void InputSettingsWindow::assign() {
QTreeWidgetItem *item = list->currentItem();
if(!item) return;
signed index = item->data(0, Qt::UserRole).toInt();
if(index == -1) return assignGroup();
setActiveInput(inputTable[index]);
}
void HumanoidDataLogger::logData() {
dataMutex.Lock();
newRecord();
assignItem(TIME, simThread->sim_time);
assignItem(STATE_CODE, state);
assignItem(CONTROL_TIME, controlTime);
assignGroup(JOINT_ANGLES, q);
assignGroup(JOINT_RATES, qd);
assignGroup(JOINT_TORQUES, tau);
Vector6F force;
force.head(3) = grfInfo.fCoPs[0];
force.segment(3,2) = grfInfo.pCoPs[0].head(2);
force(5) = grfInfo.nCoPs[0];
assignGroup(RIGHT_FOOT_WRENCH, force);
assignItem(RCONT_STATE, contactState[0]);
assignItem(RSLIDE_STATE, slidingState[0]);
force.head(3) = grfInfo.fCoPs[1];
force.segment(3,2) = grfInfo.pCoPs[1].head(2);
force(5) = grfInfo.nCoPs[1];
assignGroup(LEFT_FOOT_WRENCH, force);
assignItem(LCONT_STATE, contactState[1]);
assignItem(LSLIDE_STATE, slidingState[1]);
force.head(3) = grfInfo.fZMP;
force.segment(3,2) = grfInfo.pZMP.head(2);
force(5) = grfInfo.nZMP;
assignGroup(ZMP_WRENCH, force);
assignGroup(ZMP_WRENCH_OPT, zmpWrenchOpt);
assignGroup(ZMP_POS_OPT, zmpPosOpt);
assignGroup(COM_POSITION, pCom);
assignGroup(COM_POSITION_DES, pComDes);
assignGroup(COM_VELOCITY, vCom);
assignGroup(COM_VELOCITY_DES, vComDes);
assignGroup(CENTROIDAL_MOMENTUM, centMom);
assignGroup(HDES, hDes);
assignGroup(HDOT_DES, hDotDes);
assignGroup(HDOT_OPT, hDotOpt);
assignGroup(QDD_OPT, qdd);
assignGroup(QDD_ACT, qddA);
assignGroup(RIGHT_FOOT_POS, pFoot[0]);
assignGroup(RIGHT_FOOT_POS_DES, pDesFoot[0]);
assignGroup(RIGHT_FOOT_VEL, vFoot[0]);
assignGroup(RIGHT_FOOT_VEL_DES, vDesFoot[0]);
assignGroup(RIGHT_FOOT_ACC, aFoot[0]);
assignGroup(RIGHT_FOOT_ACC_DES, aDesFoot[0]);
assignGroup(LEFT_FOOT_POS, pFoot[1]);
assignGroup(LEFT_FOOT_POS_DES, pDesFoot[1]);
assignGroup(LEFT_FOOT_VEL, vFoot[1]);
assignGroup(LEFT_FOOT_VEL_DES, vDesFoot[1]);
assignGroup(LEFT_FOOT_ACC, aFoot[1]);
assignGroup(LEFT_FOOT_ACC_DES, aDesFoot[1]);
assignGroup(RWRENCH_OPT, fs.head(6));
assignGroup(LWRENCH_OPT, fs.tail(6));
assignMatrixGroup(JRF, grfInfo.footJacs[0]);
assignMatrixGroup(JLF, grfInfo.footJacs[1]);
assignGroup(RIGHT_FOOT_SPATIAL_WRENCH, grfInfo.footWrenches[0]);
assignGroup(LEFT_FOOT_SPATIAL_WRENCH, grfInfo.footWrenches[1]);
assignGroup(CANDG, artic->CandG);
assignMatrixGroup(HMAT,artic->H);
dataMutex.Unlock();
}
