/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/ui/settingsDlg.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: settingsDlg.cpp,v 1.2 2009/03/25 22:10:14 cmatei Exp $
//
//######################################################################

#include "settingsDlg.h"
#include "world.h"
#include "graspitGUI.h"
#include "ivmgr.h"

#include <QValidator>
#include <QMessageBox>

void SettingsDlg::init()
{   
  int i,j;
  QString val;
    World *w = graspItGUI->getIVmgr()->getWorld();
   
    dlgUI->staticFrictionTable->horizontalHeader()->hide();
    dlgUI->staticFrictionTable->verticalHeader()->hide();
    dlgUI->kineticFrictionTable->horizontalHeader()->hide();
    dlgUI->kineticFrictionTable->verticalHeader()->hide();
    dlgUI->staticFrictionTable->setTopMargin(0);
    dlgUI->staticFrictionTable->setLeftMargin(0);
    dlgUI->kineticFrictionTable->setTopMargin(0);
    dlgUI->kineticFrictionTable->setLeftMargin(0);
    
    
    dlgUI->staticFrictionTable->setNumRows(w->getNumMaterials()+1);
    dlgUI->staticFrictionTable->setNumCols(w->getNumMaterials()+1);
    dlgUI->kineticFrictionTable->setNumRows(w->getNumMaterials()+1);
    dlgUI->kineticFrictionTable->setNumCols(w->getNumMaterials()+1);
    
    dlgUI->staticFrictionTable->setItem(0,0,new Q3TableItem(dlgUI->staticFrictionTable,Q3TableItem::Never,""));
    dlgUI->kineticFrictionTable->setItem(0,0,new Q3TableItem(dlgUI->kineticFrictionTable,Q3TableItem::Never,""));
    
    for (i=0;i<w->getNumMaterials();i++) {
      dlgUI->staticFrictionTable->setText(0,i+1,w->getMaterialName(i));
      dlgUI->staticFrictionTable->setText(i+1,0,w->getMaterialName(i));
      dlgUI->kineticFrictionTable->setText(0,i+1,w->getMaterialName(i));
      dlgUI->kineticFrictionTable->setText(i+1,0,w->getMaterialName(i));
    }
    
        for (i=0;i<w->getNumMaterials();i++) {
      for (j=0;j<w->getNumMaterials();j++) {
                dlgUI->staticFrictionTable->setText(i+1,j+1,val.setNum(w->getCOF(i,j)));
                dlgUI->kineticFrictionTable->setText(i+1,j+1,val.setNum(w->getKCOF(i,j)));
      }
        }
    
    dlgUI->timeStepLine->setText(QString::number(w->getTimeStep() * 1.0e+3));
    dlgUI->timeStepLine->setValidator(new QDoubleValidator(1.0e-2,1.0e+4,10,dlgImpl));
    
        QObject::connect(dlgUI->staticFrictionTable, SIGNAL(currentChanged(int,int)), 
                                         this, SLOT(saveCurrentCOF(int,int)) );
        QObject::connect(dlgUI->kineticFrictionTable, SIGNAL(currentChanged(int,int)), 
                                         this, SLOT(saveCurrentKCOF(int,int)) );

        QObject::connect(dlgUI->staticFrictionTable, SIGNAL(valueChanged(int,int)), 
                                         this, SLOT(checkCOFEntry(int,int)) );
        QObject::connect(dlgUI->kineticFrictionTable, SIGNAL(valueChanged(int,int)), 
                                         this, SLOT(checkKCOFEntry(int,int)) );

        QObject::connect(dlgUI->okButton, SIGNAL(clicked()), this, SLOT(validateDlg()) );

}

SettingsDlg::~SettingsDlg()
{
        delete dlgImpl;
        delete dlgUI;
}

void SettingsDlg::checkCOFEntry( int row, int col )
{
  double val;
  bool ok;
  
  if (row>0 && col>0) {
    val = dlgUI->staticFrictionTable->text(row,col).toDouble(&ok);
    if (!ok || val < 0) {
      dlgUI->staticFrictionTable->setText(row,col,QString::number(currCOFVal));
      return;
    }
  }
  else {
    dlgUI->kineticFrictionTable->setText(row,col,dlgUI->staticFrictionTable->text(row,col));
    dlgUI->kineticFrictionTable->setText(col,row,dlgUI->staticFrictionTable->text(row,col));
  }
  dlgUI->staticFrictionTable->setText(col,row,dlgUI->staticFrictionTable->text(row,col)); 
}


void SettingsDlg::saveCurrentCOF( int row, int col )
{
  currCOFVal = dlgUI->staticFrictionTable->text(row,col).toDouble();
}

void SettingsDlg::saveCurrentKCOF( int row, int col )
{
  currKCOFVal = dlgUI->kineticFrictionTable->text(row,col).toDouble();
}


void SettingsDlg::checkKCOFEntry( int row, int col )
{
  double val;
  bool ok;
  if (row>0 && col>0) {
    val = dlgUI->kineticFrictionTable->text(row,col).toDouble(&ok);
    if (!ok || val < 0) {
      dlgUI->kineticFrictionTable->setText(row,col,QString::number(currKCOFVal));
      return;
    }
  }
  else {
    dlgUI->staticFrictionTable->setText(row,col,dlgUI->kineticFrictionTable->text(row,col));
    dlgUI->staticFrictionTable->setText(col,row,dlgUI->kineticFrictionTable->text(row,col));
  }
  dlgUI->kineticFrictionTable->setText(col,row,dlgUI->kineticFrictionTable->text(row,col));
}


void SettingsDlg::validateDlg()
{
  int zero=0;
  QString tst = dlgUI->timeStepLine->text();
  QString msg;
  QDoubleValidator *tsv = (QDoubleValidator *)dlgUI->timeStepLine->validator();

  if (tsv->validate(tst,zero) != QValidator::Acceptable) {
    msg = QString("Dynamic time step must be between %1 and %2").arg(tsv->bottom()).arg(tsv->top()); 
  }
     
  if (!msg.isEmpty()) {
    QMessageBox::warning(NULL,"GraspIt!",msg,QMessageBox::Ok, Qt::NoButton,Qt::NoButton);
  } else {
    dlgImpl->accept();
  }
}

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