C++ (Cpp) RobotLink::hasGeometry Examples

Example #1

File: robot.cpp Project: JoSungUk/My_1st_ROScode

void Robot::calculateJointCheckboxes()
{
  if (inChangedEnableAllLinks || !robot_loaded_)
    return;

  int links_with_geom_checked = 0;
  int links_with_geom_unchecked = 0;

  // check root link
  RobotLink *link = root_link_;
  if (link && link->hasGeometry())
  {
    bool checked = link->getLinkProperty()->getValue().toBool();
    links_with_geom_checked += checked ? 1 : 0;
    links_with_geom_unchecked += checked ? 0 : 1;
  }
  int links_with_geom = links_with_geom_checked + links_with_geom_unchecked;

  // check all child links and joints recursively
  std::vector<std::string>::const_iterator child_joint_it = link->getChildJointNames().begin();
  std::vector<std::string>::const_iterator child_joint_end = link->getChildJointNames().end();
  for ( ; child_joint_it != child_joint_end ; ++child_joint_it )
  {
    RobotJoint* child_joint = getJoint( *child_joint_it );
    if (child_joint)
    {
      int child_links_with_geom;
      int child_links_with_geom_checked;
      int child_links_with_geom_unchecked;
      child_joint->calculateJointCheckboxesRecursive(child_links_with_geom, child_links_with_geom_checked, child_links_with_geom_unchecked);
      links_with_geom_checked += child_links_with_geom_checked;
      links_with_geom_unchecked += child_links_with_geom_unchecked;
    }
  }
  links_with_geom = links_with_geom_checked + links_with_geom_unchecked;

  if (!links_with_geom)
  {
    setEnableAllLinksCheckbox(QVariant());
  }
  else
  {
    setEnableAllLinksCheckbox(links_with_geom_unchecked == 0);
  }
}