def invoke(self, arg, from_tty):
args = arg.split(" ")
if len(args) is not 2:
raise gdb.GdbError(
"Expects 2 arguments. See \"help forward-geometry\"")
command = "call hpp::model::forwardGeometry({0},{1})".format(
args[0], args[1])
print "Calling ", command
gdb.execute(command, from_tty, True)
val = gdb.history(0)
start = val['_M_impl']['_M_start']
finish = val['_M_impl']['_M_finish']
end = val['_M_impl']['_M_end_of_storage']
length = int(finish - start)
print "%s links" % length
cl = Client()
item = start
while item != finish:
current = item.dereference()
name = str(current["name"]["_M_dataplus"]["_M_p"].string())
pos = [0, 0, 0, 0, 0, 0, 0]
for i in range(3):
pos[i] = float(current["p"][i])
for i in range(4):
pos[i + 3] = float(current["q"][i])
cl.gui.applyConfiguration(name, pos)
item = item + 1
cl.gui.refresh()
print "done"
def __init__(self, mainWindow, flags=None):
if flags is None:
super(Plugin, self).__init__("Gepetto Viewer plugin", mainWindow)
else:
super(Plugin, self).__init__("Gepetto Viewer plugin", mainWindow,
flags)
self.client = Client()
# Initialize the widget
self.tabWidget = QtGui.QTabWidget(self)
self.setWidget(self.tabWidget)
self.nodeCreator = _NodeCreator(self, self)
self.tabWidget.addTab(self.nodeCreator, "Node Creator")
self.main = mainWindow
mainWindow.connect('refresh()', self.refresh)
def __init__(self, mainWindow):
super(Plugin, self).__init__("Gepetto Viewer plugin", mainWindow)
self.setObjectName("Gepetto Viewer plugin")
self.client = Client()
# Initialize the widget
self.tabWidget = QtGui.QTabWidget(self)
# This avoids having a widget bigger than what it needs. It avoids having
# a big dock widget and a small osg widget when creating the main osg widget.
p = Qt.QSizePolicy.Maximum
self.tabWidget.setSizePolicy(Qt.QSizePolicy(p, p))
self.setWidget(self.tabWidget)
self.nodeCreator = _NodeCreator(self, self)
self.tabWidget.addTab(self.nodeCreator, "Node Creator")
self.main = mainWindow
mainWindow.connect("refresh()", self.refresh)
mainWindow.bodyTree().connect("bodySelected(SelectionEvent*)",
self.selected)
def __init__ (self, mainWindow, flags = None):
if flags is None:
super(Plugin, self).__init__ ("Matplotlib example plugin", mainWindow)
else:
super(Plugin, self).__init__ ("Matplotlib example plugin", mainWindow, flags)
self.setObjectName("Matplotlib example plugin")
self.client = Client()
# This avoids having a widget bigger than what it needs. It avoids having
# a big dock widget and a small osg widget when creating the main osg widget.
p = Qt.QSizePolicy.Ignored
self.testWidget = MatplotlibWidget(self, True)
self.testWidget.setSizePolicy(Qt.QSizePolicy(p,p))
self.setWidget (self.testWidget)
# Plot something
x = np.linspace (0, 10, num=100)
y = np.sin(x)
self.testWidget.figure.gca().plot (x, y)
def __init__(self, mainWindow):
super(Plugin, self).__init__("Coordinates viewer plugin", mainWindow)
self.setObjectName("Coordinates viewer plugin")
self.client = Client()
self.le_name = QtGui.QLineEdit()
self.le_name.setReadOnly(True)
self.transform = QtGui.QLineEdit()
self.transform.setReadOnly(True)
self.local = QtGui.QCheckBox()
self.local.setChecked(True)
self.point = QtGui.QLineEdit()
self.point.setReadOnly(True)
self.normal = QtGui.QLineEdit()
self.normal.setReadOnly(True)
layout = QtGui.QFormLayout()
layout.addRow('Name', self.le_name)
layout.addRow('Transform', self.transform)
layout.addRow('Local frame', self.local)
layout.addRow('Point', self.point)
layout.addRow('Normal', self.normal)
# Initialize the widget
widget = QtGui.QWidget(self)
widget.setLayout(layout)
# This avoids having a widget bigger than what it needs. It avoids having
# a big dock widget and a small osg widget when creating the main osg widget.
p = Qt.QSizePolicy.Maximum
widget.setSizePolicy(
Qt.QSizePolicy(Qt.QSizePolicy.Expanding, Qt.QSizePolicy.Maximum))
self.setWidget(widget)
mainWindow.bodyTree().connect('bodySelected(SelectionEvent*)',
self.selected)
def resetConnection(self):
self.client = Client()
import numpy as np
import os
from gepetto.corbaserver import Client
path = None
devel_hpp_dir = os.getenv('DEVEL_HPP_DIR')
if devel_hpp_dir:
path = devel_hpp_dir + '/src/hpp-fcl/test/fcl_resources'
else:
path = os.getenv('PWD') + '/fcl_resources'
Red = [1, 0, 0, .5]
Green = [0, 1, 0, .5]
Blue = [0, 0, 1, .5]
c = Client()
wid = 0
sceneName = 'scene'
wid = c.gui.createWindow('test-fcl')
c.gui.createScene(sceneName)
c.gui.addSceneToWindow(sceneName, wid)
c.gui.addMesh("env", path + "/env.obj")
c.gui.addMesh("rob", path + "/rob.obj")
c.gui.addToGroup("env", sceneName)
c.gui.addToGroup("rob", sceneName)
q2 = (0, 0, 0, 0, 0, 0, 1)
q1 = (-1435.35587657243, 2891.398094594479,
# Datas for compare_convex_box
from gepetto.corbaserver import Client
from gepetto import Quaternion
def translate (tr, t, d):
return [ tr[i] + d*t[i] for i in range(3) ] + tr[3:]
cl = Client ()
try:
cl.gui.getWindowID("fcl")
except:
cl.gui.createWindow("fcl")
cl.gui.addBox ('fcl/b0', 2, 2, 2, [1,0,0,0.5])
cl.gui.addBox ('fcl/b1', 2, 2, 2, [0,1,0,0.5])
cl.gui.setWireFrameMode ('fcl/b1', "WIREFRAME")
cl.gui.addBox ('fcl/b1_0', 2, 2, 2, [0,0 ,1,0.5])
cl.gui.addBox ('fcl/b1_1', 2, 2, 2, [0,0.5,1,0.5])
cl.gui.addSphere ("fcl/p0", 0.01, [1, 0, 1, 1])
cl.gui.addSphere ("fcl/p1", 0.01, [0, 1, 1, 1])
cl.gui.addArrow ("fcl/n0", 0.01, 1., [1, 0, 1, 1])
cl.gui.addArrow ("fcl/n1", 0.01, 1., [0, 1, 1, 1])
eps = 0.
d0 = 1.5183589910964868 + eps
n0 = [0.0310588, 0.942603, -0.332467]
d1 = 1.7485932899646754 + eps
n1 = [0.132426, -0.0219519, -0.99095]
def resetConnection(self):
self.client = Client()
self.gui = self.client.gui
