RobotTrajectoryDesignerGuiPluginWidgetController.cpp
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1 /*
2 * This file is part of ArmarX.
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5 * it under the terms of the GNU General Public License version 2 as
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11 * GNU General Public License for more details.
12 *
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14 * along with this program. If not, see <http://www.gnu.org/licenses/>.
15 *
16 * \package RobotTrajectoryDesigner::gui-plugins::RobotTrajectoryDesignerGuiPluginWidgetController
17 * \author Max Beddies
18 * \date 2018
19 * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
20 * GNU General Public License
21 */
22 
23 #include "RobotTrajectoryDesignerGuiPluginWidgetController.h"
24 
25 #include <string>
26 
27 #include <QCoreApplication>
28 #include <QShortcut>
29 
30 #include <VirtualRobot/XML/RobotIO.h>
31 
32 #include <ArmarXCore/core/system/ArmarXDataPath.h>
33 #include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
34 
35 #include <RobotAPI/interface/core/RobotState.h>
36 using namespace armarx;
37 
38 RobotTrajectoryDesignerGuiPluginWidgetController::RobotTrajectoryDesignerGuiPluginWidgetController()
39 {
40 }
41 
42 RobotTrajectoryDesignerGuiPluginWidgetController::
43  ~RobotTrajectoryDesignerGuiPluginWidgetController()
44 {
45 }
46 
47 void
48 RobotTrajectoryDesignerGuiPluginWidgetController::loadSettings(QSettings* settings)
49 {
50 }
51 
52 void
53 RobotTrajectoryDesignerGuiPluginWidgetController::saveSettings(QSettings* settings)
54 {
55 }
56 
57 void
58 RobotTrajectoryDesignerGuiPluginWidgetController::onInitComponent()
59 {
60  QMetaObject::invokeMethod(this, "initWidget");
61 }
62 
63 void
64 RobotTrajectoryDesignerGuiPluginWidgetController::onConnectComponent()
65 {
66  QMetaObject::invokeMethod(this, "connectWidget");
67 }
68 
69 void
70 RobotTrajectoryDesignerGuiPluginWidgetController::onDisconnectComponent()
71 {
72  viewControllerPtr.reset();
73  toolBarControllerPtr.reset();
74  widget.robotVisualization->~QWidget();
75  this->robotVisualizationControllerPtr.reset();
76  mementoControllerPtr.reset();
77  settingControllerPtr.reset();
78  shortcutControllerPtr.reset();
79  tcpInformationControllerPtr.reset();
80  tcpSelectionControllerPtr.reset();
81  trajectoryControllerPtr.reset();
82  transitionControllerPtr.reset();
83  waypointControllerPtr.reset();
84  exportDialogControllerPtr.reset();
85  importDialogControllerPtr.reset();
86  robotVisualizationControllerPtr.reset();
87  environmentControllerPtr.reset();
88  KinematicSolver::reset();
89 }
90 
91 void
92 RobotTrajectoryDesignerGuiPluginWidgetController::initWidget()
93 {
94  widget.setupUi(getWidget());
95  // Create shared pointers for each member, initialize each controller
96  this->exportDialogControllerPtr = std::make_shared<ExportDialogController>();
97  this->importDialogControllerPtr = std::make_shared<ImportDialogController>();
98  this->mementoControllerPtr =
99  std::make_shared<MementoController>(widget.undoButton, widget.redoButton);
100  this->robotVisualizationControllerPtr =
101  std::make_shared<RobotVisualizationController>(widget.robotVisualization);
102  this->robotVisualizationControllerPtr->addConnection(this->robotVisualizationControllerPtr);
103 
104  SettingTabPtr settingTabPtr(widget.settingTab);
105  this->settingControllerPtr = std::make_shared<SettingController>(settingTabPtr);
106  this->shortcutControllerPtr = std::make_shared<ShortcutController>(getWidget().data());
107  TCPInformationPtr tcpInformationPtr(widget.tcpInformationTab);
108  this->tcpInformationControllerPtr =
109  std::make_shared<TCPInformationController>(tcpInformationPtr);
110  this->tcpSelectionControllerPtr =
111  std::make_shared<TCPSelectionController>(widget.currentTPComboBox);
112 
113  ToolBarPtr toolBarPtr(widget.toolBar);
114  this->toolBarControllerPtr = std::make_shared<ToolBarController>(toolBarPtr);
115  widget.toolBar->raise();
116  this->trajectoryControllerPtr = std::make_shared<TrajectoryController>();
117 
118  TransitionTabPtr transitionTabPtr(widget.transitionTab);
119  this->transitionControllerPtr = std::make_shared<TransitionController>(transitionTabPtr);
120  PerspectivesPtr perspectivesPtr(widget.perspectives);
121  this->viewControllerPtr = std::make_shared<ViewController>(perspectivesPtr);
122  widget.perspectives->raise();
123 
124  WaypointTabPtr waypointTabPtr(widget.waypointTab);
125  this->waypointControllerPtr = std::make_shared<WaypointController>(waypointTabPtr);
126  this->environmentControllerPtr = std::make_shared<EnvironmentController>();
127 }
128 
129 void
130 RobotTrajectoryDesignerGuiPluginWidgetController::connectWidget()
131 {
132  //=============================================================================================
133  //EnvironmentController Signals
134 
135  QObject::connect(environmentControllerPtr.get(),
136  SIGNAL(environmentChanged(EnvironmentPtr)),
137  exportDialogControllerPtr.get(),
138  SLOT(environmentChanged(EnvironmentPtr)));
139  QObject::connect(environmentControllerPtr.get(),
140  SIGNAL(environmentChanged(EnvironmentPtr)),
141  importDialogControllerPtr.get(),
142  SLOT(environmentChanged(EnvironmentPtr)));
143  QObject::connect(environmentControllerPtr.get(),
144  SIGNAL(environmentChanged(EnvironmentPtr)),
145  robotVisualizationControllerPtr.get(),
146  SLOT(environmentChanged(EnvironmentPtr)));
147  QObject::connect(environmentControllerPtr.get(),
148  SIGNAL(environmentChanged(EnvironmentPtr)),
149  trajectoryControllerPtr.get(),
150  SLOT(environmentChanged(EnvironmentPtr)));
151  QObject::connect(environmentControllerPtr.get(),
152  SIGNAL(environmentChanged(EnvironmentPtr)),
153  settingControllerPtr.get(),
154  SLOT(environmentChanged(EnvironmentPtr)));
155 
156  //=============================================================================================
157  //ExportDialogController Signals
158 
159  QObject::connect(exportDialogControllerPtr.get(),
160  SIGNAL(exportDesignerTrajectory(int)),
161  trajectoryControllerPtr.get(),
162  SLOT(exportTrajectory(int)));
163  QObject::connect(exportDialogControllerPtr.get(),
164  SIGNAL(exportDesignerTrajectory()),
165  trajectoryControllerPtr.get(),
166  SLOT(exportTrajectory()));
167 
168  //=============================================================================================
169  //ImportDialogController Signals
170 
171  QObject::connect(importDialogControllerPtr.get(),
172  SIGNAL(import(DesignerTrajectoryPtr)),
173  trajectoryControllerPtr.get(),
174  SLOT(import(DesignerTrajectoryPtr)));
175 
176  //=============================================================================================
177  //MementoController Signals
178 
179  QObject::connect(
180  mementoControllerPtr.get(), SIGNAL(undo()), trajectoryControllerPtr.get(), SLOT(undo()));
181  QObject::connect(
182  mementoControllerPtr.get(), SIGNAL(redo()), trajectoryControllerPtr.get(), SLOT(redo()));
183 
184  //=============================================================================================
185  //RobotVisualizationController Signals
186  QObject::connect(robotVisualizationControllerPtr.get(),
187  SIGNAL(manipulatorChanged(Eigen::Matrix4f)),
188  tcpInformationControllerPtr.get(),
189  SLOT(setDesiredPose(Eigen::Matrix4f)));
190  QObject::connect(robotVisualizationControllerPtr.get(),
191  SIGNAL(tcpPoseChanged(Eigen::Matrix4f)),
192  tcpInformationControllerPtr.get(),
193  SLOT(setCurrentPose(Eigen::Matrix4f)));
194  QObject::connect(robotVisualizationControllerPtr.get(),
195  SIGNAL(poseReachable(bool)),
196  tcpInformationControllerPtr.get(),
197  SLOT(setReachable(bool)));
198 
199  QObject::connect(robotVisualizationControllerPtr.get(),
200  SIGNAL(wayPointSelected(int)),
201  waypointControllerPtr.get(),
202  SLOT(updateSelectedWaypoint(int)));
203 
204  QObject::connect(robotVisualizationControllerPtr.get(),
205  SIGNAL(trajectoryPlayerNotPlaying(bool)),
206  waypointControllerPtr.get(),
207  SLOT(enableDeleteButton(bool)));
208  QObject::connect(robotVisualizationControllerPtr.get(),
209  SIGNAL(trajectoryPlayerNotPlaying(bool)),
210  waypointControllerPtr.get(),
211  SLOT(enableAddButton(bool)));
212  QObject::connect(robotVisualizationControllerPtr.get(),
213  SIGNAL(trajectoryPlayerNotPlaying(bool)),
214  waypointControllerPtr.get(),
215  SLOT(enableWaypointListLineEdit(bool)));
216 
217  QObject::connect(robotVisualizationControllerPtr.get(),
218  SIGNAL(trajectoryPlayerNotPlaying(bool)),
219  waypointControllerPtr.get(),
220  SLOT(enableAddButton(bool)));
221 
222  QObject::connect(robotVisualizationControllerPtr.get(),
223  SIGNAL(trajectoryPlayerNotPlaying(bool)),
224  toolBarControllerPtr.get(),
225  SLOT(enableAddButton(bool)));
226  QObject::connect(robotVisualizationControllerPtr.get(),
227  SIGNAL(trajectoryPlayerNotPlaying(bool)),
228  toolBarControllerPtr.get(),
229  SLOT(enableDeleteChangeButton(bool)));
230  QObject::connect(robotVisualizationControllerPtr.get(),
231  SIGNAL(trajectoryPlayerNotPlaying(bool)),
232  toolBarControllerPtr.get(),
233  SLOT(enablePreviewAllButton(bool)));
234  QObject::connect(robotVisualizationControllerPtr.get(),
235  SIGNAL(trajectoryPlayerNotPlaying(bool)),
236  toolBarControllerPtr.get(),
237  SLOT(enablePreviewButton(bool)));
238  QObject::connect(robotVisualizationControllerPtr.get(),
239  SIGNAL(trajectoryPlayerPlaying(bool)),
240  toolBarControllerPtr.get(),
241  SLOT(enableStopButton(bool)));
242 
243  QObject::connect(robotVisualizationControllerPtr.get(),
244  SIGNAL(trajectoryPlayerNotPlaying(bool)),
245  settingControllerPtr.get(),
246  SLOT(enableSelectRobotButton(bool)));
247  QObject::connect(robotVisualizationControllerPtr.get(),
248  SIGNAL(trajectoryPlayerNotPlaying(bool)),
249  settingControllerPtr.get(),
250  SLOT(enableExportButtons(bool)));
251  QObject::connect(robotVisualizationControllerPtr.get(),
252  SIGNAL(trajectoryPlayerNotPlaying(bool)),
253  settingControllerPtr.get(),
254  SLOT(enableImportTCPCollision(bool)));
255 
256  QObject::connect(robotVisualizationControllerPtr.get(),
257  SIGNAL(trajectoryPlayerNotPlaying(bool)),
258  mementoControllerPtr.get(),
259  SLOT(enableRedoButtonVisualization(bool)));
260  QObject::connect(robotVisualizationControllerPtr.get(),
261  SIGNAL(trajectoryPlayerNotPlaying(bool)),
262  mementoControllerPtr.get(),
263  SLOT(enableUndoButton(bool)));
264 
265  QObject::connect(robotVisualizationControllerPtr.get(),
266  SIGNAL(trajectoryPlayerNotPlaying(bool)),
267  shortcutControllerPtr.get(),
268  SLOT(enableAddShortcut(bool)));
269  QObject::connect(robotVisualizationControllerPtr.get(),
270  SIGNAL(trajectoryPlayerNotPlaying(bool)),
271  shortcutControllerPtr.get(),
272  SLOT(enableDeleteChangeShortcut(bool)));
273  QObject::connect(robotVisualizationControllerPtr.get(),
274  SIGNAL(trajectoryPlayerNotPlaying(bool)),
275  shortcutControllerPtr.get(),
276  SLOT(enablePreviewAllShortcut(bool)));
277  QObject::connect(robotVisualizationControllerPtr.get(),
278  SIGNAL(trajectoryPlayerNotPlaying(bool)),
279  shortcutControllerPtr.get(),
280  SLOT(enablePreviewShortcut(bool)));
281  QObject::connect(robotVisualizationControllerPtr.get(),
282  SIGNAL(trajectoryPlayerNotPlaying(bool)),
283  shortcutControllerPtr.get(),
284  SLOT(enableRedoShortcut(bool)));
285  QObject::connect(robotVisualizationControllerPtr.get(),
286  SIGNAL(trajectoryPlayerNotPlaying(bool)),
287  shortcutControllerPtr.get(),
288  SLOT(enableUndoShortcut(bool)));
289  QObject::connect(robotVisualizationControllerPtr.get(),
290  SIGNAL(trajectoryPlayerPlaying(bool)),
291  shortcutControllerPtr.get(),
292  SLOT(enableStopPreviewShortcut(bool)));
293 
294  QObject::connect(robotVisualizationControllerPtr.get(),
295  SIGNAL(trajectoryPlayerNotPlaying(bool)),
296  tcpSelectionControllerPtr.get(),
297  SLOT(enableSelectedTCP(bool)));
298 
299  QObject::connect(robotVisualizationControllerPtr.get(),
300  SIGNAL(trajectoryPlayerNotPlaying(bool)),
301  transitionControllerPtr.get(),
302  SLOT(enableAll(bool)));
303 
304  //=============================================================================================
305  //SettingController Signals
306 
307  QObject::connect(settingControllerPtr.get(),
308  SIGNAL(changedTCP(QString)),
309  trajectoryControllerPtr.get(),
310  SLOT(updateTCP(QString)));
311  QObject::connect(settingControllerPtr.get(),
312  SIGNAL(setActiveColModelName(QString)),
313  trajectoryControllerPtr.get(),
314  SLOT(setActiveColModelName(QString)));
315  QObject::connect(settingControllerPtr.get(),
316  SIGNAL(setBodyColModelsNames(QStringList)),
317  trajectoryControllerPtr.get(),
318  SLOT(setBodyColModelsNames(QStringList)));
319 
320  QObject::connect(settingControllerPtr.get(),
321  SIGNAL(openRobotSelection()),
322  environmentControllerPtr.get(),
323  SLOT(openRobotFileDialog()));
324 
325  QObject::connect(settingControllerPtr.get(),
326  SIGNAL(openShortcut()),
327  shortcutControllerPtr.get(),
328  SLOT(open()));
329 
330  QObject::connect(settingControllerPtr.get(),
331  SIGNAL(convertToMMM()),
332  exportDialogControllerPtr.get(),
333  SLOT(exportMMM()));
334 
335  QObject::connect(settingControllerPtr.get(),
336  SIGNAL(openImport()),
337  importDialogControllerPtr.get(),
338  SLOT(open()));
339 
340  //=============================================================================================
341  //ShortcutController Signals
342 
343  QObject::connect(shortcutControllerPtr.get(),
344  SIGNAL(addedWaypoint(int, bool)),
345  trajectoryControllerPtr.get(),
346  SLOT(addWaypoint(int, bool)));
347  QObject::connect(shortcutControllerPtr.get(),
348  SIGNAL(deletedWaypoint(int)),
349  trajectoryControllerPtr.get(),
350  SLOT(deleteWaypoint(int)));
351  QObject::connect(shortcutControllerPtr.get(),
352  SIGNAL(changeWaypoint(int)),
353  trajectoryControllerPtr.get(),
354  SLOT(updateWaypoint(int)));
355  QObject::connect(
356  shortcutControllerPtr.get(), SIGNAL(undo()), trajectoryControllerPtr.get(), SLOT(undo()));
357  QObject::connect(
358  shortcutControllerPtr.get(), SIGNAL(redo()), trajectoryControllerPtr.get(), SLOT(redo()));
359  QObject::connect(shortcutControllerPtr.get(),
360  SIGNAL(playPreviewAllSignal()),
361  trajectoryControllerPtr.get(),
362  SLOT(playTrajectories()));
363 
364  QObject::connect(shortcutControllerPtr.get(),
365  SIGNAL(playPreviewSignal()),
366  robotVisualizationControllerPtr.get(),
367  SLOT(playTrajectory()));
368  QObject::connect(shortcutControllerPtr.get(),
369  SIGNAL(changedPerspective(int)),
370  robotVisualizationControllerPtr.get(),
371  SLOT(setCamera(int)));
372 
373  QObject::connect(shortcutControllerPtr.get(),
374  SIGNAL(addedWaypointPressed(bool)),
375  robotVisualizationControllerPtr.get(),
376  SLOT(enableLeftMouse(bool)));
377  QObject::connect(shortcutControllerPtr.get(),
378  SIGNAL(stopPreviewSignal()),
379  robotVisualizationControllerPtr.get(),
380  SLOT(trajectoryPlayerStopped()));
381 
382  //=============================================================================================
383  //TCPSelectionController Signals
384 
385  QObject::connect(tcpSelectionControllerPtr.get(),
386  SIGNAL(changedSelectedTCP(QString)),
387  trajectoryControllerPtr.get(),
388  SLOT(updateTCP(QString)));
389  QObject::connect(tcpSelectionControllerPtr.get(),
390  SIGNAL(changedSelectedTCP(QString)),
391  settingControllerPtr.get(),
392  SLOT(selectTCP(QString)));
393 
394 
395  //=============================================================================================
396  //ToolBarController Signals
397 
398  QObject::connect(toolBarControllerPtr.get(),
399  SIGNAL(addedWaypoint(int, bool)),
400  trajectoryControllerPtr.get(),
401  SLOT(addWaypoint(int, bool)));
402  QObject::connect(toolBarControllerPtr.get(),
403  SIGNAL(deletedWaypoint(int)),
404  trajectoryControllerPtr.get(),
405  SLOT(deleteWaypoint(int)));
406  QObject::connect(toolBarControllerPtr.get(),
407  SIGNAL(changeWaypoint(int)),
408  trajectoryControllerPtr.get(),
409  SLOT(updateWaypoint(int)));
410 
411  QObject::connect(toolBarControllerPtr.get(),
412  SIGNAL(notifyAllPreview()),
413  trajectoryControllerPtr.get(),
414  SLOT(playTrajectories()));
415 
416  QObject::connect(toolBarControllerPtr.get(),
417  SIGNAL(notifyPreview()),
418  robotVisualizationControllerPtr.get(),
419  SLOT(playTrajectory()));
420  QObject::connect(toolBarControllerPtr.get(),
421  SIGNAL(notifyStopPreview()),
422  robotVisualizationControllerPtr.get(),
423  SLOT(trajectoryPlayerStopped()));
424 
425  //=============================================================================================
426  //TrajectroyController Signals
427 
428  QObject::connect(trajectoryControllerPtr.get(),
429  SIGNAL(addWaypointGui(int, std::vector<double>, int, bool)),
430  waypointControllerPtr.get(),
431  SLOT(addWaypoint(int, std::vector<double>, int, bool)));
432  QObject::connect(trajectoryControllerPtr.get(),
433  SIGNAL(changeWaypointGui(int, std::vector<double>, int, bool)),
434  waypointControllerPtr.get(),
435  SLOT(setWaypointData(int, std::vector<double>, int, bool)));
436  QObject::connect(trajectoryControllerPtr.get(),
437  SIGNAL(removeWaypointGui(int)),
438  waypointControllerPtr.get(),
439  SLOT(removeWaypoint(int)));
440  QObject::connect(trajectoryControllerPtr.get(),
441  SIGNAL(removeTransitionWaypointGui()),
442  waypointControllerPtr.get(),
443  SLOT(clearWaypointList()));
444  QObject::connect(trajectoryControllerPtr.get(),
445  SIGNAL(enableDeleteChange(bool)),
446  waypointControllerPtr.get(),
447  SLOT(enableDeleteButton(bool)));
448  QObject::connect(trajectoryControllerPtr.get(),
449  SIGNAL(enableAdd(bool)),
450  waypointControllerPtr.get(),
451  SLOT(enableAddButton(bool)));
452 
453  QObject::connect(trajectoryControllerPtr.get(),
454  SIGNAL(addTransitionGui(int, double, double, int)),
455  transitionControllerPtr.get(),
456  SLOT(addTransition(int, double, double, int)));
457  QObject::connect(trajectoryControllerPtr.get(),
458  SIGNAL(changeTransitionGui(int, double, double, int)),
459  transitionControllerPtr.get(),
460  SLOT(setTransitionData(int, double, double, int)));
461  QObject::connect(trajectoryControllerPtr.get(),
462  SIGNAL(removeTransitionGui(int)),
463  transitionControllerPtr.get(),
464  SLOT(removeTransition(int)));
465  QObject::connect(trajectoryControllerPtr.get(),
466  SIGNAL(removeTransitionWaypointGui()),
467  transitionControllerPtr.get(),
468  SLOT(clearTransitionList()));
469 
470  QObject::connect(trajectoryControllerPtr.get(),
471  SIGNAL(newTrajectory(QString)),
472  tcpSelectionControllerPtr.get(),
473  SLOT(addTrajectory(QString)));
474  QObject::connect(trajectoryControllerPtr.get(),
475  SIGNAL(updateSelectedTCP(QString)),
476  tcpSelectionControllerPtr.get(),
477  SLOT(updateSelectedTCP(QString)));
478  QObject::connect(trajectoryControllerPtr.get(),
479  SIGNAL(removeTrajectory(QString)),
480  tcpSelectionControllerPtr.get(),
481  SLOT(removeTrajectory(QString)));
482  QObject::connect(trajectoryControllerPtr.get(),
483  SIGNAL(removeAllTrajectories()),
484  tcpSelectionControllerPtr.get(),
485  SLOT(removeAllTrajectories()));
486 
487  QObject::connect(trajectoryControllerPtr.get(),
488  SIGNAL(updateSelectedTCP(QString)),
489  settingControllerPtr.get(),
490  SLOT(selectTCP(QString)));
491  QObject::connect(trajectoryControllerPtr.get(),
492  SIGNAL(enableIKSolutionButton(bool)),
493  settingControllerPtr.get(),
494  SLOT(enableIKSolutionButton(bool)));
495  QObject::connect(trajectoryControllerPtr.get(),
496  SIGNAL(enableExportButtons(bool)),
497  settingControllerPtr.get(),
498  SLOT(enableExportButtons(bool)));
499 
500  QObject::connect(trajectoryControllerPtr.get(),
501  SIGNAL(enableRedo(bool)),
502  mementoControllerPtr.get(),
503  SLOT(enableRedoButton(bool)));
504  QObject::connect(trajectoryControllerPtr.get(),
505  SIGNAL(enableUndo(bool)),
506  mementoControllerPtr.get(),
507  SLOT(enableUndoButton(bool)));
508 
509  QObject::connect(trajectoryControllerPtr.get(),
510  SIGNAL(exportTrajectory(std::vector<DesignerTrajectoryPtr>)),
511  exportDialogControllerPtr.get(),
512  SLOT(exportTrajectory(std::vector<DesignerTrajectoryPtr>)));
513 
514  QObject::connect(trajectoryControllerPtr.get(),
515  SIGNAL(showTrajectory(DesignerTrajectoryPtr)),
516  robotVisualizationControllerPtr.get(),
517  SLOT(updateViews(DesignerTrajectoryPtr)));
518  QObject::connect(trajectoryControllerPtr.get(),
519  SIGNAL(removeTransitionWaypointGui()),
520  robotVisualizationControllerPtr.get(),
521  SLOT(clearView()));
522  QObject::connect(
523  trajectoryControllerPtr.get(),
524  SIGNAL(cartesianSelectionChanged(VirtualRobot::IKSolver::CartesianSelection())),
525  robotVisualizationControllerPtr.get(),
526  SLOT(cartesianSelectionChanged(VirtualRobot::IKSolver::CartesianSelection())));
527  QObject::connect(trajectoryControllerPtr.get(),
528  SIGNAL(playTrajectories(std::vector<DesignerTrajectoryPtr>)),
529  robotVisualizationControllerPtr.get(),
530  SLOT(playTrajectories(std::vector<DesignerTrajectoryPtr>)));
531  QObject::connect(trajectoryControllerPtr.get(),
532  SIGNAL(rnsChanged(VirtualRobot::RobotNodeSetPtr)),
533  robotVisualizationControllerPtr.get(),
534  SLOT(kinematicChainChanged(VirtualRobot::RobotNodeSetPtr)));
535 
536  QObject::connect(trajectoryControllerPtr.get(),
537  SIGNAL(enableDeleteChange(bool)),
538  toolBarControllerPtr.get(),
539  SLOT(enableDeleteChangeButton(bool)));
540  QObject::connect(trajectoryControllerPtr.get(),
541  SIGNAL(enableAdd(bool)),
542  toolBarControllerPtr.get(),
543  SLOT(enableAddButton(bool)));
544  QObject::connect(trajectoryControllerPtr.get(),
545  SIGNAL(enablePreview(bool)),
546  toolBarControllerPtr.get(),
547  SLOT(enablePreviewButton(bool)));
548  QObject::connect(trajectoryControllerPtr.get(),
549  SIGNAL(enablePreviewAll(bool)),
550  toolBarControllerPtr.get(),
551  SLOT(enablePreviewAllButton(bool)));
552 
553  QObject::connect(trajectoryControllerPtr.get(),
554  SIGNAL(enableDeleteChange(bool)),
555  shortcutControllerPtr.get(),
556  SLOT(enableDeleteChangeShortcut(bool)));
557  QObject::connect(trajectoryControllerPtr.get(),
558  SIGNAL(enableAdd(bool)),
559  shortcutControllerPtr.get(),
560  SLOT(enableAddShortcut(bool)));
561  QObject::connect(trajectoryControllerPtr.get(),
562  SIGNAL(enablePreview(bool)),
563  shortcutControllerPtr.get(),
564  SLOT(enablePreviewShortcut(bool)));
565  QObject::connect(trajectoryControllerPtr.get(),
566  SIGNAL(enablePreviewAll(bool)),
567  shortcutControllerPtr.get(),
568  SLOT(enablePreviewAllShortcut(bool)));
569  QObject::connect(trajectoryControllerPtr.get(),
570  SIGNAL(enableRedo(bool)),
571  shortcutControllerPtr.get(),
572  SLOT(enableRedoShortcut(bool)));
573  QObject::connect(trajectoryControllerPtr.get(),
574  SIGNAL(enableUndo(bool)),
575  shortcutControllerPtr.get(),
576  SLOT(enableUnoShortcut(bool)));
577 
578  //=============================================================================================
579  //TransitionController Signals
580 
581  QObject::connect(transitionControllerPtr.get(),
582  SIGNAL(changedDuration(int, double)),
583  trajectoryControllerPtr.get(),
584  SLOT(updateTransition(int, double)));
585  QObject::connect(transitionControllerPtr.get(),
586  SIGNAL(changedInterpolation(int, int)),
587  trajectoryControllerPtr.get(),
588  SLOT(updateTransition(int, int)));
589 
590  QObject::connect(transitionControllerPtr.get(),
591  SIGNAL(selectedTransitionChanged(int)),
592  robotVisualizationControllerPtr.get(),
593  SLOT(selectedTransitionChanged(int)));
594 
595  //=============================================================================================
596  //ViewController Signals
597 
598  QObject::connect(viewControllerPtr.get(),
599  SIGNAL(changedPerspective(int)),
600  robotVisualizationControllerPtr.get(),
601  SLOT(setCamera(int)));
602  QObject::connect(viewControllerPtr.get(),
603  SIGNAL(addView()),
604  robotVisualizationControllerPtr.get(),
605  SLOT(addView()));
606  QObject::connect(viewControllerPtr.get(),
607  SIGNAL(removeView()),
608  robotVisualizationControllerPtr.get(),
609  SLOT(removeView()));
610 
611 
612  //=============================================================================================
613  //WaypointController Signals
614 
615  QObject::connect(waypointControllerPtr.get(),
616  SIGNAL(changedWaypoint(int, std::vector<double>)),
617  trajectoryControllerPtr.get(),
618  SLOT(updateWaypoint(int, std::vector<double>)));
619  QObject::connect(waypointControllerPtr.get(),
620  SIGNAL(changedWaypoint(int, int)),
621  trajectoryControllerPtr.get(),
622  SLOT(updateWaypoint(int, int)));
623  QObject::connect(waypointControllerPtr.get(),
624  SIGNAL(changedWaypoint(int, bool)),
625  trajectoryControllerPtr.get(),
626  SLOT(updateWaypoint(int, bool)));
627  QObject::connect(waypointControllerPtr.get(),
628  SIGNAL(addedWaypoint(int, bool)),
629  trajectoryControllerPtr.get(),
630  SLOT(addWaypoint(int, bool)));
631  QObject::connect(waypointControllerPtr.get(),
632  SIGNAL(deletedWaypoint(int)),
633  trajectoryControllerPtr.get(),
634  SLOT(deleteWaypoint(int)));
635  QObject::connect(waypointControllerPtr.get(),
636  SIGNAL(enableIKSolutionButton(bool)),
637  settingControllerPtr.get(),
638  SLOT(enableIKSolutionButton(bool)));
639  QObject::connect(waypointControllerPtr.get(),
640  SIGNAL(setCurrentIndex(int)),
641  toolBarControllerPtr.get(),
642  SLOT(setCurrentWaypoint(int)));
643  QObject::connect(waypointControllerPtr.get(),
644  SIGNAL(setCurrentIndex(int)),
645  shortcutControllerPtr.get(),
646  SLOT(setCurrentWaypoint(int)));
647 
648  QObject::connect(waypointControllerPtr.get(),
649  SIGNAL(setCurrentIndexRobotVisualization(int)),
650  robotVisualizationControllerPtr.get(),
651  SLOT(selectedWayPointChanged(int)));
652 
653  //=============================================================================================
654  //Load Robot
655  RobotStateComponentInterfacePrx robotStateComponent =
656  getProxy<RobotStateComponentInterfacePrx>("RobotStateComponent", false, "", false);
657  if (robotStateComponent)
658  {
659  environmentControllerPtr->loadRobotFromProxy(robotStateComponent->getRobotFilename());
660  }
661  else
662  {
663  //Laods a Robot in the application. Default Armar3.
664  environmentControllerPtr->loadArmar3();
665  }
666 }
armarx::RobotTrajectoryDesignerGuiPluginWidgetController::connectWidget
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Definition: RobotTrajectoryDesignerGuiPluginWidgetController.cpp:130
armarx::RobotTrajectoryDesignerGuiPluginWidgetController::~RobotTrajectoryDesignerGuiPluginWidgetController
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Definition: RobotTrajectoryDesignerGuiPluginWidgetController.cpp:43
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Definition: RobotTrajectoryDesignerGuiPluginWidgetController.cpp:92
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Definition: TCPInformationTab.h:52
RobotTrajectoryDesignerGuiPluginWidgetController.h
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Definition: RobotTrajectoryDesignerGuiPluginWidgetController.cpp:64
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Definition: Environment.h:29
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Definition: WaypointTab.h:52
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Definition: TransitionTab.h:52
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Definition: RobotTrajectoryDesignerGuiPluginWidgetController.cpp:38
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virtual void loadSettings(QSettings *settings) override
Definition: RobotTrajectoryDesignerGuiPluginWidgetController.cpp:48
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Definition: ArmarXWidgetController.cpp:54
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Definition: Perspectives.h:53
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Definition: RobotTrajectoryDesignerGuiPluginWidgetController.cpp:58
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Definition: RobotTrajectoryDesignerGuiPluginWidgetController.cpp:53
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Definition: ToolBar.h:52
armarx
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Definition: ArmarXTimeserver.cpp:27
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Hook for subclass.
Definition: RobotTrajectoryDesignerGuiPluginWidgetController.cpp:70