KinematicsBarSetupDialog() {
setWindowTitle(_("Kinematics Operation Setup"));
QVBoxLayout* vbox = new QVBoxLayout();
setLayout(vbox);
QHBoxLayout* hbox = new QHBoxLayout();
hbox->addWidget(new QLabel(_("Snap thresholds:")));
hbox->addSpacing(10);
hbox->addWidget(new QLabel(_("distance")));
snapDistanceSpin.setAlignment(Qt::AlignCenter);
snapDistanceSpin.setDecimals(3);
snapDistanceSpin.setRange(0.0, 0.999);
snapDistanceSpin.setSingleStep(0.001);
snapDistanceSpin.setValue(0.025);
hbox->addWidget(&snapDistanceSpin);
hbox->addWidget(new QLabel(_("[m]")));
hbox->addSpacing(5);
hbox->addWidget(new QLabel(_("angle")));
snapAngleSpin.setAlignment(Qt::AlignCenter);
snapAngleSpin.setRange(0, 90);
snapAngleSpin.setValue(30);
hbox->addWidget(&snapAngleSpin);
hbox->addWidget(new QLabel(_("[deg]")));
vbox->addLayout(hbox);
hbox = new QHBoxLayout();
hbox->addWidget(new QLabel(_("Penetration block depth")));
penetrationBlockDepthSpin.setAlignment(Qt::AlignCenter);
penetrationBlockDepthSpin.setDecimals(4);
penetrationBlockDepthSpin.setRange(0.0, 0.0099);
penetrationBlockDepthSpin.setSingleStep(0.0001);
penetrationBlockDepthSpin.setValue(0.0005);
hbox->addWidget(&penetrationBlockDepthSpin);
hbox->addWidget(new QLabel(_("[m]")));
vbox->addLayout(hbox);
hbox = new QHBoxLayout();
lazyCollisionDetectionModeCheck.setText(_("Lazy collision detection mode"));
lazyCollisionDetectionModeCheck.setChecked(true);
hbox->addWidget(&lazyCollisionDetectionModeCheck);
vbox->addLayout(hbox);
hbox = new QHBoxLayout();
okButton.setText(_("OK"));
okButton.setDefault(true);
hbox->addWidget(&okButton);
vbox->addLayout(hbox);
}
BodyMotionGenerationSetupDialog() : QDialog(MainWindow::instance()){
setWindowTitle(_("Body Motion Generation Setup"));
vbox = new QVBoxLayout();
QHBoxLayout* hbox = newRow(vbox);
hbox->addWidget(new QLabel(_("Time scale")));
timeScaleRatioSpin.setDecimals(2);
timeScaleRatioSpin.setRange(0.01, 9.99);
timeScaleRatioSpin.setSingleStep(0.01);
timeScaleRatioSpin.setValue(1.0);
hbox->addWidget(&timeScaleRatioSpin);
hbox->addSpacing(8);
hbox->addWidget(new QLabel(_("Pre-initial")));
preInitialDurationSpin.setDecimals(1);
preInitialDurationSpin.setRange(0.0, 9.9);
preInitialDurationSpin.setSingleStep(0.1);
preInitialDurationSpin.setValue(1.0);
hbox->addWidget(&preInitialDurationSpin);
hbox->addWidget(new QLabel(_("[s]")));
hbox->addSpacing(8);
hbox->addWidget(new QLabel(_("Post-final")));
postFinalDurationSpin.setDecimals(1);
postFinalDurationSpin.setRange(0.0, 9.9);
postFinalDurationSpin.setSingleStep(0.1);
postFinalDurationSpin.setValue(1.0);
hbox->addWidget(&postFinalDurationSpin);
hbox->addWidget(new QLabel(_("[s]")));
hbox->addStretch();
hbox = newRow(vbox);
onlyTimeBarRangeCheck.setText(_("Time bar's range only"));
onlyTimeBarRangeCheck.setChecked(false);
hbox->addWidget(&onlyTimeBarRangeCheck);
se3Check.setText(_("Put all link positions"));
se3Check.setChecked(false);
hbox->addWidget(&se3Check);
hbox->addStretch();
hbox = newRow(vbox);
newBodyItemCheck.setText(_("Make a new body item"));
newBodyItemCheck.setChecked(true);
hbox->addWidget(&newBodyItemCheck);
hbox->addStretch();
addSeparator(vbox, &stealthyStepCheck);
stealthyStepCheck.setText(_("Stealthy Step Mode"));
stealthyStepCheck.setToolTip(_("This mode makes foot lifting / landing smoother to increase the stability"));
stealthyStepCheck.setChecked(true);
hbox = newRow(vbox);
hbox->addWidget(new QLabel(_("Height ratio thresh")));
stealthyHeightRatioThreshSpin.setAlignment(Qt::AlignCenter);
stealthyHeightRatioThreshSpin.setDecimals(2);
stealthyHeightRatioThreshSpin.setRange(1.00, 9.99);
stealthyHeightRatioThreshSpin.setSingleStep(0.01);
stealthyHeightRatioThreshSpin.setValue(2.0);
hbox->addWidget(&stealthyHeightRatioThreshSpin);
hbox->addStretch();
hbox = newRow(vbox);
hbox->addWidget(new QLabel(_("Flat Lifting Height")));
flatLiftingHeightSpin.setAlignment(Qt::AlignCenter);
flatLiftingHeightSpin.setDecimals(3);
flatLiftingHeightSpin.setRange(0.0, 0.0999);
flatLiftingHeightSpin.setSingleStep(0.001);
flatLiftingHeightSpin.setValue(0.005);
hbox->addWidget(&flatLiftingHeightSpin);
hbox->addWidget(new QLabel(_("[m]")));
hbox->addSpacing(8);
hbox->addWidget(new QLabel(_("Flat Landing Height")));
flatLandingHeightSpin.setAlignment(Qt::AlignCenter);
flatLandingHeightSpin.setDecimals(3);
flatLandingHeightSpin.setRange(0.0, 0.0999);
flatLandingHeightSpin.setSingleStep(0.001);
flatLandingHeightSpin.setValue(0.005);
hbox->addWidget(&flatLandingHeightSpin);
hbox->addWidget(new QLabel(_("[m]")));
hbox->addStretch();
hbox = newRow(vbox);
hbox->addWidget(new QLabel(_("Impact reduction height")));
impactReductionHeightSpin.setAlignment(Qt::AlignCenter);
impactReductionHeightSpin.setDecimals(3);
impactReductionHeightSpin.setRange(0.0, 0.099);
impactReductionHeightSpin.setSingleStep(0.001);
impactReductionHeightSpin.setValue(0.005);
hbox->addWidget(&impactReductionHeightSpin);
hbox->addWidget(new QLabel(_("[m]")));
hbox->addSpacing(8);
hbox->addWidget(new QLabel(_("Impact reduction time")));
impactReductionTimeSpin.setAlignment(Qt::AlignCenter);
impactReductionTimeSpin.setDecimals(3);
impactReductionTimeSpin.setRange(0.001, 0.999);
impactReductionTimeSpin.setSingleStep(0.001);
impactReductionTimeSpin.setValue(0.04);
hbox->addWidget(&impactReductionTimeSpin);
hbox->addWidget(new QLabel(_("[s]")));
hbox->addStretch();
addSeparator(vbox, &autoZmpCheck);
autoZmpCheck.setText(_("Auto ZMP Mode"));
autoZmpCheck.setToolTip(_("Automatically insert ZMP and foot key poses for stable motion"));
autoZmpCheck.setChecked(true);
hbox = newRow(vbox);
hbox->addWidget(new QLabel(_("Min. transtion time")));
minZmpTransitionTimeSpin.setDecimals(2);
minZmpTransitionTimeSpin.setRange(0.01, 0.99);
minZmpTransitionTimeSpin.setSingleStep(0.01);
minZmpTransitionTimeSpin.setValue(0.1);
hbox->addWidget(&minZmpTransitionTimeSpin);
hbox->addWidget(new QLabel(_("[s]")));
hbox->addSpacing(8);
hbox->addWidget(new QLabel(_("Centering time thresh")));
zmpCenteringTimeThreshSpin.setDecimals(3);
zmpCenteringTimeThreshSpin.setRange(0.001, 0.999);
zmpCenteringTimeThreshSpin.setSingleStep(0.001);
zmpCenteringTimeThreshSpin.setValue(0.03);
hbox->addWidget(&zmpCenteringTimeThreshSpin);
hbox->addWidget(new QLabel(_("[s]")));
hbox->addStretch();
hbox = newRow(vbox);
hbox->addWidget(new QLabel(_("Time margin before lifting")));
zmpTimeMarginBeforeLiftingSpin.setDecimals(3);
zmpTimeMarginBeforeLiftingSpin.setRange(0.0, 0.999);
zmpTimeMarginBeforeLiftingSpin.setSingleStep(0.001);
zmpTimeMarginBeforeLiftingSpin.setValue(0.0);
hbox->addWidget(&zmpTimeMarginBeforeLiftingSpin);
hbox->addWidget(new QLabel(_("[s]")));
hbox->addStretch();
addSeparator(vbox);
hbox = newRow(vbox);
lipSyncMixCheck.setText(_("Mix lip-sync motion"));
lipSyncMixCheck.setChecked(false);
hbox->addWidget(&lipSyncMixCheck);
hbox->addStretch();
QVBoxLayout* topVBox = new QVBoxLayout();
topVBox->addLayout(vbox);
addSeparator(topVBox);
QPushButton* okButton = new QPushButton(_("&Ok"));
okButton->setDefault(true);
QDialogButtonBox* buttonBox = new QDialogButtonBox(this);
buttonBox->addButton(okButton, QDialogButtonBox::AcceptRole);
connect(buttonBox,SIGNAL(accepted()), this, SLOT(accept()));
topVBox->addWidget(buttonBox);
setLayout(topVBox);
}
