sorted_twists_widget.py

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from python_qt_binding.QtWidgets import QAbstractItemView, QTableWidgetSelectionRange
 
from .table_widget import TableWidget
 
HEADERS = ['Score', 'X', 'Theta']
 
 
class SortedTwistsWidget(TableWidget):
    """This widget displays a sorted list of all the trajectories in tabular format."""
 
    def __init__(self, parent, selection_callback):
        TableWidget.__init__(self, HEADERS)
        self.table.setSelectionBehavior(QAbstractItemView.SelectRows)
        self.table.itemSelectionChanged.connect(self.itemSelectionChanged)
        self.evaluation = None
        self.selected = []
        self.selection_callback = selection_callback
        self.sorted_twists = []
        self.row_mapping = []
        self.update_selection = True
 
    def setEvaluation(self, evaluation):
        self.evaluation = evaluation
        self.selected = []
        self.table.resize(self.size())
        self.table.setRowCount(len(evaluation.twists))
 
        # Tuples of original index and twist, sorted by increasing total cost
        self.sorted_twists = sorted(enumerate(evaluation.twists), key=lambda x: (x[1].total < 0, x[1].total))
 
        self.row_mapping = [-1] * len(evaluation.twists)
        for row_index, (original_index, twist) in enumerate(self.sorted_twists):
            self.setValue(row_index, 0, '%5.2f' % twist.total)
            self.setValue(row_index, 1, '%.2f' % twist.traj.velocity.x)
            self.setValue(row_index, 2, '%.2f' % twist.traj.velocity.theta)
            self.row_mapping[original_index] = row_index
        self.update()
 
    def setSelected(self, selected):
        for index in self.selected:
            if index in selected:
                continue
            row = self.row_mapping[index]
            self.setRowColor(row, None)
 
        self.selected = selected
        self.update_selection = False
 
        # Deselect Everything
        self.table.setRangeSelected(QTableWidgetSelectionRange(0, 0,
                                                               self.table.rowCount() - 1, self.table.columnCount() - 1
                                                               ),
                                    False)
 
        for index in selected:
            row = self.row_mapping[index]
            self.setRowColor(row, selected[index])
        self.update_selection = True
 
    def getSelectedRows(self):
        rows = set()
        for index in self.table.selectedIndexes():
            rows.add(index.row())
        return list(rows)
 
    def itemSelectionChanged(self):
        if not self.update_selection:
            return
        rows = self.getSelectedRows()
 
        new_selected = list(self.selected)
        for row_num in rows:
            selection = self.sorted_twists[row_num][0]
            if selection in self.selected:
                new_selected.remove(selection)
            else:
                new_selected.append(selection)
        self.selection_callback(new_selected)