//go to see the previous grasp and show the corresponding image
void DBaseDlg::previousGrasp() {
if (mGraspList.empty()) return;
if (mCurrentFrame == 0)
{
mCurrentFrame = mGraspList.size() - 1;
}
else
{
mCurrentFrame --;
}
showGrasp(mCurrentFrame);
}
void DBaseDlg::loadGraspButton_clicked(){
PROF_RESET_ALL;
PROF_START_TIMER(GET_GRASPS);
//get the current hand and check its validity
Hand *hand = graspItGUI->getIVmgr()->getWorld()->getCurrentHand();
if (!hand) {
DBGA("Load and select a hand before viewing grasps!");
return;
}
//check the currently loaded model
if(!mCurrentLoadedModel){
DBGA("Load model first!");
return;
}
//clear the previously loaded grasps
deleteVectorElements<db_planner::Grasp*, GraspitDBGrasp*>(mGraspList);
mGraspList.clear();
mCurrentFrame = 0;
//get new grasps from database manager
PROF_START_TIMER(GET_GRASPS_CALL);
if(!mDBMgr->GetGrasps(*mCurrentLoadedModel,hand->getDBName().toStdString(), &mGraspList)){
DBGA("Load grasps failed");
mGraspList.clear();
return;
}
PROF_STOP_TIMER(GET_GRASPS_CALL);
for(std::vector<db_planner::Grasp*>::iterator it = mGraspList.begin(); it != mGraspList.end(); ){
if( QString((*it)->GetSource().c_str()) == typesComboBox->currentText() ||
typesComboBox->currentText() == "ALL") ++it;
else{
delete (*it);
mGraspList.erase(it);
}
}
//set corresponding indices and show the grasp
QString numTotal, numCurrent;
numTotal.setNum(mGraspList.size());
if(!mGraspList.empty()){
numCurrent.setNum(mCurrentFrame + 1);
graspsGroup->setEnabled(TRUE);
showGrasp(0);
showMarkers();
} else{
numCurrent.setNum(0);
graspsGroup->setEnabled(FALSE);
}
graspIndexLabel->setText(numCurrent + "/" + numTotal);
PROF_STOP_TIMER(GET_GRASPS);
PROF_PRINT_ALL;
}
void DBaseDlg::sortButton_clicked()
{
if (mGraspList.empty()) return;
VisualQualityFunctor func;
if (sortBox->currentText()== "Energy") {
std::sort(mGraspList.begin(), mGraspList.end(), db_planner::Grasp::CompareEnergy);
func.mType = VisualQualityFunctor::ENERGY;
} else if (sortBox->currentText()== "Epsilon") {
std::sort(mGraspList.begin(), mGraspList.end(), db_planner::Grasp::CompareEpsilon);
func.mType = VisualQualityFunctor::EPSILON;
} else if (sortBox->currentText()== "Volume") {
std::sort(mGraspList.begin(), mGraspList.end(), db_planner::Grasp::CompareVolume);
func.mType = VisualQualityFunctor::VOLUME;
} else {
assert(0);
}
mCurrentFrame = 0;
showGrasp(mCurrentFrame);
if (showMarkersBox->isChecked()) {
double min = func(mGraspList.front());
double max = func(mGraspList.back());
if (max==min) max=min+1.0;
std::vector<db_planner::Grasp*>::iterator it;
for (it=mGraspList.begin(); it!=mGraspList.end(); it++) {
double r = (func(*it) - min) / (max - min);
double g = 1-r;
double b = 0.0;
GraspPlanningState *state;
if(showPreGraspRadioButton->isChecked()) {
state = static_cast<GraspitDBGrasp*>(*it)->getPreGraspPlanningState();
} else {
state = static_cast<GraspitDBGrasp*>(*it)->getFinalGraspPlanningState();
}
state->setIVMarkerColor(r,g,b);
}
}
}
//go to see the next grasp and show the corresponding image
void DBaseDlg::nextGrasp() {
if (mGraspList.empty()) return;
mCurrentFrame ++;
if (mCurrentFrame == mGraspList.size()) mCurrentFrame = 0;
showGrasp(mCurrentFrame);
}
//trigger when the grasp type is changed between pregrasp and final grasp
void DBaseDlg::graspTypeChanged(){
showGrasp(mCurrentFrame);
showMarkers();
}
//go to see the previous grasp and show the corresponding image
void DBaseDlg::previousGrasp() {
if (mGraspList.empty()) return;
mCurrentFrame --;
if (mCurrentFrame < 0) mCurrentFrame = mGraspList.size() - 1;
showGrasp(mCurrentFrame);
}
