class ToggleImageViewHandler(object):
def __init__(self, manager):
self.action = app.getToolsMenuActions()['ActionToggleImageView']
self.action.connect('triggered()', self.toggle)
self.manager = manager
def toggle(self):
if self.action.checked:
self.manager.show()
else:
self.manager.hide()
imageOverlayManager = ImageOverlayManager()
imageWidget = cameraview.ImageWidget(cameraview.imageManager,
'CAMERA_LEFT',
view,
visible=False)
imageViewHandler = ToggleImageViewHandler(imageWidget)
setImageWidgetSource = imageWidget.setImageName
screengrabberpanel.init(view)
framevisualization.init(view)
affordancePanel = affordancepanel.init(view, affordanceManager,
robotStateJointController,
raycastDriver)
camerabookmarks.init(view)
cameraControlPanel = cameracontrolpanel.CameraControlPanel(view)
app.addWidgetToDock(cameraControlPanel.widget, action=None).hide()
robotHighlighter = RobotLinkHighlighter(robotSystem.robotStateModel)
if useDataFiles:
for filename in drcargs.args().data_files:
actionhandlers.onOpenFile(filename)
cameras = [
camera["name"]
for camera in directorConfig["sensors"]["camera"]["color"]
]
imageOverlayManager = ImageOverlayManager(cameras, robotSystem.robotName)
imageWidget = cameraview.ImageWidget(
cameraview.imageManager,
cameras,
view,
visible=False,
robotName=robotSystem.robotName,
)
imageViewHandler = ToggleImageViewHandler(imageWidget)
screengrabberpanel.init(view, imageWidget, robotSystem.robotName)
framevisualization.init(view, robotSystem)
affordancePanel = affordancepanel.init(
view, robotSystem.affordanceManager,
robotSystem.robotStateJointController)
def drawCenterOfMass(model):
stanceFrame = robotSystem.footstepsDriver.getFeetMidPoint(model)
com = list(model.model.getCenterOfMass())
com[2] = stanceFrame.GetPosition()[2]