#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. More...

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. More...

QPointer< QDialog >	getConfigDialog (QWidget *parent=0) override
	getConfigDialog returns a pointer to the a configuration widget of this controller. More...

QPointer< QWidget >	getCustomTitlebarWidget (QWidget *parent) override
	getTitleToolbar returns a pointer to the a toolbar widget of this controller. More...

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. More...

bool	kinematicUnitSetupViewer ()

	KinematicUnitWidgetController ()

void	loadSettings (QSettings *settings) override
	Implement to load the settings that are part of the GUI configuration. More...

void	modelUpdateCB ()

void	onConnectComponent () override
	Pure virtual hook for the subclass. More...

void	onDisconnectComponent () override
	Hook for subclass. More...

void	onExitComponent () override
	Hook for subclass. More...

void	onInitComponent () override
	Pure virtual hook for the subclass. More...

void	saveSettings (QSettings *settings) override
	Implement to save the settings as part of the GUI configuration. More...

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. More...

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. More...

QIcon	getWidgetIcon () const final override
	Implement this function to supply an icon for the menu. More...

QString	getWidgetName () const final override
	Implement this function to specify the default name of your Widget. More...

Public Member Functions inherited from ArmarXComponentWidgetController
	ArmarXComponentWidgetController ()

std::string	getDefaultName () const override
	Retrieve default name of component. More...

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). More...

QString	getInstanceName ()

virtual QMainWindow *	getMainWindow ()
	Returns the ArmarX MainWindow. More...

virtual QPointer< QDialog >	getSceneConfigDialog (QWidget *parent=nullptr)
	Reimplementing this function and returning a QDialog* will enable a configuration button which opens the returned dialog. More...

QPointer< TipDialog >	getTipDialog () const
	Returns the default instance for the TipDialog used by all widgets (if not set otherwise). More...

virtual QPointer< QWidget >	getWidget ()
	getWidget returns a pointer to the a widget of this controller. More...

virtual QIcon	getWidgetCategoryIcon () const
	Implement this function to supply an icon for the category. More...

virtual QIcon	getWidgetIcon () const
	Implement this function to supply an icon for the menu. More...

virtual QString	getWidgetName () const =0
	Implement this function to specify the default name of your Widget. More...

virtual void	onLockWidget ()

virtual void	onUnlockWidget ()

virtual void	postDocking ()
	postDocking is called after the widget has been docked into the main window. More...

bool	setInstanceName (QString instanceName)
	sets the name of this instance. More...

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. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

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. More...

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function More...

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. More...

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. More...

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. More...

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property. More...

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. More...

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property. More...

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) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

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. More...

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`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

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). More...

template<class Prx >
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

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. More...

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. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

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. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods. More...

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. More...

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. More...

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()). More...

static QIcon	GetWidgetIcon ()
	Implement this function to supply an icon for the menu (if you implemented static QString GetWidgetName()). More...

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. More...

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. More...

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(). More...

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

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. More...

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...

PropertyDefinitionsPtr	createPropertyDefinitions () override

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor. More...

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor. More...

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor. More...

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. More...

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. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~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

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. More...

Detailed Description

Definition at line 111 of file KinematicUnitGuiPlugin.h.

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

Definition at line 121 of file KinematicUnitGuiPlugin.h.

◆ Roles

enum Roles

Enumerator
eJointAngleRole
eJointHiRole
eJointLoRole

Definition at line 137 of file KinematicUnitGuiPlugin.h.

Constructor & Destructor Documentation

◆ KinematicUnitWidgetController()

KinematicUnitWidgetController ( )

Definition at line 106 of file KinematicUnitGuiPlugin.cpp.

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◆ ~KinematicUnitWidgetController()

~KinematicUnitWidgetController ( )

override

Definition at line 1811 of file KinematicUnitGuiPlugin.cpp.

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.

Definition at line 388 of file KinematicUnitGuiPlugin.cpp.

◆ connectSlots()

void connectSlots ( )

protected

Definition at line 502 of file KinematicUnitGuiPlugin.cpp.

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◆ copyToClipboard

void copyToClipboard ( )

protectedslot

Definition at line 438 of file KinematicUnitGuiPlugin.cpp.

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◆ debugInfoReceived

void debugInfoReceived ( const DebugInfo & debugInfo )

protectedslot

Definition at line 1761 of file KinematicUnitGuiPlugin.cpp.

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◆ fetchData

void fetchData ( )

slot

Definition at line 1745 of file KinematicUnitGuiPlugin.cpp.

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◆ 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.

Definition at line 376 of file KinematicUnitGuiPlugin.cpp.

◆ 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.

Definition at line 1724 of file KinematicUnitGuiPlugin.cpp.

◆ 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.

Definition at line 487 of file KinematicUnitGuiPlugin.cpp.

◆ getSelectedControlMode()

ControlMode getSelectedControlMode ( ) const

protected

Definition at line 906 of file KinematicUnitGuiPlugin.cpp.

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◆ GetWidgetIcon()

static QIcon GetWidgetIcon ( )

inlinestatic

Definition at line 161 of file KinematicUnitGuiPlugin.h.

◆ GetWidgetName()

static QString GetWidgetName ( )

inlinestatic

Definition at line 155 of file KinematicUnitGuiPlugin.h.

◆ highlightCriticalValues()

void highlightCriticalValues ( const NameStatusMap & reportedJointStatuses )

protected

Definition at line 1642 of file KinematicUnitGuiPlugin.cpp.

◆ initializeUi()

void initializeUi ( const DebugInfo & debugInfo )

protected

Definition at line 599 of file KinematicUnitGuiPlugin.cpp.

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◆ jointAnglesReported

void jointAnglesReported ( )

signal

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◆ jointControlModesReported

void jointControlModesReported ( )

signal

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◆ jointCurrentsReported

void jointCurrentsReported ( )

signal

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◆ jointMotorTemperaturesReported

void jointMotorTemperaturesReported ( )

signal

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◆ jointStatusesReported

void jointStatusesReported ( )

signal

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◆ jointTorquesReported

void jointTorquesReported ( )

signal

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◆ jointVelocitiesReported

void jointVelocitiesReported ( )

signal

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◆ kinematicUnitSetupViewer()

bool kinematicUnitSetupViewer ( )

◆ kinematicUnitZeroVelocity

void kinematicUnitZeroVelocity ( )

slot

Definition at line 612 of file KinematicUnitGuiPlugin.cpp.

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◆ 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.

Definition at line 399 of file KinematicUnitGuiPlugin.cpp.

◆ modelUpdateCB()

void modelUpdateCB ( )

Definition at line 482 of file KinematicUnitGuiPlugin.cpp.

◆ on_pushButtonFromJson_clicked

void on_pushButtonFromJson_clicked ( )

protectedslot

Definition at line 1824 of file KinematicUnitGuiPlugin.cpp.

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◆ 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.

Definition at line 172 of file KinematicUnitGuiPlugin.cpp.

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◆ onDebugInfoReceived

void onDebugInfoReceived ( const DebugInfo & debugInfo )

signal

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◆ 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.

Definition at line 298 of file KinematicUnitGuiPlugin.cpp.

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◆ onExitComponent()

void onExitComponent ( )

overridevirtual

Hook for subclass.

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

Reimplemented from ManagedIceObject.

Definition at line 327 of file KinematicUnitGuiPlugin.cpp.

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◆ 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.

Definition at line 125 of file KinematicUnitGuiPlugin.cpp.

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◆ resetSlider

void resetSlider ( )

slot

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

Definition at line 647 of file KinematicUnitGuiPlugin.cpp.

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◆ resetSliderToZeroPosition

void resetSliderToZeroPosition ( )

slot

Definition at line 685 of file KinematicUnitGuiPlugin.cpp.

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◆ runUpdate()

void runUpdate ( )

protected

Definition at line 284 of file KinematicUnitGuiPlugin.cpp.

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◆ 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.

Definition at line 411 of file KinematicUnitGuiPlugin.cpp.

◆ selectJoint

void selectJoint ( int i )

slot

Definition at line 1133 of file KinematicUnitGuiPlugin.cpp.

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◆ selectJointFromTableWidget

void selectJointFromTableWidget	(	int	row,
		int	column
	)

slot

Definition at line 1175 of file KinematicUnitGuiPlugin.cpp.

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◆ setControlModePosition

void setControlModePosition ( )

slot

Definition at line 721 of file KinematicUnitGuiPlugin.cpp.

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◆ setControlModeRadioButtonGroup()

void setControlModeRadioButtonGroup ( const ControlMode & controlMode )

protected

Definition at line 697 of file KinematicUnitGuiPlugin.cpp.

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◆ setControlModeTorque

void setControlModeTorque ( )

slot

Definition at line 929 of file KinematicUnitGuiPlugin.cpp.

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◆ setControlModeVelocity

void setControlModeVelocity ( )

slot

Definition at line 833 of file KinematicUnitGuiPlugin.cpp.

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◆ 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.

Definition at line 1713 of file KinematicUnitGuiPlugin.cpp.

◆ showVisuLayers

void showVisuLayers ( bool show )

protectedslot

Definition at line 422 of file KinematicUnitGuiPlugin.cpp.

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◆ sliderValueChanged

void sliderValueChanged ( int i )

slot

Definition at line 1185 of file KinematicUnitGuiPlugin.cpp.

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◆ synchronizeRobotJointAngles

void synchronizeRobotJointAngles ( )

protectedslot

Definition at line 1864 of file KinematicUnitGuiPlugin.cpp.

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◆ translateStatus() [1/2]

QString translateStatus ( ErrorStatus status )

protected

Definition at line 1411 of file KinematicUnitGuiPlugin.cpp.

◆ translateStatus() [2/2]

QString translateStatus ( OperationStatus status )

protected

Definition at line 1392 of file KinematicUnitGuiPlugin.cpp.

◆ updateControlModesTable

void updateControlModesTable ( const NameControlModeMap & reportedJointControlModes )

slot

Definition at line 1270 of file KinematicUnitGuiPlugin.cpp.

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◆ updateGuiElements()

void updateGuiElements ( )

Definition at line 471 of file KinematicUnitGuiPlugin.cpp.

◆ updateJointAnglesTable

void updateJointAnglesTable ( const NameValueMap & reportedJointAngles )

slot

Definition at line 1430 of file KinematicUnitGuiPlugin.cpp.

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◆ updateJointCurrentsTable

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

slot

Definition at line 1541 of file KinematicUnitGuiPlugin.cpp.

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◆ updateJointStatusesTable

void updateJointStatusesTable ( const NameStatusMap & reportedJointStatuses )

slot

Definition at line 1344 of file KinematicUnitGuiPlugin.cpp.

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◆ updateJointTorquesTable

void updateJointTorquesTable ( const NameValueMap & reportedJointTorques )

slot

Definition at line 1512 of file KinematicUnitGuiPlugin.cpp.

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◆ updateJointVelocitiesTable

void updateJointVelocitiesTable ( const NameValueMap & reportedJointVelocities )

slot

Definition at line 1472 of file KinematicUnitGuiPlugin.cpp.

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◆ updateKinematicUnitListInDialog

void updateKinematicUnitListInDialog ( )

slot

Definition at line 477 of file KinematicUnitGuiPlugin.cpp.

◆ updateModel()

void updateModel ( const NameValueMap & jointAngles )

protected

Definition at line 1608 of file KinematicUnitGuiPlugin.cpp.

◆ updateMotorTemperaturesTable

void updateMotorTemperaturesTable ( const NameValueMap & reportedMotorTemperatures )

slot

Definition at line 1577 of file KinematicUnitGuiPlugin.cpp.

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Member Data Documentation

◆ currentNode

VirtualRobot::RobotNodePtr currentNode

protected

Definition at line 254 of file KinematicUnitGuiPlugin.h.

◆ debugDrawer

armarx::DebugDrawerComponentPtr debugDrawer

protected

Definition at line 262 of file KinematicUnitGuiPlugin.h.

◆ debugLayerVisu

SoSeparator* debugLayerVisu

protected

Definition at line 261 of file KinematicUnitGuiPlugin.h.

◆ kinematicUnitFile

std::string kinematicUnitFile

protected

Definition at line 245 of file KinematicUnitGuiPlugin.h.

◆ kinematicUnitFileDefault

std::string kinematicUnitFileDefault

protected

Definition at line 246 of file KinematicUnitGuiPlugin.h.

◆ kinematicUnitInterfacePrx

KinematicUnitInterfacePrx kinematicUnitInterfacePrx

protected

Definition at line 241 of file KinematicUnitGuiPlugin.h.

◆ kinematicUnitName

std::string kinematicUnitName

protected

Definition at line 247 of file KinematicUnitGuiPlugin.h.

◆ kinematicUnitNode

SoNode* kinematicUnitNode

protected

Definition at line 257 of file KinematicUnitGuiPlugin.h.

◆ kinematicUnitVisualization

VirtualRobot::CoinVisualizationPtr kinematicUnitVisualization

protected

Definition at line 256 of file KinematicUnitGuiPlugin.h.

◆ robot

VirtualRobot::RobotPtr robot

protected

Definition at line 252 of file KinematicUnitGuiPlugin.h.

◆ robotNodeSet

VirtualRobot::RobotNodeSetPtr robotNodeSet

protected

Definition at line 253 of file KinematicUnitGuiPlugin.h.

◆ robotNodeSetName

std::string robotNodeSetName

protected

Definition at line 250 of file KinematicUnitGuiPlugin.h.

◆ robotVisu

SoSeparator* robotVisu

protected

Definition at line 259 of file KinematicUnitGuiPlugin.h.

◆ rootVisu

SoSeparator* rootVisu

protected

Definition at line 258 of file KinematicUnitGuiPlugin.h.

◆ topicName

std::string topicName

protected

Definition at line 249 of file KinematicUnitGuiPlugin.h.

◆ ui

Ui::KinematicUnitGuiPlugin ui

protected

Definition at line 238 of file KinematicUnitGuiPlugin.h.

◆ updateTask

armarx::RunningTask<KinematicUnitWidgetController>::pointer_type updateTask

protected

Definition at line 320 of file KinematicUnitGuiPlugin.h.

◆ verbose

bool verbose

protected

Definition at line 243 of file KinematicUnitGuiPlugin.h.

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

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

Public Types

Public Slots

Signals

Public Member Functions

Static Public Member Functions

Protected Slots

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ JointTabelColumnIndex

◆ Roles

Constructor & Destructor Documentation

◆ KinematicUnitWidgetController()

◆ ~KinematicUnitWidgetController()

Member Function Documentation

◆ configured()

◆ connectSlots()

◆ copyToClipboard

◆ debugInfoReceived

◆ fetchData

◆ getConfigDialog()

◆ getCustomTitlebarWidget()

◆ getScene()

◆ getSelectedControlMode()

◆ GetWidgetIcon()

◆ GetWidgetName()

◆ highlightCriticalValues()

◆ initializeUi()

◆ jointAnglesReported

◆ jointControlModesReported

◆ jointCurrentsReported

◆ jointMotorTemperaturesReported

◆ jointStatusesReported

◆ jointTorquesReported

◆ jointVelocitiesReported

◆ kinematicUnitSetupViewer()

◆ kinematicUnitZeroVelocity

◆ loadSettings()

◆ modelUpdateCB()

◆ on_pushButtonFromJson_clicked

◆ onConnectComponent()

◆ onDebugInfoReceived

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ resetSlider

◆ resetSliderToZeroPosition

◆ runUpdate()

◆ saveSettings()

◆ selectJoint

◆ selectJointFromTableWidget

◆ setControlModePosition

◆ setControlModeRadioButtonGroup()

◆ setControlModeTorque

◆ setControlModeVelocity

◆ setMutex3D()

◆ showVisuLayers

◆ sliderValueChanged

◆ synchronizeRobotJointAngles

◆ translateStatus() [1/2]

◆ translateStatus() [2/2]

◆ updateControlModesTable

◆ updateGuiElements()

◆ updateJointAnglesTable

◆ updateJointCurrentsTable

◆ updateJointStatusesTable

◆ updateJointTorquesTable

◆ updateJointVelocitiesTable

◆ updateKinematicUnitListInDialog

◆ updateModel()

◆ updateMotorTemperaturesTable

Member Data Documentation

◆ currentNode

◆ debugDrawer

◆ debugLayerVisu

◆ kinematicUnitFile

◆ kinematicUnitFileDefault

◆ kinematicUnitInterfacePrx