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"))
