advanced_options_dialog.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include "pr2_interactive_manipulation/advanced_options_dialog.h"
#include "pr2_interactive_manipulation/interactive_manipulation_frame.h"
#include "pr2_interactive_manipulation/interactive_manipulation_frontend.h"

namespace pr2_interactive_manipulation {

AdvancedOptionsDialog::AdvancedOptionsDialog(InteractiveManipulationFrame *parent,
                                             InteractiveManipulationFrontend *frontend) :
  AdvancedOptionsDialogBase(parent),
  parent_(parent),
  frontend_(frontend)
{
}

AdvancedOptionsDialog::~AdvancedOptionsDialog()
{
}

void AdvancedOptionsDialog::setDefaultsClicked( wxCommandEvent& )
{
  setOptions( getDefaults() );
}

AdvancedGraspOptions AdvancedOptionsDialog::getDefaults()
{
  AdvancedGraspOptions go;
  go.reactive_grasping_ = false;
  go.reactive_force_ = false;
  go.reactive_place_ = true;
  go.lift_steps_  = 10;
  go.retreat_steps_ = 10;
  go.lift_vertically_ = 0;
  return go;
}

AdvancedGraspOptions AdvancedOptionsDialog::getOptions()
{
  AdvancedGraspOptions go;
  go.reactive_grasping_ = reactive_grasping_box_->IsChecked();
  go.reactive_force_ = reactive_transport_box_->IsChecked();
  go.reactive_place_ = reactive_place_box_->IsChecked();
  go.lift_steps_  = lift_distance_spin_->GetValue();
  go.retreat_steps_ = retreat_distance_spin_->GetValue();
  go.lift_vertically_ = lift_direction_choice_->GetSelection();
  return go;
}

void AdvancedOptionsDialog::setOptions(AdvancedGraspOptions go)
{
  reactive_grasping_box_->SetValue(go.reactive_grasping_);
  reactive_transport_box_->SetValue(go.reactive_force_);
  reactive_place_box_->SetValue(go.reactive_place_);
  lift_distance_spin_->SetValue(go.lift_steps_);
  retreat_distance_spin_->SetValue(go.retreat_steps_);
  lift_direction_choice_->SetSelection(go.lift_vertically_);
}

void AdvancedOptionsDialog::acceptClicked( wxCommandEvent& event )
{
  if (parent_) parent_->setAdvancedGraspOptions(getOptions());
  if (frontend_) frontend_->setAdvancedOptions(getOptionsMsg());
  Close();
}


IMGUIAdvancedOptions AdvancedOptionsDialog::getDefaultsMsg()
{
  IMGUIAdvancedOptions go;
  go.reactive_grasping = false;
  go.reactive_force = false;
  go.reactive_place = true;
  go.lift_steps  = 10;
  go.retreat_steps = 10;
  go.lift_vertically = 0;
  return go;
}

IMGUIAdvancedOptions AdvancedOptionsDialog::getOptionsMsg()
{
  IMGUIAdvancedOptions go;
  go.reactive_grasping = reactive_grasping_box_->IsChecked();
  go.reactive_force = reactive_transport_box_->IsChecked();
  go.reactive_place = reactive_place_box_->IsChecked();
  go.lift_steps  = lift_distance_spin_->GetValue();
  go.retreat_steps = retreat_distance_spin_->GetValue();
  go.lift_vertically = lift_direction_choice_->GetSelection();
  return go;
}

void AdvancedOptionsDialog::setOptionsMsg(IMGUIAdvancedOptions go)
{
  reactive_grasping_box_->SetValue(go.reactive_grasping);
  reactive_transport_box_->SetValue(go.reactive_force);
  reactive_place_box_->SetValue(go.reactive_place);
  lift_distance_spin_->SetValue(go.lift_steps);
  retreat_distance_spin_->SetValue(go.retreat_steps);
  lift_direction_choice_->SetSelection(go.lift_vertically);
}

void AdvancedOptionsDialog::reactiveGraspingClicked( wxCommandEvent& )
{
  //reactive gripper force is only allowed together with reactive grasping
  if (!reactive_grasping_box_->IsChecked()) reactive_transport_box_->SetValue(false);
}

void AdvancedOptionsDialog::reactiveForceClicked( wxCommandEvent& )
{
  //reactive gripper force is only allowed together with reactive grasping
  if (!reactive_grasping_box_->IsChecked()) reactive_grasping_box_->SetValue(true);  
}

}

---

pr2_interactive_manipulation
Author(s): Matei Ciocarlie
autogenerated on Fri Jan 11 09:11:03 2013