void JointVelocityControlWidget::init(ref<BasicEnvironment> env, ref<Robot> robot, Int index, ref<ControlInterface> interface)
{
  velInterface = interface; 

  // Joint velocity controls
  Gtk::VBox* jointControlBox = new Gtk::VBox(false,5);

  Int dof =  velInterface->inputSize();
  velAdjustments.clear();
  for(Int j=0; j<dof; j++) {
    Gtk::HBox* hbox = new Gtk::HBox();
    Gtk::Label* label = new Gtk::Label(base::intToString(j)+":");
    hbox->pack_start(*manage(label), Gtk::PACK_SHRINK,5);
    Gtk::Adjustment* adj = new Gtk::Adjustment(0,-3,3,0.01,0.1);
    velAdjustments.push_back(adj);
    Gtk::HScale* scale = new Gtk::HScale(*manage(adj));
    scale->set_draw_value(true);
    scale->set_digits(2);
    scale->set_value_pos(Gtk::POS_LEFT);
    scale->set_update_policy(Gtk::UPDATE_CONTINUOUS);
    scale->set_size_request(100,-1);
    hbox->pack_end(*manage(scale));
    jointControlBox->pack_start(*manage(hbox),false,false);
    adj->signal_value_changed().connect( SigC::bind<Int>( SigC::slot(*this, &JointVelocityControlWidget::jointVelScaleChanged ), j) );
  }
  
  pack_start(*manage(jointControlBox));
}
Example #2
0
void PrefPage::appendSlider(const std::string& name, const std::string& registryKey, bool drawValue,
                            double value, double lower, double upper, double step_increment, double page_increment, double page_size)
{
	// Create a new adjustment with the boundaries <lower> and <upper> and all the increments
	Gtk::Adjustment* adj = Gtk::manage(new Gtk::Adjustment(value, lower, upper, step_increment, page_increment, page_size));

	// Connect the registry key to this adjustment
    registry::bindPropertyToBufferedKey(adj->property_value(), registryKey, _registryBuffer, _resetValuesSignal);

	// scale
	Gtk::Alignment* alignment = Gtk::manage(new Gtk::Alignment(0.0, 0.5, 1.0, 0.0));
	alignment->show();

	Gtk::HScale* scale = Gtk::manage(new Gtk::HScale(*adj));
	scale->set_value_pos(Gtk::POS_LEFT);
	scale->show();

	alignment->add(*scale);

	scale->set_draw_value(drawValue);
	scale->set_digits((step_increment < 1.0f) ? 2 : 0);

	appendNamedWidget(name, *alignment);
}
/*! Constructor
 * \param[in]	el	the configuration element to display
 * \param[in]	differ	shall the changes be applied later using apply_changes()?
 */
ConfigElement::ConfigElement(crn::ConfigElement &el, bool differ):
	value(el.GetValue()),
	tmpvalue(el.GetValue())
{
	if (!value)
		throw crn::ExceptionUninitialized(_("The element was not initialized."));
	if (differ)
		tmpvalue = crn::Clone(*value);

	if (std::dynamic_pointer_cast<crn::Int>(tmpvalue))
		typ = U"Int";
	else if (std::dynamic_pointer_cast<crn::Real>(tmpvalue))
		typ = U"Real";
	else if (std::dynamic_pointer_cast<crn::Prop3>(tmpvalue))
		typ = U"Prop3";
	else if (std::dynamic_pointer_cast<crn::String>(tmpvalue))
		typ = U"String";
	else if (std::dynamic_pointer_cast<crn::StringUTF8>(tmpvalue))
		typ = U"StringUTF8";
	else if (std::dynamic_pointer_cast<crn::Path>(tmpvalue))
		typ = U"Path";

	Gtk::Label *lab = Gtk::manage(new Gtk::Label(el.GetName().CStr()));
	lab->show();
	pack_start(*lab, false, true, 2);

	if (typ == U"Prop3")
	{
		Prop3 *p = Gtk::manage(new Prop3(Gtk::ICON_SIZE_BUTTON, el.GetValue<crn::Prop3>()));
		p->signal_value_changed().connect(sigc::mem_fun(this, &ConfigElement::on_p3_changed));
		p->show();
		pack_start(*p, true, true, 2);
	}
	else if (!el.GetAllowedValues().IsEmpty())
	{ // any Int, Real, String, StringUTF8 or Path
		Gtk::ComboBoxText *cb = Gtk::manage(new Gtk::ComboBoxText);
		const std::vector<crn::StringUTF8> values(el.GetAllowedValues<crn::StringUTF8>());
		for (const crn::StringUTF8 &val : values)
#ifdef CRN_USING_GTKMM3
			cb->append(val.CStr());
#else /* CRN_USING_GTKMM3 */
			cb->append_text(val.CStr());
#endif /* CRN_USING_GTKMM3 */
		cb->set_active_text(el.GetValue<crn::StringUTF8>().CStr());
		cb->signal_changed().connect(sigc::bind(sigc::mem_fun(this, &ConfigElement::on_combo_changed), cb));
		cb->show();
		pack_start(*cb, true, true, 2);
	}
	else if (typ == U"Int")
	{
		if (el.HasMinValue() && el.HasMaxValue())
		{ // has finite range, use a slider
#ifdef CRN_USING_GTKMM3
			auto *s = Gtk::manage(new Gtk::Scale(Gtk::ORIENTATION_HORIZONTAL));
			s->set_range(el.GetMinValue<int>(), el.GetMaxValue<int>() + 1);
			s->set_increments(1, 1);
#else
			Gtk::HScale *s = Gtk::manage(new Gtk::HScale(el.GetMinValue<int>(), el.GetMaxValue<int>() + 1, 1));
#endif
			s->set_value(el.GetValue<int>());
			s->signal_value_changed().connect(sigc::bind(sigc::mem_fun(this, &ConfigElement::on_range_changed), s));
			s->show();
			pack_start(*s, true, true, 2);
		}
		else
		{ // has at least one infinite (maxed) bound, use a spin button
			Gtk::SpinButton *s = Gtk::manage(new Gtk::SpinButton);
			int m = std::numeric_limits<int>::min(), M = std::numeric_limits<int>::max();
			if (el.HasMinValue())
				m = el.GetMinValue<int>();
			if (el.HasMaxValue())
				M = el.GetMaxValue<int>();
			s->set_range(m, M);
			s->set_increments(1, 10);
			s->set_value(el.GetValue<int>());
			s->signal_value_changed().connect(sigc::bind(sigc::mem_fun(this, &ConfigElement::on_spin_changed), s));
			s->show();
			pack_start(*s, true, true, 2);
		}
	}
	else if (typ == U"Real")
	{
		if (el.HasMinValue() && el.HasMaxValue())
		{ // has finite range, use a slider
#ifdef CRN_USING_GTKMM3
			auto *s = Gtk::manage(new Gtk::Scale(Gtk::ORIENTATION_HORIZONTAL));
			s->set_range(el.GetMinValue<double>(), el.GetMaxValue<double>() + 0.01);
			s->set_increments(0.01, 0.01);
#else
			Gtk::HScale *s = Gtk::manage(new Gtk::HScale(el.GetMinValue<double>(), el.GetMaxValue<double>() + 0.01, 0.01));
#endif
			s->set_digits(2);
			s->set_value(el.GetValue<double>());
			s->signal_value_changed().connect(sigc::bind(sigc::mem_fun(this, &ConfigElement::on_range_changed), s));
			s->show();
			pack_start(*s, true, true, 2);
		}
		else
		{ // has at least one infinite (maxed) bound, use a spin button
			Gtk::SpinButton *s = Gtk::manage(new Gtk::SpinButton(0, 2));
			double m = -std::numeric_limits<double>::max(), M = std::numeric_limits<double>::max();
			if (el.HasMinValue())
				m = el.GetMinValue<double>();
			if (el.HasMaxValue())
				M = el.GetMaxValue<double>();
			s->set_range(m, M);
			s->set_increments(0.01, 1);
			s->set_value(el.GetValue<double>());
			s->signal_value_changed().connect(sigc::bind(sigc::mem_fun(this, &ConfigElement::on_spin_changed), s));
			s->show();
			pack_start(*s, true, true, 2);
		}
	}
	else // string types
	{
		Gtk::Entry *e = Gtk::manage(new Gtk::Entry);
		e->set_text(el.GetValue<crn::StringUTF8>().CStr());
		e->signal_changed().connect(sigc::bind(sigc::mem_fun(this, &ConfigElement::on_entry_changed), e));
		e->show();
		pack_start(*e, true, true, 2);
	}
	lab = Gtk::manage(new Gtk::Label("?"));
	lab->show();
	lab->set_tooltip_text(el.GetDescription().CStr());
	pack_start(*lab, false, true, 2);
}