def setPlan(self, plan):
self.ui.playbackSlider.value = 0
self.ui.timeLabel.text = 'Time: 0.00 s'
self.ui.planNameLabel.text = ''
self.plan = plan
self.endTime = 1.0
self.updateButtonColor()
if not self.plan:
return
planText = 'Plan: %d. %.2f seconds' % (
plan.utime, self.planPlayback.getPlanElapsedTime(plan))
self.ui.planNameLabel.text = planText
self.startTime = 0.0
self.endTime = self.planPlayback.getPlanElapsedTime(plan)
self.interpolationChanged()
info = self.getPlanInfo(plan)
app.displaySnoptInfo(info)
if self.ui.hideButton.text == 'show':
self.hideClicked()
else:
self.viewModeChanged()
self.updateButtonColor()
if self.autoPlay and self.widget.parent() is not None:
self.widget.parent().show()
def setPlan(self, plan):
self.ui.playbackSlider.value = 0
self.ui.timeLabel.text = 'Time: 0.00 s'
self.ui.planNameLabel.text = ''
self.plan = plan
self.endTime = 1.0
self.updateButtonColor()
if not self.plan:
return
planText = 'Plan: %d. %.2f seconds' % (plan.utime, self.planPlayback.getPlanElapsedTime(plan))
self.ui.planNameLabel.text = planText
self.startTime = 0.0
self.endTime = self.planPlayback.getPlanElapsedTime(plan)
self.interpolationChanged()
info = self.getPlanInfo(plan)
app.displaySnoptInfo(info)
if self.ui.hideButton.text == 'show':
self.hideClicked()
else:
self.viewModeChanged()
self.updateButtonColor()
if self.autoPlay and self.widget.parent() is not None:
self.widget.parent().show()
def updateIk(self):
if not self.constraintSet:
self.updateIKConstraints()
self.checkFinalPosePlanningMode()
endPose, info = self.constraintSet.runIk()
endPoseName = 'reach_end'
self.ikPlanner.addPose(endPose, endPoseName)
self.showPose(self.constraintSet.endPose)
app.displaySnoptInfo(info)
if self.ui.walkingPlanningPanel.enabled and self.ui.walkInteractiveCheck.checked:
self.onWalkingPlan()
def updateIk(self):
if not self.constraintSet:
self.updateIKConstraints()
self.checkFinalPosePlanningMode()
endPose, info = self.constraintSet.runIk()
endPoseName = 'reach_end'
self.ikPlanner.addPose(endPose, endPoseName)
self.showPose(self.constraintSet.endPose)
app.displaySnoptInfo(info)
if self.ui.walkingPlanningPanel.enabled and self.ui.walkInteractiveCheck.checked:
self.onWalkingPlan()
