stdr_info_loader.cpp
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00001 /******************************************************************************
00002    STDR Simulator - Simple Two DImensional Robot Simulator
00003    Copyright (C) 2013 STDR Simulator
00004    This program is free software; you can redistribute it and/or modify
00005    it under the terms of the GNU General Public License as published by
00006    the Free Software Foundation; either version 3 of the License, or
00007    (at your option) any later version.
00008    This program is distributed in the hope that it will be useful,
00009    but WITHOUT ANY WARRANTY; without even the implied warranty of
00010    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00011    GNU General Public License for more details.
00012    You should have received a copy of the GNU General Public License
00013    along with this program; if not, write to the Free Software Foundation,
00014    Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301  USA
00015    
00016    Authors : 
00017    * Manos Tsardoulias, etsardou@gmail.com
00018    * Aris Thallas, aris.thallas@gmail.com
00019    * Chris Zalidis, zalidis@gmail.com 
00020 ******************************************************************************/
00021 
00022 #include "stdr_gui/stdr_info_loader.h"
00023 
00024 namespace stdr_gui{
00025   
00032   CInfoLoader::CInfoLoader(int argc, char **argv):
00033     argc_(argc),
00034     argv_(argv)
00035   {
00036     setupUi(this);
00037     
00038     stdrInformationTree->header()->setDefaultSectionSize(20);
00039     stdrInformationTree->header()->setMinimumSectionSize(10);
00040     
00041     stdrInformationTree->setColumnCount(4);
00042     stdrInformationTree->setColumnWidth(0,200);
00043     stdrInformationTree->setColumnWidth(1,100);
00044     stdrInformationTree->setColumnWidth(2,20);
00045     stdrInformationTree->setColumnWidth(3,20);
00046     
00047     QStringList ColumnNames;
00048     ColumnNames << "" << "" << "" << "" << "";
00049  
00050     stdrInformationTree->setHeaderLabels(ColumnNames);
00051     
00052     generalInfo.setText(0,"Information");
00053     robotsInfo.setText(0,"Robots");
00054     
00055     mapWidth.setText(0,"Map width");
00056     mapWidth.setText(1,"-");
00057     generalInfo.addChild(&mapWidth);
00058     mapHeight.setText(0,"Map height");
00059     mapHeight.setText(1,"-");
00060     generalInfo.addChild(&mapHeight);
00061     mapOcgd.setText(0,"Resolution");
00062     mapOcgd.setText(1,"-");
00063     generalInfo.addChild(&mapOcgd);
00064     
00065     stdrInformationTree->addTopLevelItem(&generalInfo);
00066     stdrInformationTree->addTopLevelItem(&robotsInfo);
00067     
00068     generalInfo.setExpanded(true);
00069     robotsInfo.setExpanded(true);
00070 
00071     visible_icon_.addFile(QString((
00072       stdr_gui_tools::getRosPackagePath("stdr_gui") + 
00073         std::string("/resources/images/visible.png")).c_str()));
00074         
00075     visible_icon_on_.addFile(QString((
00076       stdr_gui_tools::getRosPackagePath("stdr_gui") + 
00077         std::string("/resources/images/visible_on.png")).c_str()));
00078     visible_icon_off_.addFile(QString((
00079       stdr_gui_tools::getRosPackagePath("stdr_gui") + 
00080         std::string("/resources/images/visible_off.png")).c_str()));
00081     visible_icon_trans_.addFile(QString((
00082       stdr_gui_tools::getRosPackagePath("stdr_gui") + 
00083         std::string("/resources/images/visible_transparent.png")).c_str()));
00084   }
00085   
00090   CInfoLoader::~CInfoLoader(void)
00091   {
00092     
00093   }
00094   
00100   void CInfoLoader::deleteTreeNode(QTreeWidgetItem *item)
00101   {
00102     int count = item->childCount();
00103     for(int i = count - 1 ; i >= 0 ; i--)
00104     {
00105       deleteTreeNode(item->child(i));
00106       QTreeWidgetItem *child = item->child(i);
00107       item->removeChild(item->child(i));
00108       delete child;
00109     }
00110   }
00111   
00116   void CInfoLoader::deleteTree(void)
00117   {
00118     int count = robotsInfo.childCount();
00119     for(int i = count - 1 ; i >= 0 ; i--)
00120     {
00121       //~ deleteTreeNode(robotsInfo.child(i));
00122       QTreeWidgetItem *child = robotsInfo.child(i);
00123       robotsInfo.removeChild(robotsInfo.child(i));
00124       //~ delete child;
00125     }
00126   }
00127   
00135   void CInfoLoader::updateMapInfo(float width,float height,float ocgd)
00136   {
00137     mapWidth.setText(1,(QString().setNum(width) + QString(" m")));
00138     mapHeight.setText(1,(QString().setNum(height) + QString(" m")));
00139     mapOcgd.setText(1,(QString().setNum(ocgd) + QString(" m/px")));
00140   }
00141   
00147   void CInfoLoader::updateRobots(const stdr_msgs::RobotIndexedVectorMsg& msg)
00148   {
00149     for(unsigned int i = 0 ; i < msg.robots.size() ; i++)
00150     {
00151       QTreeWidgetItem  *rnode = new QTreeWidgetItem();
00152       rnode->setText(0,QString(msg.robots[i].name.c_str()));
00153       rnode->setIcon(2,visible_icon_on_);
00154       rnode->setIcon(3,visible_icon_);
00155       rnode->setToolTip(2,"Visibility status");
00156       rnode->setToolTip(3,"Visualize robot topics");
00157       
00158       QTreeWidgetItem *radius = new QTreeWidgetItem();
00159       radius->setText(0,"Radius");
00160       radius->setText(1,(QString().setNum(
00161         msg.robots[i].robot.footprint.radius) + QString("m")));
00162       rnode->addChild(radius);
00163       
00164       QTreeWidgetItem *lasers = new QTreeWidgetItem(),
00165                       *sonars = new QTreeWidgetItem(),
00166                       *rfids = new QTreeWidgetItem(),
00167                       *co2_sensors = new QTreeWidgetItem(),
00168                       *thermal_sensors = new QTreeWidgetItem(),
00169                       *sound_sensors = new QTreeWidgetItem(),
00170                       *kinematics = new QTreeWidgetItem();
00171 
00172       lasers->setText(0,"Lasers");
00173       sonars->setText(0,"Sonars");
00174       rfids->setText(0,"RFID readers");
00175       co2_sensors->setText(0,"CO2 sensors");
00176       thermal_sensors->setText(0,"Thermal sensors");
00177       sound_sensors->setText(0,"Sound sensors");
00178       kinematics->setText(0,"Kinematic");
00179       
00180       for(unsigned int l = 0 ; l < msg.robots[i].robot.laserSensors.size() ; 
00181           l++)
00182       {
00183         QTreeWidgetItem *lname;
00184         lname=new QTreeWidgetItem();
00185         lname->setText(0,
00186           msg.robots[i].robot.laserSensors[l].frame_id.c_str());
00187           
00188         lname->setIcon(2,visible_icon_on_);
00189         lname->setToolTip(2,"Visibility status");
00190         lname->setIcon(3,visible_icon_);
00191         lname->setToolTip(3,"Visualize topic");
00192 
00193         QTreeWidgetItem *lrays = new QTreeWidgetItem();
00194         QTreeWidgetItem *lmaxrange = new QTreeWidgetItem();
00195         QTreeWidgetItem *lminrange = new QTreeWidgetItem();
00196         QTreeWidgetItem *lmaxangle = new QTreeWidgetItem();
00197         QTreeWidgetItem *lminangle = new QTreeWidgetItem();
00198         QTreeWidgetItem *lnoisemean = new QTreeWidgetItem();
00199         QTreeWidgetItem *lnoisestd = new QTreeWidgetItem();
00200         QTreeWidgetItem *lfreq = new QTreeWidgetItem();
00201         QTreeWidgetItem *lposex = new QTreeWidgetItem();
00202         QTreeWidgetItem *lposey = new QTreeWidgetItem();
00203         QTreeWidgetItem *lorientation = new QTreeWidgetItem();
00204         
00205         lrays->setText(0,"Rays");
00206         lrays->setText(1,QString().setNum(
00207           msg.robots[i].robot.laserSensors[l].numRays));
00208         lmaxrange->setText(0,"Max dist");
00209         lmaxrange->setText(1,(QString().setNum(
00210           msg.robots[i].robot.laserSensors[l].maxRange) + QString(" m")));
00211         lminrange->setText(0,"Min dist");
00212         lminrange->setText(1,(QString().setNum(
00213           msg.robots[i].robot.laserSensors[l].minRange) + QString(" m")));
00214         lmaxangle->setText(0,"Max angle");
00215         lmaxangle->setText(1,(QString().setNum(
00216           msg.robots[i].robot.laserSensors[l].maxAngle) + QString(" rad")));
00217         lminangle->setText(0,"Min angle");
00218         lminangle->setText(1,(QString().setNum(
00219           msg.robots[i].robot.laserSensors[l].minAngle) + QString(" rad")));
00220         lnoisemean->setText(0,"Noise (mean)");
00221         lnoisemean->setText(1,(QString().setNum(
00222           msg.robots[i].robot.laserSensors[l].noise.noiseMean) + QString(" m")));
00223         lnoisestd->setText(0,"Noise (std)");
00224         lnoisestd->setText(1,(QString().setNum(
00225           msg.robots[i].robot.laserSensors[l].noise.noiseStd) + QString(" m")));
00226         lfreq->setText(0,"Frequency");
00227         lfreq->setText(1,(QString().setNum(
00228           msg.robots[i].robot.laserSensors[l].frequency) + QString(" Hz")));
00229             
00230         lposex->setText(0,"x pose");
00231         lposex->setText(1,(QString().setNum(
00232           msg.robots[i].robot.laserSensors[l].pose.x) + QString(" m")));
00233         lposey->setText(0,"y pose");
00234         lposey->setText(1,(QString().setNum(
00235           msg.robots[i].robot.laserSensors[l].pose.y) + QString(" m")));
00236         lorientation->setText(0,"Orientation");
00237         lorientation->setText(1,(QString().setNum(
00238           msg.robots[i].robot.laserSensors[l].pose.theta) + QString(" rad")));
00239                   
00240         lname->addChild(lrays);
00241         lname->addChild(lmaxrange);
00242         lname->addChild(lminrange);
00243         lname->addChild(lmaxangle);
00244         lname->addChild(lminangle);
00245         lname->addChild(lnoisemean);
00246         lname->addChild(lnoisestd);
00247         lname->addChild(lfreq);
00248         lname->addChild(lposex);
00249         lname->addChild(lposey);
00250         lname->addChild(lorientation);
00251         
00252         lasers->addChild(lname);
00253       }
00254       
00255       for(unsigned int l = 0; l < msg.robots[i].robot.sonarSensors.size() ; 
00256         l++)
00257       {
00258         QTreeWidgetItem *sname;
00259         sname = new QTreeWidgetItem();
00260         sname->setText(0,
00261           msg.robots[i].robot.sonarSensors[l].frame_id.c_str());
00262         sname->setIcon(2,visible_icon_on_);
00263         sname->setIcon(3,visible_icon_);
00264         
00265         sname->setToolTip(2,"Visibility status");
00266         sname->setToolTip(3,"Visualize topic");
00267 
00268         QTreeWidgetItem *smaxrange = new QTreeWidgetItem();
00269         QTreeWidgetItem *sminrange = new QTreeWidgetItem();
00270         QTreeWidgetItem *scone = new QTreeWidgetItem();
00271         QTreeWidgetItem *sorientation = new QTreeWidgetItem();
00272         QTreeWidgetItem *snoisemean = new QTreeWidgetItem();
00273         QTreeWidgetItem *snoisestd = new QTreeWidgetItem();
00274         QTreeWidgetItem *sfreq = new QTreeWidgetItem();
00275         QTreeWidgetItem *sposex = new QTreeWidgetItem();
00276         QTreeWidgetItem *sposey = new QTreeWidgetItem();
00277         
00278         smaxrange->setText(0,"Max dist");
00279         smaxrange->setText(1,(QString().setNum(
00280           msg.robots[i].robot.sonarSensors[l].maxRange) + QString(" m")));
00281         sminrange->setText(0,"Min dist");
00282         sminrange->setText(1,(QString().setNum(
00283           msg.robots[i].robot.sonarSensors[l].minRange) + QString(" m")));
00284         scone->setText(0,"Cone");
00285         scone->setText(1,(QString().setNum(
00286           msg.robots[i].robot.sonarSensors[l].coneAngle) + QString(" rad")));
00287         sorientation->setText(0,"Orientation");
00288         sorientation->setText(1,(QString().setNum(
00289           msg.robots[i].robot.sonarSensors[l].pose.theta) + QString(" rad")));
00290         snoisemean->setText(0,"Noise (mean)");
00291         snoisemean->setText(1,(QString().setNum(
00292           msg.robots[i].robot.sonarSensors[l].noise.noiseMean) + 
00293             QString(" m")));
00294         snoisestd->setText(0,"Noise (std)");
00295         snoisestd->setText(1,(QString().setNum(
00296           msg.robots[i].robot.sonarSensors[l].noise.noiseStd) + QString(" m")));
00297         sfreq->setText(0,"Frequency");
00298         sfreq->setText(1,(QString().setNum(
00299           msg.robots[i].robot.sonarSensors[l].frequency) + QString(" Hz")));
00300             
00301         sposex->setText(0,"x pose");
00302         sposex->setText(1,(QString().setNum(
00303           msg.robots[i].robot.sonarSensors[l].pose.x) + QString(" m")));
00304         sposey->setText(0,"y pose");
00305         sposey->setText(1,(QString().setNum(
00306           msg.robots[i].robot.sonarSensors[l].pose.y) + QString(" m")));
00307                   
00308         sname->addChild(smaxrange);
00309         sname->addChild(sminrange);
00310         sname->addChild(scone);
00311         sname->addChild(sorientation);
00312         sname->addChild(snoisemean);
00313         sname->addChild(snoisestd);
00314         sname->addChild(sfreq);
00315         sname->addChild(sposex);
00316         sname->addChild(sposey);
00317         
00318         sonars->addChild(sname);
00319       }
00320       
00321       for(unsigned int l = 0; l < msg.robots[i].robot.rfidSensors.size() ; 
00322         l++)
00323       {
00324         QTreeWidgetItem *sname;
00325         sname = new QTreeWidgetItem();
00326         sname->setText(0,
00327           msg.robots[i].robot.rfidSensors[l].frame_id.c_str());
00328         sname->setIcon(2,visible_icon_on_);
00329         //~ sname->setIcon(3,visible_icon_);
00330         
00331         sname->setToolTip(2,"Visibility status");
00332         //~ sname->setToolTip(3,"Visualize topic");
00333 
00334         QTreeWidgetItem *smaxrange = new QTreeWidgetItem();
00335         QTreeWidgetItem *sspan = new QTreeWidgetItem();
00336         QTreeWidgetItem *sorientation = new QTreeWidgetItem();
00337         QTreeWidgetItem *sfreq = new QTreeWidgetItem();
00338         QTreeWidgetItem *scutoff = new QTreeWidgetItem();
00339         QTreeWidgetItem *sposex = new QTreeWidgetItem();
00340         QTreeWidgetItem *sposey = new QTreeWidgetItem();
00341         
00342         smaxrange->setText(0,"Max dist");
00343         smaxrange->setText(1,(QString().setNum(
00344           msg.robots[i].robot.rfidSensors[l].maxRange) + QString(" m")));
00345        
00346         sspan->setText(0,"Angle span");
00347         sspan->setText(1,(QString().setNum(
00348           msg.robots[i].robot.rfidSensors[l].angleSpan) 
00349             + QString(" rad")));
00350           
00351         sorientation->setText(0,"Orientation");
00352         sorientation->setText(1,(QString().setNum(
00353           msg.robots[i].robot.rfidSensors[l].pose.theta) + 
00354             QString(" rad")));
00355           
00356         scutoff->setText(0,"Signal Cutoff");
00357         scutoff->setText(1,(QString().setNum(
00358           msg.robots[i].robot.rfidSensors[l].signalCutoff) + 
00359             QString("")));
00360 
00361         sfreq->setText(0,"Frequency");
00362         sfreq->setText(1,(QString().setNum(
00363           msg.robots[i].robot.rfidSensors[l].frequency) + QString(" Hz")));
00364             
00365         sposex->setText(0,"x pose");
00366         sposex->setText(1,(QString().setNum(
00367           msg.robots[i].robot.rfidSensors[l].pose.x) + QString(" m")));
00368           
00369         sposey->setText(0,"y pose");
00370         sposey->setText(1,(QString().setNum(
00371           msg.robots[i].robot.rfidSensors[l].pose.y) + QString(" m")));
00372                   
00373         sname->addChild(smaxrange);
00374         sname->addChild(sspan);
00375         sname->addChild(sorientation);
00376         sname->addChild(scutoff);
00377         sname->addChild(sfreq);
00378         sname->addChild(sposex);
00379         sname->addChild(sposey);
00380         
00381         rfids->addChild(sname);
00382       }
00383       for(unsigned int l = 0; l < msg.robots[i].robot.co2Sensors.size() ; 
00384         l++)
00385       {
00386         QTreeWidgetItem *sname;
00387         sname = new QTreeWidgetItem();
00388         sname->setText(0,
00389           msg.robots[i].robot.co2Sensors[l].frame_id.c_str());
00390         sname->setIcon(2,visible_icon_on_);
00391         //~ sname->setIcon(3,visible_icon_);
00392         
00393         sname->setToolTip(2,"Visibility status");
00394         //~ sname->setToolTip(3,"Visualize topic");
00395 
00396         QTreeWidgetItem *smaxrange = new QTreeWidgetItem();
00397         //~ QTreeWidgetItem *sspan = new QTreeWidgetItem();
00398         QTreeWidgetItem *sorientation = new QTreeWidgetItem();
00399         QTreeWidgetItem *sfreq = new QTreeWidgetItem();
00400         //~ QTreeWidgetItem *scutoff = new QTreeWidgetItem();
00401         QTreeWidgetItem *sposex = new QTreeWidgetItem();
00402         QTreeWidgetItem *sposey = new QTreeWidgetItem();
00403         
00404         smaxrange->setText(0,"Max dist");
00405         smaxrange->setText(1,(QString().setNum(
00406           msg.robots[i].robot.co2Sensors[l].maxRange) + QString(" m")));
00407        
00408         //~ sspan->setText(0,"Angle span");
00409         //~ sspan->setText(1,(QString().setNum(
00410           //~ msg.robots[i].robot.rfidSensors[l].angleSpan) 
00411             //~ + QString(" rad")));
00412           
00413         sorientation->setText(0,"Orientation");
00414         sorientation->setText(1,(QString().setNum(
00415           msg.robots[i].robot.co2Sensors[l].pose.theta) + 
00416             QString(" rad")));
00417           
00418         //~ scutoff->setText(0,"Signal Cutoff");
00419         //~ scutoff->setText(1,(QString().setNum(
00420           //~ msg.robots[i].robot.rfidSensors[l].signalCutoff) + 
00421             //~ QString("")));
00422 
00423         sfreq->setText(0,"Frequency");
00424         sfreq->setText(1,(QString().setNum(
00425           msg.robots[i].robot.co2Sensors[l].frequency) + QString(" Hz")));
00426             
00427         sposex->setText(0,"x pose");
00428         sposex->setText(1,(QString().setNum(
00429           msg.robots[i].robot.co2Sensors[l].pose.x) + QString(" m")));
00430           
00431         sposey->setText(0,"y pose");
00432         sposey->setText(1,(QString().setNum(
00433           msg.robots[i].robot.co2Sensors[l].pose.y) + QString(" m")));
00434                   
00435         sname->addChild(smaxrange);
00436         //~ sname->addChild(sspan);
00437         sname->addChild(sorientation);
00438         //~ sname->addChild(scutoff);
00439         sname->addChild(sfreq);
00440         sname->addChild(sposex);
00441         sname->addChild(sposey);
00442         
00443         co2_sensors->addChild(sname);
00444       }
00445       for(unsigned int l = 0; l < msg.robots[i].robot.thermalSensors.size() ; 
00446         l++)
00447       {
00448         QTreeWidgetItem *sname;
00449         sname = new QTreeWidgetItem();
00450         sname->setText(0,
00451           msg.robots[i].robot.thermalSensors[l].frame_id.c_str());
00452         sname->setIcon(2,visible_icon_on_);
00453         //~ sname->setIcon(3,visible_icon_);
00454         
00455         sname->setToolTip(2,"Visibility status");
00456         //~ sname->setToolTip(3,"Visualize topic");
00457 
00458         QTreeWidgetItem *smaxrange = new QTreeWidgetItem();
00459         QTreeWidgetItem *sspan = new QTreeWidgetItem();
00460         QTreeWidgetItem *sorientation = new QTreeWidgetItem();
00461         QTreeWidgetItem *sfreq = new QTreeWidgetItem();
00462         //~ QTreeWidgetItem *scutoff = new QTreeWidgetItem();
00463         QTreeWidgetItem *sposex = new QTreeWidgetItem();
00464         QTreeWidgetItem *sposey = new QTreeWidgetItem();
00465         
00466         smaxrange->setText(0,"Max dist");
00467         smaxrange->setText(1,(QString().setNum(
00468           msg.robots[i].robot.thermalSensors[l].maxRange) + QString(" m")));
00469        
00470         sspan->setText(0,"Angle span");
00471         sspan->setText(1,(QString().setNum(
00472           msg.robots[i].robot.thermalSensors[l].angleSpan) 
00473             + QString(" rad")));
00474           
00475         sorientation->setText(0,"Orientation");
00476         sorientation->setText(1,(QString().setNum(
00477           msg.robots[i].robot.thermalSensors[l].pose.theta) + 
00478             QString(" rad")));
00479           
00480         //~ scutoff->setText(0,"Signal Cutoff");
00481         //~ scutoff->setText(1,(QString().setNum(
00482           //~ msg.robots[i].robot.rfidSensors[l].signalCutoff) + 
00483             //~ QString("")));
00484 
00485         sfreq->setText(0,"Frequency");
00486         sfreq->setText(1,(QString().setNum(
00487           msg.robots[i].robot.thermalSensors[l].frequency) + QString(" Hz")));
00488             
00489         sposex->setText(0,"x pose");
00490         sposex->setText(1,(QString().setNum(
00491           msg.robots[i].robot.thermalSensors[l].pose.x) + QString(" m")));
00492           
00493         sposey->setText(0,"y pose");
00494         sposey->setText(1,(QString().setNum(
00495           msg.robots[i].robot.thermalSensors[l].pose.y) + QString(" m")));
00496                   
00497         sname->addChild(smaxrange);
00498         sname->addChild(sspan);
00499         sname->addChild(sorientation);
00500         //~ sname->addChild(scutoff);
00501         sname->addChild(sfreq);
00502         sname->addChild(sposex);
00503         sname->addChild(sposey);
00504         
00505         thermal_sensors->addChild(sname);
00506       }
00507       for(unsigned int l = 0; l < msg.robots[i].robot.soundSensors.size() ; 
00508         l++)
00509       {
00510         QTreeWidgetItem *sname;
00511         sname = new QTreeWidgetItem();
00512         sname->setText(0,
00513           msg.robots[i].robot.soundSensors[l].frame_id.c_str());
00514         sname->setIcon(2,visible_icon_on_);
00515         //~ sname->setIcon(3,visible_icon_);
00516         
00517         sname->setToolTip(2,"Visibility status");
00518         //~ sname->setToolTip(3,"Visualize topic");
00519 
00520         QTreeWidgetItem *smaxrange = new QTreeWidgetItem();
00521         QTreeWidgetItem *sspan = new QTreeWidgetItem();
00522         QTreeWidgetItem *sorientation = new QTreeWidgetItem();
00523         QTreeWidgetItem *sfreq = new QTreeWidgetItem();
00524         //~ QTreeWidgetItem *scutoff = new QTreeWidgetItem();
00525         QTreeWidgetItem *sposex = new QTreeWidgetItem();
00526         QTreeWidgetItem *sposey = new QTreeWidgetItem();
00527         
00528         smaxrange->setText(0,"Max dist");
00529         smaxrange->setText(1,(QString().setNum(
00530           msg.robots[i].robot.soundSensors[l].maxRange) + QString(" m")));
00531        
00532         sspan->setText(0,"Angle span");
00533         sspan->setText(1,(QString().setNum(
00534           msg.robots[i].robot.soundSensors[l].angleSpan) 
00535             + QString(" rad")));
00536           
00537         sorientation->setText(0,"Orientation");
00538         sorientation->setText(1,(QString().setNum(
00539           msg.robots[i].robot.soundSensors[l].pose.theta) + 
00540             QString(" rad")));
00541           
00542         //~ scutoff->setText(0,"Signal Cutoff");
00543         //~ scutoff->setText(1,(QString().setNum(
00544           //~ msg.robots[i].robot.rfidSensors[l].signalCutoff) + 
00545             //~ QString("")));
00546 
00547         sfreq->setText(0,"Frequency");
00548         sfreq->setText(1,(QString().setNum(
00549           msg.robots[i].robot.soundSensors[l].frequency) + QString(" Hz")));
00550             
00551         sposex->setText(0,"x pose");
00552         sposex->setText(1,(QString().setNum(
00553           msg.robots[i].robot.soundSensors[l].pose.x) + QString(" m")));
00554           
00555         sposey->setText(0,"y pose");
00556         sposey->setText(1,(QString().setNum(
00557           msg.robots[i].robot.soundSensors[l].pose.y) + QString(" m")));
00558                   
00559         sname->addChild(smaxrange);
00560         sname->addChild(sspan);
00561         sname->addChild(sorientation);
00562         //~ sname->addChild(scutoff);
00563         sname->addChild(sfreq);
00564         sname->addChild(sposex);
00565         sname->addChild(sposey);
00566         
00567         sound_sensors->addChild(sname);
00568       }
00569       
00570       rnode->addChild(lasers);
00571       rnode->addChild(sonars);
00572       rnode->addChild(rfids);
00573       rnode->addChild(co2_sensors);
00574       rnode->addChild(thermal_sensors);
00575       rnode->addChild(sound_sensors);
00576       rnode->addChild(kinematics);
00577       
00578       robotsInfo.addChild(rnode);
00579     }       
00580   }
00581 }

stdr_gui
Author(s): Manos Tsardoulias
autogenerated on Wed Sep 2 2015 03:36:44