/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/ui/gloveCalibrationDlg.cpp

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//######################################################################
//
// GraspIt!
// Copyright (C) 2002-2009  Columbia University in the City of New York.
// All rights reserved.
//
// GraspIt! is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// GraspIt! is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
//
// Author(s): Matei T. Ciocarlie
//
// $Id: gloveCalibrationDlg.cpp,v 1.3 2009/03/30 20:42:12 cmatei Exp $
//
//######################################################################

#include "gloveCalibrationDlg.h"

#include <QFileDialog>

#include "world.h"
#include "graspitGUI.h"
#include "ivmgr.h"
#include "robot.h"
#include "gloveInterface.h"

void GloveCalibrationDlg::init()
{
//      calibrateButton->setEnabled(false);

        World *w=graspItGUI->getIVmgr()->getWorld();
        mInterface = w->getCurrentHand()->getGloveInterface();

        mInterface->saveRobotPose();

        calibrationTypeBox->insertItem( "Fist" );
        calibrationTypeBox->insertItem( "Simple thumb" );
        calibrationTypeBox->insertItem( "Complex thumb" );
        calibrationTypeBox->insertItem( "Abd. - Add." );
        calibrationTypeBox->insertItem( "Mean Pose" );
        calibrationTypeBox->setCurrentItem(2);
    mInterface->initCalibration( GloveInterface::COMPLEX_THUMB );

        poseDistanceBox->insertItem("0");
        poseDistanceBox->insertItem("17");
        poseDistanceBox->insertItem("61");
        poseDistanceBox->insertItem("82");
        poseDistanceBox->setCurrentItem(0);

        update();
}

void GloveCalibrationDlg::prevPose()
{
        mInterface->nextPose(-1);
        mInterface->showCurrentPose();
        update();
}


void GloveCalibrationDlg::nextPose()
{
        mInterface->nextPose( 1);
        mInterface->showCurrentPose();
        update();
}


void GloveCalibrationDlg::record()
{
        int d = poseDistanceBox->currentText().toInt();
        mInterface->recordPoseFromGlove(d);
        mInterface->showCurrentPose();
        update();
}

void GloveCalibrationDlg::update()
{
        if ( mInterface->poseSet() ){
                textLabel2->setText("Pose recorded");

        } else {
                textLabel2->setText("No values recorded");
        }

        if ( mInterface->readyToCalibrate() ) {
                calibrateButton->setEnabled(true);
        } else
                calibrateButton->setEnabled(false);

        numberPosesLabel->setNum( mInterface->getNumPoses() );
}

void GloveCalibrationDlg::calibrate()
{
        mInterface->performCalibration();
        update();
}


void GloveCalibrationDlg::save()
{
        QString fn( QFileDialog::getSaveFileName( this, QString(), QString(getenv("GRASPIT"))+QString("/models/CyberGlove"),
                                "Glove Pose Files (*.txt)") );
    if ( !fn.isEmpty() ) {
            if (fn.section('.',1).isEmpty())
                        fn.append(".txt");
                mInterface->saveCalibration( fn.latin1() );
        }
}


void GloveCalibrationDlg::done()
{
// mInterface->revertRobotPose();
        QDialog::accept();
}


void GloveCalibrationDlg::savePoses()
{
        QString fn( QFileDialog::getSaveFileName(this, QString(), QString(getenv("GRASPIT"))+QString("/models/CyberGlove"),
                                "Glove Pose Files (*.pos)" ) );
    if ( !fn.isEmpty() ) {
            if (fn.section('.',1).isEmpty())
                        fn.append(".pos");
                mInterface->saveCalibrationPoses( fn.latin1() );
        }
}


void GloveCalibrationDlg::loadPoses()
{
        QString fn( QFileDialog::getOpenFileName(this, QString(), QString(getenv("GRASPIT"))+QString("/models/CyberGlove"),
                            "Glove Pose Files (*.pos)") );
        if ( !fn.isEmpty() ) {
                mInterface->loadCalibrationPoses( fn.latin1() );
        }
        update();
}

void GloveCalibrationDlg::loadCalibration()
{
        QString fn( QFileDialog::getOpenFileName(this, QString(), QString(getenv("GRASPIT"))+QString("/models/CyberGlove"),
                        "Glove Pose Files (*.txt)") );
    if ( !fn.isEmpty() ) {
                mInterface->loadCalibration( fn.latin1() );
        }
}


void GloveCalibrationDlg::initCalibration()
{
        switch( calibrationTypeBox->currentItem() ) {
        case 0:
                mInterface->initCalibration( GloveInterface::FIST );
                break;
        case 1:
                mInterface->initCalibration( GloveInterface::SIMPLE_THUMB );
                break;
        case 2:
                mInterface->initCalibration( GloveInterface::COMPLEX_THUMB );
                break;
        case 3:
                mInterface->initCalibration( GloveInterface::ABD_ADD );
                break;
        case 4:
                mInterface->initCalibration( GloveInterface::MEAN_POSE );
                break;
        default:
                break;
        }
}


void GloveCalibrationDlg::clearPoses()
{
        mInterface->clearPoses();
        update();
}


void GloveCalibrationDlg::startGlove()
{
        mInterface->startGlove();
}

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graspit
Author(s):
autogenerated on Wed Jan 25 10:58:53 2012