static void g3d_create_retract_strat_frame(void){
g3d_create_labelframe(&RETRACT_STRAT_FRAME,FL_ENGRAVED_FRAME,-1,-1,"Retract Strat",(void**)&NODE_FRAME,0);
RETRACT_STRAT_GROUP = fl_bgn_group();
//Glob Search
g3d_create_checkbutton(&GLOBAL_SEARCH_CHECKB,FL_RADIO_BUTTON,-1,20,"Glob search",(void**)&RETRACT_STRAT_FRAME,0);
fl_set_object_color(GLOBAL_SEARCH_CHECKB,FL_MCOL,FL_GREEN);
fl_set_call_back(GLOBAL_SEARCH_CHECKB,CB_RetractPlan_strategy,(long)GLOBAL_SEARCH_CHECKB);
//Forw Search
g3d_create_checkbutton(&FORW_SEARCH_CHECKB,FL_RADIO_BUTTON,-1,20,"Forw search",(void**)&RETRACT_STRAT_FRAME,0);
fl_set_object_color(FORW_SEARCH_CHECKB,FL_MCOL,FL_GREEN);
fl_set_call_back(FORW_SEARCH_CHECKB,CB_RetractPlan_strategy,(long)FORW_SEARCH_CHECKB);
//Linear Search
g3d_create_checkbutton(&LINEAR_SEARCH_CHECKB,FL_RADIO_BUTTON,-1,20,"Linear search",(void**)&RETRACT_STRAT_FRAME,0);
fl_set_object_color(LINEAR_SEARCH_CHECKB,FL_MCOL,FL_GREEN);
fl_set_call_back(LINEAR_SEARCH_CHECKB,CB_RetractPlan_strategy,(long)LINEAR_RETRACT_SEARCH);
//RETRACT_STRAT_GROUP =
fl_end_group();
switch (p3d_get_retract_search_type()){
case (ALL_RETRACT_SEARCH):{
fl_set_button(GLOBAL_SEARCH_CHECKB,1);
break;
}
case (FORWARD_RETRACT_SEARCH):{
fl_set_button(FORW_SEARCH_CHECKB,1);
break;
}
case (LINEAR_RETRACT_SEARCH):{
fl_set_button(LINEAR_SEARCH_CHECKB,1);
break;
}
}
}
void g3d_create_steering_form(void)
{int i;
double s;
s = P3D_NB_LOCAL_PLANNER*20.0 + 20;
BUTTON_TAB_OBJ = (FL_OBJECT **) malloc(P3D_NB_LOCAL_PLANNER*sizeof(FL_OBJECT *));
STEERING_FORM = fl_bgn_form(FL_UP_BOX,200.0,s+30);
obj1 = fl_add_frame(FL_ENGRAVED_FRAME,10,15,180,s,"");
obj2 = fl_add_box(FL_FLAT_BOX,55,10,90,10,"Steering methods");
GROUP = fl_bgn_group();
for(i=0;i<P3D_NB_LOCAL_PLANNER;i++){
BUTTON_TAB_OBJ[i] = fl_add_checkbutton(FL_RADIO_BUTTON,45,25+i*20.0,55,25,p3d_local_getname_planner((p3d_localpath_type) i));
fl_set_object_color(BUTTON_TAB_OBJ[i],FL_MCOL,FL_GREEN);
fl_set_call_back(BUTTON_TAB_OBJ[i],CB_button_tab_obj,i);
}
fl_set_button(BUTTON_TAB_OBJ[p3d_local_get_planner()],1);
//GROUP =
fl_end_group();
fl_end_form();
}
void create_form_HelpForm(void)
{
FL_OBJECT *obj;
if (HelpForm)
return;
HelpForm = fl_bgn_form(FL_NO_BOX,530,340);
obj = fl_add_box(FL_UP_BOX,0,0,530,340,"");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
HelpBrowser = obj = fl_add_browser(FL_NORMAL_BROWSER,10,35,510,275,"");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
obj = fl_add_text(FL_NORMAL_TEXT,10,10,435,20,"Not Knot: The Software Interactive Hyperbolic Flythrough");
fl_set_object_boxtype(obj,FL_NO_BOX);
fl_set_object_color(obj,FL_COL1,FL_COL1);
fl_set_object_lcolor(obj,FL_BLUE);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_LEFT|FL_ALIGN_INSIDE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
Done = obj = fl_add_button(FL_NORMAL_BUTTON,455,10,60,20,"Done");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_callback(obj,DoneProc,0);
DiagramGroup = fl_bgn_group();
EucDiag = obj = fl_add_button(FL_RADIO_BUTTON,95,310,140,25,"Euclidean Diagram");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_callback(obj,DiagProc,EUC);
HypDiag = obj = fl_add_button(FL_RADIO_BUTTON,305,310,150,25,"Hyperbolic Diagram");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_callback(obj,DiagProc,HYP);
fl_end_group();
fl_end_form();
}
static PyObject *
form_bgn_group(formobject *f, PyObject *args)
{
FL_OBJECT *obj;
fl_addto_form(f-> ob_form);
obj = fl_bgn_group();
fl_end_form();
if (obj == NULL) {
PyErr_NoMemory();
return NULL;
}
return newgenericobject (obj, (PyMethodDef *) NULL);
}
/* -------------------- MAIN GROUP --------------------- */
static void g3d_create_grasp_planning_group(void)
{
int x, y, dy, w, h, shift;
FL_OBJECT *frame= NULL, *box= NULL;
frame = fl_add_labelframe(FL_ENGRAVED_FRAME, 18, 235, 185, 330, "Interface");
box = fl_add_box(FL_ENGRAVED_FRAME, 23, 250, 175, 310, "");
fl_set_object_color(box, FL_GREEN, FL_COL1);
MOTIONGROUP = fl_bgn_group();
x= 30;
y= 20;
w= 160;
h= 40;
dy= h + 10;
shift= 40;
BT_1_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Test");
BT_2_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + dy, w, h, "SAHandRight");
BT_3_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + 2*dy, w, h, "Double Grasp");
BT_4_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + 3*dy, w, h, "Display grasps");
BT_5_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + shift + 4*dy, w, h, "Selected Object: none");
BT_6_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + shift + 5*dy, w, h, "Selected Hand Robot: none");
BT_7_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + shift + 6*dy, w, h, "Browse Grasps");
BT_8_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + shift + 7*dy, w, h, "Delete Grasp");
BT_9_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + shift + 8*dy, w, h, "Add Grasp");
BT_10_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + shift + 9*dy, w, h, "Save Grasps");
fl_set_call_back(BT_1_OBJ, CB_test, 0);
fl_set_call_back(BT_2_OBJ, CB_SAHandRight, 0);
fl_set_call_back(BT_3_OBJ, CB_double_grasp, 0);
fl_set_call_back(BT_4_OBJ, CB_display_grasps, 0);
fl_set_object_color(BT_4_OBJ,FL_MCOL,FL_GREEN);
fl_set_call_back(BT_5_OBJ, CB_select_object, 0);
fl_set_call_back(BT_6_OBJ, CB_select_hand_robot, 0);
fl_set_call_back(BT_7_OBJ, CB_browse_grasps, 0);
fl_set_call_back(BT_8_OBJ, CB_delete_grasp, 0);
fl_set_call_back(BT_9_OBJ, CB_add_grasp, 0);
fl_set_call_back(BT_10_OBJ, CB_save_grasps, 0);
fl_end_group();
}
void create_form_MainForm(void)
{
FL_OBJECT *obj;
if (MainForm)
return;
MainForm = fl_bgn_form(FL_NO_BOX,360,370);
obj = fl_add_box(FL_UP_BOX,0,0,360,370,"");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
obj = fl_add_button(FL_RETURN_BUTTON,20,310,160,40,"Make Sweep");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
fl_set_object_callback(obj,GoButtonProc,0);
obj = fl_add_button(FL_NORMAL_BUTTON,180,310,160,40,"Quit");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
fl_set_object_callback(obj,QuitButtonProc,0);
TransGroup = fl_bgn_group();
obj = fl_add_box(FL_ROUNDED_BOX,20,70,320,230,"");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
obj = fl_add_text(FL_NORMAL_TEXT,20,100,130,30,"Length of sweep:");
fl_set_object_boxtype(obj,FL_NO_BOX);
fl_set_object_color(obj,FL_COL1,FL_COL1);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_LEFT|FL_ALIGN_INSIDE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
obj = fl_add_text(FL_NORMAL_TEXT,20,200,160,30,"Direction of sweep:");
fl_set_object_boxtype(obj,FL_NO_BOX);
fl_set_object_color(obj,FL_COL1,FL_COL1);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_LEFT|FL_ALIGN_INSIDE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
Translength = obj = fl_add_input(FL_NORMAL_INPUT,120,130,50,30,"Units");
fl_set_object_color(obj,FL_LEFT_BCOL,FL_LEFT_BCOL);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_RIGHT);
Transxdir = obj = fl_add_input(FL_NORMAL_INPUT,120,230,50,30,"x:");
fl_set_object_color(obj,FL_LEFT_BCOL,FL_LEFT_BCOL);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
Transydir = obj = fl_add_input(FL_NORMAL_INPUT,200,230,50,30,"y:");
fl_set_object_color(obj,FL_LEFT_BCOL,FL_LEFT_BCOL);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
Transzdir = obj = fl_add_input(FL_NORMAL_INPUT,280,230,50,30,"z:");
fl_set_object_color(obj,FL_LEFT_BCOL,FL_LEFT_BCOL);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_end_group();
TypeGroup = fl_bgn_group();
RotSweep = obj = fl_add_button(FL_RADIO_BUTTON,180,20,160,40,"Rotational Sweep");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
fl_set_object_callback(obj,RotSweepProc,0);
TransSweep = obj = fl_add_button(FL_RADIO_BUTTON,20,20,160,40,"Translational Sweep");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
fl_set_object_callback(obj,TransSweepProc,0);
fl_end_group();
RotGroup = fl_bgn_group();
obj = fl_add_box(FL_ROUNDED_BOX,20,70,320,230,"");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
obj = fl_add_text(FL_NORMAL_TEXT,20,80,90,30,"Arc length:");
fl_set_object_boxtype(obj,FL_NO_BOX);
fl_set_object_color(obj,FL_COL1,FL_COL1);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_LEFT|FL_ALIGN_INSIDE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
Rotlength = obj = fl_add_input(FL_NORMAL_INPUT,120,80,50,30,"");
fl_set_object_color(obj,FL_LEFT_BCOL,FL_LEFT_BCOL);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_RIGHT);
DegButton = obj = fl_add_button(FL_RADIO_BUTTON,190,80,70,30,"Degrees");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
RadButton = obj = fl_add_button(FL_RADIO_BUTTON,260,80,70,30,"Radians");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
obj = fl_add_text(FL_NORMAL_TEXT,20,120,90,30,"End of axis:");
fl_set_object_boxtype(obj,FL_NO_BOX);
fl_set_object_color(obj,FL_COL1,FL_COL1);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_LEFT|FL_ALIGN_INSIDE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
Rotendz = obj = fl_add_input(FL_NORMAL_INPUT,280,140,50,30,"z:");
fl_set_object_color(obj,FL_LEFT_BCOL,FL_LEFT_BCOL);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
Rotendy = obj = fl_add_input(FL_NORMAL_INPUT,200,140,50,30,"y:");
fl_set_object_color(obj,FL_LEFT_BCOL,FL_LEFT_BCOL);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
Rotendx = obj = fl_add_input(FL_NORMAL_INPUT,120,140,50,30,"x:");
fl_set_object_color(obj,FL_LEFT_BCOL,FL_LEFT_BCOL);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
obj = fl_add_text(FL_NORMAL_TEXT,20,180,130,30,"Direction of axis:");
fl_set_object_boxtype(obj,FL_NO_BOX);
fl_set_object_color(obj,FL_COL1,FL_COL1);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_LEFT|FL_ALIGN_INSIDE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
Rotdirz = obj = fl_add_input(FL_NORMAL_INPUT,280,210,50,30,"z:");
fl_set_object_color(obj,FL_LEFT_BCOL,FL_LEFT_BCOL);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
Rotdiry = obj = fl_add_input(FL_NORMAL_INPUT,200,210,50,30,"y:");
fl_set_object_color(obj,FL_LEFT_BCOL,FL_LEFT_BCOL);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
Rotdirx = obj = fl_add_input(FL_NORMAL_INPUT,120,210,50,30,"x:");
fl_set_object_color(obj,FL_LEFT_BCOL,FL_LEFT_BCOL);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
obj = fl_add_text(FL_NORMAL_TEXT,20,260,90,30,"Divisions:");
fl_set_object_boxtype(obj,FL_NO_BOX);
fl_set_object_color(obj,FL_COL1,FL_COL1);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_LEFT|FL_ALIGN_INSIDE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
Rotdivisions = obj = fl_add_input(FL_NORMAL_INPUT,120,260,50,30,"");
fl_set_object_color(obj,FL_LEFT_BCOL,FL_LEFT_BCOL);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_RIGHT);
fl_end_group();
fl_end_form();
}
FD_options *create_form_options(void)
{
FL_OBJECT *obj;
FD_options *fdui = (FD_options *) fl_calloc(1, sizeof(*fdui));
fdui->options = fl_bgn_form(FL_NO_BOX, 470, 530);
obj = fl_add_box(FL_UP_BOX,0,0,470,530,"Options");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_TOP|FL_ALIGN_INSIDE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
obj = fl_add_frame(FL_EMBOSSED_FRAME,20,370,210,130,"");
obj = fl_add_frame(FL_EMBOSSED_FRAME,240,370,220,110,"");
obj = fl_add_frame(FL_EMBOSSED_FRAME,20,190,440,170,"");
fdui->prob_mutation = obj = fl_add_valslider(FL_HOR_BROWSER_SLIDER,35,250,200,20,"Probabiliy of Mutation:");
fl_set_object_lsize(obj,FL_DEFAULT_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_TOP);
fl_set_slider_precision(obj, 3);
fl_set_slider_value(obj, 0.008);
fl_set_slider_size(obj, 0.10);
fl_set_slider_step(obj, 0.001);
fl_set_slider_increment(obj, 0.001, 0.001);
fdui->prob_crossover = obj = fl_add_valslider(FL_HOR_BROWSER_SLIDER,250,250,200,20,"Probabiliy of Crossover:");
fl_set_object_lsize(obj,FL_DEFAULT_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_TOP);
fl_set_slider_precision(obj, 3);
fl_set_slider_value(obj, 0.002);
fl_set_slider_size(obj, 0.10);
fl_set_slider_step(obj, 0.001);
fl_set_slider_increment(obj, 0.001, 0.001);
fdui->max_pop = obj = fl_add_valslider(FL_HOR_BROWSER_SLIDER,250,210,200,20,"Maximum Population:");
fl_set_object_lsize(obj,FL_DEFAULT_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_TOP);
fl_set_slider_precision(obj, 0);
fl_set_slider_bounds(obj, 0, 10000);
fl_set_slider_value(obj, 2000);
fl_set_slider_size(obj, 0.10);
fl_set_slider_step(obj, 1);
fl_set_slider_increment(obj, 10, 10);
fdui->maintain_min_pop = obj = fl_add_checkbutton(FL_PUSH_BUTTON,260,380,20,20,"Maintain a Minimum Population?");
fdui->age_factor = obj = fl_add_valslider(FL_HOR_BROWSER_SLIDER,35,290,200,20,"Age Factor:");
fl_set_object_lsize(obj,FL_DEFAULT_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_TOP);
fl_set_slider_precision(obj, 0);
fl_set_slider_bounds(obj, 0, 15);
fl_set_slider_value(obj, 9);
fl_set_slider_size(obj, 0.10);
fl_set_slider_step(obj, 1);
fl_set_slider_increment(obj, 1, 1);
fdui->carcass_decay_rate = obj = fl_add_valslider(FL_HOR_BROWSER_SLIDER,250,290,200,20,"Carcass Decay Rate:");
fl_set_object_lsize(obj,FL_DEFAULT_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_TOP);
fl_set_slider_precision(obj, 0);
fl_set_slider_bounds(obj, 0, 100000);
fl_set_slider_value(obj, 10000);
fl_set_slider_size(obj, 0.10);
fl_set_slider_step(obj, 100);
fl_set_slider_increment(obj, 100, 100);
fdui->save_sim = obj = fl_add_checkbutton(FL_PUSH_BUTTON,45,380,20,20,"Save Simulation Every N Steps?");
fdui->save_every = obj = fl_add_valslider(FL_HOR_BROWSER_SLIDER,40,420,170,20,"Save Every N Steps:");
fl_set_object_lsize(obj,FL_DEFAULT_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_TOP);
fl_set_slider_precision(obj, 0);
fl_set_slider_bounds(obj, 0, 100000);
fl_set_slider_value(obj, 50000);
fl_set_slider_size(obj, 0.12);
fl_set_slider_step(obj, 100);
fl_set_slider_increment(obj, 100, 100);
fdui->file_name = obj = fl_add_input(FL_NORMAL_INPUT,40,465,170,20,"Default File Name:");
fl_set_object_lalign(obj,FL_ALIGN_TOP);
fdui->ok = obj = fl_add_button(FL_RETURN_BUTTON,360,490,80,30,"OK");
fdui->initial_params_frame = obj = fl_add_frame(FL_ENGRAVED_FRAME,20,20,440,160,"Initial Parameters");
fl_set_object_lalign(obj,FL_ALIGN_TOP);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
fdui->scale = obj = fl_add_valslider(FL_HOR_BROWSER_SLIDER,35,210,200,20,"Display Scale Factor:");
fl_set_object_lsize(obj,FL_DEFAULT_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_TOP);
fl_set_slider_precision(obj, 0);
fl_set_slider_bounds(obj, 1, 32);
fl_set_slider_value(obj, 5);
fl_set_slider_size(obj, 0.10);
fl_set_slider_step(obj, 1);
fl_set_slider_increment(obj, 1, 1);
fdui->min_pop = obj = fl_add_valslider(FL_HOR_BROWSER_SLIDER,265,420,170,20,"Minimum Population:");
fl_set_object_lsize(obj,FL_DEFAULT_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_TOP);
fl_set_slider_precision(obj, 0);
fl_set_slider_bounds(obj, 0, 100);
fl_set_slider_value(obj, 5);
fl_set_slider_size(obj, 0.12);
fl_set_slider_step(obj, 1);
fl_set_slider_increment(obj, 1, 1);
fdui->use_survivor = obj = fl_add_checkbutton(FL_PUSH_BUTTON,280,450,20,20,"Use Survivor for Minimum?");
fdui->initial_parameters_group = fl_bgn_group();
fdui->terrain_size = obj = fl_add_choice(FL_NORMAL_CHOICE2,340,135,100,30,"Terrain Size (cells):");
fl_set_choice_entries(obj, fdchoice_terrain_size_0);
fl_set_choice(obj,4);
fdui->initial_pop = obj = fl_add_valslider(FL_HOR_BROWSER_SLIDER,35,60,200,20,"Initial Population:");
fl_set_object_lsize(obj,FL_DEFAULT_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_TOP);
fl_set_slider_precision(obj, 0);
fl_set_slider_bounds(obj, 0, 2000);
fl_set_slider_value(obj, 200);
fl_set_slider_size(obj, 0.10);
fl_set_slider_step(obj, 1);
fl_set_slider_increment(obj, 10, 10);
fdui->initial_plant = obj = fl_add_valslider(FL_HOR_BROWSER_SLIDER,35,100,200,20,"Number of Initial Plant Locations:");
fl_set_object_lsize(obj,FL_DEFAULT_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_TOP);
fl_set_slider_precision(obj, 0);
fl_set_slider_bounds(obj, 0, 10000);
fl_set_slider_value(obj, 1000);
fl_set_slider_size(obj, 0.10);
fl_set_slider_step(obj, 100);
fl_set_slider_increment(obj, 100, 100);
fdui->initial_flesh = obj = fl_add_valslider(FL_HOR_BROWSER_SLIDER,250,100,200,20,"Number of Initial Flesh Locations:");
fl_set_object_lsize(obj,FL_DEFAULT_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_TOP);
fl_set_slider_precision(obj, 0);
fl_set_slider_bounds(obj, 0, 10000);
fl_set_slider_value(obj, 1000);
fl_set_slider_size(obj, 0.10);
fl_set_slider_step(obj, 100);
fl_set_slider_increment(obj, 100, 100);
fdui->give_head_start = obj = fl_add_checkbutton(FL_PUSH_BUTTON,290,55,20,20,"Give A Head Start?");
fl_set_button(obj, 1);
fdui->allow_asex = obj = fl_add_checkbutton(FL_PUSH_BUTTON,70,150,20,20,"Allow Asexual Reproduction?");
fl_set_button(obj, 1);
fdui->allow_sex = obj = fl_add_checkbutton(FL_PUSH_BUTTON,70,130,20,20,"Allow Sexual Reproduction?");
fl_set_button(obj, 1);
fl_end_group();
fdui->waste_decay_rate = obj = fl_add_valslider(FL_HOR_BROWSER_SLIDER,35,330,200,20,"Waste Decay Rate:");
fl_set_object_lsize(obj,FL_DEFAULT_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_TOP);
fl_set_slider_precision(obj, 0);
fl_set_slider_bounds(obj, 0, 10000);
fl_set_slider_value(obj, 20);
fl_set_slider_size(obj, 0.10);
fl_set_slider_step(obj, 5);
fl_set_slider_increment(obj, 10, 10);
fdui->poison_decay_rate = obj = fl_add_valslider(FL_HOR_BROWSER_SLIDER,250,330,200,20,"Poison Decay Rate:");
fl_set_object_lsize(obj,FL_DEFAULT_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_TOP);
fl_set_slider_precision(obj, 0);
fl_set_slider_bounds(obj, 0, 10000);
fl_set_slider_value(obj, 20);
fl_set_slider_size(obj, 0.10);
fl_set_slider_step(obj, 5);
fl_set_slider_increment(obj, 10, 10);
fl_end_form();
fdui->options->fdui = fdui;
return fdui;
}
void create_form_MainForm(void)
{
FL_OBJECT *obj;
if (MainForm)
return;
MainForm = fl_bgn_form(FL_NO_BOX,240,340);
obj = fl_add_box(FL_UP_BOX,0,0,240,340,"");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
DodecScale = obj = fl_add_valslider(FL_HOR_SLIDER,10,313,226,22,"Scale Dodecahedron");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_TOP);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
fl_set_object_callback(obj,ScaleProc,0);
obj = fl_add_text(FL_NORMAL_TEXT,0,25,245,20,"Interactive Hyperbolic Flythrough");
fl_set_object_boxtype(obj,FL_NO_BOX);
fl_set_object_color(obj,FL_COL1,FL_COL1);
fl_set_object_lcolor(obj,FL_BLUE);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_CENTER|FL_ALIGN_INSIDE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
obj = fl_add_text(FL_NORMAL_TEXT,0,215,80,30,"LAYERS");
fl_set_object_boxtype(obj,FL_NO_BOX);
fl_set_object_color(obj,FL_COL1,FL_COL1);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_CENTER|FL_ALIGN_INSIDE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
obj = fl_add_text(FL_NORMAL_TEXT,5,140,230,15,"PATH");
fl_set_object_boxtype(obj,FL_NO_BOX);
fl_set_object_color(obj,FL_COL1,FL_COL1);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_CENTER|FL_ALIGN_INSIDE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
Quit = obj = fl_add_button(FL_NORMAL_BUTTON,190,50,40,30,"Quit");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_callback(obj,QuitProc,0);
obj = fl_add_box(FL_SHADOW_BOX,0,285,245,5,"");
fl_set_object_color(obj,FL_BLUE,FL_BLUE);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
obj = fl_add_box(FL_SHADOW_BOX,0,210,245,5,"");
fl_set_object_color(obj,FL_BLUE,FL_BLUE);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
Info = obj = fl_add_button(FL_PUSH_BUTTON,10,50,170,30,"What's going on?");
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_callback(obj,InfoProc,0);
obj = fl_add_box(FL_SHADOW_BOX,0,130,245,5,"");
fl_set_object_color(obj,FL_BLUE,FL_BLUE);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
PathGroup = fl_bgn_group();
Direct = obj = fl_add_roundbutton(FL_RADIO_BUTTON,125,150,30,30,"Direct");
fl_set_object_color(obj,FL_WHITE,FL_YELLOW);
fl_set_object_lcolor(obj,223);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
fl_set_object_callback(obj,PathProc,DIRECT);
Equi = obj = fl_add_roundbutton(FL_RADIO_BUTTON,125,175,30,30,"Equidistant");
fl_set_object_color(obj,FL_WHITE,FL_YELLOW);
fl_set_object_lcolor(obj,248);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
fl_set_object_callback(obj,PathProc,EQUI);
Quarter = obj = fl_add_roundbutton(FL_RADIO_BUTTON,5,175,30,30,"Quarter Turn");
fl_set_object_color(obj,FL_WHITE,FL_YELLOW);
fl_set_object_lcolor(obj,135);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
fl_set_object_callback(obj,PathProc,QUARTER);
Loop = obj = fl_add_roundbutton(FL_RADIO_BUTTON,5,150,30,30,"Full Loop");
fl_set_object_color(obj,FL_WHITE,FL_YELLOW);
fl_set_object_lcolor(obj,135);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
fl_set_object_callback(obj,PathProc,LOOP);
fl_end_group();
obj = fl_add_text(FL_NORMAL_TEXT,0,255,60,30,"STEPS");
fl_set_object_boxtype(obj,FL_NO_BOX);
fl_set_object_color(obj,FL_COL1,FL_COL1);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_CENTER|FL_ALIGN_INSIDE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
obj = fl_add_box(FL_SHADOW_BOX,0,248,245,5,"");
fl_set_object_color(obj,FL_BLUE,FL_BLUE);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
GoGroup = fl_bgn_group();
Go = obj = fl_add_roundbutton(FL_RADIO_BUTTON,20,88,55,45,"GO");
fl_set_object_color(obj,FL_WHITE,FL_GREEN);
fl_set_object_lcolor(obj,FL_GREEN);
fl_set_object_lsize(obj,FL_LARGE_SIZE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
fl_set_object_callback(obj,GoProc,1);
Stop = obj = fl_add_roundbutton(FL_RADIO_BUTTON,110,88,55,45,"STOP");
fl_set_object_color(obj,FL_WHITE,FL_RED);
fl_set_object_lcolor(obj,FL_RED);
fl_set_object_lsize(obj,FL_LARGE_SIZE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
fl_set_object_callback(obj,GoProc,0);
fl_end_group();
TileGroup = fl_bgn_group();
Level3 = obj = fl_add_roundbutton(FL_RADIO_BUTTON,195,215,30,30,"3");
fl_set_object_color(obj,FL_WHITE,FL_YELLOW);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_callback(obj,TilingProc,3);
Level2 = obj = fl_add_roundbutton(FL_RADIO_BUTTON,155,215,30,30,"2");
fl_set_object_color(obj,FL_WHITE,FL_YELLOW);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_callback(obj,TilingProc,2);
Level1 = obj = fl_add_roundbutton(FL_RADIO_BUTTON,115,215,30,30,"1");
fl_set_object_color(obj,FL_WHITE,FL_YELLOW);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_callback(obj,TilingProc,1);
Level0 = obj = fl_add_roundbutton(FL_RADIO_BUTTON,75,215,30,30,"0");
fl_set_object_color(obj,FL_WHITE,FL_YELLOW);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_callback(obj,TilingProc,0);
fl_end_group();
SpeedGroup = fl_bgn_group();
Speed2 = obj = fl_add_roundbutton(FL_RADIO_BUTTON,100,255,30,30,"20");
fl_set_object_color(obj,FL_WHITE,FL_YELLOW);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_callback(obj,SpeedProc,2);
Speed3 = obj = fl_add_roundbutton(FL_RADIO_BUTTON,145,255,30,30,"40");
fl_set_object_color(obj,FL_WHITE,FL_YELLOW);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_callback(obj,SpeedProc,3);
Speed4 = obj = fl_add_roundbutton(FL_RADIO_BUTTON,190,255,30,30,"80");
fl_set_object_color(obj,FL_WHITE,FL_YELLOW);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_callback(obj,SpeedProc,4);
Speed1 = obj = fl_add_roundbutton(FL_RADIO_BUTTON,55,255,30,30,"10");
fl_set_object_color(obj,FL_WHITE,FL_YELLOW);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_callback(obj,SpeedProc,1);
fl_end_group();
obj = fl_add_text(FL_NORMAL_TEXT,5,5,240,20,"Not Knot: The Software");
fl_set_object_boxtype(obj,FL_NO_BOX);
fl_set_object_color(obj,FL_COL1,FL_COL1);
fl_set_object_lcolor(obj,FL_BLUE);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_CENTER|FL_ALIGN_INSIDE);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
obj = fl_add_box(FL_SHADOW_BOX,0,84,245,5,"");
fl_set_object_color(obj,FL_BLUE,FL_BLUE);
fl_set_object_lsize(obj,FL_NORMAL_SIZE);
fl_end_form();
}
FD_mpcview *create_form_mpcview(void)
{
FL_OBJECT *obj;
FD_mpcview *fdui = (FD_mpcview *) fl_calloc(1, sizeof(*fdui));
fdui->mpcview = fl_bgn_form(FL_NO_BOX, 425, 535);
fdui->formmpcview = obj = fl_add_box(FL_FLAT_BOX,0,0,425,535,"");
fdui->scanchart = obj = fl_add_chart(FL_LINE_CHART,15,40,280,60,"");
fl_set_object_boxtype(obj,FL_UP_BOX);
fdui->scan = obj = fl_add_xyplot(FL_FILL_XYPLOT,5,35,300,140,"");
fl_set_object_boxtype(obj,FL_UP_BOX);
obj = fl_add_frame(FL_ENGRAVED_FRAME,5,345,415,155,"");
obj = fl_add_frame(FL_ENGRAVED_FRAME,245,355,165,80,"");
obj = fl_add_frame(FL_ENGRAVED_FRAME,15,355,225,135,"");
fdui->button_err_0 = obj = fl_add_checkbutton(FL_PUSH_BUTTON,20,365,90,20,"Exceptional EP");
fl_set_object_lsize(obj,FL_TINY_SIZE);
obj = fl_add_frame(FL_ENGRAVED_FRAME,5,180,415,160,"");
fdui->browser = obj = fl_add_browser(FL_HOLD_BROWSER,10,200,325,135,"");
fl_set_object_color(obj,FL_TOP_BCOL,FL_YELLOW);
fdui->menubar = obj = fl_add_box(FL_UP_BOX,0,0,425,30,"");
fdui->clock = obj = fl_add_clock(FL_ANALOG_CLOCK,345,35,75,65,"");
fdui->logo = obj = fl_add_pixmap(FL_NORMAL_PIXMAP,345,105,70,70,"");
fdui->all_objects = fl_bgn_group();
fdui->menufile = obj = fl_add_menu(FL_PULLDOWN_MENU,5,5,40,20,"File");
fl_set_object_shortcut(obj,"#F",1);
fl_set_object_boxtype(obj,FL_FLAT_BOX);
fl_set_object_gravity(obj, FL_North, FL_NoGravity);
obj = fl_add_text(FL_NORMAL_TEXT,10,185,325,15,"This software is part of the MPC Parallel Machine project");
fl_set_object_lalign(obj,FL_ALIGN_LEFT|FL_ALIGN_INSIDE);
fdui->average = obj = fl_add_valslider(FL_VERT_FILL_SLIDER,310,35,30,140,"");
fl_set_object_color(obj,FL_COL1,FL_GREEN);
fl_set_slider_return(obj, FL_RETURN_CHANGED);
obj = fl_add_text(FL_NORMAL_TEXT,5,505,415,25,"Fast HSL Control Panel -- (c) LIP6/UPMC 1997-1998");
fl_set_object_boxtype(obj,FL_DOWN_BOX);
fl_set_object_lalign(obj,FL_ALIGN_LEFT|FL_ALIGN_INSIDE);
fl_end_group();
fdui->button_0 = obj = fl_add_lightbutton(FL_PUSH_BUTTON,340,200,35,30,"0");
fl_set_object_color(obj,FL_RED,FL_GREEN);
fdui->button_2 = obj = fl_add_lightbutton(FL_PUSH_BUTTON,340,270,35,30,"2");
fl_set_object_color(obj,FL_RED,FL_GREEN);
fdui->button_1 = obj = fl_add_lightbutton(FL_PUSH_BUTTON,340,235,35,30,"1");
fl_set_object_color(obj,FL_RED,FL_GREEN);
fdui->button_3 = obj = fl_add_lightbutton(FL_PUSH_BUTTON,340,305,35,30,"3");
fl_set_object_color(obj,FL_RED,FL_GREEN);
obj = fl_add_text(FL_NORMAL_TEXT,265,5,100,20,"MPC-View");
fl_set_object_lcol(obj,FL_DARKTOMATO);
fl_set_object_lsize(obj,FL_LARGE_SIZE);
fl_set_object_lalign(obj,FL_ALIGN_LEFT|FL_ALIGN_INSIDE);
fl_set_object_lstyle(obj,FL_TIMESITALIC_STYLE+FL_EMBOSSED_STYLE);
fdui->button_4 = obj = fl_add_lightbutton(FL_PUSH_BUTTON,380,200,35,30,"4");
fl_set_object_color(obj,FL_RED,FL_GREEN);
fdui->button_5 = obj = fl_add_lightbutton(FL_PUSH_BUTTON,380,235,35,30,"5");
fl_set_object_color(obj,FL_RED,FL_GREEN);
fdui->button_6 = obj = fl_add_lightbutton(FL_PUSH_BUTTON,380,270,35,30,"6");
fl_set_object_color(obj,FL_RED,FL_GREEN);
fdui->button_7 = obj = fl_add_lightbutton(FL_PUSH_BUTTON,380,305,35,30,"7");
fl_set_object_color(obj,FL_RED,FL_GREEN);
obj = fl_add_text(FL_NORMAL_TEXT,30,350,40,15,"Errors");
fl_set_object_lalign(obj,FL_ALIGN_LEFT|FL_ALIGN_INSIDE);
fdui->button_err_1 = obj = fl_add_checkbutton(FL_PUSH_BUTTON,20,385,75,20,"CRC Header");
fl_set_object_lsize(obj,FL_TINY_SIZE);
fdui->button_err_2 = obj = fl_add_checkbutton(FL_PUSH_BUTTON,20,405,70,20,"CRC Data");
fl_set_object_lsize(obj,FL_TINY_SIZE);
fdui->button_err_3 = obj = fl_add_checkbutton(FL_PUSH_BUTTON,20,425,85,20,"End of Packet");
fl_set_object_lsize(obj,FL_TINY_SIZE);
fdui->button_err_4 = obj = fl_add_checkbutton(FL_PUSH_BUTTON,20,445,70,20,"Timeout");
fl_set_object_lsize(obj,FL_TINY_SIZE);
fdui->button_err_5 = obj = fl_add_checkbutton(FL_PUSH_BUTTON,20,465,75,20,"R3 Status");
fl_set_object_lsize(obj,FL_TINY_SIZE);
fdui->button_err_6 = obj = fl_add_checkbutton(FL_PUSH_BUTTON,105,365,130,20,"Page Transmitted Overflow");
fl_set_object_lsize(obj,FL_TINY_SIZE);
fdui->button_err_7 = obj = fl_add_checkbutton(FL_PUSH_BUTTON,105,385,130,20,"Message Received Overflow");
fl_set_object_lsize(obj,FL_TINY_SIZE);
fdui->button_err_8 = obj = fl_add_checkbutton(FL_PUSH_BUTTON,105,405,120,20,"Sent Packet Overflow");
fl_set_object_lsize(obj,FL_TINY_SIZE);
fdui->button_err_9 = obj = fl_add_checkbutton(FL_PUSH_BUTTON,105,425,130,20,"Received Packet Overflow");
fl_set_object_lsize(obj,FL_TINY_SIZE);
fdui->button_err_10 = obj = fl_add_checkbutton(FL_PUSH_BUTTON,105,445,100,20,"Illegal LRM Access");
fl_set_object_lsize(obj,FL_TINY_SIZE);
fdui->button_err_11 = obj = fl_add_checkbutton(FL_PUSH_BUTTON,105,465,80,20,"LMI Overflow");
fl_set_object_lsize(obj,FL_TINY_SIZE);
obj = fl_add_text(FL_NORMAL_TEXT,325,370,75,15,"Tx/Rx Balance");
fl_set_object_lalign(obj,FL_ALIGN_LEFT|FL_ALIGN_INSIDE);
obj = fl_add_text(FL_NORMAL_TEXT,325,405,75,15,"Packet Length");
fl_set_object_lalign(obj,FL_ALIGN_LEFT|FL_ALIGN_INSIDE);
obj = fl_add_text(FL_NORMAL_TEXT,255,350,45,15,"Control");
fl_set_object_lalign(obj,FL_ALIGN_LEFT|FL_ALIGN_INSIDE);
obj = fl_add_frame(FL_ENGRAVED_FRAME,245,440,165,50,"");
fdui->button_other_0 = obj = fl_add_checkbutton(FL_PUSH_BUTTON,250,445,80,20,"Tx");
fl_set_object_lsize(obj,FL_TINY_SIZE);
fdui->button_other_1 = obj = fl_add_checkbutton(FL_PUSH_BUTTON,250,465,80,20,"Rx");
fl_set_object_lsize(obj,FL_TINY_SIZE);
fdui->button_other_2 = obj = fl_add_checkbutton(FL_PUSH_BUTTON,325,445,80,20,"RCube");
fl_set_object_lsize(obj,FL_TINY_SIZE);
fdui->button_other_3 = obj = fl_add_checkbutton(FL_PUSH_BUTTON,325,465,80,20,"Loopback");
fl_set_object_lsize(obj,FL_TINY_SIZE);
fdui->tx_rx = obj = fl_add_valslider(FL_HOR_NICE_SLIDER,250,365,75,25,"");
fl_set_slider_return(obj, FL_RETURN_CHANGED);
fdui->pack_len = obj = fl_add_valslider(FL_HOR_NICE_SLIDER,250,400,75,25,"");
fl_set_slider_return(obj, FL_RETURN_CHANGED);
fl_end_form();
return fdui;
}
static void g3d_create_genom_group(void) {
int x, y, dy, w, h;
FL_OBJECT *obj;
obj = fl_add_labelframe(FL_ENGRAVED_FRAME, 5, 15, 140, 870, "Genom Requests");
GENOMGROUP = fl_bgn_group();
x= 15;
y= 30;
w= 120;
h= 40;
dy= h + 10;
BT_SET_CARTESIAN = fl_add_button(FL_RADIO_BUTTON, x, y, w, h, "Set Cartesian");
fl_set_call_back(BT_SET_CARTESIAN, CB_set_cartesian, 1);
fl_set_object_color(BT_SET_CARTESIAN,FL_MCOL,FL_GREEN);
fl_set_button(BT_SET_CARTESIAN, FALSE);
y+= dy;
BT_GRAB_OBJECT = fl_add_button(FL_RADIO_BUTTON, x, y, w, h, "Grab Object");
fl_set_call_back(BT_GRAB_OBJECT, CB_grab_object, 1);
fl_set_object_color(BT_GRAB_OBJECT,FL_MCOL,FL_GREEN);
fl_set_button(BT_GRAB_OBJECT, FALSE);
y+= dy;
BT_RELEASE_OBJECT = fl_add_button(FL_RADIO_BUTTON, x, y, w, h, "Release Object");
fl_set_call_back(BT_RELEASE_OBJECT, CB_release_object, 1);
fl_set_object_color(BT_RELEASE_OBJECT,FL_MCOL,FL_GREEN);
fl_set_button(BT_RELEASE_OBJECT, FALSE);
y+= dy;
DELETE_GRAPHS = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Delete Graphs");
fl_set_call_back(DELETE_GRAPHS, CB_genomCleanRoadmap_obj, 1);
y+= dy;
BT_ARM_GOTO_Q_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Arm Goto Q");
// BT_PLOT_Q_WRITE_FILE_OBJ= fl_add_button(FL_RADIO_BUTTON, x, y + 1*dy, w, h, "Write file and plot qi");
fl_set_call_back(BT_ARM_GOTO_Q_OBJ, CB_genomArmGotoQ_obj, 1);
y+= dy;
BT_ARM_EXTRACT_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Arm Extract");
fl_set_call_back(BT_ARM_EXTRACT_OBJ, CB_genomArmExtract_obj, 1);
y+= dy;
BT_ARM_GOTO_X_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Arm Goto X");
// BT_PLOT_Q_WRITE_FILE_OBJ= fl_add_button(FL_RADIO_BUTTON, x, y + 1*dy, w, h, "Write file and plot qi");
fl_set_call_back(BT_ARM_GOTO_X_OBJ, CB_genomArmGotoX_obj, 1);
y+= dy;
BT_FIND_GRASP_CONFIG_AND_COMP_TRAJ_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Pick Up");
fl_set_call_back(BT_FIND_GRASP_CONFIG_AND_COMP_TRAJ_OBJ, CB_genomPickUp_gotoObject, 1);
y+= dy;
BT_PICK_UP_TAKE = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Take To Conf");
fl_set_call_back(BT_PICK_UP_TAKE, CB_genomPickUp_takeObject, 1);
y+= dy;
BT_PICK_UP_TAKE_XYZ = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Take To XYZ");
fl_set_call_back(BT_PICK_UP_TAKE_XYZ, CB_genomPickUp_takeObjectToXYZ, 1);
y+= dy;
BT_TAKE_TO_PLACE = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Take To Place");
fl_set_call_back(BT_TAKE_TO_PLACE, CB_genomTakeToPlace, 1);
y+= dy;
BT_PLACE = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Place From Free");
fl_set_call_back(BT_PLACE, CB_genomPlaceObject, 1);
y+= dy;
BT_ESCAPE_OBJECT = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Escape object");
fl_set_call_back(BT_ESCAPE_OBJECT, CB_genomEscapeObject, 1);
y+= dy;
BT_CONSTRUCTPRM = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Build PRM");
fl_set_call_back(BT_CONSTRUCTPRM, CB_genomArmComputePRM_obj, 0);
y+= dy;
BT_PLANVIAPOINTS = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Plan Via Conf traj");
fl_set_call_back(BT_PLANVIAPOINTS, CB_genomPlanTrajViaPoints, 0);
y+= dy;
BT_SEQUENCE = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Sequence");
fl_set_call_back(BT_SEQUENCE, CB_genomSequence, 0);
#ifdef DPG
y+= dy;
BT_CHECKCOLONTRAJ = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Check Col Traj");
fl_set_call_back(BT_CHECKCOLONTRAJ, CB_checkColOnTraj, 0);
y+= dy;
BT_REPLANCOLTRAJ = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Replan Col Traj");
fl_set_call_back(BT_REPLANCOLTRAJ, CB_replanColTraj, 0);
y+= dy;
#endif
fl_end_group();
}