class Ui_MainWindow(object): def setupUi(self, MainWindow): MainWindow.setObjectName("MainWindow") MainWindow.resize(1075, 576) self.centralwidget = QtWidgets.QWidget(MainWindow) self.centralwidget.setObjectName("centralwidget") self.labels1 = QtWidgets.QLabel(self.centralwidget) self.labels1.setGeometry(QtCore.QRect(620, 90, 91, 16)) font = QtGui.QFont() font.setBold(True) font.setWeight(75) self.labels1.setFont(font) self.labels1.setObjectName("labels1") self.labels2 = QtWidgets.QLabel(self.centralwidget) self.labels2.setGeometry(QtCore.QRect(620, 120, 91, 16)) font = QtGui.QFont() font.setBold(True) font.setWeight(75) self.labels2.setFont(font) self.labels2.setObjectName("labels2") self.labels3 = QtWidgets.QLabel(self.centralwidget) self.labels3.setGeometry(QtCore.QRect(620, 150, 91, 16)) font = QtGui.QFont() font.setBold(True) font.setWeight(75) self.labels3.setFont(font) self.labels3.setObjectName("labels3") self.MplWidget = MplWidget(self.centralwidget) self.MplWidget.setEnabled(True) self.MplWidget.setGeometry(QtCore.QRect(20, 30, 581, 491)) self.MplWidget.setMouseTracking(True) self.MplWidget.setTabletTracking(True) self.MplWidget.setObjectName("MplWidget") self.pushButton_reset = QtWidgets.QPushButton(self.centralwidget) self.pushButton_reset.setGeometry(QtCore.QRect(860, 90, 161, 111)) font = QtGui.QFont() font.setPointSize(16) self.pushButton_reset.setFont(font) self.pushButton_reset.setObjectName("pushButton_reset") self.labels2_ik = QtWidgets.QLabel(self.centralwidget) self.labels2_ik.setGeometry(QtCore.QRect(620, 320, 91, 16)) font = QtGui.QFont() font.setBold(True) font.setWeight(75) self.labels2_ik.setFont(font) self.labels2_ik.setObjectName("labels2_ik") self.labels1_ik = QtWidgets.QLabel(self.centralwidget) self.labels1_ik.setGeometry(QtCore.QRect(620, 290, 91, 16)) font = QtGui.QFont() font.setBold(True) font.setWeight(75) self.labels1_ik.setFont(font) self.labels1_ik.setObjectName("labels1_ik") self.labels3_ik = QtWidgets.QLabel(self.centralwidget) self.labels3_ik.setGeometry(QtCore.QRect(620, 350, 91, 16)) font = QtGui.QFont() font.setBold(True) font.setWeight(75) self.labels3_ik.setFont(font) self.labels3_ik.setObjectName("labels3_ik") self.label_ik = QtWidgets.QLabel(self.centralwidget) self.label_ik.setGeometry(QtCore.QRect(620, 240, 191, 16)) font = QtGui.QFont() font.setPointSize(12) self.label_ik.setFont(font) self.label_ik.setObjectName("label_ik") self.label = QtWidgets.QLabel(self.centralwidget) self.label.setGeometry(QtCore.QRect(640, 450, 391, 61)) font = QtGui.QFont() font.setFamily("MS PGothic") font.setPointSize(12) font.setBold(True) font.setWeight(75) self.label.setFont(font) self.label.setAlignment(QtCore.Qt.AlignCenter) self.label.setWordWrap(True) self.label.setObjectName("label") self.doubleSpinBox1 = QtWidgets.QDoubleSpinBox(self.centralwidget) self.doubleSpinBox1.setGeometry(QtCore.QRect(772, 90, 62, 22)) self.doubleSpinBox1.setAccelerated(True) self.doubleSpinBox1.setMinimum(0.0) self.doubleSpinBox1.setMaximum(180.0) self.doubleSpinBox1.setObjectName("doubleSpinBox1") self.doubleSpinBox2 = QtWidgets.QDoubleSpinBox(self.centralwidget) self.doubleSpinBox2.setGeometry(QtCore.QRect(772, 120, 62, 22)) self.doubleSpinBox2.setAccelerated(True) self.doubleSpinBox2.setMinimum(-90.0) self.doubleSpinBox2.setMaximum(90.0) self.doubleSpinBox2.setObjectName("doubleSpinBox2") self.doubleSpinBox3 = QtWidgets.QDoubleSpinBox(self.centralwidget) self.doubleSpinBox3.setGeometry(QtCore.QRect(772, 150, 62, 22)) self.doubleSpinBox3.setAccelerated(True) self.doubleSpinBox3.setMinimum(-90.0) self.doubleSpinBox3.setMaximum(90.0) self.doubleSpinBox3.setObjectName("doubleSpinBox3") self.label_fk = QtWidgets.QLabel(self.centralwidget) self.label_fk.setGeometry(QtCore.QRect(620, 40, 181, 16)) font = QtGui.QFont() font.setPointSize(12) self.label_fk.setFont(font) self.label_fk.setObjectName("label_fk") self.doubleSpinBox_ik1 = QtWidgets.QDoubleSpinBox(self.centralwidget) self.doubleSpinBox_ik1.setGeometry(QtCore.QRect(777, 290, 62, 22)) self.doubleSpinBox_ik1.setAccelerated(True) self.doubleSpinBox_ik1.setMinimum(-99.0) self.doubleSpinBox_ik1.setObjectName("doubleSpinBox_ik1") self.doubleSpinBox_ik2 = QtWidgets.QDoubleSpinBox(self.centralwidget) self.doubleSpinBox_ik2.setGeometry(QtCore.QRect(777, 320, 62, 22)) self.doubleSpinBox_ik2.setAccelerated(True) self.doubleSpinBox_ik2.setObjectName("doubleSpinBox_ik2") self.doubleSpinBox_ik3 = QtWidgets.QDoubleSpinBox(self.centralwidget) self.doubleSpinBox_ik3.setGeometry(QtCore.QRect(777, 350, 62, 22)) self.doubleSpinBox_ik3.setAccelerated(True) self.doubleSpinBox_ik3.setObjectName("doubleSpinBox_ik3") self.pushButton_runik = QtWidgets.QPushButton(self.centralwidget) self.pushButton_runik.setGeometry(QtCore.QRect(860, 310, 161, 61)) font = QtGui.QFont() font.setPointSize(16) self.pushButton_runik.setFont(font) self.pushButton_runik.setObjectName("pushButton_runik") self.labels3_2 = QtWidgets.QLabel(self.centralwidget) self.labels3_2.setGeometry(QtCore.QRect(620, 180, 91, 16)) font = QtGui.QFont() font.setBold(True) font.setWeight(75) self.labels3_2.setFont(font) self.labels3_2.setObjectName("labels3_2") self.label_j4 = QtWidgets.QLabel(self.centralwidget) self.label_j4.setGeometry(QtCore.QRect(702, 180, 61, 21)) self.label_j4.setFrameShape(QtWidgets.QFrame.StyledPanel) self.label_j4.setObjectName("label_j4") self.label_x4 = QtWidgets.QLabel(self.centralwidget) self.label_x4.setGeometry(QtCore.QRect(697, 290, 61, 21)) self.label_x4.setFrameShape(QtWidgets.QFrame.StyledPanel) self.label_x4.setObjectName("label_x4") self.label_y4 = QtWidgets.QLabel(self.centralwidget) self.label_y4.setGeometry(QtCore.QRect(697, 320, 61, 21)) self.label_y4.setFrameShape(QtWidgets.QFrame.StyledPanel) self.label_y4.setObjectName("label_y4") self.label_z4 = QtWidgets.QLabel(self.centralwidget) self.label_z4.setGeometry(QtCore.QRect(697, 350, 61, 21)) self.label_z4.setFrameShape(QtWidgets.QFrame.StyledPanel) self.label_z4.setObjectName("label_z4") self.label_iks = QtWidgets.QLabel(self.centralwidget) self.label_iks.setGeometry(QtCore.QRect(701, 269, 61, 16)) font = QtGui.QFont() font.setBold(True) font.setWeight(75) self.label_iks.setFont(font) self.label_iks.setObjectName("label_iks") self.label_iks_2 = QtWidgets.QLabel(self.centralwidget) self.label_iks_2.setGeometry(QtCore.QRect(777, 268, 71, 16)) font = QtGui.QFont() font.setBold(True) font.setWeight(75) self.label_iks_2.setFont(font) self.label_iks_2.setObjectName("label_iks_2") self.pushButton_rand = QtWidgets.QPushButton(self.centralwidget) self.pushButton_rand.setGeometry(QtCore.QRect(860, 272, 161, 31)) self.pushButton_rand.setObjectName("pushButton_rand") self.label_j3 = QtWidgets.QLabel(self.centralwidget) self.label_j3.setGeometry(QtCore.QRect(702, 150, 61, 21)) self.label_j3.setFrameShape(QtWidgets.QFrame.StyledPanel) self.label_j3.setObjectName("label_j3") self.label_j1 = QtWidgets.QLabel(self.centralwidget) self.label_j1.setGeometry(QtCore.QRect(702, 90, 61, 21)) self.label_j1.setFrameShape(QtWidgets.QFrame.StyledPanel) self.label_j1.setObjectName("label_j1") self.label_iks_3 = QtWidgets.QLabel(self.centralwidget) self.label_iks_3.setGeometry(QtCore.QRect(706, 69, 61, 16)) font = QtGui.QFont() font.setBold(True) font.setWeight(75) self.label_iks_3.setFont(font) self.label_iks_3.setObjectName("label_iks_3") self.label_j2 = QtWidgets.QLabel(self.centralwidget) self.label_j2.setGeometry(QtCore.QRect(702, 120, 61, 21)) self.label_j2.setFrameShape(QtWidgets.QFrame.StyledPanel) self.label_j2.setObjectName("label_j2") self.label_iks_4 = QtWidgets.QLabel(self.centralwidget) self.label_iks_4.setGeometry(QtCore.QRect(770, 70, 71, 16)) font = QtGui.QFont() font.setBold(True) font.setWeight(75) self.label_iks_4.setFont(font) self.label_iks_4.setObjectName("label_iks_4") MainWindow.setCentralWidget(self.centralwidget) self.menubar = QtWidgets.QMenuBar(MainWindow) self.menubar.setGeometry(QtCore.QRect(0, 0, 1075, 21)) self.menubar.setObjectName("menubar") MainWindow.setMenuBar(self.menubar) self.statusbar = QtWidgets.QStatusBar(MainWindow) self.statusbar.setObjectName("statusbar") MainWindow.setStatusBar(self.statusbar) self.retranslateUi(MainWindow) QtCore.QMetaObject.connectSlotsByName(MainWindow) def retranslateUi(self, MainWindow): _translate = QtCore.QCoreApplication.translate MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow")) self.labels1.setText(_translate("MainWindow", "Joint 1 Angle:")) self.labels2.setText(_translate("MainWindow", "Joint 2 angle:")) self.labels3.setText(_translate("MainWindow", "Joint 3 angle:")) self.pushButton_reset.setText(_translate("MainWindow", "Reset")) self.labels2_ik.setText(_translate("MainWindow", "Y Axes: ")) self.labels1_ik.setText(_translate("MainWindow", "X axes: ")) self.labels3_ik.setText(_translate("MainWindow", "Z axes: ")) self.label_ik.setText( _translate("MainWindow", "PINJ Inverse Kinematics")) self.label.setText( _translate( "MainWindow", "Indra Agustian, Electrical Engineering Dept., University of Bengkulu, Indonesia" )) self.label_fk.setText(_translate("MainWindow", "DH-Forward Kinematics")) self.pushButton_runik.setText(_translate("MainWindow", "Run IK")) self.labels3_2.setText(_translate("MainWindow", "Joint 4 angle:")) self.label_j4.setText(_translate("MainWindow", "TextLabel")) self.label_x4.setText(_translate("MainWindow", "TextLabel")) self.label_y4.setText(_translate("MainWindow", "TextLabel")) self.label_z4.setText(_translate("MainWindow", "TextLabel")) self.label_iks.setText(_translate("MainWindow", "Real Pos.")) self.label_iks_2.setText(_translate("MainWindow", "Target Pos.")) self.pushButton_rand.setText(_translate("MainWindow", "Random Target")) self.label_j3.setText(_translate("MainWindow", "TextLabel")) self.label_j1.setText(_translate("MainWindow", "TextLabel")) self.label_iks_3.setText(_translate("MainWindow", "Real Pos.")) self.label_j2.setText(_translate("MainWindow", "TextLabel")) self.label_iks_4.setText(_translate("MainWindow", "Target Pos."))
class Ui_MainWindow(object): def setupUi(self, MainWindow): MainWindow.setObjectName("MainWindow") MainWindow.resize(1075, 576) self.centralwidget = QtWidgets.QWidget(MainWindow) self.centralwidget.setObjectName("centralwidget") self.pushButton1 = QtWidgets.QPushButton(self.centralwidget) self.pushButton1.setGeometry(QtCore.QRect(740, 190, 75, 23)) self.pushButton1.setObjectName("pushButton1") self.pushButton2 = QtWidgets.QPushButton(self.centralwidget) self.pushButton2.setGeometry(QtCore.QRect(840, 190, 75, 23)) self.pushButton2.setObjectName("pushButton2") self.label1 = QtWidgets.QLabel(self.centralwidget) self.label1.setGeometry(QtCore.QRect(810, 240, 181, 41)) self.label1.setObjectName("label1") self.hslider1 = QtWidgets.QSlider(self.centralwidget) self.hslider1.setGeometry(QtCore.QRect(729, 70, 271, 22)) self.hslider1.setMinimum(0) self.hslider1.setMaximum(180) self.hslider1.setSingleStep(1) self.hslider1.setProperty("value", 90) self.hslider1.setOrientation(QtCore.Qt.Horizontal) self.hslider1.setObjectName("hslider1") self.hslider2 = QtWidgets.QSlider(self.centralwidget) self.hslider2.setGeometry(QtCore.QRect(729, 100, 271, 22)) self.hslider2.setMinimum(-90) self.hslider2.setMaximum(90) self.hslider2.setProperty("value", 60) self.hslider2.setOrientation(QtCore.Qt.Horizontal) self.hslider2.setObjectName("hslider2") self.hslider3 = QtWidgets.QSlider(self.centralwidget) self.hslider3.setGeometry(QtCore.QRect(729, 130, 271, 22)) self.hslider3.setMinimum(-90) self.hslider3.setMaximum(90) self.hslider3.setProperty("value", -60) self.hslider3.setOrientation(QtCore.Qt.Horizontal) self.hslider3.setObjectName("hslider3") self.labels1 = QtWidgets.QLabel(self.centralwidget) self.labels1.setGeometry(QtCore.QRect(620, 70, 91, 16)) self.labels1.setObjectName("labels1") self.labels2 = QtWidgets.QLabel(self.centralwidget) self.labels2.setGeometry(QtCore.QRect(620, 100, 91, 16)) self.labels2.setObjectName("labels2") self.labels3 = QtWidgets.QLabel(self.centralwidget) self.labels3.setGeometry(QtCore.QRect(620, 130, 91, 16)) self.labels3.setObjectName("labels3") self.MplWidget = MplWidget(self.centralwidget) self.MplWidget.setEnabled(True) self.MplWidget.setGeometry(QtCore.QRect(20, 30, 581, 491)) self.MplWidget.setMouseTracking(True) self.MplWidget.setTabletTracking(True) self.MplWidget.setObjectName("MplWidget") self.pushButton_reset = QtWidgets.QPushButton(self.centralwidget) self.pushButton_reset.setGeometry(QtCore.QRect(740, 30, 221, 23)) self.pushButton_reset.setObjectName("pushButton_reset") MainWindow.setCentralWidget(self.centralwidget) self.menubar = QtWidgets.QMenuBar(MainWindow) self.menubar.setGeometry(QtCore.QRect(0, 0, 1075, 26)) self.menubar.setObjectName("menubar") MainWindow.setMenuBar(self.menubar) self.statusbar = QtWidgets.QStatusBar(MainWindow) self.statusbar.setObjectName("statusbar") MainWindow.setStatusBar(self.statusbar) self.retranslateUi(MainWindow) QtCore.QMetaObject.connectSlotsByName(MainWindow) def retranslateUi(self, MainWindow): _translate = QtCore.QCoreApplication.translate MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow")) self.pushButton1.setText(_translate("MainWindow", "but1")) self.pushButton2.setText(_translate("MainWindow", "but2")) self.label1.setText( _translate("MainWindow", "Indra Agustian - TE Unib")) self.labels1.setText(_translate("MainWindow", "Joint 1 Angle:")) self.labels2.setText(_translate("MainWindow", "Joint 2 angle:")) self.labels3.setText(_translate("MainWindow", "Joint 3 angle:")) self.pushButton_reset.setText(_translate("MainWindow", "Reset"))