GrxPathPlanningView.java
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1 package com.generalrobotix.ui.view;
2 
3 import java.awt.Color;
4 import java.io.IOException;
5 import java.io.File;
6 import java.lang.reflect.InvocationTargetException;
7 import java.net.URL;
8 import java.util.ArrayList;
9 import java.util.List;
10 import java.util.Vector;
11 
12 import javax.media.j3d.Appearance;
13 import javax.media.j3d.BranchGroup;
14 import javax.media.j3d.GeometryArray;
15 import javax.media.j3d.Group;
16 import javax.media.j3d.LineArray;
17 import javax.media.j3d.Material;
18 import javax.media.j3d.Shape3D;
19 import javax.media.j3d.Switch;
20 import javax.media.j3d.Transform3D;
21 import javax.media.j3d.TransformGroup;
22 import javax.media.j3d.TransparencyAttributes;
23 import javax.vecmath.Color3f;
24 import javax.vecmath.Point3d;
25 import javax.vecmath.Vector3d;
26 
27 import jp.go.aist.hrp.simulator.BodyInfo;
28 import jp.go.aist.hrp.simulator.DynamicsSimulator;
29 import jp.go.aist.hrp.simulator.PathPlanner;
30 import jp.go.aist.hrp.simulator.StringSequenceHolder;
31 import jp.go.aist.hrp.simulator.WorldStateHolder;
32 import jp.go.aist.hrp.simulator.DynamicsSimulatorPackage.LinkDataType;
33 import jp.go.aist.hrp.simulator.PathPlannerPackage.PointArrayHolder;
34 import jp.go.aist.hrp.simulator.PathPlannerPackage.RoadmapHolder;
35 import jp.go.aist.hrp.simulator.PathPlannerPackage.RoadmapNode;
36 import jp.go.aist.rtm.RTC.Manager;
37 
38 import org.eclipse.core.runtime.FileLocator;
39 import org.eclipse.core.runtime.IProgressMonitor;
40 import org.eclipse.core.runtime.Path;
41 import org.eclipse.jface.dialogs.MessageDialog;
42 import org.eclipse.jface.dialogs.ProgressMonitorDialog;
43 import org.eclipse.jface.operation.IRunnableWithProgress;
44 import org.eclipse.swt.SWT;
45 import org.eclipse.swt.events.FocusEvent;
46 import org.eclipse.swt.events.FocusListener;
47 import org.eclipse.swt.events.KeyEvent;
48 import org.eclipse.swt.events.KeyListener;
49 import org.eclipse.swt.events.SelectionAdapter;
50 import org.eclipse.swt.events.SelectionEvent;
51 import org.eclipse.swt.events.SelectionListener;
52 import org.eclipse.swt.layout.GridData;
53 import org.eclipse.swt.layout.GridLayout;
54 import org.eclipse.swt.widgets.Button;
55 import org.eclipse.swt.widgets.Combo;
56 import org.eclipse.swt.widgets.Composite;
57 import org.eclipse.swt.widgets.Control;
58 import org.eclipse.swt.widgets.Display;
59 import org.eclipse.swt.widgets.Label;
60 import org.eclipse.swt.widgets.Text;
61 
62 import jp.go.aist.hrp.simulator.PathConsumerComp;
63 
64 import com.generalrobotix.ui.GrxBaseItem;
65 import com.generalrobotix.ui.GrxBasePlugin;
66 import com.generalrobotix.ui.GrxBaseView;
67 import com.generalrobotix.ui.GrxBaseViewPart;
68 import com.generalrobotix.ui.GrxPluginManager;
69 import com.generalrobotix.ui.grxui.Activator;
70 import com.generalrobotix.ui.item.GrxCollisionPairItem;
71 import com.generalrobotix.ui.item.GrxModelItem;
72 import com.generalrobotix.ui.item.GrxPathPlanningAlgorithmItem;
73 import com.generalrobotix.ui.item.GrxSimulationItem;
74 import com.generalrobotix.ui.item.GrxWorldStateItem;
75 import com.generalrobotix.ui.item.GrxWorldStateItem.WorldStateEx;
76 import com.generalrobotix.ui.util.GrxDebugUtil;
77 import com.generalrobotix.ui.util.MessageBundle;
78 import com.generalrobotix.ui.view.tdview.ObjectToolBar;
79 import com.sun.j3d.utils.geometry.Box;
80 
81 @SuppressWarnings("serial") //$NON-NLS-1$
85 public class GrxPathPlanningView extends GrxBaseView {
86  public static final String TITLE = "Path Planning"; //$NON-NLS-1$
87 
88  private Grx3DView view_ = null;
89 
90  // モデル
91  private Combo modelSelect;
92 
93  // 移動アルゴリズム
94  private Combo mobilitySelect;
95 
96  // 経路最適化アルゴリズム
97  private Combo optimizerSelect;
98  private Button optimizeButton;
99 
100  // 位置、角度の表示用
101  private static final String FORMAT = "%.3f"; //$NON-NLS-1$
102  private static final int TEXT_WIDTH = 64;
103  // Start Position
104  private Button btnSetStartPoint;
105  private Text textStartX, textStartY, textStartTheta;
106  // End Position
107  private Button btnSetEndPoint;
108  private Text textEndX, textEndY, textEndTheta;
109 
110  // 経路計画アルゴリズムとパラメータの選択
111  private Combo algoSelect;
112  private Button updatePropertyButton;
113 
114  // 計算開始、キャンセル
115  private Button btnCalcStart, /*btnCalcCancel,*/btnVisible;
116  private Label imgLabel;
117 
118  // 経路の高さ、可視性
119  private Text carpetZ;
120 
121  // 干渉チェックのトレランス
122  private Text tolerance_;
123 
124  private Button chkRebuildRoadmap_;
125 
126  // 経路表示
127  private Switch switcher_;
128  private Transform3D carpetTrans;
129  private TransformGroup carpetTransGroup;
130  private BranchGroup carpet_;
131  final double DEFAULT_CARPET_Z = 0.01;
132 
133  private GrxPathPlanningAlgorithmItem ppaItem_ = null;
134 
135 
143  public GrxPathPlanningView(String name, GrxPluginManager manager, GrxBaseViewPart vp, Composite parent) {
144  super(name, manager, vp, parent);
145 
146  GridLayout gl = new GridLayout(1,false);
147  getComposite().setLayout( gl );
148 
149  initGUI();
150  initJava3D();
151 
152  setUp();
153  manager_.registerItemChangeListener(this, GrxPathPlanningAlgorithmItem.class);
154  }
155 
156  public void setUp(){
157  removeCarpet();
158  if(ppaItem_ != null)
159  ppaItem_.deleteObserver(this);
160  ppaItem_ = manager_.<GrxPathPlanningAlgorithmItem>getSelectedItem(GrxPathPlanningAlgorithmItem.class, null);
161  if(ppaItem_!=null){
162  update();
163  setppaItem();
164  ppaItem_.addObserver(this);
165  }else
166  setEnabled(false);
167  }
168 
175  private Composite getComp(int grid, int style){
176  Composite comp = new Composite( getComposite(), style );
177  GridLayout layout = new GridLayout( grid, false );
178  comp.setLayout( layout );
179  comp.setLayoutData( new GridData(GridData.FILL_HORIZONTAL) );
180  return comp;
181  }
182 
186  private void initGUI(){
187  //使いまわす
188  Composite comp;
189  Label l;
190  GridData gd;
191 
192  //---- robot select
193 
194  comp = getComp( 5, SWT.NONE );
195 
196  l = new Label(comp, SWT.NONE);
197  l.setText(MessageBundle.get("GrxPathPlanningView.label.model")); //$NON-NLS-1$
198  modelSelect = new Combo( comp, SWT.NONE|SWT.READ_ONLY );
199  modelSelect.setLayoutData( new GridData(GridData.FILL_HORIZONTAL) );
200  modelSelect.addSelectionListener(new SelectionListener(){
201  public void widgetDefaultSelected(SelectionEvent e) {
202  }
203  public void widgetSelected(SelectionEvent e) {
204  ppaItem_.setProperty("model", modelSelect.getItem(modelSelect.getSelectionIndex())); //$NON-NLS-1$
205  }
206  });
207 
208  l = new Label(comp, SWT.NONE);
209  l.setText(MessageBundle.get("GrxPathPlanningView.label.mobility")); //$NON-NLS-1$
210  mobilitySelect = new Combo( comp, SWT.NONE|SWT.READ_ONLY );
211  mobilitySelect.setLayoutData( new GridData(GridData.FILL_HORIZONTAL) );
212  mobilitySelect.addSelectionListener(new SelectionListener(){
213  public void widgetDefaultSelected(SelectionEvent e) {
214  }
215  public void widgetSelected(SelectionEvent e) {
216  ppaItem_.setProperty("mobility", mobilitySelect.getItem(mobilitySelect.getSelectionIndex())); //$NON-NLS-1$
217  }
218  });
219 
220  //---- start and goal
221 
222  comp = getComp( 8, SWT.NONE);
223 
224  btnSetStartPoint = new Button( comp, SWT.NONE );
225  btnSetStartPoint.setText(MessageBundle.get("GrxPathPlanningView.button.start")); //$NON-NLS-1$
226  btnSetStartPoint.addSelectionListener(new SelectionAdapter(){
227  public void widgetSelected(SelectionEvent e){
228  getStartPoint();
229  }
230  });
231 
232 
233  l = new Label( comp, SWT.NONE );
234  l.setText("X:"); //$NON-NLS-1$
235  textStartX = new Text( comp, SWT.SINGLE | SWT.BORDER);
236  gd = new GridData();
237  gd.widthHint = TEXT_WIDTH;
238  textStartX.setLayoutData( gd );
239  textStartX.addKeyListener(new KeyListener(){
240  public void keyPressed(KeyEvent e) {
241  }
242  public void keyReleased(KeyEvent e) {
243  Double d = Double.parseDouble(textStartX.getText());
244  if (d != null){
245  ppaItem_.setDbl("startX", d); //$NON-NLS-1$
246  }
247  }
248  });
249 
250  l = new Label( comp, SWT.NONE );
251  l.setText("Y:"); //$NON-NLS-1$
252  textStartY = new Text( comp, SWT.SINGLE | SWT.BORDER);
253  gd = new GridData();
254  gd.widthHint = TEXT_WIDTH;
255  textStartY.setLayoutData( gd );
256  textStartY.addKeyListener(new KeyListener(){
257  public void keyPressed(KeyEvent e) {
258  }
259  public void keyReleased(KeyEvent e) {
260  Double d = Double.parseDouble(textStartY.getText());
261  if (d != null){
262  ppaItem_.setDbl("startY", d); //$NON-NLS-1$
263  }
264  }
265  });
266 
267 
268  l = new Label( comp, SWT.NONE );
269  l.setText("Yaw:"); //$NON-NLS-1$
270  textStartTheta = new Text( comp, SWT.SINGLE | SWT.BORDER);
271  gd = new GridData();
272  gd.widthHint = TEXT_WIDTH;
273  textStartTheta.setLayoutData( gd );
274  textStartTheta.addKeyListener(new KeyListener(){
275  public void keyPressed(KeyEvent e) {
276  }
277  public void keyReleased(KeyEvent e) {
278  Double d = Double.parseDouble(textStartTheta.getText());
279  if (d != null){
280  ppaItem_.setDbl("startTheta", d); //$NON-NLS-1$
281  }
282  }
283  });
284 
285 
286  Button setStart = new Button( comp, SWT.NONE );
287  setStart.setText(MessageBundle.get("GrxPathPlanningView.button.set")); //$NON-NLS-1$
288  setStart.addSelectionListener(new SelectionAdapter(){
289  public void widgetSelected(SelectionEvent e){
290  ppaItem_.setStartPoint();
291  }
292  });
293 
294 
295  btnSetEndPoint = new Button( comp, SWT.NONE );
296  btnSetEndPoint.setText(MessageBundle.get("GrxPathPlanningView.button.end")); //$NON-NLS-1$
297  btnSetEndPoint.addSelectionListener(new SelectionAdapter(){
298  public void widgetSelected(SelectionEvent e){
299  getEndPoint();
300  }
301  });
302 
303  l = new Label( comp, SWT.NONE );
304  l.setText("X:"); //$NON-NLS-1$
305  textEndX = new Text( comp, SWT.SINGLE | SWT.BORDER);
306  gd = new GridData();
307  gd.widthHint = TEXT_WIDTH;
308  textEndX.setLayoutData( gd );
309  textEndX.addKeyListener(new KeyListener(){
310  public void keyPressed(KeyEvent e) {
311  }
312  public void keyReleased(KeyEvent e) {
313  Double d = Double.parseDouble(textEndX.getText());
314  if (d != null){
315  ppaItem_.setDbl("goalX", d); //$NON-NLS-1$
316  }
317  }
318  });
319 
320 
321 
322  l = new Label( comp, SWT.NONE );
323  l.setText("Y:"); //$NON-NLS-1$
324  textEndY = new Text( comp, SWT.SINGLE | SWT.BORDER);
325  gd = new GridData();
326  gd.widthHint = TEXT_WIDTH;
327  textEndY.setLayoutData( gd );
328  textEndY.addKeyListener(new KeyListener(){
329  public void keyPressed(KeyEvent e) {
330  }
331  public void keyReleased(KeyEvent e) {
332  Double d = Double.parseDouble(textEndY.getText());
333  if (d != null){
334  ppaItem_.setDbl("goalY", d); //$NON-NLS-1$
335  }
336  }
337  });
338 
339  l = new Label( comp, SWT.NONE );
340  l.setText("Yaw:"); //$NON-NLS-1$
341  textEndTheta = new Text( comp, SWT.SINGLE | SWT.BORDER);
342  gd = new GridData();
343  gd.widthHint = TEXT_WIDTH;
344  textEndTheta.setLayoutData( gd );
345  textEndTheta.addKeyListener(new KeyListener(){
346  public void keyPressed(KeyEvent e) {
347  }
348  public void keyReleased(KeyEvent e) {
349  Double d = Double.parseDouble(textEndTheta.getText());
350  if (d != null){
351  ppaItem_.setDbl("goalTheta", d); //$NON-NLS-1$
352  }
353  }
354  });
355 
356  Button setEnd = new Button( comp, SWT.NONE );
357  setEnd.setText(MessageBundle.get("GrxPathPlanningView.button.set")); //$NON-NLS-1$
358  setEnd.addSelectionListener(new SelectionAdapter(){
359  public void widgetSelected(SelectionEvent e){
360  ppaItem_.setEndPoint();
361  }
362  });
363 
364  // ---- robot Z position
365  Composite roboZComp = getComp( 4, SWT.NONE );
366 
367  l = new Label(roboZComp, SWT.NONE);
368  l.setText(MessageBundle.get("GrxPathPlanningView.label.collision")); //$NON-NLS-1$
369 
370  tolerance_ = new Text(roboZComp, SWT.SINGLE | SWT.BORDER);
371  tolerance_.setText("0"); //$NON-NLS-1$
372  gd = new GridData();
373  gd.widthHint = TEXT_WIDTH;
374  tolerance_.setLayoutData( gd );
375  tolerance_.addFocusListener(new FocusListener(){
376  public void focusGained(FocusEvent e) {
377  }
378  public void focusLost(FocusEvent e) {
379  Double d = Double.parseDouble(tolerance_.getText());
380  if (d != null){
381  ppaItem_.setDbl("tolerance", d); //$NON-NLS-1$
382  }
383  }
384  });
385 
386  chkRebuildRoadmap_ = new Button(roboZComp,SWT.CHECK);
387  chkRebuildRoadmap_.setText(MessageBundle.get("GrxPathPlanningView.button.rebuild")); //$NON-NLS-1$
388  chkRebuildRoadmap_.addSelectionListener(new SelectionListener(){
389  public void widgetDefaultSelected(SelectionEvent e) {
390  }
391  public void widgetSelected(SelectionEvent e) {
392  if (chkRebuildRoadmap_.getSelection()){
393  ppaItem_.setProperty("rebuildRoadmap", "true"); //$NON-NLS-1$ //$NON-NLS-2$
394  }else{
395  ppaItem_.setProperty("rebuildRoadmap", "false"); //$NON-NLS-1$ //$NON-NLS-2$
396  }
397  }
398  });
399  chkRebuildRoadmap_.setSelection(true);
400 
401 
402  //---- algorithm
403 
404  Composite algoComp = getComp( 3, SWT.NONE );
405 
406  l = new Label(algoComp, SWT.NONE);
407  l.setText(MessageBundle.get("GrxPathPlanningView.label.algorithm")); //$NON-NLS-1$
408  algoSelect = new Combo( algoComp, SWT.READ_ONLY );
409  algoSelect.setLayoutData( new GridData(GridData.FILL_HORIZONTAL) );
410  algoSelect.addSelectionListener(new SelectionListener(){
411  public void widgetDefaultSelected(SelectionEvent e) {
412  }
413  public void widgetSelected(SelectionEvent e) {
414  ppaItem_.setProperty("algorithm", algoSelect.getItem(algoSelect.getSelectionIndex())); //$NON-NLS-1$
415  }
416  });
417 
418  updatePropertyButton = new Button(algoComp, SWT.NONE);
419  updatePropertyButton.setText(MessageBundle.get("GrxPathPlanningView.button.getProperties")); //$NON-NLS-1$
420  updatePropertyButton.addSelectionListener(new SelectionAdapter(){
421  public void widgetSelected(SelectionEvent e){
422  ppaItem_.propertyUpdate();
423  }
424  });
425 
426  //---- calculate
427 
428  Composite calcComp = getComp( 5, SWT.NONE );
429 
430  btnCalcStart = new Button( calcComp, SWT.NONE );
431  btnCalcStart.setText(MessageBundle.get("GrxPathPlanningView.button.calcStart")); //$NON-NLS-1$
432  btnCalcStart.addSelectionListener(new SelectionAdapter(){
433  public void widgetSelected(SelectionEvent e){
434  removeCarpet();
435  ppaItem_.startCalc();
436  displayCarpet();
437  pathGraph();
438  }
439  });
440 
441  imgLabel = new Label(calcComp, SWT.BORDER);
442  imgLabel.setImage( Activator.getDefault().getImage("grxrobot1.png" ) ); //$NON-NLS-1$
443 
444 
445  l = new Label(calcComp, SWT.NONE);
446  l.setText(MessageBundle.get("GrxPathPlanningView.label.optimizer")); //$NON-NLS-1$
447  optimizerSelect = new Combo( calcComp, SWT.NONE|SWT.READ_ONLY );
448  optimizerSelect.setLayoutData( new GridData(GridData.FILL_HORIZONTAL) );
449  optimizerSelect.addSelectionListener(new SelectionListener(){
450  public void widgetDefaultSelected(SelectionEvent e) {
451  }
452  public void widgetSelected(SelectionEvent e) {
453  ppaItem_.setProperty("optimizer", optimizerSelect.getItem(optimizerSelect.getSelectionIndex())); //$NON-NLS-1$
454  }
455  });
456 
457  optimizeButton = new Button( calcComp, SWT.NONE );
458  optimizeButton.setText(MessageBundle.get("GrxPathPlanningView.button.optimize")); //$NON-NLS-1$
459  optimizeButton.addSelectionListener(new SelectionAdapter(){
460  public void widgetSelected(SelectionEvent e){
461  ppaItem_.optimize();
462  removeCarpet();
463  displayCarpet();
464  pathGraph();
465  }
466  });
467 
468 
469  // ---- Route View
470  Composite carpetComp = getComp( 5, SWT.NONE );
471 
472  l = new Label(carpetComp, SWT.NONE);
473  l.setText(MessageBundle.get("GrxPathPlanningView.label.path")); //$NON-NLS-1$
474 
475  btnVisible = new Button( carpetComp, SWT.TOGGLE );
476  btnVisible.setText(MessageBundle.get("GrxPathPlanningView.button.visible")); //$NON-NLS-1$
477  btnVisible.setSelection(true);
478  btnVisible.addSelectionListener(new SelectionAdapter(){
479  public void widgetSelected(SelectionEvent e){
480  boolean selection = btnVisible.getSelection();
481  if (selection) {
482  System.out.println("TRUE"); //$NON-NLS-1$
483  switcher_.setWhichChild(0);
484  } else {
485  System.out.println("FALSE"); //$NON-NLS-1$
486  switcher_.setWhichChild(Switch.CHILD_NONE);
487  }
488 
489  }
490  });
491 
492  l = new Label(carpetComp, SWT.NONE);
493  l.setText(MessageBundle.get("GrxPathPlanningView.label.carpetZ")); //$NON-NLS-1$
494 
495  carpetZ = new Text(carpetComp, SWT.SINGLE | SWT.BORDER );
496  carpetZ.setLayoutData( new GridData(GridData.FILL_HORIZONTAL) );
497  carpetZ.setText( String.valueOf(DEFAULT_CARPET_Z) );
498  carpetZ.addKeyListener(new KeyListener(){
499  public void keyPressed(KeyEvent e) {}
500  public void keyReleased(KeyEvent e) {
501  if (e.character == SWT.CR) {
502  updateCarpet();
503  }
504  }
505  });
506  carpetZ.addFocusListener(new FocusListener(){
507  public void focusGained(FocusEvent e) {
508  }
509  public void focusLost(FocusEvent e) {
510  Double d = Double.parseDouble(carpetZ.getText());
511  if (d != null){
512  ppaItem_.setDbl("carpetZ", d); //$NON-NLS-1$
513  }
514  }
515  });
516 
517  setScrollMinSize(SWT.DEFAULT,SWT.DEFAULT);
518  }
519 
520 
521  private void initJava3D(){
522  carpet_ = new BranchGroup();
523  carpet_.setCapability(BranchGroup.ALLOW_CHILDREN_READ);
524  carpet_.setCapability(BranchGroup.ALLOW_CHILDREN_WRITE);
525  carpet_.setCapability(BranchGroup.ALLOW_CHILDREN_EXTEND);
526  carpet_.setCapability(BranchGroup.ALLOW_DETACH); //親(carpetTransGroup)から離れられるようにする
527 
528  carpetTrans = new Transform3D();
529  carpetTrans.setTranslation( new Vector3d(0,0, getCarpetZPosition()) );
530 
531  carpetTransGroup = new TransformGroup();
532  carpetTransGroup.setCapability( TransformGroup.ALLOW_TRANSFORM_READ );
533  carpetTransGroup.setCapability( TransformGroup.ALLOW_TRANSFORM_WRITE );
534  carpetTransGroup.setCapability( Group.ALLOW_CHILDREN_WRITE);
535  carpetTransGroup.setCapability( Group.ALLOW_CHILDREN_EXTEND);
536  carpetTransGroup.setTransform( carpetTrans );
537  carpetTransGroup.addChild( carpet_ );
538 
539  switcher_ = new Switch();
540  switcher_.setCapability(Switch.ALLOW_SWITCH_READ);
541  switcher_.setCapability(Switch.ALLOW_SWITCH_WRITE);
542  switcher_.addChild( carpetTransGroup );
543  switcher_.setWhichChild(0);
544  }
545 
546 
550  private void update(){
551  String[] algoNames = ppaItem_.getAlgorithms();
552  algoSelect.removeAll();
553  for( String s: algoNames )
554  algoSelect.add( s );
555 
556  // mobilities
557  String[] mobilityNames = ppaItem_.getMobilityNames();
558  mobilitySelect.removeAll();
559  for( String s: mobilityNames )
560  mobilitySelect.add( s );
561 
562  // optimizers
563  String[] optimizerNames = ppaItem_.getOptimizerNames();
564  optimizerSelect.removeAll();
565  for( String s: optimizerNames )
566  optimizerSelect.add( s );
567 
568  if (ppaItem_ != null){
569  String algorithmName = ppaItem_.getStr("algorithm", ""); //$NON-NLS-1$ //$NON-NLS-2$
570  if (algoSelect.indexOf(algorithmName) >= 0){
571  algoSelect.select(algoSelect.indexOf(algorithmName));
572  }
573  String mobilityName = ppaItem_.getStr("mobility", ""); //$NON-NLS-1$ //$NON-NLS-2$
574  if (mobilitySelect.indexOf(mobilityName) >= 0){
575  mobilitySelect.select(mobilitySelect.indexOf(mobilityName));
576  }
577  String optimizerName = ppaItem_.getStr("optimizer", ""); //$NON-NLS-1$ //$NON-NLS-2$
578  if (optimizerSelect.indexOf(optimizerName) >= 0){
579  optimizerSelect.select(optimizerSelect.indexOf(optimizerName));
580  }
581  }
582  }
583 
587  private void removeCarpet() {
588  try{
589  carpetTransGroup.removeChild( carpet_ );
590  carpet_.removeAllChildren();
591  carpetTransGroup.addChild( carpet_ );
592  }catch( Exception e ){
593  e.printStackTrace();
594  }
595  }
596 
597  private String getRobotBaseLink( GrxModelItem model ) {
598  return model.rootLink().getName();
599  }
600 
601  private void getStartPoint(){
602  String robotName = modelSelect.getText();
603  GrxModelItem robot = (GrxModelItem)(manager_.getItem( GrxModelItem.class, robotName ));
604  if( robot == null )
605  return;
606  double [] tr = robot.getDblAry(getRobotBaseLink(robot)+".translation",null); //$NON-NLS-1$
607  double [] rot = robot.getDblAry(getRobotBaseLink(robot)+".rotation",null); //$NON-NLS-1$
608  try{
609  textStartX.setText( String.format( FORMAT, tr[0]) );
610  textStartY.setText( String.format( FORMAT, tr[1]) );
611  textStartTheta.setText( String.format( FORMAT, rot[3] / (2f*Math.PI) * 360f) );
612  if (ppaItem_ != null){
613  ppaItem_.setDbl("startX", tr[0]); //$NON-NLS-1$
614  ppaItem_.setDbl("startY", tr[1]); //$NON-NLS-1$
615  ppaItem_.setDbl("startTheta", rot[3]); //$NON-NLS-1$
616  }
617  }catch(Exception e){
618  return;
619  }
620  }
621 
622  private void getEndPoint(){
623  String robotName = modelSelect.getText();
624  GrxModelItem robot = (GrxModelItem)(manager_.getItem( GrxModelItem.class, robotName ));
625  if( robot == null )
626  return;
627  double [] tr = robot.getDblAry(getRobotBaseLink(robot)+".translation",null); //$NON-NLS-1$
628  double [] rot = robot.getDblAry(getRobotBaseLink(robot)+".rotation",null); //$NON-NLS-1$
629  try{
630  textEndX.setText( String.format( FORMAT, tr[0]) );
631  textEndY.setText( String.format( FORMAT, tr[1]) );
632  textEndTheta.setText( String.format( FORMAT, rot[3] / (2f*Math.PI) * 360f) );
633  if (ppaItem_ != null){
634  ppaItem_.setDbl("goalX", tr[0]); //$NON-NLS-1$
635  ppaItem_.setDbl("goalY", tr[1]); //$NON-NLS-1$
636  ppaItem_.setDbl("goalTheta", rot[3]); //$NON-NLS-1$
637  }
638  }catch(Exception e){
639  return;
640  }
641  }
642 
643  Grx3DView get3DView()
644  {
645  if( view_ == null )
646  view_ = (Grx3DView)manager_.getView(Grx3DView.class, false);
647  return view_;
648  }
649 
650  private void displayCarpet(){
651  double[][] path = ppaItem_.getPath();
652  for( int i=0; i+1<path.length; i++ ) {
653  double []p1 = path[i], p2 = path[i+1];
654  carpet( p1, p2 );
655  }
656  }
657 
663  private void carpet( double[] start, double[] goal ){
664  double carpetHeight=0.01;
665  double dx = goal[0] - start[0], dy = goal[1] - start[1], len = Math.sqrt( dx/2*dx/2+dy/2*dy/2 );
666  double theta;
667  if (len < 0.001){
668  len = 0.01;
669  theta = goal[2];
670  }else{
671  theta = Math.atan2( dy,dx );
672  }
673  //Point3d destPoint = new Point3d( x2+dx/2, y2+dy/2, getZPosition()+carpetHeight );
674  Point3d centerPoint = new Point3d( (start[0]+goal[0])/2, (start[1]+goal[1])/2, 0 );
675 
676  // APPEARANCE
677  Appearance appea = new Appearance( );
678  Material material = new Material( );
679  Color3f color = new Color3f( 0, 1f, 0 );
680  material.setDiffuseColor( color );
681  appea.setMaterial( material );
682  appea.setTransparencyAttributes(new TransparencyAttributes( TransparencyAttributes.NICEST,0.7f ) );
683  // carpet block
684  Box box = new Box( (float)len, 0.1f, (float) carpetHeight, appea );
685  // 移動回転
686  Transform3D tr = new Transform3D();
687  tr.setTranslation( new Vector3d( centerPoint ) );
688  Transform3D rot = new Transform3D();
689  rot.rotZ( theta );
690  tr.mul(rot);
691  // ノードの追加
692  BranchGroup bg = new BranchGroup();
693  TransformGroup newtg = new TransformGroup( tr );
694  bg.addChild( newtg );
695  newtg.addChild( box );
696  carpet_.addChild( bg );
697  }
698 
699 
700 
704  private void pathGraph(){
705  if ( view_ == null ){
706  view_ = get3DView();
707  if( view_ != null ){
708  BranchGroup bg = new BranchGroup();
709  bg.addChild( switcher_ );
710  view_.attachUnclickable( bg );
711  }else{
712  GrxDebugUtil.println("[GrxPathPlanningView] can't find 3DView"); //$NON-NLS-1$
713  }
714  }
715 
716  RoadmapNode[] tree = ppaItem_.getRoadmap();
717 
718  Vector<Point3d> vertex = new Vector<Point3d>();
719 
720  // LineArrayで使うためにvectorへ放り込む
721  for( RoadmapNode n : tree ){
722  Point3d start = new Point3d( n.cfg[0], n.cfg[1], 0 ); //三つめはtheta
723  for( int l : n.neighbors ){
724  // 一方向リンクなのでダブりは考えなくてよし
725  Point3d to = new Point3d(tree[l].cfg[0],tree[l].cfg[1],0);
726  vertex.add( start );
727  vertex.add( to );
728  //GrxDebugUtil.println("[PPV]@pathGraph start"+start+" to "+to );
729  }
730  }
731 
732  GrxDebugUtil.println("[PPV]@pathGraph size="+vertex.size()); //$NON-NLS-1$
733  if (vertex.size() == 0) return;
734  LineArray geometry = new LineArray(vertex.size(), GeometryArray.COORDINATES | GeometryArray.COLOR_3);
735  geometry.setCoordinates(0, vertex.toArray(new Point3d[vertex.size()]) );
736  for( int i=0; i<vertex.size(); i++)
737  geometry.setColor(i, new Color3f(Color.red));
738 
739  // ノードの追加
740  Shape3D graph = new Shape3D(geometry);
741  graph.setPickable(false);
742  // 移動回転
743  Transform3D tr = new Transform3D();
744  tr.setTranslation( new Vector3d( 0,0,0 ) );
745  BranchGroup bg = new BranchGroup();
746  TransformGroup newtg = new TransformGroup( tr );
747  bg.addChild( newtg );
748  newtg.addChild( graph );
749 
750  carpet_.addChild( bg );
751 
752  return;
753  }
754 
755 
756  public void registerItemChange(GrxBaseItem item, int event){
757  if(item instanceof GrxPathPlanningAlgorithmItem){
758  GrxPathPlanningAlgorithmItem ppa = (GrxPathPlanningAlgorithmItem) item;
759  switch(event){
760  case GrxPluginManager.SELECTED_ITEM:
761  if(ppaItem_!= ppa){
762  ppaItem_ = ppa;
763  ppaItem_.addObserver(this);
764  update();
765  setppaItem();
766  }
767  break;
768  case GrxPluginManager.REMOVE_ITEM:
769  removeCarpet();
770  case GrxPluginManager.NOTSELECTED_ITEM:
771  if(ppaItem_==ppa){
772  ppaItem_.deleteObserver(this);
773  ppaItem_ = null;
774  setEnabled(false);
775  }
776  break;
777  default:
778  break;
779  }
780  }
781  }
782 
783  private void setppaItem(){
784  setEnabled(true);
785  String modelName = null;
786  if (ppaItem_ != null){
787  modelName = ppaItem_.getStr("model", null); //$NON-NLS-1$
788  }else{
789  modelName = modelSelect.getText();
790  }
791 
792  Object[] items = manager_.getSelectedItemList( GrxModelItem.class ).toArray();
793  modelSelect.removeAll();
794  for( Object o: items ){
795  GrxModelItem model = (GrxModelItem)o;
796  if (model.isRobot()){
797  modelSelect.add( o.toString() );
798  }
799  }
800  if (modelName != null && modelSelect.indexOf(modelName) >= 0){
801  modelSelect.select(modelSelect.indexOf(modelName));
802  }
803 
804  if (ppaItem_ != null){
805  String mobilityName = ppaItem_.getStr("mobility", ""); //$NON-NLS-1$ //$NON-NLS-2$
806  if (mobilitySelect.indexOf(mobilityName) >= 0){
807  mobilitySelect.select(mobilitySelect.indexOf(mobilityName));
808  }else{
809  mobilitySelect.deselectAll();
810  }
811  String optimizerName = ppaItem_.getStr("optimizer", ""); //$NON-NLS-1$ //$NON-NLS-2$
812  if (optimizerSelect.indexOf(optimizerName) >= 0){
813  optimizerSelect.select(optimizerSelect.indexOf(optimizerName));
814  }else{
815  optimizerSelect.deselectAll();
816  }
817  String algorithmName = ppaItem_.getStr("algorithm", ""); //$NON-NLS-1$ //$NON-NLS-2$
818  if (algoSelect.indexOf(algorithmName) >= 0){
819  algoSelect.select(algoSelect.indexOf(algorithmName));
820  }else{
821  algoSelect.deselectAll();
822  }
823  Double sx = ppaItem_.getDbl("startX", null); //$NON-NLS-1$
824  if (sx != null){
825  textStartX.setText(sx.toString());
826  }else{
827  textStartX.setText(""); //$NON-NLS-1$
828  }
829  Double sy = ppaItem_.getDbl("startY", null); //$NON-NLS-1$
830  if (sy != null){
831  textStartY.setText(sy.toString());
832  }else{
833  textStartY.setText(""); //$NON-NLS-1$
834  }
835  Double st = ppaItem_.getDbl("startTheta", null); //$NON-NLS-1$
836  if (st != null){
837  textStartTheta.setText(st.toString());
838  }else{
839  textStartTheta.setText(""); //$NON-NLS-1$
840  }
841  Double ex = ppaItem_.getDbl("goalX", null); //$NON-NLS-1$
842  if (ex != null){
843  textEndX.setText(ex.toString());
844  }else{
845  textEndX.setText(""); //$NON-NLS-1$
846  }
847  Double ey = ppaItem_.getDbl("goalY", null); //$NON-NLS-1$
848  if (ey != null){
849  textEndY.setText(ey.toString());
850  }else{
851  textEndY.setText(""); //$NON-NLS-1$
852  }
853  Double et = ppaItem_.getDbl("goalTheta", null); //$NON-NLS-1$
854  if (et != null){
855  textEndTheta.setText(et.toString());
856  }else{
857  textEndTheta.setText(""); //$NON-NLS-1$
858  }
859  chkRebuildRoadmap_.setSelection(ppaItem_.isTrue("rebuildRoadmap", true)); //$NON-NLS-1$
860  tolerance_.setText(ppaItem_.getDbl("tolerance",0.0).toString()); //$NON-NLS-1$
861  carpetZ.setText(ppaItem_.getDbl("carpetZ",0.01).toString()); //$NON-NLS-1$
862  }
863 
864  }
865 
870  double getCarpetZPosition(){
871  double z;
872  try{
873  z= Double.valueOf( carpetZ.getText() );
874  }catch(Exception e){
875  z=0.2;
876  e.printStackTrace();
877  }
878  return z;
879  }
880 
885  void updateCarpet(){
886  carpetTrans.setTranslation( new Vector3d(0,0, getCarpetZPosition() ) );
887  carpetTransGroup.setTransform( carpetTrans );
888  }
889 
894  public void setEnabled(boolean b){
895  Control[] ctl = getComposite().getChildren();
896  for (int i=0; i<ctl.length; i++){
897  ctl[i].setEnabled(b);
898  if (ctl[i] instanceof Composite){
899  Composite cmp = (Composite)ctl[i];
900  Control[] ctl2 = cmp.getChildren();
901  for (int j=0; j<ctl2.length; j++){
902  ctl2[j].setEnabled(b);
903  }
904  }
905  }
906  }
907 
908  public void update(GrxBasePlugin plugin, Object... arg) {
909  if(ppaItem_==plugin){
910  if(((String)arg[0]).equals("connected")){ //$NON-NLS-1$
911  update();
912  }
913  }
914  }
915 
916  public void shutdown() {
917  removeCarpet();
918  manager_.removeItemChangeListener(this, GrxPathPlanningAlgorithmItem.class);
919  if(ppaItem_!=null)
920  ppaItem_.deleteObserver(this);
921  }
922 }
com.generalrobotix.ui.util.MessageBundle.get
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Definition: MessageBundle.java:50
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Definition: GrxConfigBundle.java:436
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final double[] getDblAry(String key, double[] defaultVal)
get double array associated to key
Definition: GrxConfigBundle.java:268
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#define null
our own NULL pointer
Definition: IceTypes.h:57
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Definition: png.h:2382
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item corresponds to a robot model
Definition: GrxModelItem.java:52
FORMAT
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com.generalrobotix.ui.view.GrxPathPlanningView.update
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Definition: GrxPathPlanningView.java:908
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associate double value to key
Definition: GrxConfigBundle.java:393
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get root link
Definition: GrxModelItem.java:375
j
def j(str, encoding="cp932")
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set property value associated with a keyword
Definition: GrxBasePlugin.java:477
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Definition: GrxPathPlanningView.java:756
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final Double getDbl(String key, Double defaultVal)
get double value associated to key
Definition: GrxConfigBundle.java:212
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Definition: GrxConfigBundle.java:78
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Definition: Grx3DView.java:1830
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Definition: GrxPathPlanningView.java:663
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Definition: GrxPathPlanningView.java:550
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Definition: GrxPathPlanningView.java:143
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openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sat Apr 13 2019 02:14:22