/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/ui/qmDlg.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): Andrew T. Miller 
//
// $Id: 
//
//######################################################################

#include <QHBoxLayout>
#include "qmDlg.h"
#include "graspitGUI.h"
#include "ivmgr.h"
#include "grasp.h"
#include "list"
#include "world.h"
#include "robot.h"

//#define GRASPITDBG
#include "debug.h"

void QMDlg::init()
{
  std::list<QualityMeasure *>::iterator qp;
  Grasp *g = graspItGUI->getIVmgr()->getWorld()->getCurrentHand()->getGrasp();
  int i;
  
  qmListBox->insertItem("New quality measure");
  for (qp=g->qmList.begin(),i=1;qp!=g->qmList.end();qp++,i++)
    qmListBox->insertItem((*qp)->getName());
  
  for (i=0;QualityMeasure::TYPE_LIST[i];i++)
    qmTypeComboBox->insertItem(QString(QualityMeasure::TYPE_LIST[i]));

  qmSettingsBox->setColumnLayout(0, Qt::Vertical );
  QHBoxLayout *settingsBoxLayout = new QHBoxLayout(qmSettingsBox->layout());
  settingsBoxLayout->setAlignment( Qt::AlignTop );

  qmDlgData.settingsArea = new QWidget(qmSettingsBox);
  settingsBoxLayout->addWidget(qmDlgData.settingsArea);

  qmDlgData.grasp = g;
  qmDlgData.qmTypeComboBox = qmTypeComboBox;
  qmDlgData.qmName = qmName;
  gravityBox->setChecked( g->isGravitySet() );

  qmListBox->setCurrentItem(0);
}


void QMDlg::selectQMType(const QString &typeStr)
{
  qmDlgData.qmType = typeStr.latin1();
  updateSettingsBox();
}

void QMDlg::updateSettingsBox()
{
  delete qmDlgData.settingsArea;

  qmDlgData.settingsArea = new QWidget(qmSettingsBox);
  qmSettingsBox->layout()->setAlignment(Qt::AlignTop);
  qmSettingsBox->layout()->add(qmDlgData.settingsArea);
  QualityMeasure::buildParamArea(&qmDlgData);

  qmDlgData.settingsArea->show();
}

void QMDlg::addEditQM()
{
  Grasp *g = graspItGUI->getIVmgr()->getWorld()->getCurrentHand()->getGrasp();
  QualityMeasure *newQM;
  int selectedQM;

  newQM = QualityMeasure::createInstance(&qmDlgData);
  
  selectedQM = qmListBox->currentItem();
  if (selectedQM == 0) { // create a new quality measure    
    g->addQM(newQM);

    qmListBox->insertItem(qmName->text());
  }
  else { // replace an old quality measure with a new one
    g->replaceQM(selectedQM-1,newQM);
    qmListBox->changeItem(qmName->text(),selectedQM);
  }

  qmListBox->setCurrentItem(0);
  qmListBox->update();
  qmListBox->show();

}

void QMDlg::deleteQM()
{
  int selectedQM;
  int numItems;
  
  selectedQM = qmListBox->currentItem();
  graspItGUI->getIVmgr()->getWorld()->getCurrentHand()->getGrasp()->
    removeQM(selectedQM-1);
  qmListBox->removeItem(selectedQM);

  // select the next item in the list
  numItems = qmListBox->count();
  qmListBox->setCurrentItem(selectedQM < numItems ? selectedQM : 0);
  qmListBox->update();
}

void QMDlg::selectQM( int which)
{
  if (which==0) {  // "New quality measure" selected
    qmDlgData.currQM = NULL;
    qmDlgData.qmType = QualityMeasure::TYPE_LIST[0];
    qmTypeComboBox->setCurrentItem(0);
    DeleteButton->setEnabled(false);
    qmName->setText(QString("New Quality Measure"));
  }
  else {
    DeleteButton->setEnabled(true);
    Grasp *g = graspItGUI->getIVmgr()->getWorld()->getCurrentHand()->getGrasp();
    qmDlgData.currQM = g->getQM(which-1);

        for (int i=0;QualityMeasure::TYPE_LIST[i];i++) {
      if (!strcmp(QualityMeasure::TYPE_LIST[i],qmDlgData.currQM->getType())) {
                qmTypeComboBox->setCurrentItem(i);
                qmDlgData.qmType = QualityMeasure::TYPE_LIST[i];
                break;
      }
        }
    qmName->setText(qmListBox->text(which));
  }
  updateSettingsBox();
}

void QMDlg::gravityBox_clicked()
{
    Grasp *g = graspItGUI->getIVmgr()->getWorld()->getCurrentHand()->getGrasp();
        g->setGravity( gravityBox->isChecked() );
        if ( gravityBox->isChecked() ) {
                fprintf(stderr,"Gravity on\n");
        } else {
                fprintf(stderr,"Gravity off\n");
        }
//      g->updateWrenchSpaces();
        g->update();
}

---

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