示例#1
0
void LoginDialog::profileChanged(int)
{
    if (m_client)
        return;
    int n = cmbProfile->currentItem();
    if (n < 0){
        clearInputs();
        buttonOk->setEnabled(false);
        btnDelete->setEnabled(false);
        return;
    }
    buttonOk->setEnabled(true);
    if (n >= (int)cmbProfile->count() - 1){
        lblPasswd->hide();
        clearInputs();
        btnDelete->setEnabled(false);
    }else{
        clearInputs();
        CorePlugin::m_plugin->setProfile(CorePlugin::m_plugin->m_profiles[n].c_str());
        ClientList clients;
        CorePlugin::m_plugin->loadClients(clients);
        unsigned nClients = 0;
        unsigned i;
        for (i = 0; i < clients.size(); i++){
            if (clients[i]->protocol()->description()->flags & PROTOCOL_NO_AUTH)
                continue;
            nClients++;
        }
        if (nClients > 1){
            lblPasswd->show();
        }else{
            lblPasswd->hide();
        }
        unsigned row = 2;
        if (nClients == 1){
            makeInputs(row, clients[0], true);
        }else{
            for (unsigned i = 0; i < clients.size(); i++){
                if (clients[i]->protocol()->description()->flags & PROTOCOL_NO_AUTH)
                    continue;
                makeInputs(row, clients[i], false);
            }
        }
        if (passwords.size())
            passwords[0]->setFocus();
        btnDelete->setEnabled(m_loginProfile == CorePlugin::m_plugin->m_profiles[n].c_str());
        buttonOk->setEnabled(false);
        pswdChanged("");
    }
    QTimer::singleShot(0, this, SLOT(adjust()));
}
示例#2
0
void LoginDialog::profileChanged(int)
{
    if (m_client)
        return;
    int n = cmbProfile->currentItem();
    if (n < 0){
        clearInputs();
        buttonOk->setEnabled(false);
        btnDelete->setEnabled(false);
        return;
    }
    buttonOk->setEnabled(true);
    if (n >= (int)cmbProfile->count() - 1){
        lblPasswd->hide();
        clearInputs();
        btnDelete->setEnabled(false);
    }else{
        clearInputs();
        CorePlugin::m_plugin->setProfile(CorePlugin::m_plugin->m_profiles[n].c_str());
        ClientList clients;
        CorePlugin::m_plugin->loadClients(clients);
        if (clients.size() > 1){
            lblPasswd->show();
        }else{
            lblPasswd->hide();
        }
        unsigned row = 2;
        if (clients.size() == 1){
            makeInputs(row, clients[0], true);
        }else{
            for (unsigned i = 0; i < clients.size(); i++)
                makeInputs(row, clients[i], false);
        }
        if (passwords.size())
            passwords[0]->setFocus();
        btnDelete->setEnabled(m_loginProfile == CorePlugin::m_plugin->m_profiles[n].c_str());
        buttonOk->setEnabled(false);
        pswdChanged("");
    }
}
示例#3
0
void LoginDialog::fill()
{
    if (m_client){
        lblPasswd->hide();
        unsigned row = 2;
        makeInputs(row, m_client, true);
        return;
    }
    cmbProfile->clear();
    int newCur = -1;
    string save_profile = CorePlugin::m_plugin->getProfile();
    CorePlugin::m_plugin->m_profiles.clear();
    CorePlugin::m_plugin->loadDir();
    for (unsigned i = 0; i < CorePlugin::m_plugin->m_profiles.size(); i++){
        string curProfile = CorePlugin::m_plugin->m_profiles[i];
        if (!strcmp(curProfile.c_str(), save_profile.c_str()))
            newCur = i;
        CorePlugin::m_plugin->setProfile(curProfile.c_str());
        ClientList clients;
        CorePlugin::m_plugin->loadClients(clients);
        if (clients.size()){
            Client *client = clients[0];
            cmbProfile->insertItem(
                Pict(client->protocol()->description()->icon),
                QString::fromLocal8Bit(client->name().c_str()));
        }
    }
    cmbProfile->insertItem(i18n("New profile"));
    if (newCur != - 1){
        cmbProfile->setCurrentItem(newCur);
        CorePlugin::m_plugin->setProfile(save_profile.c_str());
    }else{
        cmbProfile->setCurrentItem(cmbProfile->count() - 1);
        CorePlugin::m_plugin->setProfile(NULL);
    }
}
int StateEstimatorKinematic::run_state_est_lin_task() {

    if (first_time) {

        //initKF(Eigen::Vector3d(base_state.x[1],base_state.x[2],base_state.x[3]), Eigen::Vector3d(base_state.xd[1],base_state.xd[2],base_state.xd[3]));
        //initKF(Eigen::Vector3d(0,0,0), Eigen::Vector3d(0,0,0));

        first_time = false;

        buffer_first_time = true;
        contact_change_flag = true;
        sek.initKF(Eigen::Vector3d(0,0,0), Eigen::Vector3d(0,0,0));
        computeAnkleRelated();
        contact_change_flag = true;
        set_hack_footpos();


    }

    if (initializing_q > 0) {
        initializing_q--;

        Eigen::Matrix<double,3,1> current_imu_linear_acceleration;
        current_imu_linear_acceleration[0] = misc_sensor[B_XACC_IMU];
        current_imu_linear_acceleration[1] = misc_sensor[B_YACC_IMU];
        current_imu_linear_acceleration[2] = misc_sensor[B_ZACC_IMU];

        init_gravity_vector = 0.995 * init_gravity_vector + 0.005 *( _imu_quat_offset.conjugate()*current_imu_linear_acceleration);

        if(initializing_q == 1) {
            _q.setFromTwoVectors(init_gravity_vector,Eigen::Vector3d(0, 0, 1));

            std::cout << "Done Initializing Q" <<std::endl;
            std::cout << "Final vector = " <<std::endl;
            std::cout << _imu_quat_offset*init_gravity_vector;
            std::cout<<std::endl<<std::endl;

            _gravity = -(_q.matrix()*(init_gravity_vector));
            std::cout << "Final gravity = " <<std::endl;
            std::cout << _gravity;
            std::cout<<std::endl<<std::endl;
        }

        if(initializing_q ==0) {
            computeAnkleRelated();
            contact_change_flag = true;
            set_hack_footpos();
        }
        _x[0] = 0;
        _x[1] = 0;
        _x[2] = 0;

        _x[3] = 0;
        _x[4] = 0;
        _x[5] = 0;
        return TRUE;
    }

//  static int printcounter = 1000;
//  printcounter++;
//  if (printcounter > 1000){
//    printcounter = 0;
//
//    std::cout<<"innov === "<<_innov[0] <<"\t"<<_innov[1]<<"\t"<<_innov[2] <<"\t" <<_innov[3] <<"\t"<<_innov[4]<<"\t"<<_innov[5];
//    std::cout<<std::endl;
//    std::cout<<"z === "<<_z[0] <<"\t"<<_z[1]<<"\t"<<_z[2] <<"\t" <<_z[3] <<"\t"<<_z[4]<<"\t"<<_z[5];
//    std::cout<<std::endl;
//    std::cout<<"y === "<<_y[0] <<" "<<_y[1]<<" "<<_y[2] <<"\t" <<_y[3] <<" "<<_y[4]<<" "<<_y[5];
//    std::cout<<std::endl;
////    std::cout<<"err: "<<base_state.x[1] - _x[0] <<" "<<base_state.x[2] - _x[1]<<" "<<base_state.x[3] - _x[2] <<
////        "\t" <<base_state.xd[1] - _x[3] <<" "<<base_state.xd[2] - _x[4]<<" "<<base_state.xd[3] - _x[5];
//    std::cout<<std::endl;
//    std::cout<<std::endl;
//  }

    Eigen::Matrix<double,3,1> imu_angular_velocity;
    imu_angular_velocity[0] = misc_sensor[B_AD_A_IMU];
    imu_angular_velocity[1] = misc_sensor[B_AD_B_IMU];
    imu_angular_velocity[2] = misc_sensor[B_AD_G_IMU];

    Eigen::Matrix<double,3,1> imu_linear_acceleration;
    imu_linear_acceleration[0] = misc_sensor[B_XACC_IMU];
    imu_linear_acceleration[1] = misc_sensor[B_YACC_IMU];
    imu_linear_acceleration[2] = misc_sensor[B_ZACC_IMU];

    Eigen::Matrix<double, 50, 1> joints;
    for(int x =0; x < 50; x++) joints[x] = joint_state[x+1].th;

    Eigen::Matrix<double, 50, 1> jointsd;
    for(int x =0; x < 50; x++) jointsd[x] = joint_state[x+1].thd;

    imu_angular_velocity = _imu_quat_offset.normalized().conjugate().toRotationMatrix()*imu_angular_velocity;

    integrate_angular_velocity(imu_angular_velocity);

    makeInputs(_q, imu_angular_velocity, imu_linear_acceleration, joints, jointsd);
    setContactState(2, -1);

    makeMeasurement(misc_sensor[L_CFx], misc_sensor[R_CFx]);
    filterOneTimeStep_ss();

    return TRUE;
}