00001 package edu.tum.cs.ias.knowrob.map;
00002
00003 import java.awt.event.KeyEvent;
00004 import java.util.ArrayList;
00005 import java.util.HashMap;
00006
00007 import javax.vecmath.Matrix4d;
00008 import javax.vecmath.Quat4d;
00009 import javax.vecmath.Vector3d;
00010
00011 import org.semanticweb.owlapi.io.RDFXMLOntologyFormat;
00012 import org.semanticweb.owlapi.model.*;
00013
00014 import controlP5.Button;
00015 import controlP5.ControlP5;
00016 import controlP5.ListBox;
00017 import controlP5.ListBoxItem;
00018 import controlP5.Textfield;
00019 import controlP5.Textlabel;
00020 import de.tum.in.fipm.kipm.gui.visualisation.applets.StandaloneKitchenVisApplet;
00021 import de.tum.in.fipm.kipm.gui.visualisation.base.PrologVisualizationCanvas;
00022 import de.tum.in.fipm.kipm.gui.visualisation.items.*;
00023 import edu.tum.cs.ias.knowrob.utils.owl.MapObject;
00024 import edu.tum.cs.ias.knowrob.utils.owl.MapJoint;
00025 import edu.tum.cs.ias.knowrob.utils.owl.OWLImportExport;
00026 import edu.tum.cs.ias.knowrob.utils.owl.OWLFileUtils;
00027 import processing.core.PApplet;
00028 import ros.NodeHandle;
00029 import ros.Ros;
00030
00031
00032
00043 public class SemanticMapEditorForms extends PApplet {
00044
00045 private static final long serialVersionUID = -4266603809510554926L;
00046
00048
00049
00050 private PrologVisualizationCanvas prologVisCanvas = null;
00051 public ControlP5 controlP5;
00052 boolean[] keys = new boolean[526];
00053 boolean selectParentObj = false;
00054 boolean selectChildObj = false;
00055
00056 private int[] grayValues = new int[] {160,190,210,170,220,180,200,165,185,205,175,195,215};
00057 private static int grayLevelCounter = 0;
00058
00059
00060
00061 Textfield t_id;
00062 ListBox t_types;
00063
00064 Textfield[] t_dim;
00065 Textfield[] t_matrix;
00066 Textfield[] t_quat;
00067 Textfield[] t_pos;
00068 Textfield[] t_qpos;
00069 Textfield[] t_jointdir;
00070 Textfield[] t_jointlim;
00071 Textfield t_filename;
00072 Textfield t_namespace;
00073 Textfield t_parent;
00074 Textfield t_radius;
00075 Textlabel l_jointdir;
00076 Textlabel l_jointlim;
00077 Textlabel l_radius;
00078 Textlabel l_dim;
00079 Button[] b_rot;
00080 Button b_child;
00081 Button b_new_obj;
00082 Button b_del_obj;
00083 Button b_update;
00084 Textfield t_child;
00085 ArrayList<Textfield> t_all_simple;
00086 ArrayList<Textfield> t_all_matrix;
00087 ArrayList<Textfield> t_all_quat;
00088 ArrayList<Textfield> t_all_joint;
00089
00090 public enum Tab {SIMPLE, MATRIX, QUATERNION, JOINTS, SETTINGS};
00091 Tab tab;
00092 static Ros ros;
00093 static NodeHandle n;
00094
00096
00097
00098
00102 HashMap<String, MapObject> objects;
00103
00107 protected static final HashMap<Integer, String> objClasses = new HashMap<Integer, String>();
00108 static {
00109 objClasses.put(1022, "Cupboard");
00110 objClasses.put(1023, "Dishwasher");
00111 objClasses.put(1024, "Drawer");
00112 objClasses.put(1025, "Oven");
00113 objClasses.put(1026, "Refrigerator");
00114 objClasses.put(1027, "Door");
00115 objClasses.put(1028, "Handle");
00116 objClasses.put(1029, "ControlKnob");
00117 objClasses.put(1030, "Cabinet-PieceOfFurniture");
00118 objClasses.put(1031, "Bed-PieceOfFurniture");
00119 objClasses.put(1032, "HingedJoint");
00120 objClasses.put(1033, "PrismaticJoint");
00121 objClasses.put(1034, "WallOfAConstruction");
00122
00123 }
00124
00125
00129 public void setup() {
00130
00131 size(320, 600, P2D);
00132 lights();
00133 objects = new HashMap<String, MapObject>();
00134 tab=Tab.SIMPLE;
00135
00136 initControlP5Forms();
00137 initRos("semantic_map_editor");
00138
00139 draw();
00140 prologVisCanvas.setSize(1050, 600);
00141 prologVisCanvas.validate();
00142
00143
00144 String filename = selectInput();
00145 if (filename != null) {
00146 this.objects = OWLImportExport.readMapObjectFromOWL(filename);
00147 }
00148 updateVisualization();
00149 }
00150
00151
00155 public void draw() {
00156
00157 background(20, 20, 20);
00158 controlP5.draw();
00159
00160 }
00161
00162
00166 protected static void initRos(String node_name) {
00167
00168 ros = Ros.getInstance();
00169
00170 if(!Ros.getInstance().isInitialized()) {
00171 ros.init(node_name);
00172 }
00173 n = ros.createNodeHandle();
00174
00175 }
00176
00177
00179
00180
00181
00182
00183
00185
00186
00190 private void initControlP5Forms() {
00191
00192
00193
00194 int OBJ_ID_X=10;
00195 int OBJ_ID_Y=25;
00196
00197 int OBJ_DIM_X=10;
00198 int OBJ_DIM_Y=200;
00199
00200 int TAB_X=10;
00201 int TAB_Y=300;
00202
00203 int UPDATE_X = 10;
00204 int UPDATE_Y = 500;
00205
00206
00207 t_all_simple = new ArrayList<Textfield>();
00208 t_all_matrix = new ArrayList<Textfield>();
00209 t_all_quat = new ArrayList<Textfield>();
00210 t_all_joint = new ArrayList<Textfield>();
00211
00212
00213
00214 controlP5 = new ControlP5(this);
00215
00216 controlP5.tab("default").setId(0);
00217 controlP5.tab("default").setLabel("simple");
00218 controlP5.tab("default").activateEvent(true);
00219
00220 controlP5.tab("matrix").setId(1);
00221 controlP5.tab("matrix").activateEvent(true);
00222
00223 controlP5.tab("quaternion").setId(2);
00224 controlP5.tab("quaternion").activateEvent(true);
00225
00226 controlP5.tab("joint properties").setId(3);
00227 controlP5.tab("joint properties").activateEvent(true);
00228
00229 controlP5.tab("settings").setId(4);
00230 controlP5.tab("settings").activateEvent(true);
00231
00232
00233
00234 t_id = controlP5.addTextfield("object id", OBJ_ID_X, OBJ_ID_Y, 200, 20);
00235 t_id.moveTo("global");
00236 t_all_simple.add(t_id); t_all_matrix.add(t_id); t_all_quat.add(t_id);
00237 t_id.setAutoClear(false);
00238
00239
00240 b_new_obj = controlP5.addButton("new", 17, OBJ_ID_X, OBJ_ID_Y+40, 24, 20);
00241 b_new_obj.moveTo("global");
00242
00243 b_del_obj = controlP5.addButton("delete", 18, OBJ_ID_X + 30, OBJ_ID_Y+40, 34, 20);
00244 b_del_obj.moveTo("global");
00245
00246 b_update = controlP5.addButton("add to map", 23, OBJ_ID_X+70, OBJ_ID_Y+40, 55, 20);
00247 b_update.setId(23);
00248 b_update.moveTo("global");
00249
00250
00251 t_types = controlP5.addListBox("object class", OBJ_ID_X, OBJ_ID_Y+100,200,60);
00252 t_types.setId(42);
00253 t_types.setItemHeight(15);
00254 t_types.setBarHeight(15);
00255 t_types.captionLabel().style().marginTop = 3;
00256 t_types.valueLabel().style().marginTop = 3;
00257 t_types.captionLabel().style().marginBottom = 3;
00258 t_types.valueLabel().style().marginBottom = 3;
00259 t_types.setColorBackground(color(255,128));
00260 t_types.moveTo("global");
00261
00262 ListBoxItem b;
00263 for(int i: objClasses.keySet()) {
00264 b = t_types.addItem(objClasses.get(i),i);
00265 b.setId(i);
00266 }
00267
00268
00269 l_dim = controlP5.addTextlabel("l_dim","OBJECT DIMENSIONS",OBJ_DIM_X,OBJ_DIM_Y);
00270 l_dim.setWidth(200);
00271 l_dim.moveTo("global");
00272
00273 t_dim = new Textfield[3];
00274 t_dim[0] = controlP5.addTextfield("x_dim",OBJ_DIM_X, OBJ_DIM_Y+15, 40,20);
00275 t_dim[1] = controlP5.addTextfield("y_dim",OBJ_DIM_X+50, OBJ_DIM_Y+15,40,20);
00276 t_dim[2] = controlP5.addTextfield("z_dim",OBJ_DIM_X+100, OBJ_DIM_Y+15,40,20);
00277
00278 for(Textfield t : t_dim) {
00279 t.moveTo("global");
00280 t.setAutoClear(false);
00281 t_all_simple.add(t);
00282 t_all_matrix.add(t);
00283 t_all_quat.add(t);
00284 }
00285 b_rot = new Button[3];
00286 b_rot[0] = controlP5.addButton("rot_x", 20, OBJ_DIM_X, OBJ_DIM_Y+55, 32, 20);
00287 b_rot[0].setId(20);
00288 b_rot[0].moveTo("global");
00289
00290 b_rot[1] = controlP5.addButton("rot_y", 21, OBJ_DIM_X+50, OBJ_DIM_Y+55, 32, 20);
00291 b_rot[1].setId(21);
00292 b_rot[1].moveTo("global");
00293
00294 b_rot[2] = controlP5.addButton("rot_z", 22, OBJ_DIM_X+100, OBJ_DIM_Y+55, 32, 20);
00295 b_rot[2].setId(22);
00296 b_rot[2].moveTo("global");
00297
00298
00299
00300
00301
00302 Button parent = controlP5.addButton("select parent", 24, UPDATE_X, UPDATE_Y, 72, 20);
00303 parent.moveTo("global");
00304
00305 t_parent = controlP5.addTextfield("parent", UPDATE_X+85, UPDATE_Y, 130, 20);
00306 t_parent.moveTo("global");
00307
00308
00309 Button export = controlP5.addButton("export to owl", 25, UPDATE_X, UPDATE_Y+40, 72, 20);
00310 export.moveTo("global");
00311
00312 t_filename = controlP5.addTextfield("filename", UPDATE_X+85, UPDATE_Y+40, 130, 20);
00313 t_filename.moveTo("global");
00314
00315
00317
00318
00319
00320 Textlabel l_pos = controlP5.addTextlabel("l_pos","OBJECT POSITION",TAB_X,TAB_Y);
00321 l_pos.setWidth(200);
00322
00323 t_pos = new Textfield[3];
00324 t_pos[0] = controlP5.addTextfield("x_pos",TAB_X, TAB_Y+15, 40, 20);
00325 t_pos[1] = controlP5.addTextfield("y_pos",TAB_X+50, TAB_Y+15, 40, 20);
00326 t_pos[2] = controlP5.addTextfield("z_pos",TAB_X+100,TAB_Y+15, 40, 20);
00327
00328 for(Textfield t : t_pos) {
00329 t.setAutoClear(false);
00330 t_all_simple.add(t);
00331 }
00332
00333
00334
00335 Textlabel l_matrix = controlP5.addTextlabel("l_matrix","POSE MATRIX ",TAB_X,TAB_Y);
00336 l_matrix.setWidth(200);
00337 l_matrix.moveTo("matrix");
00338
00339 t_matrix = new Textfield[16];
00340 for(int i=0;i<4;i++) {
00341 for(int j=0;j<4;j++) {
00342
00343 t_matrix[i*4+j] = controlP5.addTextfield("m"+i+j, TAB_X+j*50, TAB_Y+15 + 40*i, 40, 20);
00344 t_matrix[i*4+j].moveTo("matrix");
00345
00346 t_all_matrix.add(t_matrix[i*4+j]);
00347 }
00348 }
00349
00350
00351
00352 Textlabel l_quat = controlP5.addTextlabel("l_qpos","POSE QUATERNION",TAB_X,TAB_Y);
00353 l_quat.setWidth(200);
00354 l_quat.moveTo("quaternion");
00355
00356 t_qpos = new Textfield[3];
00357 t_qpos[0] = controlP5.addTextfield("x_qpos",TAB_X, TAB_Y+15, 40,20);
00358 t_qpos[0].setLabel("x_pos");
00359 t_qpos[1] = controlP5.addTextfield("y_qpos",TAB_X+50, TAB_Y+15, 40,20);
00360 t_qpos[1].setLabel("y_pos");
00361 t_qpos[2] = controlP5.addTextfield("z_qpos",TAB_X+100,TAB_Y+15, 40,20);
00362 t_qpos[2].setLabel("z_pos");
00363
00364 for(Textfield t : t_qpos) {
00365 t.moveTo("quaternion");
00366 t.setAutoClear(false);
00367 t_all_quat.add(t);
00368 }
00369
00370 t_quat = new Textfield[4];
00371 t_quat[0] = controlP5.addTextfield("w",TAB_X, TAB_Y+55, 40,20);
00372 t_quat[1] = controlP5.addTextfield("x",TAB_X+50, TAB_Y+55,40,20);
00373 t_quat[2] = controlP5.addTextfield("y",TAB_X+100, TAB_Y+55,40,20);
00374 t_quat[3] = controlP5.addTextfield("z",TAB_X+150, TAB_Y+55,40,20);
00375
00376 for(Textfield t : t_quat) {
00377 t.moveTo("quaternion");
00378 t.setAutoClear(false);
00379 t_all_quat.add(t);
00380 }
00381
00382
00383
00384 l_jointdir = controlP5.addTextlabel("l_joint","DIRECTION (PRISMATIC ONLY)",TAB_X,TAB_Y);
00385 l_jointdir.setWidth(200);
00386 l_jointdir.moveTo("joint properties");
00387
00388 t_jointdir = new Textfield[3];
00389 t_jointdir[0] = controlP5.addTextfield("dir_x",TAB_X, TAB_Y+15, 40,20);
00390 t_jointdir[0].setLabel("dir_x");
00391 t_jointdir[1] = controlP5.addTextfield("dir_y",TAB_X+50, TAB_Y+15, 40,20);
00392 t_jointdir[1].setLabel("dir_y");
00393 t_jointdir[2] = controlP5.addTextfield("dir_z",TAB_X+100,TAB_Y+15, 40,20);
00394 t_jointdir[2].setLabel("dir_z");
00395
00396 for(Textfield t : t_jointdir) {
00397 t.moveTo("joint properties");
00398 t.setAutoClear(false);
00399 t_all_joint.add(t);
00400 }
00401
00402
00403 l_jointlim = controlP5.addTextlabel("l_jointlim","JOINT LIMITS",TAB_X,TAB_Y+60);
00404 l_jointlim.setWidth(200);
00405 l_jointlim.moveTo("joint properties");
00406
00407 t_jointlim = new Textfield[2];
00408 t_jointlim[0] = controlP5.addTextfield("q_min",TAB_X, TAB_Y+75, 40,20);
00409 t_jointlim[0].setLabel("q_min");
00410 t_jointlim[1] = controlP5.addTextfield("q_max",TAB_X+50, TAB_Y+75, 40,20);
00411 t_jointlim[1].setLabel("q_max");
00412
00413 for(Textfield t : t_jointlim) {
00414 t.moveTo("joint properties");
00415 t.setAutoClear(false);
00416 t_all_joint.add(t);
00417 }
00418
00419
00420 l_radius = controlP5.addTextlabel("l_radius","RADIUS",TAB_X+100,TAB_Y+60);
00421 l_radius.setWidth(200);
00422 l_radius.moveTo("joint properties");
00423
00424 t_radius = controlP5.addTextfield("radius",TAB_X+100, TAB_Y+75, 40,20);
00425 t_radius.setLabel("radius");
00426 t_radius.moveTo("joint properties");
00427
00428
00429 b_child = controlP5.addButton("select child", 26, UPDATE_X, UPDATE_Y-40, 72, 20);
00430 b_child.moveTo("joint properties");
00431
00432 t_child = controlP5.addTextfield("child", UPDATE_X+85, UPDATE_Y-40, 130, 20);
00433 t_child.moveTo("joint properties");
00434
00435
00436
00437
00438 Textlabel l_settings = controlP5.addTextlabel("l_namespace","GLOBAL SETTINGS",OBJ_ID_X,OBJ_ID_Y);
00439 l_settings.setWidth(200);
00440 l_settings.moveTo("settings");
00441
00442 t_namespace = controlP5.addTextfield("OWL NAMESPACE",OBJ_ID_X, OBJ_ID_Y+15, 250, 20);
00443 t_namespace.setText("http://ias.cs.tum.edu/kb/ias_semantic_map.owl#");
00444 t_namespace.moveTo("settings");
00445
00446
00447
00448 }
00449
00450
00452
00453
00454
00455
00456
00458
00463 public void controlEvent(controlP5.ControlEvent theControlEvent) {
00464
00465
00466 System.err.println("in controlEvent");
00467 if(theControlEvent.isController()) {
00468
00469
00470 if(theControlEvent.name().equals("add to map")) {
00471
00472
00473 readFormData();
00474
00475
00476 updateVisualization();
00477
00478 }
00479
00480
00481 if(theControlEvent.name().equals("new")) {
00482
00483 clearFormFields();
00484 }
00485
00486
00487 if(theControlEvent.name().equals("delete")) {
00488
00489 if(t_id.getText() != null) {
00490 objects.remove(t_id.getText());
00491 clearFormFields();
00492 updateVisualization();
00493 }
00494 }
00495
00496
00497 if(theControlEvent.name().equals("rot_x")) {
00498 MapObject cur = objects.get(t_id.getText());
00499 cur.pose_matrix.mul(new Matrix4d(
00500 1, 0, 0, 0,
00501 0, 0, -1, 0,
00502 0, 1, 0, 0,
00503 0, 0, 0, 1));
00504 updateVisualization();
00505 writeFormData(cur);
00506 }
00507
00508 if(theControlEvent.name().equals("rot_y")) {
00509 MapObject cur = objects.get(t_id.getText());
00510 cur.pose_matrix.mul(new Matrix4d(
00511 0, 0, 1, 0,
00512 0, 1, 0, 0,
00513 -1, 0, 0, 0,
00514 0, 0, 0, 1));
00515 updateVisualization();
00516 writeFormData(cur);
00517 }
00518
00519 if(theControlEvent.name().equals("rot_z")) {
00520 MapObject cur = objects.get(t_id.getText());
00521 cur.pose_matrix.mul(new Matrix4d(
00522 0,-1, 0, 0,
00523 1, 0, 0, 0,
00524 0, 0, 1, 0,
00525 0, 0, 0, 1));
00526 updateVisualization();
00527 writeFormData(cur);
00528 }
00529
00530
00531 if(theControlEvent.name().equals("export to owl")) {
00532
00533
00534 readFormData();
00535 updateVisualization();
00536
00537 OWLImportExport exp = new OWLImportExport();
00538
00539 RDFXMLOntologyFormat format = new RDFXMLOntologyFormat();
00540 format.setPrefix("knowrob:", "http://ias.cs.tum.edu/kb/knowrob.owl#");
00541 format.setPrefix("owl:", "http://www.w3.org/2002/07/owl#");
00542 format.setPrefix("rdfs:", "http://www.w3.org/2000/01/rdf-schema#");
00543 format.setPrefix("map:", t_namespace.getText());
00544
00545 OWLOntology ont = exp.createOWLMapDescription(t_namespace.getText(), new ArrayList<MapObject>(this.objects.values()));
00546
00547 OWLFileUtils.saveOntologyToFile(ont, format, t_filename.getText());
00548
00549 }
00550
00551 if(theControlEvent.name().equals("select parent")) {
00552
00553 selectParentObj=true;
00554 cursor(HAND);
00555 this.prologVisCanvas.getKitchenVisApplet().cursor(HAND);
00556
00557 }
00558
00559 if(theControlEvent.name().equals("select child")) {
00560
00561 selectChildObj=true;
00562 cursor(HAND);
00563 this.prologVisCanvas.getKitchenVisApplet().cursor(HAND);
00564
00565 }
00566
00567
00568
00569
00570 } else if (theControlEvent.isTab()) {
00571
00572 if(theControlEvent.name().equals("default")) {
00573 this.tab = Tab.SIMPLE;
00574 showObjSpecificElements();
00575
00576 } else if (theControlEvent.name().equals("matrix")) {
00577 this.tab = Tab.MATRIX;
00578 showObjSpecificElements();
00579
00580 } else if (theControlEvent.name().equals("quaternion")) {
00581 this.tab = Tab.QUATERNION;
00582 showObjSpecificElements();
00583
00584 } else if (theControlEvent.name().equals("settings")) {
00585 this.tab = Tab.SETTINGS;
00586 hideObjSpecificElements();
00587
00588 } else if (theControlEvent.name().equals("joint properties")) {
00589 this.tab = Tab.JOINTS;
00590 showObjSpecificElements();
00591
00592
00593 showJointSpecificFormFields();
00594
00595 }
00596
00597
00598 } else if (theControlEvent.isGroup()) {
00599
00600
00601 if(theControlEvent.group().id()==42) {
00602 t_types.captionLabel().set( objClasses.get( (int) theControlEvent.group().value()) );
00603
00604 }
00605 }
00606 redraw();
00607 }
00608
00609
00610 private void hideObjSpecificElements() {
00611
00612
00613 b_new_obj.hide();
00614 b_del_obj.hide();
00615 b_update.hide();
00616 t_id.hide();
00617 t_types.hide();
00618
00619 l_dim.hide();
00620 for(Textfield t : t_dim)
00621 t.hide();
00622
00623 for(Button b : b_rot)
00624 b.hide();
00625
00626 }
00627
00628 private void showObjSpecificElements() {
00629
00630 b_new_obj.show();
00631 b_del_obj.show();
00632 b_update.show();
00633 t_id.show();
00634 t_types.show();
00635
00636 l_dim.show();
00637 for(Textfield t : t_dim)
00638 t.show();
00639
00640 for(Button b : b_rot)
00641 b.show();
00642 }
00643
00644
00645 private void showJointSpecificFormFields() {
00646
00647 if(t_types.captionLabel().getText().equals("PrismaticJoint") ||
00648 t_types.captionLabel().getText().equals("HingedJoint")) {
00649 l_jointlim.show();
00650 for(Textfield t : t_jointlim) {
00651 t.show();
00652 }
00653 t_child.show();
00654 b_child.show();
00655 } else {
00656 l_jointlim.hide();
00657 for(Textfield t : t_jointlim) {
00658 t.hide();
00659 }
00660 t_child.hide();
00661 b_child.hide();
00662 }
00663
00664
00665 if(t_types.captionLabel().getText().equals("PrismaticJoint")) {
00666 l_jointdir.show();
00667 for(Textfield t : t_jointdir) {
00668 t.show();
00669 }
00670 } else {
00671 l_jointdir.hide();
00672 for(Textfield t : t_jointdir) {
00673 t.hide();
00674 }
00675 }
00676
00677
00678
00679 if(t_types.captionLabel().getText().equals("HingedJoint")) {
00680 l_radius.show();
00681 t_radius.show();
00682 } else {
00683 l_radius.hide();
00684 t_radius.hide();
00685 }
00686 }
00687
00688
00698 public void keyPressed() {
00699
00700 keys[keyCode] = true;
00701
00702
00703 if (key == ENTER || key == RETURN) {
00704 readFormData();
00705 updateVisualization();
00706 }
00707
00708
00709
00710 if (keyCode == KeyEvent.VK_TAB) {
00711
00712 boolean fwd = true;
00713 if(checkKey(KeyEvent.VK_SHIFT)) {
00714 fwd=false;
00715 }
00716
00717 if(this.tab==Tab.SIMPLE) {
00718 switchFocus(t_all_simple, fwd);
00719 } else if(this.tab==Tab.MATRIX) {
00720 switchFocus(t_all_matrix, fwd);
00721 } else if(this.tab==Tab.QUATERNION) {
00722 switchFocus(t_all_quat, fwd);
00723 } else if(this.tab==Tab.JOINTS) {
00724 switchFocus(t_all_joint, fwd);
00725 }
00726
00727 }
00728
00729 if (keyCode == KeyEvent.VK_PAGE_UP) {
00730
00731 if(this.tab==Tab.SIMPLE) {
00732 incTextfieldValue(t_all_simple, 0.05f);
00733 } else if(this.tab==Tab.MATRIX) {
00734 incTextfieldValue(t_all_matrix, 0.05f);
00735 } else if(this.tab==Tab.QUATERNION) {
00736 incTextfieldValue(t_all_quat, 0.05f);
00737 } else if(this.tab==Tab.JOINTS) {
00738 incTextfieldValue(t_all_joint, 0.05f);
00739 }
00740 readFormData();
00741 updateVisualization();
00742 }
00743
00744 if (keyCode == KeyEvent.VK_PAGE_DOWN) {
00745
00746 if(this.tab==Tab.SIMPLE) {
00747 incTextfieldValue(t_all_simple, -0.05f);
00748 } else if(this.tab==Tab.MATRIX) {
00749 incTextfieldValue(t_all_matrix, -0.05f);
00750 } else if(this.tab==Tab.QUATERNION) {
00751 incTextfieldValue(t_all_quat, -0.05f);
00752 } else if(this.tab==Tab.JOINTS) {
00753 incTextfieldValue(t_all_joint, -0.05f);
00754 }
00755 readFormData();
00756 updateVisualization();
00757 }
00758
00759 }
00760
00761
00762
00767 public void keyReleased() {
00768 keys[keyCode] = false;
00769 }
00770
00771
00778 boolean checkKey(int k) {
00779 return keys[k];
00780 }
00781
00782
00791 protected void switchFocus(ArrayList<Textfield> t_all, boolean forward) {
00792
00793 for(int i=0;i<t_all.size();i++) {
00794 if(t_all.get(i).isFocus()){
00795
00796 if(forward) {
00797 t_all.get(i).setFocus(false);
00798 t_all.get((i+1)%t_all.size()).setFocus(true);
00799 } else {
00800 t_all.get(i).setFocus(false);
00801
00802 if(i>0)
00803 t_all.get(i-1).setFocus(true);
00804 else
00805 t_all.get(t_all.size()-1).setFocus(true);
00806 }
00807 break;
00808 }
00809 }
00810 }
00811
00812
00819 protected void incTextfieldValue(ArrayList<Textfield> t_all, float inc) {
00820
00821 for(int i=0;i<t_all.size();i++) {
00822 if(t_all.get(i).isFocus()){
00823
00824 try{
00825 float val = Float.valueOf(t_all.get(i).getText());
00826 t_all.get(i).setText((val+inc)+"");
00827 } catch(NumberFormatException e) {}
00828
00829 }
00830 }
00831 }
00832
00833
00834
00835
00837
00838
00839
00840
00841
00843
00844
00845
00849 void readFormData() {
00850
00851
00852
00853 MapObject cur;
00854 String id = t_id.getText();
00855
00856
00857 if(t_id.equals("") || t_types.captionLabel().getText().equals("object class")){
00858 return;
00859 }
00860
00861 if(objects.containsKey(id)) {
00862 cur = objects.get(id);
00863 } else {
00864
00865 if(t_types.captionLabel().getText().equals("HingedJoint") ||
00866 t_types.captionLabel().getText().equals("PrismaticJoint")) {
00867
00868 cur = new MapJoint();
00869
00870 } else {
00871 cur = new MapObject();
00872 }
00873 objects.put(id, cur);
00874 }
00875
00876
00877
00878 cur.id = id;
00879
00880 cur.types.clear();
00881 cur.types.add(t_types.captionLabel().getText());
00882
00883
00884 double xdim=0.0, ydim=0.0, zdim=0.0;
00885 try{xdim = Double.valueOf(t_dim[0].getText());} catch(NumberFormatException e) {}
00886 try{ydim = Double.valueOf(t_dim[1].getText());} catch(NumberFormatException e) {}
00887 try{zdim = Double.valueOf(t_dim[2].getText()); } catch(NumberFormatException e) {}
00888 cur.setDimensions(new Vector3d(xdim, ydim, zdim));
00889
00890
00891
00892
00893 switch(tab) {
00894
00895 case SIMPLE:
00896
00897 double x=0.0, y=0.0, z=0.0;
00898 try{x = Double.valueOf(t_pos[0].getText());} catch(NumberFormatException e) {}
00899 try{y = Double.valueOf(t_pos[1].getText());} catch(NumberFormatException e) {}
00900 try{z = Double.valueOf(t_pos[2].getText());} catch(NumberFormatException e) {}
00901
00902 cur.setPosition(new Vector3d(x, y, z ));
00903 updateQuaternionForm(cur.getPosition(), cur.getPoseQuat());
00904 updateMatrixForm(cur.getPoseMatrix());
00905 break;
00906
00907 case MATRIX:
00908
00909 double[] m = new double[16];
00910
00911 try{m[0] = Double.valueOf(t_matrix[0].getText());} catch(NumberFormatException e) {m[0]=0.0;}
00912 try{m[1] = Double.valueOf(t_matrix[1].getText());} catch(NumberFormatException e) {m[1]=0.0;}
00913 try{m[2] = Double.valueOf(t_matrix[2].getText());} catch(NumberFormatException e) {m[2]=0.0;}
00914 try{m[3] = Double.valueOf(t_matrix[3].getText());} catch(NumberFormatException e) {m[3]=0.0;}
00915
00916 try{m[4] = Double.valueOf(t_matrix[4].getText());} catch(NumberFormatException e) {m[4]=0.0;}
00917 try{m[5] = Double.valueOf(t_matrix[5].getText());} catch(NumberFormatException e) {m[5]=0.0;}
00918 try{m[6] = Double.valueOf(t_matrix[6].getText());} catch(NumberFormatException e) {m[6]=0.0;}
00919 try{m[7] = Double.valueOf(t_matrix[7].getText());} catch(NumberFormatException e) {m[7]=0.0;}
00920
00921 try{m[8] = Double.valueOf(t_matrix[8].getText());} catch(NumberFormatException e) {m[8]=0.0;}
00922 try{m[9] = Double.valueOf(t_matrix[9].getText());} catch(NumberFormatException e) {m[9]=0.0;}
00923 try{m[10] = Double.valueOf(t_matrix[10].getText());} catch(NumberFormatException e) {m[10]=0.0;}
00924 try{m[11] = Double.valueOf(t_matrix[11].getText());} catch(NumberFormatException e) {m[11]=0.0;}
00925
00926 try{m[12] = Double.valueOf(t_matrix[12].getText());} catch(NumberFormatException e) {m[12]=0.0;}
00927 try{m[13] = Double.valueOf(t_matrix[13].getText());} catch(NumberFormatException e) {m[13]=0.0;}
00928 try{m[14] = Double.valueOf(t_matrix[14].getText());} catch(NumberFormatException e) {m[14]=0.0;}
00929 try{m[15] = Double.valueOf(t_matrix[15].getText());} catch(NumberFormatException e) {m[15]=0.0;}
00930
00931 cur.setPoseMatrix(new Matrix4d(m));
00932 updateQuaternionForm(cur.getPosition(), cur.getPoseQuat());
00933 updatePositionForm(cur.getPosition());
00934 break;
00935
00936 case QUATERNION:
00937
00938 try{x = Double.valueOf(t_qpos[0].getText());} catch(NumberFormatException e) {x=0.0;}
00939 try{y = Double.valueOf(t_qpos[1].getText());} catch(NumberFormatException e) {y=0.0;}
00940 try{z = Double.valueOf(t_qpos[2].getText());} catch(NumberFormatException e) {z=0.0;}
00941
00942 double qx=0.0, qy=0.0, qz=0.0, qw=1.0;
00943 try{qw = Double.valueOf(t_quat[0].getText());} catch(NumberFormatException e) {}
00944 try{qy = Double.valueOf(t_quat[1].getText());} catch(NumberFormatException e) {}
00945 try{qz = Double.valueOf(t_quat[2].getText());} catch(NumberFormatException e) {}
00946 try{qz = Double.valueOf(t_quat[3].getText());} catch(NumberFormatException e) {}
00947
00948 cur.setPoseQuat(new Vector3d(x,y,z),
00949 new Quat4d(qx,qy,qz,qw),1.0);
00950
00951 updateMatrixForm(cur.getPoseMatrix());
00952 updatePositionForm(cur.getPosition());
00953 break;
00954
00955 case JOINTS:
00956
00957
00958 if(t_types.captionLabel().getText().equals("HingedJoint") ||
00959 t_types.captionLabel().getText().equals("PrismaticJoint")) {
00960
00961
00962 try{x = Double.valueOf(t_jointdir[0].getText());} catch(NumberFormatException e) {x=0.0;}
00963 try{y = Double.valueOf(t_jointdir[1].getText());} catch(NumberFormatException e) {y=0.0;}
00964 try{z = Double.valueOf(t_jointdir[2].getText());} catch(NumberFormatException e) {z=0.0;}
00965
00966 ((MapJoint) cur).setDirection(new Vector3d(x,y,z));
00967
00968
00969 double q_min=0.0, q_max=0.0;
00970 try{q_min = Double.valueOf(t_jointlim[0].getText());} catch(NumberFormatException e) {}
00971 try{q_max = Double.valueOf(t_jointlim[1].getText());} catch(NumberFormatException e) {}
00972
00973 ((MapJoint) cur).setQ_min(q_min);
00974 ((MapJoint) cur).setQ_max(q_max);
00975
00976 double radius=0.0;
00977 try{
00978 radius = Double.valueOf(t_radius.getText());}
00979 catch(NumberFormatException e) {
00980 e.printStackTrace();
00981 }
00982 ((MapJoint) cur).setRadius(radius);
00983
00984
00985
00986 if(t_child.getText() != null) {
00987 if(objects.get(t_child.getText())!=null)
00988 ((MapJoint) cur).setChild(objects.get(t_child.getText()));
00989 }
00990
00991 if(t_parent.getText() != null) {
00992 if(objects.get(t_parent.getText())!=null)
00993 ((MapJoint) cur).setParent(objects.get(t_parent.getText()));
00994 }
00995
00996 }
00997 updateMatrixForm(cur.getPoseMatrix());
00998 updateQuaternionForm(cur.getPosition(), cur.getPoseQuat());
00999 updatePositionForm(cur.getPosition());
01000 break;
01001 }
01002
01003
01004 if(t_parent.getText() != null)
01005 if(objects.get(t_parent.getText())!=null)
01006 objects.get(t_parent.getText()).physicalParts.add(cur);
01007
01008
01009 }
01010
01016 void writeFormData(MapObject cur) {
01017
01018 t_id.setText(cur.id);
01019
01020
01021
01022 for(MapObject o : objects.values()) {
01023
01024 if(o.physicalParts.contains(cur)) {
01025 t_parent.setText(o.getId());
01026 break;
01027 } else {
01028 t_parent.setText("");
01029 }
01030 }
01031
01032 t_types.captionLabel().set(cur.types.get(0));
01033
01034 t_dim[0].setText(""+cur.dimensions.x);
01035 t_dim[1].setText(""+cur.dimensions.y);
01036 t_dim[2].setText(""+cur.dimensions.z);
01037
01038 updateQuaternionForm(cur.getPosition(), cur.getPoseQuat());
01039 updateMatrixForm(cur.getPoseMatrix());
01040 updatePositionForm(cur.getPosition());
01041 updateJointForm(cur);
01042 }
01043
01044
01050 void updateMatrixForm(Matrix4d m) {
01051
01052 t_matrix[0].setText(""+m.m00);
01053 t_matrix[1].setText(""+m.m01);
01054 t_matrix[2].setText(""+m.m02);
01055 t_matrix[3].setText(""+m.m03);
01056
01057 t_matrix[4].setText(""+m.m10);
01058 t_matrix[5].setText(""+m.m11);
01059 t_matrix[6].setText(""+m.m12);
01060 t_matrix[7].setText(""+m.m13);
01061
01062 t_matrix[8].setText(""+m.m20);
01063 t_matrix[9].setText(""+m.m21);
01064 t_matrix[10].setText(""+m.m22);
01065 t_matrix[11].setText(""+m.m23);
01066
01067 t_matrix[12].setText(""+m.m30);
01068 t_matrix[13].setText(""+m.m31);
01069 t_matrix[14].setText(""+m.m32);
01070 t_matrix[15].setText(""+m.m33);
01071 }
01072
01078 void updatePositionForm(Vector3d pos) {
01079
01080 t_pos[0].setText(""+pos.x);
01081 t_pos[1].setText(""+pos.y);
01082 t_pos[2].setText(""+pos.z);
01083 }
01084
01085
01092 void updateQuaternionForm(Vector3d pos, Quat4d q) {
01093
01094 t_qpos[0].setText(""+pos.x);
01095 t_qpos[1].setText(""+pos.y);
01096 t_qpos[2].setText(""+pos.z);
01097
01098 t_quat[0].setText(""+q.w);
01099 t_quat[1].setText(""+q.x);
01100 t_quat[2].setText(""+q.y);
01101 t_quat[3].setText(""+q.z);
01102 }
01103
01109 void updateJointForm(MapObject cur) {
01110
01111 showJointSpecificFormFields();
01112
01113 if(cur instanceof MapJoint) {
01114 t_jointlim[0].setText(((MapJoint)cur).q_min+"");
01115 t_jointlim[1].setText(((MapJoint)cur).q_max+"");
01116
01117 t_jointdir[0].setText(((MapJoint)cur).direction.x+"");
01118 t_jointdir[1].setText(((MapJoint)cur).direction.y+"");
01119 t_jointdir[2].setText(((MapJoint)cur).direction.z+"");
01120
01121 if(((MapJoint)cur).child.id != null)
01122 t_child.setText(((MapJoint)cur).child.id);
01123
01124 if(((MapJoint)cur).parent.id != null)
01125 t_parent.setText(((MapJoint)cur).parent.id);
01126
01127 t_radius.setText(((MapJoint)cur).radius+"");
01128 }
01129
01130 }
01131
01132 void clearFormFields(){
01133
01134 for(Textfield t : t_all_simple) {
01135 t.setText("");
01136 }
01137 for(Textfield t : t_all_matrix) {
01138 t.setText("");
01139 }
01140 for(Textfield t : t_all_quat) {
01141 t.setText("");
01142 }
01143
01144 }
01145
01146
01148
01149
01150
01151
01152
01154
01158 protected void updateVisualization() {
01159
01160 prologVisCanvas.getKitchenVisApplet().clear();
01161
01162 for(MapObject o : objects.values()) {
01163
01164 ItemBase item = createItem(o);
01165
01166 if(item!=null) {
01167 item.name=o.id;
01168
01169 prologVisCanvas.getKitchenVisApplet().addItem(item);
01170
01171 } else {
01172 System.err.println("Object "+o.id+" not found.");
01173 }
01174 }
01175 prologVisCanvas.getKitchenVisApplet().redraw();
01176
01177 }
01178
01179
01180
01189 Item createItem(MapObject obj) {
01190
01191 String type = obj.types.get(0);
01192
01193 int col = grayValues[(++grayLevelCounter) % grayValues.length];
01194
01195
01197
01198
01199 if(type.endsWith("Cup")) {
01200 return new Cup(obj.pose_matrix, obj.dimensions);
01201
01202 } else if(type.endsWith("DinnerPlate")) {
01203 return new Plate(obj.pose_matrix, obj.dimensions);
01204
01205 } else if(type.endsWith("Saucer")) {
01206 return new Plate(obj.pose_matrix, obj.dimensions);
01207
01208 } else if (type.endsWith("DrinkingGlass")) {
01209 return new DrinkingGlass(obj.pose_matrix, obj.dimensions);
01210
01211 } else if (type.endsWith("Bowl-Eating")) {
01212 return new BowlEating(obj.pose_matrix, obj.dimensions);
01213
01214 } else if (type.endsWith("DrinkingBottle")) {
01215 return new Sphere(obj.pose_matrix, new Vector3d(0.05f,0.05f,0.15f));
01216
01217
01218
01220
01221
01222 } else if(type.endsWith("DinnerFork")) {
01223 return new Fork(obj.pose_matrix, obj.dimensions);
01224
01225 } else if(type.endsWith("TableKnife")) {
01226 return new Knife(obj.pose_matrix, obj.dimensions);
01227
01228 } else if(type.endsWith("SoupSpoon")) {
01229 return new Spoon(obj.pose_matrix, obj.dimensions);
01230
01231
01233
01234
01235 } else if(type.endsWith("Napkin")) {
01236 return new Napkin(obj.pose_matrix, obj.dimensions);
01237
01238 } else if(type.endsWith("PlaceMat")) {
01239 return new PlaceMat(obj.pose_matrix, obj.dimensions);
01240
01241 } else if (type.endsWith("Platter")) {
01242 return new Platter(obj.pose_matrix, obj.dimensions);
01243
01244 } else if(type.endsWith("CookingPot")) {
01245 return new CookingPot(obj.pose_matrix, obj.dimensions);
01246
01247 } else if(type.endsWith("Spatula")) {
01248 return new Spatula(obj.pose_matrix, obj.dimensions);
01249
01250 } else if(type.endsWith("PancakeMaker")) {
01251 return new PancakeMaker(obj.pose_matrix, obj.dimensions);
01252
01253
01255
01256
01257 } else if (type.endsWith("Bread")) {
01258 return new Bread(obj.pose_matrix, obj.dimensions);
01259
01260 } else if (type.endsWith("Cheese")) {
01261 return new Cheese(obj.pose_matrix, obj.dimensions);
01262
01263 } else if (type.endsWith("Butter")) {
01264 return new Cheese(obj.pose_matrix, obj.dimensions);
01265
01266 } else if (type.endsWith("Sausage")) {
01267 return new Sausage(obj.pose_matrix, obj.dimensions);
01268
01269 } else if (type.endsWith("Cake")) {
01270 return new Cake(obj.pose_matrix, obj.dimensions);
01271
01272 } else if (type.endsWith("BreakfastCereal")) {
01273 return new CerealBox(obj.pose_matrix, obj.dimensions);
01274
01275 } else if (type.endsWith("PancakeMix")) {
01276 return new PancakeMix(obj.pose_matrix, obj.dimensions);
01277
01278 } else if (type.endsWith("Pancake")) {
01279 return new Pancake(obj.pose_matrix, obj.dimensions);
01280
01281 } else if (type.endsWith("Yogurt")) {
01282 return new DrinkingGlass(obj.pose_matrix, obj.dimensions);
01283
01284
01286
01287
01288 } else if (type.endsWith("Pizza")) {
01289 return new Pizza(obj.pose_matrix, obj.dimensions);
01290
01291 } else if (type.endsWith("Salad")) {
01292 return new SaladBowl(obj.pose_matrix, obj.dimensions);
01293
01294 } else if (type.endsWith("Pasta")) {
01295 return new SaladBowl(obj.pose_matrix, obj.dimensions);
01296
01297 } else if (type.endsWith("Soup")) {
01298 return new SoupPlate(obj.pose_matrix, obj.dimensions);
01299
01300
01301
01303
01304
01305 } else if (type.endsWith("Water")) {
01306 return new Bottle(obj.pose_matrix, obj.dimensions);
01307
01308 } else if (type.endsWith("Pitcher")) {
01309 return new Thermos(obj.pose_matrix, obj.dimensions);
01310
01311 } else if (type.endsWith("Tea-Beverage")) {
01312 return new Bread(obj.pose_matrix, obj.dimensions);
01313
01314 } else if (type.endsWith("Coffee-Beverage")) {
01315 return new Thermos(obj.pose_matrix, obj.dimensions);
01316
01317 } else if (type.endsWith("Juice")) {
01318 return new Tetrapak(obj.pose_matrix, obj.dimensions);
01319
01320 } else if (type.endsWith("Tea-Iced")) {
01321 return new Tetrapak(obj.pose_matrix, obj.dimensions);
01322
01323 } else if(type.endsWith("Tetrapak")) {
01324 return new Tetrapak(obj.pose_matrix, obj.dimensions);
01325
01326 } else if (type.endsWith("CardboardBox")) {
01327 return new Bread(obj.pose_matrix, obj.dimensions);
01328
01329 } else if (type.endsWith("CowsMilk-Product")) {
01330 return new Tetrapak(obj.pose_matrix, obj.dimensions);
01331
01332 } else if (type.endsWith("Buttermilk")) {
01333 return new Tetrapak(obj.pose_matrix, obj.dimensions);
01334
01335
01337
01338
01339 } else if(type.endsWith("Bed-PieceOfFurniture")) {
01340 Box c = new Box(obj.pose_matrix, obj.dimensions);
01341 col = grayValues[(++grayLevelCounter) % grayValues.length];
01342 c.setColor(StandaloneKitchenVisApplet.convertColor(col, col, col, 170));
01343 return c;
01344
01345 } else if(type.endsWith("Chair-PieceOfFurniture")) {
01346 Chair c = new Chair(obj.pose_matrix, obj.dimensions);
01347 col = grayValues[(++grayLevelCounter) % grayValues.length];
01348 c.setColor(StandaloneKitchenVisApplet.convertColor(col, col, col, 170));
01349 return c;
01350
01351 } else if(type.endsWith("Cupboard")) {
01352 Cupboard c = new Cupboard(obj.pose_matrix, obj.dimensions);
01353 col = grayValues[(++grayLevelCounter) % grayValues.length];
01354 c.setColor(StandaloneKitchenVisApplet.convertColor(col, col, col, 170));
01355 return c;
01356
01357 } else if(type.endsWith("Cabinet-PieceOfFurniture")) {
01358 Cupboard c = new Cupboard(obj.pose_matrix, obj.dimensions);
01359 col = grayValues[(++grayLevelCounter) % grayValues.length];
01360 c.setColor(StandaloneKitchenVisApplet.convertColor(col, col, col, 170));
01361 return c;
01362
01363 } else if(type.endsWith("Drawer")) {
01364 Cupboard c = new Cupboard(obj.pose_matrix, obj.dimensions);
01365 col = grayValues[(++grayLevelCounter) % grayValues.length];
01366 c.setColor(StandaloneKitchenVisApplet.convertColor(col, col, col, 170));
01367 return c;
01368
01369 } else if(type.endsWith("Dishwasher")) {
01370 Cupboard c = new Cupboard(obj.pose_matrix, obj.dimensions);
01371 col = grayValues[(++grayLevelCounter) % grayValues.length];
01372 c.setColor(StandaloneKitchenVisApplet.convertColor(col, col, col, 170));
01373 return c;
01374
01375 } else if(type.endsWith("Oven")) {
01376 Cupboard c = new Cupboard(obj.pose_matrix, obj.dimensions);
01377 col = grayValues[(++grayLevelCounter) % grayValues.length];
01378 c.setColor(StandaloneKitchenVisApplet.convertColor(col, col, col, 170));
01379 return c;
01380
01381 } else if(type.endsWith("Refrigerator")) {
01382 Cupboard c = new Cupboard(obj.pose_matrix, obj.dimensions);
01383 col = grayValues[(++grayLevelCounter) % grayValues.length];
01384 c.setColor(StandaloneKitchenVisApplet.convertColor(col, col, col, 170));
01385 return c;
01386
01387 } else if(type.endsWith("Handle")) {
01388 BoxHandle b = new BoxHandle(obj.pose_matrix, obj.dimensions);
01389 col = grayValues[(++grayLevelCounter) % grayValues.length];
01390 b.setColor(StandaloneKitchenVisApplet.convertColor(col, col, col, 170));
01391 return b;
01392
01393 } else if(type.endsWith("ControlKnob")) {
01394 Sphere s = new Sphere(obj.pose_matrix, obj.dimensions);
01395 col = grayValues[(++grayLevelCounter) % grayValues.length];
01396 s.setColor(StandaloneKitchenVisApplet.convertColor(col, col, col, 255));
01397 return s;
01398
01399 } else if(type.endsWith("Door")) {
01400 Door d = new Door(obj.pose_matrix, obj.dimensions);
01401 d.setColor(StandaloneKitchenVisApplet.convertColor(255, 175, 0, 255));
01402 return d;
01403
01404 } else if(type.endsWith("HingedJoint")) {
01405 HingedJoint h = new HingedJoint(obj.pose_matrix, obj.dimensions);
01406 h.setColor(StandaloneKitchenVisApplet.convertColor(70, 120, 255, 255));
01407 return h;
01408
01409 } else if(type.endsWith("PrismaticJoint")) {
01410 PrismaticJoint h = new PrismaticJoint(obj.pose_matrix, new Vector3d(0.02f, 0.02f, 0.02f));
01411 h.setColor(StandaloneKitchenVisApplet.convertColor(70, 255, 120, 255));
01412 return h;
01413
01415
01416
01417 } else if(type.endsWith("SpatialThing-Localized")) {
01418 return new Ellipse(obj.pose_matrix, obj.dimensions);
01419
01420 } else if(type.endsWith("Place")) {
01421 return new Ellipse(obj.pose_matrix, obj.dimensions);
01422
01423 } else if(type.endsWith("Point3D")) {
01424 return new Sphere(obj.pose_matrix, new Vector3d(0.03f,0.03f,0.03f));
01425
01426 } else {
01427 return new Sphere(obj.pose_matrix, new Vector3d(0.02f,0.02f,0.02f));
01428 }
01429
01430 }
01431
01432
01433
01434
01436
01437
01438
01439
01440
01442
01447 public PrologVisualizationCanvas getPrologVisCanvas() {
01448 return prologVisCanvas;
01449 }
01450
01451
01457 public void setPrologVisCanvas(PrologVisualizationCanvas prologVisCanvas) {
01458 this.prologVisCanvas = prologVisCanvas;
01459 }
01460
01461
01472 void editObject(String identifier) {
01473
01474
01475 if(selectParentObj) {
01476
01477 MapObject cur = objects.get(t_id.getText());
01478
01479
01480 for(MapObject o : objects.values()) {
01481 if(o.physicalParts.contains(cur)) {
01482 o.physicalParts.remove(cur);
01483 }
01484 }
01485
01486 objects.get(identifier).physicalParts.add(cur);
01487
01488 if(cur instanceof MapJoint)
01489 ((MapJoint) cur).parent = objects.get(identifier);
01490
01491 this.t_parent.setText(identifier);
01492
01493 selectParentObj=false;
01494 cursor(ARROW);
01495 this.prologVisCanvas.getKitchenVisApplet().cursor(ARROW);
01496
01497
01498
01499 } else if(selectChildObj) {
01500
01501 MapObject cur = objects.get(t_id.getText());
01502
01503
01504 for(MapObject o : objects.values()) {
01505 if(o.physicalParts.contains(cur)) {
01506 o.physicalParts.remove(cur);
01507 }
01508 }
01509
01510 if(cur instanceof MapJoint)
01511 ((MapJoint) cur).child = objects.get(identifier);
01512
01513 this.t_child.setText(identifier);
01514
01515 selectChildObj=false;
01516 cursor(ARROW);
01517 this.prologVisCanvas.getKitchenVisApplet().cursor(ARROW);
01518
01519
01520
01521 } else {
01522
01523 writeFormData(objects.get(identifier));
01524 }
01525 }
01526
01527 }
