bool ZMPSeqItem::makeRootRelative(bool on) { BodyMotionItem* bodyMotionItem = dynamic_cast<BodyMotionItem*>(parentItem()); if(bodyMotionItem){ if(cnoid::makeRootRelative(*zmpseq_, *bodyMotionItem->motion(), on)){ mvout() << format(_("{0} of {1} has been converted to {2}."), name(), bodyMotionItem->name(), (on ? _("the root relative coordinate") : _("the global coordinate"))) << endl; return true; } } mvout() << format(_("{0}'s coordinate system cannot be changed " "because there is no root link motion associated with {0}."), name()) << endl; return false; }
void BodyMotionGenerationBar::onGenerationButtonClicked() { set<BodyMotionItem*> motionItems; // for avoiding overlap ItemList<Item> selectedItems = ItemTreeView::mainInstance()->selectedItems<Item>(); for(size_t i=0; i < selectedItems.size(); ++i){ PoseSeqItem* poseSeqItem = dynamic_cast<PoseSeqItem*>(selectedItems[i]); if(poseSeqItem){ motionItems.insert(poseSeqItem->bodyMotionItem()); } else { BodyMotionItem* motionItem = dynamic_cast<BodyMotionItem*>(selectedItems[i]); if(motionItem){ motionItems.insert(motionItem); } } } for(set<BodyMotionItem*>::iterator p = motionItems.begin(); p != motionItems.end(); ++p){ BodyMotionItem* motionItem = *p; BodyItem* bodyItem = motionItem->findOwnerItem<BodyItem>(true); if(bodyItem){ PoseProvider* provider = 0; PoseSeqItem* poseSeqItem = dynamic_cast<PoseSeqItem*>(motionItem->parentItem()); if(poseSeqItem){ provider = poseSeqItem->interpolator().get(); } else { bodyMotionPoseProvider->initialize(bodyItem->body(), motionItem->motion()); provider = bodyMotionPoseProvider; if(setup->newBodyItemCheck.isChecked()){ BodyMotionItem* newMotionItem = new BodyMotionItem(); newMotionItem->setName(motionItem->name() + "'"); motionItem->parentItem()->insertChildItem(newMotionItem, motionItem->nextItem()); motionItem = newMotionItem; } } shapeBodyMotion(bodyItem->body(), provider, motionItem, true); } } }
void KinematicFaultCheckerImpl::apply() { bool processed = false; ItemList<BodyMotionItem> items = ItemTreeView::mainInstance()->selectedItems<BodyMotionItem>(); if(items.empty()){ mes.notify(_("No BodyMotionItems are selected.")); } else { for(size_t i=0; i < items.size(); ++i){ BodyMotionItem* motionItem = items.get(i); BodyItem* bodyItem = motionItem->findOwnerItem<BodyItem>(); if(!bodyItem){ mes.notify(str(fmt(_("%1% is not owned by any BodyItem. Check skiped.")) % motionItem->name())); } else { mes.putln(); mes.notify(str(fmt(_("Applying the Kinematic Fault Checker to %1% ...")) % motionItem->headItem()->name())); dynamic_bitset<> linkSelection; if(selectedJointsRadio.isChecked()){ linkSelection = LinkSelectionView::mainInstance()->linkSelection(bodyItem); } else if(nonSelectedJointsRadio.isChecked()){ linkSelection = LinkSelectionView::mainInstance()->linkSelection(bodyItem); linkSelection.flip(); } else { linkSelection.resize(bodyItem->body()->numLinks(), true); } double beginningTime = 0.0; double endingTime = motionItem->motion()->getTimeLength(); std::numeric_limits<double>::max(); if(onlyTimeBarRangeCheck.isChecked()){ TimeBar* timeBar = TimeBar::instance(); beginningTime = timeBar->minTime(); endingTime = timeBar->maxTime(); } int n = checkFaults(bodyItem, motionItem, mes.cout(), positionCheck.isChecked(), velocityCheck.isChecked(), collisionCheck.isChecked(), linkSelection, beginningTime, endingTime); if(n > 0){ if(n == 1){ mes.notify(_("A fault has been detected.")); } else { mes.notify(str(fmt(_("%1% faults have been detected.")) % n)); } } else { mes.notify(_("No faults have been detected.")); } processed = true; } } } }