void JointVelocityControlWidget::init(ref<BasicEnvironment> env, ref<Robot> robot, Int index, ref<ControlInterface> interface)
{
  velInterface = interface; 

  // Joint velocity controls
  Gtk::VBox* jointControlBox = new Gtk::VBox(false,5);

  Int dof =  velInterface->inputSize();
  velAdjustments.clear();
  for(Int j=0; j<dof; j++) {
    Gtk::HBox* hbox = new Gtk::HBox();
    Gtk::Label* label = new Gtk::Label(base::intToString(j)+":");
    hbox->pack_start(*manage(label), Gtk::PACK_SHRINK,5);
    Gtk::Adjustment* adj = new Gtk::Adjustment(0,-3,3,0.01,0.1);
    velAdjustments.push_back(adj);
    Gtk::HScale* scale = new Gtk::HScale(*manage(adj));
    scale->set_draw_value(true);
    scale->set_digits(2);
    scale->set_value_pos(Gtk::POS_LEFT);
    scale->set_update_policy(Gtk::UPDATE_CONTINUOUS);
    scale->set_size_request(100,-1);
    hbox->pack_end(*manage(scale));
    jointControlBox->pack_start(*manage(hbox),false,false);
    adj->signal_value_changed().connect( SigC::bind<Int>( SigC::slot(*this, &JointVelocityControlWidget::jointVelScaleChanged ), j) );
  }
  
  pack_start(*manage(jointControlBox));
}
示例#2
0
void PrefPage::appendSlider(const std::string& name, const std::string& registryKey, bool drawValue,
                            double value, double lower, double upper, double step_increment, double page_increment, double page_size)
{
	// Create a new adjustment with the boundaries <lower> and <upper> and all the increments
	Gtk::Adjustment* adj = Gtk::manage(new Gtk::Adjustment(value, lower, upper, step_increment, page_increment, page_size));

	// Connect the registry key to this adjustment
    registry::bindPropertyToBufferedKey(adj->property_value(), registryKey, _registryBuffer, _resetValuesSignal);

	// scale
	Gtk::Alignment* alignment = Gtk::manage(new Gtk::Alignment(0.0, 0.5, 1.0, 0.0));
	alignment->show();

	Gtk::HScale* scale = Gtk::manage(new Gtk::HScale(*adj));
	scale->set_value_pos(Gtk::POS_LEFT);
	scale->show();

	alignment->add(*scale);

	scale->set_draw_value(drawValue);
	scale->set_digits((step_increment < 1.0f) ? 2 : 0);

	appendNamedWidget(name, *alignment);
}