void WindowPreview::mouseReleaseEvent(QMouseEvent *event) {
if (event->x() < 0 || event->y() < 0 || event->x() >= width() || event->y() >= height()) {
event->ignore();
}
else if (m_didPress) {
switch (event->button()) {
case Qt::LeftButton:
activateTask();
break;
case Qt::RightButton:
m_toolTip->popup(QCursor::pos(), m_task);
break;
case Qt::MidButton:
if (m_task->isValid()) {
m_toolTip->applet()->middleClickTask(m_task->abstractItem());
}
default:
break;
}
event->accept();
}
else {
event->ignore();
}
m_didPress = false;
}
void TrajectoryThread::ct_run()
{
if (goalAttained() || deactivationLatch)
{
switch (terminationStrategy)
{
case BACK_AND_FORTH:
flipWaypoints();
setTrajectoryWaypoints(allWaypoints, true);
break;
case STOP_THREAD:
stop();
break;
case STOP_THREAD_DEACTIVATE:
if(deactivateTask()){
stop();
}else{
std::cout << "[WARNING] Trajectory id = "<< ControlThread::threadId << " for task: " << originalTaskParams.name << " has attained its goal state, but cannot be deactivated." << std::endl;
yarp::os::Time::delay(1.0); // try again in one second.
deactivationDelay += 1.0;
if(deactivationDelay >= deactivationTimeout){
std::cout << "[WARNING] Deactivation timeout." << std::endl;
stop();
}
}
break;
case WAIT:
if (printWaitingNoticeOnce) {
std::cout << "Trajectory id = "<< ControlThread::threadId << " for task: " << originalTaskParams.name << " has attained its goal state. Awaiting new commands." << std::endl;
printWaitingNoticeOnce = false;
}
break;
case WAIT_DEACTIVATE:
if (printWaitingNoticeOnce) {
if(deactivateTask()){
std::cout << "Trajectory id = "<< ControlThread::threadId << " for task: " << originalTaskParams.name << " has attained its goal state. Deactivating task and awaiting new commands." << std::endl;
printWaitingNoticeOnce = false;
deactivationLatch = true;
}else{
std::cout << "Trajectory id = "<< ControlThread::threadId << " for task: " << originalTaskParams.name << " has attained its goal state and is awaiting new commands. [WARNING] Could not deactivate the task." << std::endl;
yarp::os::Time::delay(1.0); // try again in one second.
deactivationDelay += 1.0;
if(deactivationDelay >= deactivationTimeout){
printWaitingNoticeOnce = false;
std::cout << "[WARNING] Deactivation timeout." << std::endl;
}
}
}
break;
}
}
else{
if (!currentTaskParams.isActive) {
activateTask();
}
desStateBottle.clear();
if (trajType==GAUSSIAN_PROCESS)
{
Eigen::MatrixXd desiredState_tmp;
trajectory->getDesiredValues(yarp::os::Time::now(), desiredState_tmp, desiredVariance);
desiredState << desiredState_tmp;
for(int i=0; i<desiredState.size(); i++)
{
desStateBottle.addDouble(desiredState(i));
}
#if USING_SMLT
if(useVarianceModulation)
{
Eigen::VectorXd desiredWeights = varianceToWeights(desiredVariance);
for(int i=0; i<desiredWeights.size(); i++)
{
desStateBottle.addDouble(desiredWeights(i));
}
}
#endif
}
else
{
desiredState << trajectory->getDesiredValues(yarp::os::Time::now());
for(int i=0; i<desiredState.size(); i++)
{
desStateBottle.addDouble(desiredState(i));
}
}
outputPort.write(desStateBottle);
}
}
