KinematicsBarSetupDialog() {
setWindowTitle(_("Kinematics Operation Setup"));
QVBoxLayout* vbox = new QVBoxLayout();
setLayout(vbox);
QHBoxLayout* hbox = new QHBoxLayout();
hbox->addWidget(new QLabel(_("Snap thresholds:")));
hbox->addSpacing(10);
hbox->addWidget(new QLabel(_("distance")));
snapDistanceSpin.setAlignment(Qt::AlignCenter);
snapDistanceSpin.setDecimals(3);
snapDistanceSpin.setRange(0.0, 0.999);
snapDistanceSpin.setSingleStep(0.001);
snapDistanceSpin.setValue(0.025);
hbox->addWidget(&snapDistanceSpin);
hbox->addWidget(new QLabel(_("[m]")));
hbox->addSpacing(5);
hbox->addWidget(new QLabel(_("angle")));
snapAngleSpin.setAlignment(Qt::AlignCenter);
snapAngleSpin.setRange(0, 90);
snapAngleSpin.setValue(30);
hbox->addWidget(&snapAngleSpin);
hbox->addWidget(new QLabel(_("[deg]")));
vbox->addLayout(hbox);
hbox = new QHBoxLayout();
hbox->addWidget(new QLabel(_("Penetration block depth")));
penetrationBlockDepthSpin.setAlignment(Qt::AlignCenter);
penetrationBlockDepthSpin.setDecimals(4);
penetrationBlockDepthSpin.setRange(0.0, 0.0099);
penetrationBlockDepthSpin.setSingleStep(0.0001);
penetrationBlockDepthSpin.setValue(0.0005);
hbox->addWidget(&penetrationBlockDepthSpin);
hbox->addWidget(new QLabel(_("[m]")));
vbox->addLayout(hbox);
hbox = new QHBoxLayout();
lazyCollisionDetectionModeCheck.setText(_("Lazy collision detection mode"));
lazyCollisionDetectionModeCheck.setChecked(true);
hbox->addWidget(&lazyCollisionDetectionModeCheck);
vbox->addLayout(hbox);
hbox = new QHBoxLayout();
okButton.setText(_("OK"));
okButton.setDefault(true);
hbox->addWidget(&okButton);
vbox->addLayout(hbox);
}
void FunctionDialog::setCurveToModify(Graph *g, int curve)
{
if (!g)
return;
graph = g;
FunctionCurve *c = (FunctionCurve *)graph->curve(curve);
if (!c)
return;
curveID = curve;
QStringList formulas = c->formulas();
QMap<QString, double> constants = c->constants();
if (!constants.isEmpty()) {
boxConstants->clearContents();
boxConstants->setRowCount(constants.size());
boxConstants->show();
ApplicationWindow *app = (ApplicationWindow *)parent();
QMapIterator<QString, double> i(constants);
int row = 0;
while (i.hasNext()) {
i.next();
boxConstants->setItem(row, 0, new QTableWidgetItem(i.key()));
DoubleSpinBox *sb = new DoubleSpinBox();
sb->setLocale(app->locale());
sb->setDecimals(app->fit_output_precision);
sb->setValue(i.value());
boxConstants->setCellWidget(row, 1, sb);
connect(sb, SIGNAL(valueChanged(double)), this, SLOT(acceptFunction()));
row++;
}
}
void ContourLinesEditor::insertLevel()
{
if (!d_spectrogram)
return;
int row = table->currentRow();
DoubleSpinBox *sb = (DoubleSpinBox*)table->cellWidget(row, 0);
if (!sb)
return;
QwtDoubleInterval range = d_spectrogram->data().range();
double current_value = sb->value();
double previous_value = range.minValue ();
sb = (DoubleSpinBox*)table->cellWidget(row - 1, 0);
if (sb)
previous_value = sb->value();
double val = 0.5*(current_value + previous_value);
table->blockSignals(true);
table->insertRow(row);
sb = new DoubleSpinBox();
sb->setLocale(d_locale);
sb->setDecimals(d_precision);
sb->setValue(val);
sb->setRange(range.minValue (), range.maxValue ());
connect(sb, SIGNAL(activated(DoubleSpinBox *)), this, SLOT(spinBoxActivated(DoubleSpinBox *)));
table->setCellWidget(row, 0, sb);
QPen pen = d_spectrogram->defaultContourPen();
if (pen.style() == Qt::NoPen)
pen = d_spectrogram->contourPen (val);
int width = 80;
int height = 20;
QPixmap pix(width, height);
pix.fill(Qt::white);
QPainter paint(&pix);
paint.setRenderHint(QPainter::Antialiasing);
paint.setPen(pen);
paint.drawLine(0, height/2, width, height/2);
paint.end();
QLabel *lbl = new QLabel();
lbl->setPixmap(pix);
table->setCellWidget(row, 1, lbl);
table->blockSignals(false);
enableButtons(table->currentRow());
d_pen_list.insert(row, pen);
}
void ColorMapEditor::insertLevel()
{
int row = table->currentRow();
DoubleSpinBox *sb = (DoubleSpinBox*)table->cellWidget(row, 0);
if (!sb)
return;
double current_value = sb->value();
double previous_value = min_val;
sb = (DoubleSpinBox*)table->cellWidget(row - 1, 0);
if (sb)
previous_value = sb->value();
double val = 0.5*(current_value + previous_value);
QwtDoubleInterval range = QwtDoubleInterval(min_val, max_val);
double mapped_val = (val - min_val)/range.width();
QColor c = QColor(color_map.rgb(QwtDoubleInterval(0, 1), mapped_val));
table->blockSignals(true);
table->insertRow(row);
sb = new DoubleSpinBox();
sb->setLocale(d_locale);
sb->setDecimals(d_precision);
sb->setValue(val);
sb->setRange(min_val, max_val);
connect(sb, SIGNAL(valueChanged(double)), this, SLOT(updateColorMap()));
connect(sb, SIGNAL(activated(DoubleSpinBox *)), this, SLOT(spinBoxActivated(DoubleSpinBox *)));
table->setCellWidget(row, 0, sb);
QTableWidgetItem *it = new QTableWidgetItem(c.name());
// Avoid compiler warning
//#ifdef Q_CC_MSVC
it->setFlags(it->flags() & (~Qt::ItemIsEditable));
//#else
// it->setFlags(!Qt::ItemIsEditable);
//#endif
it->setBackground(QBrush(c));
it->setForeground(QBrush(c));
table->setItem(row, 1, it);
table->blockSignals(false);
enableButtons(table->currentRow());
updateColorMap();
}
void ContourLinesEditor::updateContents()
{
if (!d_spectrogram)
return;
QwtValueList levels = d_spectrogram->contourLevels ();
int rows = (int)levels.size();
table->setRowCount(rows);
table->blockSignals(true);
QwtDoubleInterval range = d_spectrogram->data().range();
for (int i = 0; i < rows; i++){
DoubleSpinBox *sb = new DoubleSpinBox();
sb->setLocale(d_locale);
sb->setDecimals(d_precision);
sb->setValue(levels[i]);
sb->setRange(range.minValue (), range.maxValue ());
connect(sb, SIGNAL(activated(DoubleSpinBox *)), this, SLOT(spinBoxActivated(DoubleSpinBox *)));
table->setCellWidget(i, 0, sb);
QPen pen = d_spectrogram->defaultContourPen();
if (pen.style() == Qt::NoPen)
pen = d_spectrogram->contourPen (levels[i]);
int width = 80;
int height = 20;
QPixmap pix(width, height);
pix.fill(Qt::white);
QPainter paint(&pix);
paint.setRenderHint(QPainter::Antialiasing);
paint.setPen(pen);
paint.drawLine(0, height/2, width, height/2);
paint.end();
QLabel *lbl = new QLabel();
lbl->setPixmap(pix);
table->setCellWidget(i, 1, lbl);
d_pen_list << pen;
}
table->blockSignals(false);
}
void ColorMapEditor::setColorMap(const QwtLinearColorMap& map)
{
scaleColorsBox->setChecked(map.mode() == QwtLinearColorMap::ScaledColors);
QwtArray <double> colors = map.colorStops();
int rows = (int)colors.size();
table->setRowCount(rows);
table->blockSignals(true);
QwtDoubleInterval range = QwtDoubleInterval(min_val, max_val);
for (int i = 0; i < rows; i++){
DoubleSpinBox *sb = new DoubleSpinBox();
sb->setLocale(d_locale);
sb->setDecimals(d_precision);
sb->setValue(min_val + colors[i] * range.width());
if (i == 0)
sb->setRange(min_val, min_val);
else if (i == rows -1)
sb->setRange(max_val, max_val);
else
sb->setRange(min_val, max_val);
connect(sb, SIGNAL(valueChanged(double)), this, SLOT(updateColorMap()));
connect(sb, SIGNAL(activated(DoubleSpinBox *)), this, SLOT(spinBoxActivated(DoubleSpinBox *)));
table->setCellWidget(i, 0, sb);
QColor c = QColor(map.rgb(QwtDoubleInterval(0, 1), colors[i]));
QTableWidgetItem *it = new QTableWidgetItem(c.name());
// Avoid compiler warning
//#ifdef Q_CC_MSVC
it->setFlags(it->flags() & (~Qt::ItemIsEditable));
//#else
// it->setFlags(!Qt::ItemIsEditable);
//#endif
it->setBackground(QBrush(c));
it->setForeground(QBrush(c));
table->setItem(i, 1, it);
}
table->blockSignals(false);
color_map = map;
}
BodyMotionGenerationSetupDialog() : QDialog(MainWindow::instance()){
setWindowTitle(_("Body Motion Generation Setup"));
vbox = new QVBoxLayout();
QHBoxLayout* hbox = newRow(vbox);
hbox->addWidget(new QLabel(_("Time scale")));
timeScaleRatioSpin.setDecimals(2);
timeScaleRatioSpin.setRange(0.01, 9.99);
timeScaleRatioSpin.setSingleStep(0.01);
timeScaleRatioSpin.setValue(1.0);
hbox->addWidget(&timeScaleRatioSpin);
hbox->addSpacing(8);
hbox->addWidget(new QLabel(_("Pre-initial")));
preInitialDurationSpin.setDecimals(1);
preInitialDurationSpin.setRange(0.0, 9.9);
preInitialDurationSpin.setSingleStep(0.1);
preInitialDurationSpin.setValue(1.0);
hbox->addWidget(&preInitialDurationSpin);
hbox->addWidget(new QLabel(_("[s]")));
hbox->addSpacing(8);
hbox->addWidget(new QLabel(_("Post-final")));
postFinalDurationSpin.setDecimals(1);
postFinalDurationSpin.setRange(0.0, 9.9);
postFinalDurationSpin.setSingleStep(0.1);
postFinalDurationSpin.setValue(1.0);
hbox->addWidget(&postFinalDurationSpin);
hbox->addWidget(new QLabel(_("[s]")));
hbox->addStretch();
hbox = newRow(vbox);
onlyTimeBarRangeCheck.setText(_("Time bar's range only"));
onlyTimeBarRangeCheck.setChecked(false);
hbox->addWidget(&onlyTimeBarRangeCheck);
se3Check.setText(_("Put all link positions"));
se3Check.setChecked(false);
hbox->addWidget(&se3Check);
hbox->addStretch();
hbox = newRow(vbox);
newBodyItemCheck.setText(_("Make a new body item"));
newBodyItemCheck.setChecked(true);
hbox->addWidget(&newBodyItemCheck);
hbox->addStretch();
addSeparator(vbox, &stealthyStepCheck);
stealthyStepCheck.setText(_("Stealthy Step Mode"));
stealthyStepCheck.setToolTip(_("This mode makes foot lifting / landing smoother to increase the stability"));
stealthyStepCheck.setChecked(true);
hbox = newRow(vbox);
hbox->addWidget(new QLabel(_("Height ratio thresh")));
stealthyHeightRatioThreshSpin.setAlignment(Qt::AlignCenter);
stealthyHeightRatioThreshSpin.setDecimals(2);
stealthyHeightRatioThreshSpin.setRange(1.00, 9.99);
stealthyHeightRatioThreshSpin.setSingleStep(0.01);
stealthyHeightRatioThreshSpin.setValue(2.0);
hbox->addWidget(&stealthyHeightRatioThreshSpin);
hbox->addStretch();
hbox = newRow(vbox);
hbox->addWidget(new QLabel(_("Flat Lifting Height")));
flatLiftingHeightSpin.setAlignment(Qt::AlignCenter);
flatLiftingHeightSpin.setDecimals(3);
flatLiftingHeightSpin.setRange(0.0, 0.0999);
flatLiftingHeightSpin.setSingleStep(0.001);
flatLiftingHeightSpin.setValue(0.005);
hbox->addWidget(&flatLiftingHeightSpin);
hbox->addWidget(new QLabel(_("[m]")));
hbox->addSpacing(8);
hbox->addWidget(new QLabel(_("Flat Landing Height")));
flatLandingHeightSpin.setAlignment(Qt::AlignCenter);
flatLandingHeightSpin.setDecimals(3);
flatLandingHeightSpin.setRange(0.0, 0.0999);
flatLandingHeightSpin.setSingleStep(0.001);
flatLandingHeightSpin.setValue(0.005);
hbox->addWidget(&flatLandingHeightSpin);
hbox->addWidget(new QLabel(_("[m]")));
hbox->addStretch();
hbox = newRow(vbox);
hbox->addWidget(new QLabel(_("Impact reduction height")));
impactReductionHeightSpin.setAlignment(Qt::AlignCenter);
impactReductionHeightSpin.setDecimals(3);
impactReductionHeightSpin.setRange(0.0, 0.099);
impactReductionHeightSpin.setSingleStep(0.001);
impactReductionHeightSpin.setValue(0.005);
hbox->addWidget(&impactReductionHeightSpin);
hbox->addWidget(new QLabel(_("[m]")));
hbox->addSpacing(8);
hbox->addWidget(new QLabel(_("Impact reduction time")));
impactReductionTimeSpin.setAlignment(Qt::AlignCenter);
impactReductionTimeSpin.setDecimals(3);
impactReductionTimeSpin.setRange(0.001, 0.999);
impactReductionTimeSpin.setSingleStep(0.001);
impactReductionTimeSpin.setValue(0.04);
hbox->addWidget(&impactReductionTimeSpin);
hbox->addWidget(new QLabel(_("[s]")));
hbox->addStretch();
addSeparator(vbox, &autoZmpCheck);
autoZmpCheck.setText(_("Auto ZMP Mode"));
autoZmpCheck.setToolTip(_("Automatically insert ZMP and foot key poses for stable motion"));
autoZmpCheck.setChecked(true);
hbox = newRow(vbox);
hbox->addWidget(new QLabel(_("Min. transtion time")));
minZmpTransitionTimeSpin.setDecimals(2);
minZmpTransitionTimeSpin.setRange(0.01, 0.99);
minZmpTransitionTimeSpin.setSingleStep(0.01);
minZmpTransitionTimeSpin.setValue(0.1);
hbox->addWidget(&minZmpTransitionTimeSpin);
hbox->addWidget(new QLabel(_("[s]")));
hbox->addSpacing(8);
hbox->addWidget(new QLabel(_("Centering time thresh")));
zmpCenteringTimeThreshSpin.setDecimals(3);
zmpCenteringTimeThreshSpin.setRange(0.001, 0.999);
zmpCenteringTimeThreshSpin.setSingleStep(0.001);
zmpCenteringTimeThreshSpin.setValue(0.03);
hbox->addWidget(&zmpCenteringTimeThreshSpin);
hbox->addWidget(new QLabel(_("[s]")));
hbox->addStretch();
hbox = newRow(vbox);
hbox->addWidget(new QLabel(_("Time margin before lifting")));
zmpTimeMarginBeforeLiftingSpin.setDecimals(3);
zmpTimeMarginBeforeLiftingSpin.setRange(0.0, 0.999);
zmpTimeMarginBeforeLiftingSpin.setSingleStep(0.001);
zmpTimeMarginBeforeLiftingSpin.setValue(0.0);
hbox->addWidget(&zmpTimeMarginBeforeLiftingSpin);
hbox->addWidget(new QLabel(_("[s]")));
hbox->addStretch();
addSeparator(vbox);
hbox = newRow(vbox);
lipSyncMixCheck.setText(_("Mix lip-sync motion"));
lipSyncMixCheck.setChecked(false);
hbox->addWidget(&lipSyncMixCheck);
hbox->addStretch();
QVBoxLayout* topVBox = new QVBoxLayout();
topVBox->addLayout(vbox);
addSeparator(topVBox);
QPushButton* okButton = new QPushButton(_("&Ok"));
okButton->setDefault(true);
QDialogButtonBox* buttonBox = new QDialogButtonBox(this);
buttonBox->addButton(okButton, QDialogButtonBox::AcceptRole);
connect(buttonBox,SIGNAL(accepted()), this, SLOT(accept()));
topVBox->addWidget(buttonBox);
setLayout(topVBox);
}