRole , eJointLoRole }
Public Types inherited from ArmarXWidgetController
using	RecursiveMutex = std::recursive_mutex
using	RecursiveMutexLock = std::unique_lock<RecursiveMutex>
using	RecursiveMutexLockPtr = std::shared_ptr<RecursiveMutexLock>
using	RecursiveMutexPtr = std::shared_ptr<RecursiveMutex>
Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle<SimplePeriodicTask<std::function<void(void)>>>

Public Slots
void	fetchData ()
void	kinematicUnitZeroVelocity ()
void	resetSlider ()
	Sets the Slider ui->horizontalSliderKinematicUnitPos to 0 if this->selectedControlMode is eVelocityControl.
void	resetSliderToZeroPosition ()
void	selectJoint (int i)
void	selectJointFromTableWidget (int row, int column)
void	setControlModePosition ()
void	setControlModeTorque ()
void	setControlModeVelocity ()
void	sliderValueChanged (int i)
void	updateControlModesTable (const NameControlModeMap &reportedJointControlModes)
void	updateJointAnglesTable (const NameValueMap &reportedJointAngles)
void	updateJointCurrentsTable (const NameValueMap &reportedJointCurrents, const NameStatusMap &reportedJointStatuses)
void	updateJointStatusesTable (const NameStatusMap &reportedJointStatuses)
void	updateJointTorquesTable (const NameValueMap &reportedJointTorques)
void	updateJointVelocitiesTable (const NameValueMap &reportedJointVelocities)
void	updateKinematicUnitListInDialog ()
void	updateMotorTemperaturesTable (const NameValueMap &reportedMotorTemperatures)
Public Slots inherited from ArmarXWidgetController
void	configAccepted ()
void	configRejected ()
void	enableMainWidget (bool enable)

Signals
void	jointAnglesReported ()
void	jointControlModesReported ()
void	jointCurrentsReported ()
void	jointMotorTemperaturesReported ()
void	jointStatusesReported ()
void	jointTorquesReported ()
void	jointVelocitiesReported ()
void	onDebugInfoReceived (const DebugInfo &debugInfo)
Signals inherited from ArmarXWidgetController
void	configAccepted (ArmarXWidgetControllerPtr widget)
void	configRejected (ArmarXWidgetControllerPtr widget)

Public Member Functions
void	configured () override
	This function must be implemented by the user, if he supplies a config dialog.
QPointer< QDialog >	getConfigDialog (QWidget *parent=0) override
	getConfigDialog returns a pointer to the a configuration widget of this controller.
QPointer< QWidget >	getCustomTitlebarWidget (QWidget *parent) override
	getTitleToolbar returns a pointer to the a toolbar widget of this controller.
SoNode *	getScene () override
	Reimplementing this function and returning a SoNode* will show this SoNode in the 3DViewerWidget, so that you do not need to implement a viewer yourself.
bool	kinematicUnitSetupViewer ()
	KinematicUnitWidgetController ()
void	loadSettings (QSettings *settings) override
	Implement to load the settings that are part of the GUI configuration.
void	modelUpdateCB ()
void	onConnectComponent () override
	Pure virtual hook for the subclass.
void	onDisconnectComponent () override
	Hook for subclass.
void	onExitComponent () override
	Hook for subclass.
void	onInitComponent () override
	Pure virtual hook for the subclass.
void	saveSettings (QSettings *settings) override
	Implement to save the settings as part of the GUI configuration.
void	setMutex3D (RecursiveMutexPtr const &mutex3D) override
	This mutex is used to protect 3d scene updates. Usually called by the ArmarXGui main window on creation of this controller.
void	updateGuiElements ()
	~KinematicUnitWidgetController () override
Public Member Functions inherited from ArmarXComponentWidgetControllerTemplate< KinematicUnitWidgetController >
QIcon	getWidgetCategoryIcon () const final override
	Implement this function to supply an icon for the category.
QIcon	getWidgetIcon () const final override
	Implement this function to supply an icon for the menu.
QString	getWidgetName () const final override
	Implement this function to specify the default name of your Widget.
Public Member Functions inherited from ArmarXComponentWidgetController
	ArmarXComponentWidgetController ()
std::string	getDefaultName () const override
	Retrieve default name of component.
Public Member Functions inherited from ArmarXWidgetController
	ArmarXWidgetController ()
void	enableMainWidgetAsync (bool enable)
	This function enables/disables the main widget asynchronously (if called from a non qt thread).
QString	getInstanceName ()
virtual QMainWindow *	getMainWindow ()
	Returns the ArmarX MainWindow.
virtual QPointer< QDialog >	getSceneConfigDialog (QWidget *parent=nullptr)
	Reimplementing this function and returning a QDialog* will enable a configuration button which opens the returned dialog.
QPointer< TipDialog >	getTipDialog () const
	Returns the default instance for the TipDialog used by all widgets (if not set otherwise).
virtual QPointer< QWidget >	getWidget ()
	getWidget returns a pointer to the a widget of this controller.
virtual void	onLockWidget ()
virtual void	onUnlockWidget ()
virtual void	postDocking ()
	postDocking is called after the widget has been docked into the main window.
bool	setInstanceName (QString instanceName)
	sets the name of this instance.
virtual void	setMainWindow (QMainWindow *mainWindow)
void	setTipDialog (QPointer< TipDialog > tipDialog)
	~ArmarXWidgetController () override
Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds.
MessageTypeT	getEffectiveLoggingLevel () const
	Logging ()
void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set.
void	setTag (const LogTag &tag)
void	setTag (const std::string &tagName)
virtual	~Logging ()
Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties.
void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function
std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const
template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name)
template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name) const
template<class T>
void	getProperty (std::atomic< T > &val, const std::string &name) const
template<class T>
void	getProperty (T &val, const std::string &name) const
template<class ProxyType>
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property.
template<class ProxyType>
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
template<class TopicProxyType>
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property.
template<class TopicProxyType>
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)
void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component.
void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override
void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property.
virtual void	preOnConnectComponent () override
virtual void	preOnInitComponent () override
bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property.
void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property.
Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer)
std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name.
ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components.
ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies)
IceManagerPtr	getIceManager () const
	Returns the IceManager.
VariantBasePtr	getMetaInfo (const std::string &id)
StringVariantBaseMap	getMetaInfoMap () const
std::string	getName () const
	Retrieve name of object.
Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter.
ArmarXObjectSchedulerPtr	getObjectScheduler () const
PeriodicTaskPtr	getPeriodicTask (const std::string &name)
Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler
template<class ProxyTarg, class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)
template<class ProxyType>
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object.
template<class ProxyTarg, class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)
template<class ProxyTarg, class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&... args)
template<class ProxyTarg, class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&... args)
	Assigns a proxy to proxy.
Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy)
template<class Prx>
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
template<class ProxyType>
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload).
template<class Prx>
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const
int	getState () const
	Retrieve current state of the ManagedIceObject.
template<class TopicProxyType>
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic.
template<class TopicProxyType>
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to topicProxy.
std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies
	ManagedIceObject (ManagedIceObject const &other)
void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization.
void	preambleGetTopic (std::string const &name)
void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager.
void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)
bool	stopPeriodicTask (const std::string &name)
bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic.
bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list.
void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization.
void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies.
void	waitForProxy (std::string const &name, bool addToDependencies)
Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()
Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties.
template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval.
template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in const-modified methods.
template<class T>
void	getProperty (std::atomic< T > &val, const std::string &name) const
template<class T>
void	getProperty (T &val, const std::string &name) const
template<class T>
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
template<class ContainerT>
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container.
std::vector< std::string >	getSubscribedTopicNames ()
std::vector< std::string >	getTopicProxyNames ()
bool	hasProperty (const std::string &name)
	PropertyUser ()
virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties.
bool	tryAddProperty (const std::string &propertyName, const std::string &value)
virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)
void	updateProperties ()
void	updateProxies (IceManagerPtr)
	~PropertyUser () override

Static Public Member Functions
static QIcon	GetWidgetIcon ()
static QString	GetWidgetName ()
Static Public Member Functions inherited from ArmarXComponentWidgetController
template<typename Class>
static ArmarXWidgetControllerPtr	createInstance ()
Static Public Member Functions inherited from ArmarXWidgetController
template<typename Class>
static ArmarXWidgetControllerPtr	createInstance ()
static QIcon	GetWidgetCategoryIcon ()
	Implement this function to supply an icon for the menu (if you implemented static QString GetWidgetName()).
static QIcon	GetWidgetIcon ()
	Implement this function to supply an icon for the menu (if you implemented static QString GetWidgetName()).
static int	showMessageBox (const QString &msg)
Static Public Member Functions inherited from Component
template<class T, class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component.
Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name.
static std::string	GetObjectStateAsString (int state)

Protected Slots
void	copyToClipboard ()
void	debugInfoReceived (const DebugInfo &debugInfo)
void	on_pushButtonFromJson_clicked ()
void	showVisuLayers (bool show)
void	synchronizeRobotJointAngles ()

Protected Member Functions
void	connectSlots ()
ControlMode	getSelectedControlMode () const
void	highlightCriticalValues (const NameStatusMap &reportedJointStatuses)
void	initializeUi (const DebugInfo &debugInfo)
void	runUpdate ()
void	setControlModeRadioButtonGroup (const ControlMode &controlMode)
QString	translateStatus (ErrorStatus status)
QString	translateStatus (OperationStatus status)
void	updateModel (const NameValueMap &jointAngles)
Protected Member Functions inherited from ArmarXComponentWidgetController
bool	onClose () override
	If you overwrite this method, make sure to call this implementation at the end of your implementation with ArmarXComponentWidgetController::onClose().
Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const
const LogSenderPtr &	getLogSender () const
	Retrieve log sender.
LogSenderPtr	loghelper (const char *file, int line, const char *function) const
Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text.
	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead.
PropertyDefinitionsPtr	createPropertyDefinitions () override
std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor.
std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor.
std::string	getConfigName ()
	Retrieve config name for this component as set in constructor.
virtual void	icePropertiesInitialized ()
Protected Member Functions inherited from ManagedIceObject
template<class PluginT, class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&... params)
template<class PluginT, class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&... params)
template<class PluginT, class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&... params)
Ice::CommunicatorPtr	getCommunicator () const
std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)
	ManagedIceObject ()
	Protected default constructor.
virtual void	postOnConnectComponent ()
virtual void	postOnDisconnectComponent ()
virtual void	postOnExitComponent ()
virtual void	postOnInitComponent ()
virtual void	preOnDisconnectComponent ()
virtual void	preOnExitComponent ()
bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object.
void	setName (std::string name)
	Override name of well-known object.
void	terminate ()
	Initiates termination of this IceManagedObject.
	~ManagedIceObject () override

Protected Attributes
VirtualRobot::RobotNodePtr	currentNode
armarx::DebugDrawerComponentPtr	debugDrawer
SoSeparator *	debugLayerVisu
std::string	kinematicUnitFile
std::string	kinematicUnitFileDefault
KinematicUnitInterfacePrx	kinematicUnitInterfacePrx
std::string	kinematicUnitName
SoNode *	kinematicUnitNode
VirtualRobot::CoinVisualizationPtr	kinematicUnitVisualization
VirtualRobot::RobotPtr	robot
VirtualRobot::RobotNodeSetPtr	robotNodeSet
std::string	robotNodeSetName
SoSeparator *	robotVisu
SoSeparator *	rootVisu
std::string	topicName
std::unique_ptr< Ui::KinematicUnitGuiPlugin >	ui
armarx::RunningTask< KinematicUnitWidgetController >::pointer_type	updateTask
bool	verbose
Protected Attributes inherited from ArmarXWidgetController
std::shared_ptr< std::recursive_mutex >	mutex3D
Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel
SpamFilterDataPtr	spamFilter
LogTag	tag

Additional Inherited Members
Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required.

Member Enumeration Documentation

JointTabelColumnIndex

enum JointTabelColumnIndex : int

Holds the column index for the joint tabel.

Used to avoid magic numbers.

Enumerator
eTabelColumnName
eTabelColumnControlMode
eTabelColumnAngleProgressbar
eTabelColumnVelocity
eTabelColumnTorque
eTabelColumnCurrent
eTabelColumnTemperature
eTabelColumnOperation
eTabelColumnError
eTabelColumnEnabled
eTabelColumnEmergencyStop
eTabelColumnCount

Roles

enum Roles

Enumerator
eJointAngleRole
eJointHiRole
eJointLoRole

Constructor & Destructor Documentation

KinematicUnitWidgetController()

KinematicUnitWidgetController

(

)

~KinematicUnitWidgetController()

~KinematicUnitWidgetController ( )

override

Member Function Documentation

configured()

void configured ( )

overridevirtual

This function must be implemented by the user, if he supplies a config dialog.

This function is then automatically called, when the dialog was accepted.

See also

getConfigDialog()

Reimplemented from ArmarXWidgetController.

connectSlots()

void connectSlots ( )

protected

copyToClipboard

void copyToClipboard ( )

protectedslot

debugInfoReceived

void debugInfoReceived ( const DebugInfo & debugInfo )

protectedslot

fetchData

void fetchData ( )

slot

getConfigDialog()

QPointer< QDialog > getConfigDialog ( QWidget * parent = 0 )

overridevirtual

getConfigDialog returns a pointer to the a configuration widget of this controller.

It is optional.

If you need your widget configured, before it is shown, you should implement this function and return a QDialog derived class.

Parameters

parent

Pointer to the object, that should own this dialog.

Returns

pointer to a QDialog derived class, that should be used to configure your widget.

Note

When the dialog gets accepted (emit SIGNAL accepted()), the function configured() is called, which must be implemented as well.

See also

configured(), getWidget()

Reimplemented from ArmarXWidgetController.

getCustomTitlebarWidget()

QPointer< QWidget > getCustomTitlebarWidget ( QWidget * parent )

overridevirtual

getTitleToolbar returns a pointer to the a toolbar widget of this controller.

It is optional. It must return the same instance on all calls.

The returned toolbar is displayed in the titlebar of the parent dockwidget. Use this to show button that should always be visible in the widget, but should not take up space in the widget. Keep the size of the toolbar to a minimum, so that it is not wider than the widget itself.

Reimplemented from ArmarXWidgetController.

getScene()

SoNode * getScene ( )

overridevirtual

Reimplementing this function and returning a SoNode* will show this SoNode in the 3DViewerWidget, so that you do not need to implement a viewer yourself.

Returns

Reimplemented from ArmarXWidgetController.

getSelectedControlMode()

ControlMode getSelectedControlMode ( ) const

protected

GetWidgetIcon()

static QIcon GetWidgetIcon ( )

inlinestatic

GetWidgetName()

static QString GetWidgetName ( )

inlinestatic

highlightCriticalValues()

void highlightCriticalValues ( const NameStatusMap & reportedJointStatuses )

protected

initializeUi()

void initializeUi ( const DebugInfo & debugInfo )

protected

jointAnglesReported

void jointAnglesReported ( )

signal

jointControlModesReported

void jointControlModesReported ( )

signal

jointCurrentsReported

void jointCurrentsReported ( )

signal

jointMotorTemperaturesReported

void jointMotorTemperaturesReported ( )

signal

jointStatusesReported

void jointStatusesReported ( )

signal

jointTorquesReported

void jointTorquesReported ( )

signal

jointVelocitiesReported

void jointVelocitiesReported ( )

signal

kinematicUnitSetupViewer()

bool kinematicUnitSetupViewer

(

)

kinematicUnitZeroVelocity

void kinematicUnitZeroVelocity ( )

slot

loadSettings()

void loadSettings ( QSettings * settings )

overridevirtual

Implement to load the settings that are part of the GUI configuration.

These settings are NOT loaded automatically on widget startup, but when a GUI config is loaded (instead of the optional config dialog).

Implements ArmarXWidgetController.

modelUpdateCB()

void modelUpdateCB

(

)

on_pushButtonFromJson_clicked

void on_pushButtonFromJson_clicked ( )

protectedslot

onConnectComponent()

void onConnectComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once all dependencies of the object have been resolved and Ice connection is established. This hook is called whenever the dependencies are found. That means if the a depedency crashes or shuts down, the ManagedIceObject goes into disconnected state. When the dependencies are found again, this hook is called again.

See also

onDisconnectComponent()

Implements ManagedIceObject.

onDebugInfoReceived

void onDebugInfoReceived ( const DebugInfo & debugInfo )

signal

onDisconnectComponent()

void onDisconnectComponent ( )

overridevirtual

Hook for subclass.

Is called if a dependency of the object got lost (crash, network error, stopped, ...). This hook should be the inverse to onConnectComponent(). So that onDisconnectComponent() and onConnectComponent() can be called alternatingly and the ManagedIceObject remains in valid states. *

See also

onConnectComponent

Reimplemented from ManagedIceObject.

onExitComponent()

void onExitComponent ( )

overridevirtual

Hook for subclass.

Is called once the component terminates. Use for cleanup. Only called once.

Reimplemented from ManagedIceObject.

onInitComponent()

void onInitComponent ( )

overridevirtual

Pure virtual hook for the subclass.

Is called once initialization of the ManagedIceObject is done. This hook is called in the implenting class once and never again during the lifecyle of the object. This function is called as soon as the ManagedIceObject was added to the ArmarXManager. Called in an own thread and not the thread it was created in.

Implements ManagedIceObject.

resetSlider

void resetSlider ( )

slot

Sets the Slider ui->horizontalSliderKinematicUnitPos to 0 if this->selectedControlMode is eVelocityControl.

resetSliderToZeroPosition

void resetSliderToZeroPosition ( )

slot

runUpdate()

void runUpdate ( )

protected

saveSettings()

void saveSettings ( QSettings * settings )

overridevirtual

Implement to save the settings as part of the GUI configuration.

These settings are NOT saved automatically when closing the widget, but when a GUI config is saved.

Implements ArmarXWidgetController.

selectJoint

void selectJoint ( int i )

slot

selectJointFromTableWidget

void selectJointFromTableWidget ( int row, int column )

slot

setControlModePosition

void setControlModePosition ( )

slot

setControlModeRadioButtonGroup()

void setControlModeRadioButtonGroup ( const ControlMode & controlMode )

protected

setControlModeTorque

void setControlModeTorque ( )

slot

setControlModeVelocity

void setControlModeVelocity ( )

slot

setMutex3D()

void setMutex3D ( RecursiveMutexPtr const & mutex3D )

overridevirtual

This mutex is used to protect 3d scene updates. Usually called by the ArmarXGui main window on creation of this controller.

Parameters

mutex3D

Reimplemented from ArmarXWidgetController.

showVisuLayers

void showVisuLayers ( bool show )

protectedslot

sliderValueChanged

void sliderValueChanged ( int i )

slot

synchronizeRobotJointAngles

void synchronizeRobotJointAngles ( )

protectedslot

translateStatus() [1/2]

QString translateStatus ( ErrorStatus status )

protected

translateStatus() [2/2]

QString translateStatus ( OperationStatus status )

protected

updateControlModesTable

void updateControlModesTable ( const NameControlModeMap & reportedJointControlModes )

slot

updateGuiElements()

void updateGuiElements

(

)

updateJointAnglesTable

void updateJointAnglesTable ( const NameValueMap & reportedJointAngles )

slot

updateJointCurrentsTable

void updateJointCurrentsTable ( const NameValueMap & reportedJointCurrents, const NameStatusMap & reportedJointStatuses )

slot

updateJointStatusesTable

void updateJointStatusesTable ( const NameStatusMap & reportedJointStatuses )

slot

updateJointTorquesTable

void updateJointTorquesTable ( const NameValueMap & reportedJointTorques )

slot

updateJointVelocitiesTable

void updateJointVelocitiesTable ( const NameValueMap & reportedJointVelocities )

slot

updateKinematicUnitListInDialog

void updateKinematicUnitListInDialog ( )

slot

updateModel()

void updateModel ( const NameValueMap & jointAngles )

protected

updateMotorTemperaturesTable

void updateMotorTemperaturesTable ( const NameValueMap & reportedMotorTemperatures )

slot

Member Data Documentation

currentNode

VirtualRobot::RobotNodePtr currentNode

protected

debugDrawer

armarx::DebugDrawerComponentPtr debugDrawer

protected

debugLayerVisu

SoSeparator* debugLayerVisu

protected

kinematicUnitFile

std::string kinematicUnitFile

protected

kinematicUnitFileDefault

std::string kinematicUnitFileDefault

protected

kinematicUnitInterfacePrx

KinematicUnitInterfacePrx kinematicUnitInterfacePrx

protected

kinematicUnitName

std::string kinematicUnitName

protected

kinematicUnitNode

SoNode* kinematicUnitNode

protected

kinematicUnitVisualization

VirtualRobot::CoinVisualizationPtr kinematicUnitVisualization

protected

robot

VirtualRobot::RobotPtr robot

protected

robotNodeSet

VirtualRobot::RobotNodeSetPtr robotNodeSet

protected

robotNodeSetName

std::string robotNodeSetName

protected

robotVisu

SoSeparator* robotVisu

protected

rootVisu

SoSeparator* rootVisu

protected

topicName

std::string topicName

protected

ui

std::unique_ptr<Ui::KinematicUnitGuiPlugin> ui

protected

updateTask

armarx::RunningTask<KinematicUnitWidgetController>::pointer_type updateTask

protected

verbose

bool verbose

protected

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The documentation for this class was generated from the following files:

• RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
• RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp