def main():
om.init(QtGui.QTreeWidget(), PythonQt.dd.ddPropertiesPanel())
# create a frame
t1 = vtk.vtkTransform()
f1 = vis.FrameItem('frame 1', t1, view=None)
om.addToObjectModel(f1)
# test object model lookup
assert om.findObjectByName('frame 1')
assert om.findObjectByName('frame 2') is None
# test reference cleanup
f1Ref = weakref.ref(f1)
assert f1Ref() is f1
om.removeFromObjectModel(f1)
del f1
assert f1Ref() is None
# add frame again
f1 = vis.FrameItem('frame 1', t1, view=None)
om.addToObjectModel(f1)
# create second frame
t2 = vtk.vtkTransform()
f2 = vis.FrameItem('frame 2', t2, view=None)
om.addToObjectModel(f2)
# test transform reference is input transform
assert f2.transform is t2
# test frame sync
frameSync = vis.FrameSync()
frameSync.addFrame(f1)
frameSync.addFrame(f2)
t1.Translate(10, 0, 0)
t1.Modified()
assert t2.GetPosition() == (10.0, 0.0, 0.0)
# test frame sync cleanup
f1Ref = weakref.ref(f1)
assert f1Ref() is f1
assert len(frameSync.frames) == 2
om.removeFromObjectModel(f1)
del f1
assert f1Ref() is None
assert len(frameSync.frames) == 2
t2.Translate(10, 0, 0)
t2.Modified()
assert t2.GetPosition() == (20.0, 0.0, 0.0)
assert len(frameSync.frames) == 1
# add frame again
f1 = vis.FrameItem('frame 1', t1, view=None)
om.addToObjectModel(f1)
frameSync.addFrame(f1)
t1.Translate(0, 5, 0)
t1.Modified()
assert t1.GetPosition() == (10.0, 5.0, 0.0)
assert t2.GetPosition() == (20.0, 5.0, 0.0)
frameSync.removeFrame(f1)
t1.Translate(0, 5, 0)
t1.Modified()
assert t1.GetPosition() == (10.0, 10.0, 0.0)
assert t2.GetPosition() == (20.0, 5.0, 0.0)
# this has to be wrapped in a function, otherwise the exception
# handling holds a reference to the FrameSync object which breaks
# the delete test at the end
def testException(fs):
try:
fs.removeFrame('test')
except KeyError:
pass
else:
assert False
testException(frameSync)
# test cleanup
f1Ref = weakref.ref(f1)
om.removeFromObjectModel(f1)
del f1
assert f1Ref() is None
t1Ref = weakref.ref(t1)
del t1
assert t1Ref() is None
# add frame again
t1 = vtk.vtkTransform()
f1 = vis.FrameItem('frame 1', t1, view=None)
om.addToObjectModel(f1)
frameSync.addFrame(f1)
t1.Translate(0, 0, 10)
t1.Modified()
assert t2.GetPosition() == (20.0, 5.0, 10.0)
# verify FrameSync object can be deleted
frameSyncRef = weakref.ref(frameSync)
del frameSync
assert frameSyncRef() is None
# verify frames are no longer synced after FrameSync is deleted
t1.Translate(0, 0, 10)
t1.Modified()
assert t2.GetPosition() == (20.0, 5.0, 10.0)
sys.exit(0)
def __init__(self, robotModel):
self.robotModel = robotModel
self.targetFrame = vis.FrameItem('robot frame', vtk.vtkTransform(),
None)
self.callbackId = robotModel.connectModelChanged(self.onModelChanged)
self.updateTargetFrame()