def __set_parm_bind(self, _=None) -> None:
"""Set parameters binding."""
link_expr_list: List[str] = []
for row, gs in enumerate(list_texts(self.grounded_list)):
try:
link_expr = []
# Links from grounded list
for name in gs.replace('(', '').replace(')', '').split(", "):
num = int(name.replace('P', ''))
if num in self.configure_canvas.same:
name = f'P{self.configure_canvas.same[num]}'
link_expr.append(name)
except KeyError:
continue
else:
# Customize joints
for joint, link in self.configure_canvas.cus.items():
if row == link:
link_expr.append(f"P{joint}")
link_expr_str = ','.join(sorted(set(link_expr)))
if row == self.grounded_list.currentRow():
link_expr_list.insert(0, link_expr_str)
else:
link_expr_list.append(link_expr_str)
self.expr_show.setText(self.get_expression(graph2vpoints(
self.configure_canvas.graph,
self.configure_canvas.pos,
self.configure_canvas.cus,
self.configure_canvas.same,
self.grounded_list.currentRow()
)))
def get_configure(self) -> Dict[str, Any]:
"""Return collection data.
+ Expression
+ input
+ Graph
+ Placement
+ Target
+ cus
+ same
"""
for vpoint in self.vpoint_list:
if vpoint.type in {VJoint.P, VJoint.RP}:
raise ValueError("not support for prismatic joint yet")
graph, grounded_list, input_list, pos, cus, same = self.get_graph()
links: List[Set[int]] = [set() for _ in range(len(graph.nodes))]
for joint, link in edges_view(graph):
for node in link:
links[node].add(joint)
placement = set(grounded_list)
for row, link in enumerate(links):
if placement == link - set(same):
grounded = row
break
else:
raise ValueError("no grounded link")
vpoint_exprs = [
vpoint.expr()
for vpoint in graph2vpoints(graph, pos, cus, same, grounded)
]
return {
'Expression': "M[" + ", ".join(vpoint_exprs) + "]",
'input': input_list,
'Graph': graph.edges,
'Placement': {p: None
for p in grounded_list},
'Target': {p: None
for p in cus},
'cus': cus,
'same': same,
}