void SetToDefaultValues(RobotState* state)
{
for (auto& v : Variables(state->model)) {
auto position = GetDefaultPosition(state->model, &v);
SetVariablePosition(state, &v, position);
}
}
bool InitRobotState(
RobotState* out,
const RobotModel* model,
bool with_velocities,
bool with_accelerations)
{
RobotState robot_state;
out->model = model;
int mult = 1;
if (with_velocities) {
++mult;
}
if (with_accelerations) {
++mult;
}
out->values.resize(mult * GetVariableCount(model));
for (int i = 0; i < GetVariableCount(model); ++i) {
out->values[i] = GetDefaultPosition(model, GetVariable(model, i));
}
double* data = out->values.data();
out->positions = data;
data += GetVariableCount(model);
if (with_velocities) {
out->velocities = data;
data += GetVariableCount(model);
}
if (with_accelerations) {
out->accelerations = data;
data += GetVariableCount(model);
}
out->transforms.resize(
GetLinkCount(model) +
GetJointCount(model) +
GetCollisionBodyCount(model) +
GetVisualBodyCount(model));
out->link_transforms = out->transforms.data();
out->joint_transforms = out->link_transforms + GetLinkCount(model);
out->link_collision_transforms = out->joint_transforms + GetJointCount(model);
out->link_visual_transforms = out->link_collision_transforms + GetCollisionBodyCount(model);
out->dirty_links_joint = model->root_joint;
out->dirty_collisions_joint = model->root_joint;
out->dirty_visuals_joint = model->root_joint;
return true;
}
/*
* border width and size and location are ty...
*
* 1. We allow the border width of a XmDialogShell child to change
* size arbitrarily.
*
* 2. The border width of the shell widget tracks the child's
* at all times, exactly.
*
* 3. The width of the shell is kept exactly the same as the
* width of the child at all times.
*
* 4. The child is always positioned at the location
* (- child_border, - child_border).
*
* the net result is the child has a border width which is always
* what the user asked for; but none of it is ever seen, it's all
* clipped by the shell (parent). The user sees the border
* of the shell which is the size he set the child's border to.
*
* In the DEC window manager world the window manager does
* exactly the same thing with the window it puts around the shell.
* Hence the shell and child have a border width just as the user
* set but the window manager overrides that and only a single
* pixel border is displayed. In a non-wm environment the child
* appears to have a border width, in reality this is the shell
* widget border. You wanted to know...
*/
static void
ChangeManaged(
Widget wid )
{
XmDialogShellWidget shell = (XmDialogShellWidget) wid ;
/*
* If the child went to unmanaged, call XtPopdown.
* If the child went to managed, call XtPopup.
*/
Widget child;
XmWidgetExtData extData =
_XmGetWidgetExtData((Widget) shell, XmSHELL_EXTENSION);
XmVendorShellExtObject ve = (XmVendorShellExtObject)extData->widget;
XmDialogSavvyTrait trait ;
if (((child = GetRectObjKid((CompositeWidget) shell)) == NULL) ||
(child->core.being_destroyed))
return;
trait = (XmDialogSavvyTrait)
XmeTraitGet((XtPointer) XtClass(child), XmQTdialogShellSavvy) ;
/* MANAGED Case first ********/
if (child->core.managed) {
XtWidgetGeometry request;
Position kidX, kidY;
Dimension kidBW;
Boolean defaultPosition = True;
/*
* temporary workaround for setkeyboard focus |||
*/
if (child != ve->vendor.old_managed)
{
XtSetKeyboardFocus((Widget)shell, (Widget)child);
ve->vendor.old_managed = (Widget)child;
}
/*
* if the child isn't realized, then we need to realize it
* so we have a valid size. It will get created as a result
* so we zero out it's position info so it'll
* be okay and then restore it.
*/
if (!XtIsRealized(child)) {
kidX = XtX(child);
kidY = XtY(child);
kidBW = XtBorderWidth(child);
XtX(child) = 0;
XtY(child) = 0;
XtBorderWidth(child) = 0;
/* Bug 4102306, This is an additional difference brought forward from motif 1.2 */
if (XtHeight(shell) != XtHeight(child))
{
_XmImChangeManaged((Widget)shell);
}
/* End fix for Bug 4012306 */
XtRealizeWidget(child);
XtX(child) = kidX;
XtY(child) = kidY;
XtBorderWidth(child) = kidBW;
}
else if (trait) {
/*
* Move the window to 0,0
* but don't tell the widget. It thinks it's where
* the shell is...
*/
if ((XtX(child) != 0) || (XtY(child) != 0))
XMoveWindow (XtDisplay(child), XtWindow(child), 0, 0);
}
/*
* map callback should occur BEFORE child default positioning
* otherwise, widgets such as fileselection using map callback for
* correct sizing have default positioning done before the widget
* grows to its correct dimensions
*/
if(shell->core.mapped_when_managed && trait ) {
trait->callMapUnmapCB(child, True); /* call Map callback */
}
/*
* Make sure that the shell has the same common parameters as
* its child. Then move the child so that the shell will
* correctly surround it.
*/
request.request_mode = 0;
if (trait) {
XtVaGetValues(child, XmNdefaultPosition, &defaultPosition, NULL);
if (defaultPosition && (ve->vendor.externalReposition)) {
defaultPosition = False;
XtVaSetValues(child, XmNdefaultPosition, False, NULL);
}
}
if (XtX(child) && trait) {
kidX = XtX(child);
XtX(child) = 0;
} else
kidX = XtX(shell);
if (XtY(child) && trait) {
kidY = XtY(child);
XtY(child) = 0;
} else
kidY = XtY(shell);
if (XtBorderWidth(child) && trait) {
kidBW = XtBorderWidth(child);
XtBorderWidth(child) = 0;
} else
kidBW = XtBorderWidth(shell);
if (XtWidth (child) != XtWidth (shell)) {
request.request_mode |= CWWidth;
request.width = XtWidth(child);
}
if (XtHeight (child) + ve->vendor.im_height != XtHeight (shell)) {
request.request_mode |= CWHeight;
request.height = XtHeight(child) + ve->vendor.im_height;
}
if (trait) {
if (defaultPosition) {
GetDefaultPosition(child,
XtParent(shell),
&request.x,
&request.y);
if (request.x != kidX) request.request_mode |= CWX;
if (request.y != kidY) request.request_mode |= CWY;
} else {
if (kidX != XtX(shell)) {
request.request_mode |= CWX;
if (kidX == XmDIALOG_SAVVY_FORCE_ORIGIN)
request.x = 0;
else
request.x = kidX;
}
if (kidY != XtY(shell)) {
request.request_mode |= CWY;
if (kidY == XmDIALOG_SAVVY_FORCE_ORIGIN)
request.y = 0;
else
request.y = kidY;
}
}
} else {
if (kidX != XtX(shell)) {
request.request_mode |= CWX;
request.x = kidX;
}
if (kidY != XtY(shell)) {
request.request_mode |= CWY;
request.y = kidY;
}
if (kidBW != XtBorderWidth(shell)) {
request.request_mode |= CWBorderWidth;
request.border_width = kidBW;
}
}
if (request.request_mode) {
unsigned int old_height = ve->vendor.im_height;
XtMakeGeometryRequest((Widget) shell, &request, &request);
_XmImResize((Widget)shell);
if (ve->vendor.im_height != old_height)
{
request.request_mode = CWHeight;
request.height = XtHeight(child) + ve->vendor.im_height;
XtMakeGeometryRequest((Widget) shell, &request, &request);
_XmImResize((Widget)shell);
}
}
/*
* the grab_kind is handled in the popup_callback
*/
if(shell->core.mapped_when_managed ) {
XtPopup ((Widget) shell, XtGrabNone);
}
}
/*
* CHILD BEING UNMANAGED
*/
else {
int i, j;
/*
* Fix for CR5043, CR5758 and CR8825 -
* For nested Dialog Shells, it is necessary to unmanage
* dialog shell popups of the child of this dialog shell.
*/
for (i = 0; i < child->core.num_popups; i++) {
if (XmIsDialogShell(child->core.popup_list[i])) {
XmDialogShellWidget next_shell =
(XmDialogShellWidget)(child->core.popup_list[i]);
for (j = 0; j < next_shell->composite.num_children; j++) {
XtUnmanageChild(next_shell->composite.children[j]);
}
}
}
/* End Fix CR5043, CR5758 and CR8825 */
/*
* take it down and then tell user
*/
XtPopdown((Widget) shell);
if(trait ) {
trait->callMapUnmapCB(child, False); /* call UnMap callback */
}
}
XmeNavigChangeManaged((Widget) shell);
}
