def setupUi(self):
self.objectTree = QtGui.QTreeWidget()
self.propertiesPanel = PythonQt.dd.ddPropertiesPanel()
sidePanel = QtGui.QSplitter(QtCore.Qt.Vertical)
sidePanel.addWidget(self.objectTree)
sidePanel.addWidget(self.propertiesPanel)
sidePanel.setSizes([6, 4])
om.init(self.objectTree, self.propertiesPanel)
self.view = PythonQt.dd.ddQVTKWidgetView()
lcmgl.init(self.view)
self.view.backgroundRenderer().SetBackground(1,1,1)
self.view.backgroundRenderer().SetBackground2(1,1,1)
def setTextProperty(caption):
prop = caption.GetCaptionTextProperty()
prop.ShadowOff()
prop.BoldOn()
prop.ItalicOff()
prop.SetColor(0,0,0)
axesActor = self.view.orientationMarkerWidget().GetOrientationMarker()
setTextProperty(axesActor.GetXAxisCaptionActor2D())
setTextProperty(axesActor.GetYAxisCaptionActor2D())
setTextProperty(axesActor.GetZAxisCaptionActor2D())
w = QtGui.QWidget()
l = QtGui.QHBoxLayout(w)
self.slider = QtGui.QSlider(QtCore.Qt.Horizontal)
self.clearButton = QtGui.QPushButton('clear')
self.zeroButton = QtGui.QPushButton('zero')
l.addWidget(self.clearButton)
l.addWidget(self.zeroButton)
l.addWidget(self.slider)
self.slider.connect(self.slider, 'valueChanged(int)', self.onSlider)
self.slider.connect(self.zeroButton, 'clicked()', self.onZeroButtonClicked)
self.slider.connect(self.clearButton, 'clicked()', self.onClearButtonClicked)
ww = QtGui.QWidget()
ll = QtGui.QVBoxLayout(ww)
ll.addWidget(self.view)
#ll.addWidget(w)
ll.setMargin(0)
splitter = QtGui.QSplitter()
splitter.addWidget(sidePanel)
splitter.addWidget(ww)
splitter.setSizes([0, 1])
splitter.show()
splitter.resize(800, 600)
self.widget = splitter
self.widget.setWindowTitle('Drake Viewer')
viewBackgroundLightHandler = ViewBackgroundLightHandler(viewOptions, grid)
if not useLightColorScheme:
viewBackgroundLightHandler.action.trigger()
if useHands:
handcontrolpanel.init(lHandDriver, rHandDriver, robotStateModel, robotStateJointController, view)
if useFootsteps:
footstepsPanel = footstepsdriverpanel.init(footstepsDriver, robotStateModel, robotStateJointController, irisDriver)
if useLCMGL:
lcmglManager = lcmgl.init(view)
app.MenuActionToggleHelper('Tools', 'Renderer - LCM GL', lcmglManager.isEnabled, lcmglManager.setEnabled)
if useDrakeVisualizer:
drakeVisualizer = drakevisualizer.DrakeVisualizer(view)
app.MenuActionToggleHelper('Tools', 'Renderer - Drake', drakeVisualizer.isEnabled, drakeVisualizer.setEnabled)
if useNavigationPanel:
navigationPanel = navigationpanel.init(robotStateJointController, footstepsDriver)
picker = PointPicker(view, callback=navigationPanel.pointPickerStoredFootsteps, numberOfPoints=2)
#picker.start()
if usePlanning:
def setupUi(self):
self.objectTree = QtGui.QTreeWidget()
self.propertiesPanel = PythonQt.dd.ddPropertiesPanel()
sidePanel = QtGui.QSplitter(QtCore.Qt.Vertical)
sidePanel.addWidget(self.objectTree)
sidePanel.addWidget(self.propertiesPanel)
sidePanel.setSizes([6, 4])
om.init(self.objectTree, self.propertiesPanel)
self.view = PythonQt.dd.ddQVTKWidgetView()
lcmgl.init(self.view)
self.view.backgroundRenderer().SetBackground(1, 1, 1)
self.view.backgroundRenderer().SetBackground2(1, 1, 1)
def setTextProperty(caption):
prop = caption.GetCaptionTextProperty()
prop.ShadowOff()
prop.BoldOn()
prop.ItalicOff()
prop.SetColor(0, 0, 0)
axesActor = self.view.orientationMarkerWidget().GetOrientationMarker()
setTextProperty(axesActor.GetXAxisCaptionActor2D())
setTextProperty(axesActor.GetYAxisCaptionActor2D())
setTextProperty(axesActor.GetZAxisCaptionActor2D())
w = QtGui.QWidget()
l = QtGui.QHBoxLayout(w)
self.slider = QtGui.QSlider(QtCore.Qt.Horizontal)
self.clearButton = QtGui.QPushButton('clear')
self.zeroButton = QtGui.QPushButton('zero')
l.addWidget(self.clearButton)
l.addWidget(self.zeroButton)
l.addWidget(self.slider)
self.slider.connect(self.slider, 'valueChanged(int)', self.onSlider)
self.slider.connect(self.zeroButton, 'clicked()',
self.onZeroButtonClicked)
self.slider.connect(self.clearButton, 'clicked()',
self.onClearButtonClicked)
ww = QtGui.QWidget()
ll = QtGui.QVBoxLayout(ww)
ll.addWidget(self.view)
#ll.addWidget(w)
ll.setMargin(0)
splitter = QtGui.QSplitter()
splitter.addWidget(sidePanel)
splitter.addWidget(ww)
splitter.setSizes([0, 1])
splitter.show()
splitter.resize(800, 600)
self.widget = splitter
self.widget.setWindowTitle('Drake Viewer')
