graspit: /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit

00001 //######################################################################
00002 //
00003 // GraspIt!
00004 // Copyright (C) 2002-2009  Columbia University in the City of New York.
00005 // All rights reserved.
00006 //
00007 // GraspIt! is free software: you can redistribute it and/or modify
00008 // it under the terms of the GNU General Public License as published by
00009 // the Free Software Foundation, either version 3 of the License, or
00010 // (at your option) any later version.
00011 //
00012 // GraspIt! is distributed in the hope that it will be useful,
00013 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00014 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015 // GNU General Public License for more details.
00016 //
00017 // You should have received a copy of the GNU General Public License
00018 // along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
00019 //
00020 // Author(s): Andrew T. Miller and Matei T. Ciocarlie
00021 //
00022 // $Id: mainWindow.cpp,v 1.25 2009/09/29 22:26:41 cmatei Exp $
00023 //
00024 //######################################################################
00025 
00026 #include "mainWindow.h"
00027 
00028 #include <QDialog>
00029 #include <QStatusBar>
00030 
00031 #include <QLineEdit>
00032 #include <QMessageBox>
00033 #include <QApplication>
00034 #include <QComboBox>
00035 #include <QStatusBar>
00036 #include <QTime>
00037 #include <QFileDialog>
00038 
00039 #include <list>
00040 
00041 #include "defines.h"
00042 #include "mytools.h"
00043 #include "robot.h"
00044 #include "ivmgr.h"
00045 #include "world.h"
00046 #include "body.h"
00047 #include "grasp.h"
00048 #include "gwsprojection.h"
00049 #include "quality.h"
00050 #include "graspitGUI.h"
00051 #include "humanHand.h"
00052 //#include "about.h"
00053 //#include "GeometryLibInterface/geometryLibDlgWrapper.h"
00054 //#include "rosWrapper.h"
00055 #include "arch.h"
00056 
00057 #include "debug.h"
00058 
00059 #include "settingsDlg.h"
00060 #include "ui_about.h"
00061 #include "bodyPropDlg.h"
00062 #include "qmDlg.h"
00063 #include "gwsProjDlg.h"
00064 #include "plannerdlg.h"
00065 #include "eigenGraspDlg.h"
00066 #include "compliantPlannerDlg.h"
00067 #include "optimizerDlg.h"
00068 #include "gfoDlg.h"
00069 #include "contactExaminerDlg.h"
00070 #include "egPlannerDlg.h"
00071 #ifdef CGDB_ENABLED
00072 #include "DBase/dbaseDlg.h"
00073 #include "DBase/dbasePlannerDlg.h"
00074 #include "graspit_db_model.h"
00075 #endif
00076 #ifdef ARIZONA_PROJECT_ENABLED
00077 #include "arizona/arizonaProjectDlg.h"
00078 #endif
00079 #ifdef STAUBLI_CONTROL_ENABLED
00080 #include "staubli/staubliControlDlg.h"
00081 #endif
00082 #include "gloveCalibrationDlg.h"
00083 #include "graspCaptureDlg.h"
00084 #include "barrettHandDlg.h"
00085 #include "archBuilderDlg.h"
00086 #ifdef EIGENGRIDS
00087 #include "eigenGridsDlg.h"
00088 #endif
00089 #ifdef HARDWARE_LIB
00090 #include "sensorInputDlg.h"
00091 #endif
00092 
00093 //------------------------------------ CONSTRUCTOR AND DESTRUCTOR -------------------------------------
00094 
00095 MainWindow::MainWindow(QWidget *parent) 
00096 {
00097   mWindow = new Q3MainWindow(parent);
00098   //mWindow = new QMainWindow(parent);
00099   mUI = new Ui::MainWindowUI;
00100   mUI->setupUi(mWindow);
00101   init();
00102   // -- file menu
00103   QObject::connect(mUI->fileNewAction, SIGNAL(triggered()), this, SLOT(fileNew()));
00104   QObject::connect(mUI->fileOpenAction, SIGNAL(triggered()), this, SLOT(fileOpen()));
00105   QObject::connect(mUI->fileSaveAction, SIGNAL(triggered()), this, SLOT(fileSave()));
00106   QObject::connect(mUI->fileSaveAsAction, SIGNAL(triggered()), this, SLOT(fileSaveAs()));
00107   QObject::connect(mUI->fileImportRobotAction, SIGNAL(triggered()), this, SLOT(fileImportRobot()));
00108   QObject::connect(mUI->fileImportObstacleAction, SIGNAL(triggered()), this, SLOT(fileImportObstacle()));
00109   QObject::connect(mUI->fileImportObjectAction, SIGNAL(triggered()), this, SLOT(fileImportObject()));
00110   QObject::connect(mUI->fileEditSettingsAction, SIGNAL(triggered()), this, SLOT(fileEditSettings()));
00111   QObject::connect(mUI->fileSaveImageAction, SIGNAL(triggered()), this, SLOT(fileSaveImage()));
00112   QObject::connect(mUI->fileExitAction, SIGNAL(triggered()), this, SLOT(fileExit()));
00113   // -- help menu
00114   QObject::connect(mUI->helpManualAction, SIGNAL(triggered()), this, SLOT(helpManual()));
00115   QObject::connect(mUI->helpAboutAction, SIGNAL(triggered()), this, SLOT(helpAbout()));
00116   QObject::connect(mUI->helpAboutQTAction, SIGNAL(triggered()), this, SLOT(helpAboutQT()));
00117   // -- body meny
00118   QObject::connect(mUI->elementGroup, SIGNAL(selected(QAction*)), this, SLOT(setTool(QAction*)));
00119   QObject::connect(mUI->elementCollisionToggleAction, SIGNAL(activated()),
00120                    this, SLOT(elementTurnOffCollisions()));
00121   QObject::connect(mUI->elementCollisionToggleAction, SIGNAL(toggled(bool)),
00122                    this, SLOT(updateCollisionAction(bool)));
00123   QObject::connect(mUI->elementBodyPropertiesAction, SIGNAL(activated()),
00124                    this, SLOT(elementBodyProperties()));
00125   // -- grasp menu, part I
00126   QObject::connect(mUI->graspAutoGraspAction, SIGNAL(triggered()), this, SLOT(graspAutoGrasp()));
00127   QObject::connect(mUI->graspAuto_OpenAction, SIGNAL(triggered()), this, SLOT(graspAutoOpen()));
00128   QObject::connect(mUI->graspQualityMeasuresAction, SIGNAL(triggered()), this, SLOT(graspQualityMeasures()));
00129   QObject::connect(mUI->graspCreateProjectionAction, SIGNAL(triggered()), this, SLOT(graspCreateProjection()));
00130   QObject::connect(mUI->graspPlannerAction, SIGNAL(triggered()), this, SLOT(graspPlanner()));
00131   QObject::connect(mUI->graspGFOAction, SIGNAL(triggered()), this, SLOT(graspForceOptimization()));
00132   // -- grasp menu, part I
00133   QObject::connect(mUI->graspEigenGrasp_InterfaceAction, SIGNAL(triggered()), 
00134                    this, SLOT(eigenGraspActivated()));
00135   QObject::connect(mUI->graspContact_ExaminerAction, SIGNAL(triggered()),
00136                    this, SLOT(graspContactExaminer_activated()));
00137   QObject::connect(mUI->graspEigenGrasp_PlannerAction, SIGNAL(triggered()),
00138                    this, SLOT(eigenGraspPlannerActivated()));
00139   // -- dbase menu
00140   QObject::connect(mUI->dbaseGUIAction, SIGNAL(triggered()), 
00141                    this, SLOT(dbaseGUIAction_activated()));
00142   QObject::connect(mUI->dbasePlannerAction, SIGNAL(triggered()), 
00143                    this, SLOT(dbasePlannerAction_activated()));
00144   QObject::connect(mUI->dbaseGraspCaptureAction, SIGNAL(triggered()),
00145                    this, SLOT(graspCapture()));
00146   // -- sensors menu
00147   QObject::connect(mUI->sensorsSensor_InputAction, SIGNAL(triggered()), 
00148                    this, SLOT(sensorsSensor_InputAction_activated()));
00149   QObject::connect(mUI->sensorsBarrett_HandAction, SIGNAL(triggered()),
00150                    this, SLOT(sensorsBarrettHandAction()));
00151   // -- stereo menu
00152   QObject::connect(mUI->stereoOnAction, SIGNAL(triggered()), this, SLOT(stereoOn()));
00153   QObject::connect(mUI->stereoOffAction, SIGNAL(triggered()), this, SLOT(stereoOff()));
00154   QObject::connect(mUI->stereoFlip_leftrightAction, SIGNAL(triggered()), this, SLOT(stereoFlip()));
00155   // -- misc menu
00156   QObject::connect(mUI->dynamicsArch_BuilderAction, SIGNAL(triggered()), this, SLOT(archBuilder()));
00157   QObject::connect(mUI->miscOptimizerAction, SIGNAL(triggered()), this, SLOT(miscOptimizer()));
00158   QObject::connect(mUI->actionArizona_Project, SIGNAL(triggered()), 
00159                    this, SLOT(miscArizonaProjectDlg_activated()));
00160   QObject::connect(mUI->staubliControl, SIGNAL(triggered()), 
00161                    this, SLOT(misStaubliControlDlg()));
00162   QObject::connect(mUI->miscEigengridsAction, SIGNAL(triggered()), this, SLOT(miscEigengridsAction_activated()));
00163   // -- contacts
00164   QObject::connect(mUI->contactsListBox, SIGNAL(highlighted(int)), this, SLOT(contactSelected(int)));
00165   // -- dynamics
00166   QObject::connect(mUI->dynamicsPlayAction, SIGNAL(activated()), this, SLOT(toggleDynamics()));
00167   QObject::connect(mUI->dynamicsPopAction, SIGNAL(activated()), this, SLOT(dynamicsPopState()));
00168   QObject::connect(mUI->dynamicsPushAction, SIGNAL(activated()), this, SLOT(dynamicsPushState()));
00169   // -- toolbars
00170   QObject::connect(mUI->materialComboBox, SIGNAL(activated(int)), this, SLOT(materialSelected(int)));
00171   QObject::connect(mUI->graspedBodyBox, SIGNAL(activated(int)), this, SLOT(selectGraspedBody(int)));
00172   QObject::connect(mUI->handSelectionBox, SIGNAL(activated(int)), this, SLOT(setCurrentHand(int)));
00173   // -- tendon toolbar
00174   QObject::connect(mUI->TendonForceInput, SIGNAL(valueChanged(int)), this, SLOT(TendonForceInput_valueChanged(int)));
00175   QObject::connect(mUI->tendonNamesBox, SIGNAL(activated(int)), this, SLOT(tendonNamesBoxActivated(int)));
00176   QObject::connect(mUI->tendonVisibleCheckBox, SIGNAL(toggled(bool)), this, SLOT(tendonVisibleCheckBox_toggled(bool)));
00177   QObject::connect(mUI->forcesVisibleCheckBox, SIGNAL(toggled(bool)), this, SLOT(forcesVisibleCheckBox_toggled(bool)));}
00178 
00183 void MainWindow::init()
00184 {
00185   world = NULL;
00186   mUI->timeReadout->display("00:00.000");
00187   mWindow->statusBar()->message("Ready",2000);
00188   QIcon playIconSet = mUI->dynamicsPlayAction->iconSet();
00189   playIconSet.setPixmap(load_pixmap( "pause.xpm" ),QIcon::Automatic,QIcon::Normal,QIcon::On);
00190   mUI->dynamicsPlayAction->setIconSet(playIconSet);
00191   
00192   QIcon collisionIconSet = mUI->elementCollisionToggleAction->iconSet();
00193   collisionIconSet.setPixmap(load_pixmap("nocollide.xpm"),QIcon::Automatic,QIcon::Normal,QIcon::On);
00194   mUI->elementCollisionToggleAction->setIconSet(collisionIconSet);
00195 }
00196 
00200 void MainWindow::destroy()
00201 {
00202 }
00203 
00204 void MainWindow::destroyChildren()
00205 {
00206  //attempts to kill any open children;
00207  //QWidget::destroy(FALSE, TRUE);
00208 }
00209 
00214 void MainWindow::setMainWorld( World *w )
00215 {
00216   world = w;
00217   QObject::connect(world,SIGNAL(dynamicStepTaken()),this,SLOT(updateTimeReadout()));
00218   QObject::connect(world,SIGNAL(dynamicStepTaken()),graspItGUI->getIVmgr(),SLOT(drawDynamicForces())); 
00219   QObject::connect(world,SIGNAL(dynamicsError(const char *)),this,SLOT(showDynamicsError(const char *)));
00220   QObject::connect(world,SIGNAL(selectionsChanged()),this,SLOT(updateElementMenu()));
00221   QObject::connect(world,SIGNAL(selectionsChanged()),this,SLOT(updateMaterialBox()));
00222   QObject::connect(world,SIGNAL(numElementsChanged()),this,SLOT(updateGraspBoxes()));  
00223   QObject::connect(world,SIGNAL(numElementsChanged()),this,SLOT(updateGraspMenu()));
00224   // This one is not ideal, but if a grasped object is deleted the grasp will be updated and we need to show it
00225   QObject::connect(world,SIGNAL(numElementsChanged()),this,SLOT(updateQualityList()));
00226   QObject::connect(world,SIGNAL(tendonSelectionChanged()),this,SLOT(handleTendonSelectionArea()));
00227   QObject::connect(world,SIGNAL(tendonDetailsChanged()),this,SLOT(handleTendonDetailsArea()));
00228   QObject::connect(world,SIGNAL(handSelectionChanged()),this,SLOT(handleHandSelectionChange()));
00229   QObject::connect(world,SIGNAL(graspsUpdated()),this,SLOT(updateQualityList()));
00230   QObject::connect(world,SIGNAL(graspsUpdated()),graspItGUI->getIVmgr(),SLOT(drawWorstCaseWrenches()));
00231   QObject::connect(world,SIGNAL(handRemoved()),this,SLOT(updateQualityList()));
00232   updateTimeReadout();
00233   updateMaterialBoxList();
00234   updateGraspBoxes();
00235   updateQualityList();
00236   updateElementMenu();
00237   updateGraspMenu();
00238   updateTendonNamesBox();
00239   handleTendonSelectionArea();
00240 
00241 #ifdef EIGENGRIDS
00242   mUI->miscEigengridsAction->setEnabled(TRUE);
00243 #else
00244   mUI->miscEigengridsAction->setEnabled(FALSE);
00245 #endif
00246 
00247 #ifdef HARDWARE_LIB
00248   mUI->sensorsSensor_InputAction->setEnabled(TRUE);
00249 #else
00250   mUI->sensorsSensor_InputAction->setEnabled(FALSE);
00251 #endif
00252 
00253 }
00254 
00255 //-------------------------------------------------- FILE MENU ----------------------------------------
00256 
00262 void MainWindow::fileNew()
00263 {
00264   if ( saveAndContinue( "New" ) ) {
00265     graspItGUI->getIVmgr()->emptyWorld();
00266     setMainWorld(graspItGUI->getIVmgr()->getWorld());
00267     mUI->worldBox->setTitle("Untitled");
00268   }
00269 }
00270 
00277 void MainWindow::fileOpen()
00278 {
00279   if ( !saveAndContinue( "Open" ) ) {
00280     return;
00281   }
00282   QString fn( QFileDialog::getOpenFileName(mWindow, QString(), QString(getenv("GRASPIT"))+QString("/worlds"),
00283                                            "GraspIt World Files (*.xml)") );
00284   if ( fn.isEmpty() ) {
00285     return;
00286   }
00287   fileName = fn;
00288   mUI->worldBox->setTitle(fileName);
00289   graspItGUI->getIVmgr()->emptyWorld();
00290   graspItGUI->getIVmgr()->getWorld()->load(fileName);
00291   //graspItGUI->getIVmgr()->getViewer()->viewAll();
00292   setMainWorld(graspItGUI->getIVmgr()->getWorld());
00293 }
00294 
00299 void MainWindow::fileSave()
00300 {
00301   if ( fileName.isEmpty() ) {
00302     fileSaveAs();
00303   } else {
00304     graspItGUI->getIVmgr()->getWorld()->save(fileName);
00305   }
00306 }
00307 
00313 void MainWindow::fileSaveAs()
00314 {
00315   QString fn = QFileDialog::getSaveFileName(mWindow, QString(), QString(getenv("GRASPIT"))+QString("/worlds"),
00316                                             "GraspIt World Files (*.xml)" );
00317   if ( !fn.isEmpty() ) {
00318     fileName = fn;
00319     if (fileName.section('.',1).isEmpty()) {
00320       fileName.append(".xml");
00321     }
00322     fileSave();
00323     mUI->worldBox->setTitle(fileName);
00324   }
00325 }
00326 
00332 void MainWindow::fileImportRobot()
00333 {
00334   QString dir = QString(getenv("GRASPIT"))+QString("/models/robots");
00335   QString fn( QFileDialog::getOpenFileName(mWindow, QString(), dir, "XML GraspIt Robot Files (*.xml)") );
00336   if ( !fn.isEmpty() ) {
00337     world->importRobot(fn);
00338   }
00339 }
00340 
00348 void MainWindow::fileImportObstacle()
00349 {
00350   QString fn( QFileDialog::getOpenFileName(mWindow, QString(),
00351                                            QString(getenv("GRASPIT"))+QString("/models/obstacles"),
00352             "Graspit XML Files (*.xml*);;IV files (*.iv);;WRL files (*.wrl);;OFF files (*.off);;PLY files (*.ply)" ) );
00353   if ( !fn.isEmpty() ) world->importBody("Body",fn);
00354 }
00355 
00363 void MainWindow::fileImportObject()
00364 {
00365   QString fn( QFileDialog::getOpenFileName(mWindow, QString(),
00366                                            QString(getenv("GRASPIT"))+QString("/models/objects"),
00367   "Graspit XML Files (*.xml*);;IV files (*.iv);;WRL files (*.wrl);;OFF files (*.off);;PLY files (*.ply)" ) );
00368 
00369   if ( !fn.isEmpty() ) world->importBody("GraspableBody",fn);
00370 }
00371 
00377 void MainWindow::fileExit()
00378 {
00379   if ( saveAndContinue( "Exit" ) )
00380     //qApp->exit();
00381     graspItGUI->exitMainLoop();
00382 }
00383 
00391 int MainWindow::saveAndContinue(const QString & action)
00392 {
00393   int continueAction = 1;
00394   
00395   if (world->wasModified()) { //if modified...
00396     switch( QMessageBox::information(
00397      mWindow, "GraspIt!",
00398      "The document contains unsaved changes.\n"
00399      "Do you want to save the changes?",
00400      "&Save", "&Don't Save", "&Cancel " + action,
00401      0, // Enter == button 0
00402      2 ) ) { // Escape == button 2
00403       case 0: // Save; continue
00404       fileSave();
00405       break;
00406       case 1: // Do not save; continue
00407       break;
00408       case 2: // Cancel
00409       continueAction = 0;
00410       break;
00411     }
00412   }
00413  
00414   return continueAction;
00415 }
00416 
00424 void MainWindow::fileEditSettings()
00425 {
00426   int i,j;
00427   SettingsDlg *dlg = new SettingsDlg(mWindow);
00428   dlg->setAttribute(Qt::WA_ShowModal, true);
00429   
00430   if ( dlg->exec() == QDialog::Accepted) {
00431     //Process the changes to the COFs
00432     for (i=0;i<dlg->dlgUI->staticFrictionTable->numRows()-1;i++) {
00433       world->materialNames[i] = dlg->dlgUI->staticFrictionTable->text(i+1,0);
00434       
00435       for (j=0;j<dlg->dlgUI->staticFrictionTable->numCols()-1;j++) {
00436                 world->cofTable[i][j] = dlg->dlgUI->staticFrictionTable->text(i+1,j+1).toDouble();
00437                 world->kcofTable[i][j] = dlg->dlgUI->kineticFrictionTable->text(i+1,j+1).toDouble();
00438       }
00439     }
00440     world->dynamicsTimeStep = dlg->dlgUI->timeStepLine->text().toDouble()*1.0e-3;
00441     updateMaterialBoxList();  
00442     
00443     //this will redraw friction cones in case any cofs have changed
00444         for (i=0;i<world->getNumBodies();i++) {
00445       world->getBody(i)->setMaterial(world->getBody(i)->getMaterial());
00446         }
00447     world->updateGrasps();
00448   }  
00449   delete dlg;
00450 }
00451 
00459 void MainWindow::fileSaveImage()
00460 {
00461   QString fn = QFileDialog::getSaveFileName( mWindow, QString(), QString(getenv("GRASPIT"))+QString("/images"),
00462                                              "Image Files (*.jpg)" );
00463   if ( !fn.isEmpty() ) {
00464     if (fn.section('.',-1)!="jpg") fn.append(".jpg");
00465     graspItGUI->getIVmgr()->saveImage(fn);
00466   }
00467 }
00468 
00469 //----------------------------------------- Help menu --------------------------------------
00470 
00474 void MainWindow::helpManual()
00475 {
00476   QMessageBox::warning(NULL,"GraspIt!","You can find the GraspIt! User Manual in $GRASPIT/doc, " \
00477                        "or online at http://www.cs.columbia.edu/~cmatei/graspit/",
00478                        QMessageBox::Ok, Qt::NoButton,Qt::NoButton);
00479 }
00480 
00485 void MainWindow::helpAbout()
00486 {
00487   Ui::AboutDlg dlgUI;
00488   QDialog dlgImpl(mWindow);
00489   dlgUI.setupUi(&dlgImpl);
00490   QString versionText("Version ");
00491   dlgUI.versionLabel->setText( versionText + GRASPIT_VERSION);
00492   dlgImpl.exec();
00493 }
00494 
00495 void MainWindow::helpAboutQT()
00496 {
00497   QMessageBox::aboutQt(mWindow,"GraspIt!");
00498 }
00499 
00500 //-----------------------------------------  Element Menu ---------------------------------
00501 
00505 void MainWindow::setTool( QAction *a )
00506 {
00507   if (a==mUI->translateToolAction) graspItGUI->getIVmgr()->setTool(TRANSLATE_TOOL);
00508   else if (a==mUI->rotateToolAction) graspItGUI->getIVmgr()->setTool(ROTATE_TOOL);
00509   else if (a==mUI->selectToolAction) graspItGUI->getIVmgr()->setTool(SELECT_TOOL);
00510 }
00511 
00515 void MainWindow::elementTurnOffCollisions()
00516 {
00517   world->toggleAllCollisions(!mUI->elementCollisionToggleAction->isOn());
00518 }
00519 
00525 void MainWindow::elementBodyProperties()
00526 {       
00527   BodyPropDlg *dlg = new BodyPropDlg(mWindow);
00528   dlg->setAttribute(Qt::WA_ShowModal, true);
00529   if ( dlg->exec() == QDialog::Accepted) {
00530     world->updateGrasps();
00531   }
00532   delete dlg;
00533 }
00534 
00535 void MainWindow::elementPrimitives()
00536 {
00537 #ifdef GEOMETRY_LIB
00538   //needs upgrade to Qt4
00539   /*
00540     GeometryLibDlg *dlg = new GeometryLibDlg(this,QString::null,FALSE);
00541     assert( world->getNumSelectedBodies() > 0 );
00542     dlg->setBody( world->getSelectedBody(0) );
00543     dlg->show();
00544   */
00545 #endif
00546 }
00547 
00553 void MainWindow::updateElementMenu()
00554 {
00555   bool collisionsOFF;
00556   std::list<WorldElement *> selectedElementList;
00557   std::list<WorldElement *>::iterator  ep;
00558   
00559   if (world->getNumSelectedElements()==0)
00560     mUI->elementBodyPropertiesAction->setEnabled(false);
00561   else
00562     mUI->elementBodyPropertiesAction->setEnabled(true);
00563   
00564 #ifdef GEOMETRY_LIB
00565   if (world->getNumSelectedBodies()==1)
00566     elementPrimitivesAction->setEnabled(true);
00567   else
00568     elementPrimitivesAction->setEnabled(false);
00569 #endif
00570 
00571   if (world->getNumSelectedElements()==0)
00572    collisionsOFF = world->collisionsAreOff();
00573   
00574   else if (world->getNumSelectedElements()==2)
00575     collisionsOFF = world->collisionsAreOff(world->getSelectedElementList().front(),
00576                 world->getSelectedElementList().back());
00577   else {
00578     collisionsOFF = true;
00579     selectedElementList = world->getSelectedElementList();
00580     for (ep=selectedElementList.begin();ep!=selectedElementList.end();ep++)
00581       if (!world->collisionsAreOff(*ep)) {
00582       collisionsOFF= false;
00583       break;
00584     }
00585   }
00586   mUI->elementCollisionToggleAction->setOn(collisionsOFF);
00587    
00588 }
00589 
00590 //------------------------------------------- Grasp Menu ----------------------------------
00591 
00595 void MainWindow::updateGraspMenu()
00596 {
00597     bool handFound = (world->getCurrentHand() !=NULL);
00598     bool bodyFound = (world->getNumBodies() != 0);
00599     mUI->graspAutoGraspAction->setEnabled(handFound);
00600     mUI->graspAuto_OpenAction->setEnabled(handFound);
00601     mUI->graspCreateProjectionAction->setEnabled(handFound);
00602     mUI->graspQualityMeasuresAction->setEnabled(handFound);
00603     mUI->graspPlannerAction->setEnabled(handFound);
00604     mUI->graspGFOAction->setEnabled(handFound);
00605     mUI->graspEigenGrasp_InterfaceAction->setEnabled(handFound);
00606     mUI->graspContact_ExaminerAction->setEnabled(bodyFound);
00607     mUI->graspEigenGrasp_PlannerAction->setEnabled(handFound);
00608     mUI->graspCompliantPlannerAction->setEnabled(handFound);
00609 #ifdef CGDB_ENABLED
00610     mUI->dbaseGUIAction->setEnabled(handFound);
00611     mUI->dbasePlannerAction->setEnabled(handFound);
00612 #else
00613     mUI->dbaseGUIAction->setEnabled(false);
00614     mUI->dbasePlannerAction->setEnabled(false);
00615 #endif
00616     
00617 #ifdef ARIZONA_PROJECT_ENABLED
00618     mUI->actionArizona_Project->setEnabled(true);
00619 #else
00620     mUI->actionArizona_Project->setEnabled(false);
00621 #endif
00622     
00623     mUI->dbaseGraspCaptureAction->setEnabled(handFound);
00624     mUI->sensorsBarrett_HandAction->setEnabled(handFound);
00625 }
00626 
00633 void MainWindow::graspCreateProjection(Grasp *g)
00634 {
00635   GWSProjDlg *dlg = new GWSProjDlg(mWindow);
00636   if ( dlg->exec() == QDialog::Accepted ) {
00637     Grasp *grasp;
00638     if(!g)
00639       grasp = world->getCurrentHand()->getGrasp();
00640     else
00641       grasp = g;
00642     GWS *gws = grasp->addGWS(dlg->gwsTypeComboBox->currentText().latin1());
00643     
00644     double w[6];
00645     w[0] = dlg->fxCoord->text().toDouble();
00646     w[1] = dlg->fyCoord->text().toDouble();
00647     w[2] = dlg->fzCoord->text().toDouble();
00648     w[3] = dlg->txCoord->text().toDouble();
00649     w[4] = dlg->tyCoord->text().toDouble();
00650     w[5] = dlg->tzCoord->text().toDouble();
00651     
00652     GWSprojection *gp = new GWSprojection(graspItGUI->getIVmgr()->getViewer(),gws,w,dlg->whichFixed);  
00653     grasp->addProjection(gp);
00654   }    
00655   delete dlg;
00656 }
00657 
00663 void MainWindow::graspQualityMeasures()
00664 {
00665   QMDlg *dlg = new QMDlg(mWindow);
00666   dlg->setAttribute(Qt::WA_ShowModal, true);
00667   if ( dlg->exec() == QDialog::Accepted ) {
00668     Grasp *g = world->getCurrentHand()->getGrasp();
00669     if (g->getNumQM()) {
00670       connect(g,SIGNAL(graspUpdated()),this,SLOT(updateQualityList()));
00671     } else {
00672       disconnect(g,SIGNAL(graspUpdated()),this,SLOT(updateQualityList()));
00673     }    
00674   }
00675   world->getCurrentHand()->setContactsChanged();
00676   world->updateGrasps();
00677   delete dlg;
00678 }
00679 
00686 void MainWindow::graspPlanner()
00687 {
00688   if (!world->getCurrentHand()->getName().contains("Barrett")) {
00689     QMessageBox::warning(NULL,"GraspIt!",
00690                          "The planner currently only works with the Barrett hand.",
00691                          QMessageBox::Ok, Qt::NoButton,Qt::NoButton);
00692     return;
00693   }
00694   PlannerDlg *dlg =new PlannerDlg(mWindow);
00695   dlg->setAttribute(Qt::WA_ShowModal, false);
00696   dlg->setAttribute(Qt::WA_DeleteOnClose, true);
00697   dlg->show();  
00698 }
00699 
00700 void
00701 MainWindow::graspForceOptimization()
00702 {
00703   if (!world->getCurrentHand()) {
00704     DBGA("No hand selected");
00705     return;
00706   }
00707   GFODlg *dlg = new GFODlg(this, world->getCurrentHand(), mWindow);
00708   dlg->setAttribute(Qt::WA_ShowModal, false);
00709   dlg->setAttribute(Qt::WA_DeleteOnClose, true);
00710   dlg->show();  
00711 }
00712 
00717 void MainWindow::graspCompliantPlanner()
00718 {       
00719   int gb = mUI->graspedBodyBox->currentItem();
00720   if ( gb < 0 || world->getNumGB() < gb+1 ) {
00721     fprintf(stderr,"No object selected\n");
00722     return;
00723   }
00724   CompliantPlannerDlg *dlg =new CompliantPlannerDlg(world->getCurrentHand(),
00725                                                     world->getGB(gb), mWindow);
00726   dlg->setAttribute(Qt::WA_ShowModal, false);
00727   dlg->setAttribute(Qt::WA_DeleteOnClose, true);
00728   dlg->show();  
00729 }
00734 void MainWindow::graspAutoGrasp()
00735 {
00736   world->getCurrentHand()->autoGrasp(true);
00737   world->updateGrasps();
00738 }
00739 
00744 void MainWindow::graspAutoOpen()
00745 {
00746   world->getCurrentHand()->autoGrasp(true,-1.0);
00747   world->updateGrasps();
00748 }
00749 
00750 void MainWindow::eigenGraspActivated()
00751 { 
00752   EigenGraspDlg *dlg = new EigenGraspDlg(mWindow);
00753   dlg->setAttribute(Qt::WA_ShowModal, false);
00754   dlg->setAttribute(Qt::WA_DeleteOnClose, true);
00755   
00756   if (!dlg->setWorld(world) ) {
00757     delete dlg;
00758     return;
00759   } 
00760   dlg->show();
00761 }
00762 
00763 void MainWindow::graspContactExaminer_activated()
00764 {
00765   ContactExaminerDlg *dlg = new ContactExaminerDlg(mWindow);
00766   dlg->setAttribute(Qt::WA_ShowModal, false);
00767   dlg->setAttribute(Qt::WA_DeleteOnClose, true);
00768   dlg->show();
00769 }
00770 
00771 void MainWindow::eigenGraspPlannerActivated()
00772 {
00773   assert(world->getCurrentHand());      
00774   if (world->getCurrentHand()->getEigenGrasps() == NULL) {
00775     fprintf(stderr,"Current hand has no EigenGrasp information!\n");
00776     return;
00777   }
00778   int gb = mUI->graspedBodyBox->currentItem();
00779   if ( gb < 0 || world->getNumGB() < gb+1 ) {
00780     fprintf(stderr,"No object selected\n");
00781     return;
00782   }
00783   
00784   EigenGraspPlannerDlg *dlg = new EigenGraspPlannerDlg(mWindow);
00785   dlg->setMembers(world->getCurrentHand(), world->getGB(gb));
00786   dlg->setAttribute(Qt::WA_ShowModal, false);
00787   dlg->setAttribute(Qt::WA_DeleteOnClose, true);
00788   dlg->show();
00789 }
00790 
00791 void MainWindow::dbaseGUIAction_activated()
00792 {
00793 #ifdef CGDB_ENABLED
00794   DBaseDlg *dlg = new DBaseDlg(mWindow);
00795   dlg->setAttribute(Qt::WA_ShowModal, false);
00796   dlg->setAttribute(Qt::WA_DeleteOnClose, true);
00797   dlg->show();
00798 #endif
00799 }
00800 
00801 void MainWindow::dbasePlannerAction_activated()
00802 {
00803 #ifdef CGDB_ENABLED
00804   if (!world->getCurrentHand()) {
00805     QTWARNING("No hand selected");
00806     return;
00807   }
00808   int gb = mUI->graspedBodyBox->currentItem();
00809   if ( gb < 0 || world->getNumGB() < gb+1 ) {
00810     QTWARNING("No object selected");
00811     return;
00812   }
00813   if (!graspItGUI->getIVmgr()->getDBMgr()) {
00814     QTWARNING("Connection to database not established. Connect to database first.");
00815     return;
00816   }
00817   if (!world->getGB(gb)->getDBModel()) {
00818     QTWARNING("DBase Planner currently works only with models loaded from the database");
00819     return;
00820   }
00821   DBasePlannerDlg *dlg = new DBasePlannerDlg(mWindow, graspItGUI->getIVmgr()->getDBMgr(), 
00822                                              world->getGB(gb)->getDBModel(), world->getCurrentHand());
00823   dlg->setAttribute(Qt::WA_ShowModal, false);
00824   dlg->setAttribute(Qt::WA_DeleteOnClose, true);
00825   dlg->show();
00826 #endif
00827 }
00828 
00829 
00830 void MainWindow::miscArizonaProjectDlg_activated()
00831 {
00832 #ifdef ARIZONA_PROJECT_ENABLED
00833   ArizonaProjectDlg *dlg = new ArizonaProjectDlg(mWindow);
00834   dlg->setAttribute(Qt::WA_ShowModal, false);
00835   dlg->setAttribute(Qt::WA_DeleteOnClose, true);
00836   dlg->show();
00837 #endif
00838 }
00839 
00840 void MainWindow::misStaubliControlDlg()
00841 {
00842 #ifdef STAUBLI_CONTROL_ENABLED
00843   StaubliControlDlg *dlg = new StaubliControlDlg(mWindow);
00844   dlg->setAttribute(Qt::WA_ShowModal, false);
00845   dlg->setAttribute(Qt::WA_DeleteOnClose, true);
00846   dlg->show();
00847 #endif
00848 }
00849 //--------------------------------------- Sensors menu -------------------------------
00850 
00851 void MainWindow::sensorsSensor_InputAction_activated()
00852 {
00853 #ifdef HARDWARE_LIB
00854   SensorInputDlg *dlg = new SensorInputDlg(world, mWindow);
00855   dlg->setAttribute(Qt::WA_ShowModal, false);
00856   dlg->setAttribute(Qt::WA_DeleteOnClose, true);
00857   dlg->show();
00858 #endif
00859 }
00860 
00861 void MainWindow::graspCapture()
00862 {
00863   GraspCaptureDlg *dlg = new GraspCaptureDlg(world,mWindow);
00864   dlg->setAttribute(Qt::WA_ShowModal, false);
00865   dlg->setAttribute(Qt::WA_DeleteOnClose, true);
00866   //QObject::connect(world, SIGNAL(graspsUpdated()),dlg, SLOT(updateGraspQuality())); 
00867   dlg->show(); 
00868 }
00869 
00870 void MainWindow::sensorsBarrettHandAction()
00871 {
00872         
00873 #ifdef HARDWARE_LIB
00874   BarrettHandDlg *dlg = new BarrettHandDlg(mWindow);
00875   dlg->setAttribute(Qt::WA_ShowModal, false);
00876   dlg->setAttribute(Qt::WA_DeleteOnClose, true);
00877   if (dlg->setWorld(world)) {
00878     dlg->show();
00879   } else {
00880     delete dlg;
00881     return;
00882   }
00883 #endif
00884  
00885 }
00886 
00887 //------------------------------------- Stereo menu ------------------------------------------
00888 
00889 void MainWindow::stereoOn()
00890 {
00891         DBGA("Stereo on");
00892 
00893         mUI->worldBox->setTitle(NULL);
00894         mUI->contactsGroupBox->hide();
00895         mUI->qualityGroupBox->hide();
00896 
00897         mUI->toolBar->hide();
00898         mUI->Toolbar_2->hide();
00899         mUI->ToolbarDynamics->hide();
00900         mUI->graspToolbar->hide();
00901         mUI->tendonToolbar->hide();
00902 
00903         mWindow->menuBar()->hide();
00904         graspItGUI->getIVmgr()->getViewer()->setDecoration(false);
00905         mWindow->showFullScreen();
00906 
00907         graspItGUI->getIVmgr()->setStereo(true);
00908 /*
00909         StereoWindow* mStereoWindow = new StereoWindow();
00910         graspItGUI->getIVmgr()->setStereoWindow( mStereoWindow->viewerHolder );
00911         mStereoWindow->show();
00912         mStereoWindow->showFullScreen();
00913 */
00914 }
00915 
00916 void MainWindow::stereoOff()
00917 {
00918         mUI->contactsGroupBox->show();
00919         mUI->qualityGroupBox->show();
00920 
00921         mUI->toolBar->show();
00922         mUI->Toolbar_2->show();
00923         mUI->ToolbarDynamics->show();
00924         mUI->graspToolbar->show();
00925         mUI->tendonToolbar->show();
00926 
00927         mWindow->menuBar()->show();
00928         DBGA("Stereo off");
00929         graspItGUI->getIVmgr()->getViewer()->setDecoration(true);
00930         mWindow->showNormal();
00931         graspItGUI->getIVmgr()->setStereo(false);
00932 }
00933 
00934 void MainWindow::stereoFlip()
00935 {
00936         DBGA("Stereo flip");
00937         graspItGUI->getIVmgr()->flipStereo();
00938 }
00939 
00940 // --------------------------------- Misc menu ------------------------------------------------
00941 
00942 void MainWindow::archBuilder()
00943 {
00944         ArchBuilderDlg dlg(mWindow);
00945   
00946         if ( dlg.exec() != QDialog::Accepted) {
00947                 return;
00948         }
00949   
00950         double innerRadius = dlg.innerRadiusEdit->text().toDouble();
00951         double outerRadius = dlg.outerRadiusEdit->text().toDouble();
00952         double thickness = dlg.thicknessEdit->text().toDouble();
00953         int nBlocks = dlg.numberBlocksBox->value();
00954         if (innerRadius <= 0 || outerRadius <= 0 || thickness <= 0 || nBlocks <= 1) {
00955                 QMessageBox::warning(mWindow,"Error","Invalid parameters",
00956                                                          QMessageBox::Ok,Qt::NoButton,Qt::NoButton);
00957                 return;
00958         }
00959         bool addSupports = dlg.supportsCheckBox->isChecked();
00960         create_arch(world, innerRadius, outerRadius, thickness, nBlocks, addSupports);
00961 }
00962 
00963 void MainWindow::miscOptimizer()
00964 {
00965         OptimizerDlg* dlg = new OptimizerDlg(world, mWindow);
00966         dlg->setAttribute(Qt::WA_ShowModal, false);
00967         dlg->setAttribute(Qt::WA_DeleteOnClose, true);
00968         dlg->show();  
00969 }
00970 
00971 void MainWindow::miscEigengridsAction_activated()
00972 {
00973 #ifdef EIGENGRIDS
00974         EigenGridsDlg *dlg = new EigenGridsDlg(mWindow);
00975         dlg->setAttribute(Qt::WA_ShowModal, false);
00976         dlg->setAttribute(Qt::WA_DeleteOnClose, true);
00977         dlg->show(); 
00978 #endif
00979 }
00980 
00987 void MainWindow::updateContactsList()
00988 {
00989   std::list<Contact *> contactList;
00990   std::list<Contact *>::iterator cp;
00991   int b,contactNum = 0;;
00992   double *contactForce;
00993   
00994   clearContactsList();
00995   //selectedContact = -1;
00996   for (b=0;b<world->getNumGB();b++) {
00997     contactList = world->getGB(b)->getContacts();
00998     
00999     for (cp=contactList.begin();cp!=contactList.end();cp++,contactNum++) {
01000       contactForce = (*cp)->getDynamicContactWrench();      
01001       mUI->contactsListBox->insertItem(QString("Contact %1:  force %2 %3 %4 torque %5 %6 %7").
01002         arg(contactNum+1). 
01003                 arg(contactForce[0],5,'f',2).arg(contactForce[1],5,'f',2).arg(contactForce[2],5,'f',2). 
01004                 arg(contactForce[3],5,'f',4).arg(contactForce[4],5,'f',4).arg(contactForce[5],5,'f',4));
01005     }
01006   }
01007 }
01008 
01014 void MainWindow::contactSelected(int newSelection)
01015 {
01016   if (selectedContact == newSelection) {
01017     graspItGUI->getIVmgr()->unhilightObjContact(selectedContact);
01018     selectedContact = -1;
01019   }
01020   else {
01021     if (selectedContact >= 0) {
01022       graspItGUI->getIVmgr()->unhilightObjContact(selectedContact);
01023     }
01024     graspItGUI->getIVmgr()->hilightObjContact(newSelection);
01025     selectedContact = newSelection;
01026   }
01027 }
01028 
01032 void MainWindow::clearContactsList()
01033 {
01034   selectedContact = -1;
01035   mUI->contactsListBox->clear();
01036 }
01037 
01041 void MainWindow::updateTimeReadout()
01042 {
01043   QTime simTime;
01044   double seconds = world->getWorldTime();
01045   simTime = simTime.addMSecs(ROUND(seconds*1000));
01046   mUI->timeReadout->display(simTime.toString("mm:ss.zzz"));
01047   mUI->timeReadout->update();
01048 }
01049 
01055 void MainWindow::toggleDynamics()
01056 {
01057   if (world->dynamicsAreOn()) {
01058     world->turnOffDynamics();
01059     mUI->dynamicsPlayAction->setText("Start Simulation");
01060     graspItGUI->getIVmgr()->drawDynamicForces();
01061     updateContactsList();
01062   } else {
01063     world->turnOnDynamics();
01064     mUI->dynamicsPlayAction->setText("Pause Simulation");
01065     clearContactsList();
01066   }
01067 }
01068 
01073 void MainWindow::updateQualityList()
01074 {
01075   QString valStr;
01076   Hand *h;
01077   Grasp *g;
01078   int numHands = world->getNumHands();
01079   
01080   mUI->qualityListBox->clear();
01081   
01082   for (int i=0;i<numHands;i++) {
01083     h = world->getHand(i);    
01084     g = h->getGrasp();
01085     
01086     mUI->qualityListBox->insertItem(h->getName());
01087     
01088     for (int j=0;j<g->getNumQM();j++) {
01089       valStr = "  " + g->getQM(j)->getName() +
01090         QString(": %1").arg(g->getQM(j)->evaluate(),6,'g',3);
01091       mUI->qualityListBox->insertItem(valStr);
01092     }
01093   }
01094 }
01095 
01100 void MainWindow::showDynamicsError( const char *errMsg )
01101 {
01102   mUI->dynamicsPlayAction->setOn(false);
01103   QTWARNING(errMsg);
01104 }
01105 
01109 void MainWindow::dynamicsPushState()
01110 {
01111   world->pushDynamicState();
01112 }
01113 
01118 void MainWindow::dynamicsPopState()
01119 {
01120   world->popDynamicState();
01121 }
01122 
01127 void MainWindow::updateMaterialBoxList()
01128 {
01129   mUI->materialComboBox->clear();
01130   for (int i=0;i<world->getNumMaterials();i++)
01131     mUI->materialComboBox->insertItem(world->getMaterialName(i));
01132 }
01133 
01137 void MainWindow::materialSelected( int whichMat )
01138 {
01139   if (whichMat >= 0 && whichMat < world->getNumMaterials()) {
01140     for (int i=0;i<world->getNumSelectedBodies();i++)
01141       world->getSelectedBody(i)->setMaterial(whichMat);
01142     world->updateGrasps();
01143   }
01144 }
01145 
01151 void MainWindow::updateMaterialBox()
01152 {
01153   int i;
01154   if (world->getNumSelectedBodies() > 0) {
01155     int firstMat = world->getSelectedBody(0)->getMaterial();
01156     for (i=1;i<world->getNumSelectedBodies();i++)
01157       if (world->getSelectedBody(i)->getMaterial() != firstMat) break;
01158     if (i==world->getNumSelectedBodies()) {
01159       mUI->materialComboBox->setCurrentItem(firstMat);
01160       if (mUI->materialComboBox->count() > world->getNumMaterials())
01161                 mUI->materialComboBox->removeItem(world->getNumMaterials());
01162     }
01163     else {
01164       if (mUI->materialComboBox->count() == world->getNumMaterials())
01165                 mUI->materialComboBox->insertItem(QString(" "));
01166       mUI->materialComboBox->setCurrentItem(world->getNumMaterials());
01167     }
01168   }
01169 }
01170 
01175 void MainWindow::updateGraspBoxes()
01176 {
01177         mUI->handSelectionBox->clear();
01178         for (int i=0; i<world->getNumHands(); i++) {
01179                 mUI->handSelectionBox->insertItem(world->getHand(i)->getName());
01180                 if (world->getCurrentHand() == world->getHand(i)) {
01181                         mUI->handSelectionBox->setCurrentItem(i);
01182                 }
01183                 updateTendonNamesBox();
01184                 world->deselectTendon();
01185         }
01186         mUI->graspedBodyBox->clear();
01187         if (world->getCurrentHand()) {
01188                 for (int i=0;i<world->getNumGB();i++) {
01189                         mUI->graspedBodyBox->insertItem(world->getGB(i)->getName());
01190                         if (world->getCurrentHand()->getGrasp()->getObject() == world->getGB(i)) {
01191                                 mUI->graspedBodyBox->setCurrentItem(i);
01192                         }
01193                 }
01194         }
01195 }
01196 
01197 /*this sets drop-down list to reflect change in hand selection*/
01198 void MainWindow::handleHandSelectionChange()
01199 {
01200  int i;
01201  for (i=0;i<world->getNumHands();i++) {
01202   if (world->getCurrentHand() == world->getHand(i))
01203    mUI->handSelectionBox->setCurrentItem(i);
01204  }
01205   updateTendonNamesBox();
01206 }
01207 
01213 void MainWindow::selectGraspedBody(int sb)
01214 {
01215   GraspableBody *b = world->getGB(sb);
01216   world->getHand(mUI->handSelectionBox->currentItem())->getGrasp()->setObject(b);
01217   updateQualityList();
01218 }
01219 
01224 void MainWindow::setCurrentHand( int sh )
01225 {
01226   world->setCurrentHand(world->getHand(sh));
01227   updateGraspBoxes();
01228 
01229   updateTendonNamesBox();
01230   world->deselectTendon();
01231   //emits tendon selection changed
01232 }
01233 
01237 void MainWindow::updateCollisionAction(bool state)
01238 {
01239 if (state) 
01240     mUI->elementCollisionToggleAction->setText("Collisions OFF");
01241   else
01242     mUI->elementCollisionToggleAction->setText("Collisions ON");
01243 }
01244 
01245 void MainWindow::handleTendonSelectionArea()
01246 {
01247   if (!world->queryTendonSelected()) {
01248     mUI->tendonActiveForceLabel->setEnabled(false);
01249     mUI->TendonForceInput->setEnabled(false);
01250     mUI->tendonPassiveForceLabel->setEnabled(false);
01251     mUI->tendonPassiveForceEdit->setEnabled(false);
01252     mUI->tendonExcursionLabel->setEnabled(false);
01253     mUI->tendonExcursionEdit->setEnabled(false);
01254     mUI->tendonVisibleLabel->setEnabled(false);
01255     mUI->tendonVisibleCheckBox->setEnabled(false);
01256     mUI->forcesVisibleLabel->setEnabled(false);
01257     mUI->forcesVisibleCheckBox->setEnabled(false);
01258     if (mUI->tendonNamesBox->isEnabled() ) {
01259       mUI->tendonNamesBox->setCurrentItem ( mUI->tendonNamesBox->count() - 1 ); /* "none selected" */
01260     }
01261   } else {
01262     mUI->tendonActiveForceLabel->setEnabled(true);
01263     mUI->TendonForceInput->setEnabled(true);
01264     mUI->tendonPassiveForceLabel->setEnabled(true);
01265     mUI->tendonPassiveForceEdit->setEnabled(true);
01266     mUI->tendonExcursionLabel->setEnabled(true);
01267     mUI->tendonExcursionEdit->setEnabled(true);
01268     mUI->tendonVisibleLabel->setEnabled(true);
01269     mUI->tendonVisibleCheckBox->setEnabled(true);
01270     if (mUI->tendonVisibleCheckBox->isChecked()) {
01271       mUI->forcesVisibleLabel->setEnabled(true);
01272       mUI->forcesVisibleCheckBox->setEnabled(true);
01273     } else {
01274       mUI->forcesVisibleLabel->setEnabled(false);
01275       mUI->forcesVisibleCheckBox->setEnabled(false);
01276     }
01277     //there's got to be a better way to do this...
01278     for (int i=0; i<mUI->tendonNamesBox->count(); i++) {
01279       if ( mUI->tendonNamesBox->text(i)==world->getSelectedTendon()->getName() ) {
01280         mUI->tendonNamesBox->setCurrentItem(i);
01281         break;
01282       }
01283     }
01284     
01285     // this also triggers "valueChanged" so it sets the same value back to the tendon.
01286     // a bit strange, but should do no harm 
01287     // careful with conversion - reconversion from int though
01288     float getForce = world->getSelectedTendon()->getActiveForce();
01289     //the spin box works in Newtons; convert from graspit units
01290     mUI->TendonForceInput->setValue( int(getForce*1.0e-6) ); 
01291     
01292     handleTendonDetailsArea();
01293   }
01294 }
01295 
01296 void MainWindow::handleTendonDetailsArea()
01297 {
01298   /*this synchronizes info on tendon on the GUI bar with actual valuea from selected tendon*/
01299   if (!world->queryTendonSelected())
01300     return;
01301   
01302   QString exc;
01303   exc.setNum( world->getSelectedTendon()->getExcursion() , 'f' , 1);
01304   mUI->tendonExcursionEdit->setText( exc );
01305   
01306   QString psf;
01307   float getForce = world->getSelectedTendon()->getPassiveForce() * 1.0e-6; //convert to Newtons
01308   psf.setNum( getForce , 'f' , 2);
01309   mUI->tendonPassiveForceEdit->setText( psf );
01310   
01311   mUI->tendonVisibleCheckBox->setChecked( world->getSelectedTendon()->isVisible() );
01312   mUI->forcesVisibleCheckBox->setChecked( world->getSelectedTendon()->forcesVisible() );
01313 }
01314 
01315 void MainWindow::TendonForceInput_valueChanged( int f)
01316 {
01317   float newForce = (float)f * 1.0e6; //the spin box works in Newtons; convert to graspit units
01318   world->getSelectedTendon()->setActiveForce( newForce );
01319 }
01320 
01321 void MainWindow::tendonNamesBoxActivated( int i)
01322 {
01323   if ( i<mUI->tendonNamesBox->count()-1) {
01324     //the last element in the list is "nothing selected"
01325     world->selectTendon(i);
01326   } else {
01327     world->deselectTendon();
01328   }
01329   //both of these automatically emit tendonSelectionChanged
01330 }
01331 
01332 
01333 void MainWindow::tendonVisibleCheckBox_toggled( bool vis)
01334 {
01335   world->getSelectedTendon()->setVisible( vis );
01336   if (vis) {
01337     mUI->forcesVisibleLabel->setEnabled(true);
01338     mUI->forcesVisibleCheckBox->setEnabled(true);
01339   } else {
01340     mUI->forcesVisibleLabel->setEnabled(false);
01341     mUI->forcesVisibleCheckBox->setEnabled(false);
01342   }
01343 }
01344 
01345 void MainWindow::forcesVisibleCheckBox_toggled( bool vis)
01346 {
01347   world->getSelectedTendon()->setForcesVisible( vis );
01348 }
01349 
01350 /*this populates tendon names box according to selected hand*/
01351 void MainWindow::updateTendonNamesBox()
01352 {
01353   int i, nrTendons = world->getCurrentHandNumberTendons();
01354   if (nrTendons==0) {
01355     mUI->tendonNamesBox->clear();
01356     mUI->Tendon_force_label->setEnabled(false);
01357     mUI->tendonNamesBox->setEnabled(false);
01358     return;
01359   }
01360   
01361   mUI->Tendon_force_label->setEnabled(true);
01362   mUI->tendonNamesBox->setEnabled(true); 
01363   mUI->tendonNamesBox->clear();
01364   for (i=0; i<nrTendons; i++) {
01365     mUI->tendonNamesBox->insertItem( world->getSelectedHandTendonName(i) );
01366   }
01367   mUI->tendonNamesBox->insertItem( QString("--none selected--") );
01368 }
/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/ui/mainWindow.cpp
