void ODESimulatorItemImpl::doPutProperties(PutPropertyFunction& putProperty)
{
putProperty(_("Step mode"), stepMode, changeProperty(stepMode));
putProperty(_("Gravity"), str(gravity), boost::bind(toVector3, _1, boost::ref(gravity)));
putProperty.decimals(2).min(0.0)
(_("Friction"), friction, changeProperty(friction));
putProperty(_("Limit joint range"), isJointLimitMode, changeProperty(isJointLimitMode));
putProperty.decimals(1).min(0.0).max(1.0)
(_("Global ERP"), globalERP, changeProperty(globalERP));
putProperty(_("Global CFM"), globalCFM,
boost::bind(&FloatingNumberString::setNonNegativeValue, boost::ref(globalCFM), _1));
putProperty.min(1)
(_("Iterations"), numIterations, changeProperty(numIterations));
putProperty.min(0.1).max(1.9)
(_("Over relaxation"), overRelaxation, changeProperty(overRelaxation));
putProperty(_("Limit correcting vel."), enableMaxCorrectingVel, changeProperty(enableMaxCorrectingVel));
putProperty(_("Max correcting vel."), maxCorrectingVel,
boost::bind(&FloatingNumberString::setNonNegativeValue, boost::ref(maxCorrectingVel), _1));
putProperty(_("2D mode"), is2Dmode, changeProperty(is2Dmode));
putProperty(_("Use WorldItem's Collision Detector"), useWorldCollision, changeProperty(useWorldCollision));
putProperty(_("Velocity Control Mode"), velocityMode, changeProperty(velocityMode));
}
void AISTSimulatorItemImpl::doPutProperties(PutPropertyFunction& putProperty)
{
putProperty(_("Dynamics mode"), dynamicsMode,
boost::bind(&Selection::selectIndex, &dynamicsMode, _1));
putProperty(_("Integration mode"), integrationMode,
boost::bind(&Selection::selectIndex, &integrationMode, _1));
putProperty(_("Gravity"), str(gravity), boost::bind(toVector3, _1, boost::ref(gravity)));
putProperty.decimals(3).min(0.0);
putProperty(_("Static friction"), staticFriction, changeProperty(staticFriction));
putProperty(_("Slip friction"), slipFriction, changeProperty(slipFriction));
putProperty(_("Contact culling distance"), contactCullingDistance,
(boost::bind(&FloatingNumberString::setNonNegativeValue, boost::ref(contactCullingDistance), _1)));
putProperty(_("Contact culling depth"), contactCullingDepth,
(boost::bind(&FloatingNumberString::setNonNegativeValue, boost::ref(contactCullingDepth), _1)));
putProperty(_("Error criterion"), errorCriterion,
boost::bind(&FloatingNumberString::setPositiveValue, boost::ref(errorCriterion), _1));
putProperty.min(1.0)(_("Max iterations"), maxNumIterations, changeProperty(maxNumIterations));
putProperty(_("CC depth"), contactCorrectionDepth,
boost::bind(&FloatingNumberString::setNonNegativeValue, boost::ref(contactCorrectionDepth), _1));
putProperty(_("CC v-ratio"), contactCorrectionVelocityRatio,
boost::bind(&FloatingNumberString::setNonNegativeValue, boost::ref(contactCorrectionVelocityRatio), _1));
putProperty(_("Kinematic walking"), isKinematicWalkingEnabled,
changeProperty(isKinematicWalkingEnabled));
putProperty(_("2D mode"), is2Dmode, changeProperty(is2Dmode));
putProperty(_("Old accel sensor mode"), isOldAccelSensorMode, changeProperty(isOldAccelSensorMode));
}
void GLVisionSimulatorItemImpl::doPutProperties(PutPropertyFunction& putProperty)
{
putProperty(_("Target bodies"), bodyNameListString, boost::bind(updateNames, _1, boost::ref(bodyNameListString), boost::ref(bodyNames)));
putProperty(_("Target sensors"), sensorNameListString, boost::bind(updateNames, _1, boost::ref(sensorNameListString), boost::ref(sensorNames)));
putProperty(_("Max frame rate"), maxFrameRate, changeProperty(maxFrameRate));
putProperty(_("Max latency [s]"), maxLatency, changeProperty(maxLatency));
putProperty(_("Record vision data"), isVisionDataRecordingEnabled, changeProperty(isVisionDataRecordingEnabled));
putProperty(_("Use thread"), useThreadProperty, changeProperty(useThreadProperty));
putProperty(_("Threads for sensors"), useThreadsForSensorsProperty, changeProperty(useThreadsForSensorsProperty));
putProperty(_("Best effort"), isBestEffortModeProperty, changeProperty(isBestEffortModeProperty));
putProperty(_("All scene objects"), shootAllSceneObjects, changeProperty(shootAllSceneObjects));
putProperty.min(1.0)(_("Precision ratio of range sensors"),
rangeSensorPrecisionRatio, changeProperty(rangeSensorPrecisionRatio));
putProperty.reset()(_("Depth error"), depthError, changeProperty(depthError));
putProperty.reset()(_("Head light"), isHeadLightEnabled, changeProperty(isHeadLightEnabled));
putProperty.reset()(_("Additional lights"), areAdditionalLightsEnabled, changeProperty(areAdditionalLightsEnabled));
}
void BodyStateSubscriberRTCItem::doPutProperties(PutPropertyFunction& putProperty)
{
putProperty.decimals(3)(_("Periodic rate"), impl->periodicRate,
[&](int rate){ setPeriodicRate(rate); return true; });
putProperty(_("Point cloud port type"), impl->pointCloudPortType,
[&](int which){ setPointCloudPortType(which); return true; });
}
void GLVisionSimulatorItemImpl::doPutProperties(PutPropertyFunction& putProperty)
{
putProperty(_("Target bodies"), bodyNameListString, boost::bind(updateNames, _1, boost::ref(bodyNameListString), boost::ref(bodyNames)));
putProperty(_("Target sensors"), sensorNameListString, boost::bind(updateNames, _1, boost::ref(sensorNameListString), boost::ref(sensorNames)));
putProperty(_("Max latency [s]"), maxLatency, changeProperty(maxLatency));
putProperty(_("Record vision data"), isVisionDataRecordingEnabled, changeProperty(isVisionDataRecordingEnabled));
putProperty(_("Use thread"), useThreadForRenderingProperty, changeProperty(useThreadForRenderingProperty));
putProperty(_("Best effort"), isBestEffortModeProperty, changeProperty(isBestEffortModeProperty));
putProperty(_("All scene objects"), shootAllSceneObjects, changeProperty(shootAllSceneObjects));
putProperty.min(1.0)(_("Precision ratio of range sensors"),
rangeSensorPrecisionRatio, changeProperty(rangeSensorPrecisionRatio));
}
void ForceSensorVisualizerItem::doPutProperties(PutPropertyFunction& putProperty)
{
putProperty.decimals(4)(
_("Visual ratio"), visualRatio,
[&](double ratio){
if(ratio > 0.0){
visualRatio = ratio;
updateVisualization();
return true;
}
return false;
});
}
void BodyItemImpl::doPutProperties(PutPropertyFunction& putProperty)
{
putProperty(_("Model name"), body->modelName());
putProperty(_("Num links"), body->numLinks());
putProperty(_("Num joints"), body->numJoints());
putProperty(_("Num devices"), (int)body->devices().size());
putProperty(_("Root link"), body->rootLink()->name());
putProperty(_("Base link"), currentBaseLink ? currentBaseLink->name() : "none");
putProperty.decimals(3)(_("Mass"), body->mass());
putProperty(_("Static model"), body->isStaticModel(),
(boost::bind(&BodyItemImpl::onStaticModelPropertyChanged, this, _1)));
putProperty(_("Model file"), getFilename(boost::filesystem::path(self->filePath())));
putProperty(_("Self-collision"), isSelfCollisionDetectionEnabled,
(boost::bind(&BodyItemImpl::onSelfCollisionDetectionPropertyChanged, this, _1)));
putProperty(_("Editable"), isEditable, boost::bind(&BodyItemImpl::onEditableChanged, this, _1));
}
void BodyRosJointControllerItem::doPutProperties(PutPropertyFunction& putProperty)
{
putProperty.decimals(2).min(0.0)("Update rate", joint_state_update_rate_, changeProperty(joint_state_update_rate_));
}
