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));
}
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);
}
