def __init__ (self, parent):
super(_RoadmapTab, self).__init__ (parent)
self.plugin = parent
box = QtGui.QGridLayout(self)
box.addWidget(QtGui.QLabel("Number of nodes:"), 0, 0)
self.nbNode = QtGui.QLabel()
box.addWidget(self.nbNode, 0, 1)
box.addWidget(QtGui.QLabel("Number of edges:"), 1, 0)
self.nbEdge = QtGui.QLabel()
box.addWidget(self.nbEdge, 1, 1)
box.addWidget(QtGui.QLabel("Number of connected components :"), 2, 0)
self.nbComponent = QtGui.QLabel()
box.addWidget(self.nbComponent, 2, 1)
self.updateCB = QtGui.QCheckBox("Continuous update")
box.addWidget(self.updateCB, 3, 2, 1, 2)
self.updateCB.setTristate(False)
self.timer = Qt.QTimer(self)
self.timer.setInterval(500)
self.timer.setSingleShot(False)
self.timer.connect("timeout()", self.updateCount)
self.updateCB.connect("stateChanged(int)", self.startStopTimer)
def __init__(self, plugin):
super(QCPWidget, self).__init__(plugin)
self.plugin = plugin
layout = QtGui.QVBoxLayout(self)
from PythonQt.QCustomPlot import QCustomPlot, QCP
self.qcpWidget = QCustomPlot()
self.qcpWidget.autoAddPlottableToLegend = True
self.qcpWidget.setInteraction(QCP.iRangeDrag, True) # iRangeDrap
self.qcpWidget.setInteraction(QCP.iRangeZoom, True) # iRangeZoom
self.qcpWidget.setInteraction(QCP.iSelectAxes, True) # iSelectAxes
self.qcpWidget.legend().visible = True
layout.addWidget(self.qcpWidget, 1)
self.qcpWidget.connect(Qt.SIGNAL("mouseDoubleClick(QMouseEvent*)"),
self._mouseDoubleClick)
self.qcpWidget.xAxis().connect(
Qt.SIGNAL("selectionChanged(QCPAxis::SelectableParts)"),
self._axesSelectionChanged)
self.qcpWidget.yAxis().connect(
Qt.SIGNAL("selectionChanged(QCPAxis::SelectableParts)"),
self._axesSelectionChanged)
buttonbar = QtGui.QWidget()
bbLayout = QtGui.QHBoxLayout(buttonbar)
button = QtGui.QPushButton("Replot", buttonbar)
button.connect(QtCore.SIGNAL("clicked()"), self.refreshPlot)
bbLayout.addWidget(button)
button = QtGui.QPushButton("Remove", buttonbar)
button.connect(QtCore.SIGNAL("clicked()"), self.removePlot)
bbLayout.addWidget(button)
button = QtGui.QPushButton("Legend", buttonbar)
button.checkable = True
button.checked = True
button.connect(QtCore.SIGNAL("toggled(bool)"), self.toggleLegend)
bbLayout.addWidget(button)
button = QtGui.QPushButton(QtGui.QIcon.fromTheme("zoom-fit-best"), "",
buttonbar)
button.setToolTip("Zoom fit best")
button.connect(QtCore.SIGNAL("clicked()"), self.qcpWidget.rescaleAxes)
bbLayout.addWidget(button)
self.xselect = QtGui.QComboBox(self)
bbLayout.addWidget(self.xselect, 1)
layout.addWidget(buttonbar)
self.data = DataQCP(plugin, self.qcpWidget)
def loadSetting(self, key, default):
settings = Qt.QSettings()
settings.beginGroup(self.SETTING_GROUP_NAME)
val = settings.value(key)
settings.endGroup()
if (val == None) or (str(val) == ""):
val = default
self.saveSetting(key, val)
return str(val)
def applyGuiConfig(self):
width = int(self.widgetWidthEdit.text)
height = int(self.widgetHeightEdit.text)
left = int(self.widgetLeftEdit.text)
top = int(self.widgetTopEdit.text)
self.resize(width,height)
if (left != 0) and (top != 0):
self.pos = Qt.QPoint(left,top)
return
def __init__(self, parent):
super(CollisionPairs, self).__init__(parent)
self.plugin = parent
# parent.widgetToRefresh.append(self)
self.orderedPairs = list()
self.pairToRow = dict()
box = QtGui.QVBoxLayout(self)
button = QtGui.QPushButton(
"Toggle between collision and visual robot bodies", self)
button.checkable = True
button.connect("clicked(bool)", self.toggleVisual)
box.addWidget(button)
button = QtGui.QPushButton(QtGui.QIcon.fromTheme("view-refresh"),
"Refresh list", self)
button.connect("clicked()", self.refresh)
box.addWidget(button)
# Create table
self.table = TableWidget(0, 6)
self.table.setHorizontalHeaderLabels([
"Active", "Link 1", "Link 2", "Reason", "Current configuration",
"% of collision"
])
if Qt.qVersion().startswith('4'):
self.table.horizontalHeader().setResizeMode(
QtGui.QHeaderView.Interactive)
else:
self.table.horizontalHeader().setSectionResizeMode(
QtGui.QHeaderView.Interactive)
self.table.selectionBehavior = QtGui.QAbstractItemView.SelectRows
self.table.connect(
"currentItemChanged(QTableWidgetItem*,QTableWidgetItem*)",
self.currentItemChanged)
box.addWidget(self.table)
# "Number of random configuration (log scale)"
self.sliderRandomCfg = QtGui.QSlider(Qt.Qt.Horizontal, self)
self.sliderRandomCfg.setRange(20, 60)
self.sliderRandomCfg.setValue(30)
box.addWidget(self.sliderRandomCfg)
button = QtGui.QPushButton("Compute percentage of collision", self)
button.connect("clicked()", self.computePercentageOfCollision)
box.addWidget(button)
button = QtGui.QPushButton("Save to file...", self)
button.connect("clicked()", self.writeToFile)
box.addWidget(button)
obj = self.plugin.main.getFromSlot("getHppIIOPurl")
if obj is not None:
obj.connect("configurationValidationStatus(QStringList)",
self.currentBodyInCollisions)
else:
print("Could not find obj")
def saveConfig(self):
settings = Qt.QSettings()
settings.beginGroup(self.pluginConf)
for (widget,key,default) in self.settings:
if type(default)==type("a"):
val_str = str(widget.text)
elif type(default)==type(True):
val_str = str(int(widget.isChecked()))
settings.setValue(key,val_str)
settings.endGroup()
return
def __init__(self, plugin):
self.plugin = plugin
self.graph = QGVScene("graph")
self.view = QtGui.QGraphicsView(self.graph)
self.layoutShouldBeFreed = False
self.graph.connect(Qt.SIGNAL("nodeMouseRelease(QGVNode*)"),
self.updateLayout)
self.graph.connect(Qt.SIGNAL("nodeContextMenu(QGVNode*)"),
self._nodeContextMenu)
self.graph.connect(Qt.SIGNAL("edgeContextMenu(QGVEdge*)"),
self._signalContextMenu)
### An object returned by re.compile
self.entityFilter = None
self.typeCallbacks = {
"Task": (self._nodeEntityTask, self._edgeEntityTask),
"SOT": (self._nodeEntitySOT, self._edgeEntitySOT)
}
self.initCmd()
self.createAllGraph()
def loadConfig(self):
settings = Qt.QSettings()
settings.beginGroup(self.pluginConf)
for (widget,key,default) in self.settings:
val = settings.value(key)
if (val == None) or (str(val)==""):
val_str = default
else:
val_str = str(val)
if type(default)==type("a"):
widget.text = val_str
elif type(default)==type(True):
widget.setChecked(bool(int(val_str)))
settings.endGroup()
return
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, flags=None):
if flags is None:
super(Plugin, self).__init__("Path graph plugin", mainWindow)
else:
super(Plugin, self).__init__("Path graph plugin", mainWindow,
flags)
self.setObjectName("Path graph plugin")
self.main = mainWindow
self.hppPlugin = self.main.getFromSlot("getHppIIOPurl")
self.pathPlayer = self.main.getFromSlot("getCurrentPath")
self.jointgroupcreator = self.main.getFromSlot(
"requestCreateJointGroup")
self.comgroupcreator = self.main.getFromSlot("requestCreateComGroup")
self.velocities = Velocities(self)
self.jointActions = dict()
self.jointNames = None
self.qcpWidgets = list()
# 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.topWidget = QtGui.QSplitter(Qt.Qt.Horizontal, self)
self.topWidget.setSizePolicy(Qt.QSizePolicy(p, p))
self.setWidget(self.topWidget)
self.leftPane = QtGui.QWidget(self)
l = QtGui.QVBoxLayout()
self.makeLeftPane(l)
self.leftPane.setLayout(l)
self.topWidget.addWidget(self.leftPane)
self.rightPane = QtGui.QWidget(self)
self.rightPaneLayout = QtGui.QVBoxLayout()
self.rightPane.setLayout(self.rightPaneLayout)
self.addPlotBelow()
self.topWidget.addWidget(self.rightPane)
self.topWidget.setStretchFactor(1, 1)
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 writeToFile(self):
_ = _bodyNameToUrdfLinkName
filename = QtGui.QFileDialog.getSaveFileName(self, "SRDF file", "",
"SRDF files (*.srdf)")
file = Qt.QFileInfo(filename)
if file.exists():
tree = ET.parse(filename)
else:
tree = ET.ElementTree(ET.Element("robot", {"name": "name"}))
tree.getroot().append(
ET.Comment("Generated by hpp-gui Python plugin"))
robot = tree.getroot()
pairsInFile = dict()
for dc in robot.findall("disable_collisions"):
p = _Pair(dc.attrib["link1"], dc.attrib["link2"])
pairsInFile[p] = dc
for p, row in self.pairToRow.items():
if row[self.ACTIVE].checked:
continue
reason = str(row[self.REASON].text())
pp = _Pair(_(p.l1), _(p.l2))
if pp in pairsInFile:
dc.attrib["reason"] = reason
else:
attrib = dict()
attrib["link1"] = pp.l1
attrib["link2"] = pp.l2
attrib["reason"] = reason
el = ET.Element("disable_collisions", attrib=attrib)
if len(robot.getchildren()) > 0:
robot.getchildren()[-1].tail = "\n "
robot.append(el)
tree.write(filename)
def saveSetting(self, key, val):
settings = Qt.QSettings()
settings.beginGroup(self.SETTING_GROUP_NAME)
settings.setValue(key, str(val))
settings.endGroup()
return