// ******************************************************************************************
// Called when setup assistant navigation switches to this screen
// ******************************************************************************************
void VirtualJointsWidget::focusGiven()
{
// Show the current vjoints screen
stacked_layout_->setCurrentIndex( 0 );
// Load the data to the tree
loadDataTable();
// Load the avail groups to the combo box
loadChildLinksComboBox();
}
// ******************************************************************************************
// Called when setup assistant navigation switches to this screen
// ******************************************************************************************
void EndEffectorsWidget::focusGiven()
{
// Show the current effectors screen
stacked_layout_->setCurrentIndex( 0 );
// Load the data to the tree
loadDataTable();
// Load the avail groups to the combo box
loadGroupsComboBox();
loadParentComboBox();
}
// ******************************************************************************************
// Delete currently editing item
// ******************************************************************************************
void VirtualJointsWidget::deleteSelected()
{
// Get list of all selected items
QList<QTableWidgetItem*> selected = data_table_->selectedItems();
// Check that an element was selected
if( !selected.size() )
return;
// Get selected name and edit it
current_edit_vjoint_ = selected[0]->text().toStdString();
// Confirm user wants to delete group
if( QMessageBox::question( this, "Confirm Virtual Joint Deletion",
QString("Are you sure you want to delete the virtual joint '")
.append( current_edit_vjoint_.c_str() )
.append( "'?" ),
QMessageBox::Ok | QMessageBox::Cancel)
== QMessageBox::Cancel )
{
return;
}
// Delete vjoint from vector
for( std::vector<srdf::Model::VirtualJoint>::iterator vjoint_it = config_data_->srdf_->virtual_joints_.begin();
vjoint_it != config_data_->srdf_->virtual_joints_.end(); ++vjoint_it )
{
// check if this is the group we want to delete
if( vjoint_it->name_ == current_edit_vjoint_ ) // string match
{
config_data_->srdf_->virtual_joints_.erase( vjoint_it );
break;
}
}
// Reload main screen table
loadDataTable();
}
// ******************************************************************************************
// Save editing changes
// ******************************************************************************************
void VirtualJointsWidget::doneEditing()
{
// Get a reference to the supplied strings
const std::string vjoint_name = vjoint_name_field_->text().toStdString();
const std::string parent_name = parent_name_field_->text().toStdString();
// Used for editing existing groups
srdf::Model::VirtualJoint *searched_data = NULL;
// Check that name field is not empty
if( vjoint_name.empty() )
{
QMessageBox::warning( this, "Error Saving", "A name must be given for the virtual joint!" );
return;
}
// Check that parent frame name field is not empty
if( parent_name.empty() )
{
QMessageBox::warning( this, "Error Saving", "A name must be given for the parent frame" );
return;
}
// Check if this is an existing vjoint
if( !current_edit_vjoint_.empty() )
{
// Find the group we are editing based on the goup name string
searched_data = findVJointByName( current_edit_vjoint_ );
}
// Check that the vjoint name is unique
for( std::vector<srdf::Model::VirtualJoint>::const_iterator data_it = config_data_->srdf_->virtual_joints_.begin();
data_it != config_data_->srdf_->virtual_joints_.end(); ++data_it )
{
if( data_it->name_.compare( vjoint_name ) == 0 ) // the names are the same
{
// is this our existing vjoint? check if vjoint pointers are same
if( &(*data_it) != searched_data )
{
QMessageBox::warning( this, "Error Saving", "A virtual joint already exists with that name!" );
return;
}
}
}
// Check that a joint type was selected
if( joint_type_field_->currentText().isEmpty() )
{
QMessageBox::warning( this, "Error Saving", "A joint type must be chosen!" );
return;
}
// Check that a child link was selected
if( child_link_field_->currentText().isEmpty() )
{
QMessageBox::warning( this, "Error Saving", "A child link must be chosen!" );
return;
}
// Save the new vjoint name or create the new vjoint ----------------------------
bool isNew = false;
if( searched_data == NULL ) // create new
{
isNew = true;
searched_data = new srdf::Model::VirtualJoint();
}
// Copy name data ----------------------------------------------------
searched_data->name_ = vjoint_name;
searched_data->parent_frame_ = parent_name;
searched_data->child_link_ = child_link_field_->currentText().toStdString();
searched_data->type_ = joint_type_field_->currentText().toStdString();
bool emit_frame_notice = false;
// Insert new vjoints into group state vector --------------------------
if( isNew )
{
if (searched_data->child_link_ == config_data_->getRobotModel()->getRootLinkName())
emit_frame_notice = true;
config_data_->srdf_->virtual_joints_.push_back( *searched_data );
config_data_->updateRobotModel();
}
// Finish up ------------------------------------------------------
// Reload main screen table
loadDataTable();
// Switch to screen
stacked_layout_->setCurrentIndex( 0 );
// Announce that this widget is not in modal mode
Q_EMIT isModal( false );
// if the root frame changed for the robot, emit the signal
if (emit_frame_notice)
{
Q_EMIT referenceFrameChanged();
}
}
void EvalMainWindow::onActionLoadDataTable()
{
emit loadDataTable();
}
// ******************************************************************************************
// Save editing changes
// ******************************************************************************************
void EndEffectorsWidget::doneEditing()
{
// Get a reference to the supplied strings
const std::string effector_name = effector_name_field_->text().toStdString();
// Used for editing existing groups
srdf::Model::EndEffector *searched_data = NULL;
// Check that name field is not empty
if( effector_name.empty() )
{
QMessageBox::warning( this, "Error Saving", "A name must be specified for the end effector!" );
return;
}
// Check if this is an existing group
if( !current_edit_effector_.empty() )
{
// Find the group we are editing based on the goup name string
searched_data = findEffectorByName( current_edit_effector_ );
}
// Check that the effector name is unique
for( std::vector<srdf::Model::EndEffector>::const_iterator data_it = config_data_->srdf_->end_effectors_.begin();
data_it != config_data_->srdf_->end_effectors_.end(); ++data_it )
{
if( data_it->name_.compare( effector_name ) == 0 ) // the names are the same
{
// is this our existing effector? check if effector pointers are same
if( &(*data_it) != searched_data )
{
QMessageBox::warning( this, "Error Saving", QString("An end-effector named '").append(effector_name.c_str()).append("'already exists!") );
return;
}
}
}
// Check that a group was selected
if( group_name_field_->currentText().isEmpty() )
{
QMessageBox::warning( this, "Error Saving", "A group that contains the links of the end-effector must be chosen!" );
return;
}
// Check that a parent link was selected
if( parent_name_field_->currentText().isEmpty() )
{
QMessageBox::warning( this, "Error Saving", "A parent link must be chosen!" );
return;
}
const robot_model::JointModelGroup *jmg =
config_data_->getRobotModel()->getJointModelGroup(group_name_field_->currentText().toStdString());
if (jmg->hasLinkModel(parent_name_field_->currentText().toStdString()))
{
QMessageBox::warning( this, "Error Saving", QString::fromStdString("Group " + group_name_field_->currentText().toStdString() + " contains the link " + parent_name_field_->currentText().toStdString() + ". However, the parent link of the end-effector should not belong to the group for the end-effector itself."));
return;
}
if (!parent_group_name_field_->currentText().isEmpty())
{
jmg = config_data_->getRobotModel()->getJointModelGroup(parent_group_name_field_->currentText().toStdString());
if (!jmg->hasLinkModel(parent_name_field_->currentText().toStdString()))
{
QMessageBox::warning( this, "Error Saving", QString::fromStdString("The specified parent group '" + parent_group_name_field_->currentText().toStdString() + "' must contain the specified parent link '" + parent_name_field_->currentText().toStdString() + "'."));
return;
}
}
// Save the new effector name or create the new effector ----------------------------
bool isNew = false;
if( searched_data == NULL ) // create new
{
isNew = true;
searched_data = new srdf::Model::EndEffector();
}
// Copy name data ----------------------------------------------------
searched_data->name_ = effector_name;
searched_data->parent_link_ = parent_name_field_->currentText().toStdString();
searched_data->component_group_ = group_name_field_->currentText().toStdString();
searched_data->parent_group_ = parent_group_name_field_->currentText().toStdString();
// Insert new effectors into group state vector --------------------------
if( isNew )
{
config_data_->srdf_->end_effectors_.push_back( *searched_data );
}
// Finish up ------------------------------------------------------
// Reload main screen table
loadDataTable();
// Switch to screen
stacked_layout_->setCurrentIndex( 0 );
// Announce that this widget is not in modal mode
Q_EMIT isModal( false );
}