def __init__(self,
channel="OPTITRACK_FRAMES",
desc_channel="OPTITRACK_DATA_DESCRIPTIONS"):
self.channel = channel
self.desc_channel = desc_channel
self.subscriber = None
self.desc_subscriber = None
self.unitConversion = 0.001
self.data_descriptions = None
self.marker_sets = om.getOrCreateContainer(
"Marker Sets", parentObj=self.getRootFolder())
self.rigid_bodies = om.getOrCreateContainer(
"Rigid Bodies", parentObj=self.getRootFolder())
self.labeled_markers = om.getOrCreateContainer(
"Labeled Markers", parentObj=self.getRootFolder())
self.unlabeled_markers = om.getOrCreateContainer(
"Unlabeled Markers", parentObj=self.getRootFolder())
self.drawEdges = False
self.markerGeometry = None
self.optitrackToWorld = vtk.vtkTransform()
self.optitrackToWorld.SetMatrix(
self.defaultOptitrackToWorld.GetMatrix())
self.initSubscriber()
self.callbacks = callbacks.CallbackRegistry([
'RIGID_BODY_LIST_CHANGED',
])
def __init__(self, minValue=0.0, maxValue=1.0, resolution=1000):
self._value = 0.0
self.spinbox = QtGui.QDoubleSpinBox()
self.spinbox.setSuffix('s')
self.slider = QtGui.QSlider(QtCore.Qt.Horizontal)
self.playButton = QtGui.QPushButton('Play')
self.setValueRange(minValue, maxValue)
self.setResolution(resolution)
self.slider.connect('valueChanged(int)', self._onSliderValueChanged)
self.spinbox.connect('valueChanged(double)',
self._onSpinboxValueChanged)
self.playButton.connect('clicked()', self._onPlayClicked)
self.widget = QtGui.QWidget()
layout = QtGui.QHBoxLayout(self.widget)
layout.addWidget(self.playButton)
layout.addWidget(self.spinbox)
layout.addWidget(self.slider)
self.animationPrevTime = 0.0
self.animationRate = 1.0
self.animationRateTarget = 1.0
self.animationRateAlpha = 1.0
self.animationTimer = TimerCallback(callback=self._tick, targetFps=60)
self.useRealTime = True
self.callbacks = callbacks.CallbackRegistry(self.events._fields)
self.eventFilter = PythonQt.dd.ddPythonEventFilter()
self.eventFilter.connect('handleEvent(QObject*, QEvent*)',
self._filterEvent)
self.eventFilter.addFilteredEventType(QtCore.QEvent.MouseButtonPress)
self.eventFilter.addFilteredEventType(QtCore.QEvent.MouseMove)
self.slider.installEventFilter(self.eventFilter)
def __init__(self, ikPlanner):
if USE_DRC_MESSAGES:
lcmUtils.addSubscriber('CANDIDATE_MANIP_PLAN',
lcmdrc.robot_plan_w_keyframes_t,
self.onManipPlan)
lcmUtils.addSubscriber('CANDIDATE_ROBOT_PLAN_WITH_SUPPORTS',
lcmdrc.robot_plan_with_supports_t,
self.onManipPlan)
else:
lcmUtils.addSubscriber('CANDIDATE_MANIP_PLAN', lcmrl.robot_plan_t,
self.onManipPlan)
self.lastManipPlan = None
self.committedPlans = []
self.callbacks = callbacks.CallbackRegistry(
[self.PLAN_RECEIVED, self.PLAN_COMMITTED, self.USE_SUPPORTS])
self.ikPlanner = ikPlanner
self.publishPlansWithSupports = False
self.plansWithSupportsAreQuasistatic = True
self.leftFootSupportEnabled = True
self.rightFootSupportEnabled = True
self.leftHandSupportEnabled = False
self.rightHandSupportEnabled = False
self.pelvisSupportEnabled = False
def __init__(self):
self._treeWidget = None
self._propertiesPanel = None
self._objects = {}
self._blockSignals = False
self.actions = []
self.callbacks = callbacks.CallbackRegistry([self.ACTION_SELECTED, self.SELECTION_CHANGED, self.OBJECT_ADDED])
def __init__(self):
self.callbacks = callbacks.CallbackRegistry([self.PROPERTY_CHANGED_SIGNAL,
self.PROPERTY_ADDED_SIGNAL,
self.PROPERTY_ATTRIBUTE_CHANGED_SIGNAL])
self._properties = OrderedDict()
self._attributes = {}
self._alternateNames = {}
def __init__(self, channel):
self.collection = OrderedDict()
self.collectionId = newUUID()
self.sentCommands = set()
self.sentRequest = None
self.channel = channel
self.callbacks = callbacks.CallbackRegistry(
[self.DESCRIPTION_UPDATED_SIGNAL, self.DESCRIPTION_REMOVED_SIGNAL])
self.sub = None
self._modified()
def __init__(self, name, icon=Icons.Robot, properties=None):
#print 'init called on:', self
self._tree = None
self.callbacks = callbacks.CallbackRegistry([self.REMOVED_FROM_OBJECT_MODEL])
self.properties = properties or PropertySet()
self.properties.connectPropertyChanged(self._onPropertyChanged)
self.properties.connectPropertyAdded(self._onPropertyAdded)
self.properties.connectPropertyAttributeChanged(self._onPropertyAttributeChanged)
self.addProperty('Icon', icon, attributes=PropertyAttributes(hidden=True))
self.addProperty('Deletable', True, attributes=PropertyAttributes(hidden=True))
self.addProperty('Name', name, attributes=PropertyAttributes(hidden=True))
def __init__(self):
self.tasks = []
self.generators = []
self.timer = TimerCallback(targetFps=10)
self.timer.callback = self.callbackLoop
self.callbacks = callbacks.CallbackRegistry([
self.QUEUE_STARTED_SIGNAL, self.QUEUE_STOPPED_SIGNAL,
self.TASK_STARTED_SIGNAL, self.TASK_ENDED_SIGNAL,
self.TASK_PAUSED_SIGNAL, self.TASK_FAILED_SIGNAL,
self.TASK_EXCEPTION_SIGNAL
])
self.currentTask = None
self.isRunning = False
def __init__(self, minValue=0.0, maxValue=1.0, resolution=1000):
self.spinbox = QtGui.QDoubleSpinBox()
self.spinbox.setSuffix('s')
self.slider = QtGui.QSlider(QtCore.Qt.Horizontal)
self.setResolution(resolution)
self.setValueRange(minValue, maxValue)
self.slider.connect('valueChanged(int)', self._onSliderValueChanged)
self.spinbox.connect('valueChanged(double)', self._onSpinboxValueChanged)
self.widget = QtGui.QWidget()
layout = QtGui.QHBoxLayout(self.widget)
layout.addWidget(self.spinbox)
layout.addWidget(self.slider)
self.animationTimer = None
self.callbacks = callbacks.CallbackRegistry(self.events._fields)
def __init__(self, channel):
self.collection = OrderedDict()
self.collectionId = newUUID()
self.sentCommands = set()
self.sentRequest = None
self.channel = channel
self.callbacks = callbacks.CallbackRegistry([self.DESCRIPTION_UPDATED_SIGNAL,
self.DESCRIPTION_REMOVED_SIGNAL])
self.sub = None
self._modified()
if USE_LCM:
self.sub = lcmUtils.addSubscriber(self.channel, messageClass=lcmdrc.affordance_collection_t, callback=self._onCommandMessage)
self.sub.setNotifyAllMessagesEnabled(True)
def __init__(self, robotURDF, fixedPointFile, leftFootLink, rightFootLink,
pelvisLink):
self.comm = None
self.outputConsole = None
self.ready = False
self.restarted = False
self.robotURDF = robotURDF
self.fixedPointFile = fixedPointFile
self.leftFootLink = leftFootLink
self.rightFootLink = rightFootLink
self.pelvisLink = pelvisLink
self.infoFunc = None
self.callbacks = callbacks.CallbackRegistry([self.STARTUP_COMPLETED])
def __init__(self):
self._treeWidget = None
self._propertiesPanel = None
self._objectToItem = {}
self._itemToObject = {}
self._itemToName = {}
self._nameToItems = defaultdict(set)
self._blockSignals = False
self._propertyConnector = None
self.actions = []
self.callbacks = callbacks.CallbackRegistry([
self.ACTION_SELECTED,
self.OBJECT_ADDED,
self.OBJECT_CLICKED,
self.SELECTION_CHANGED,
])
def __init__(
self, imageView, obj=None, callback=None, numberOfPoints=1, drawLines=True
):
self.imageView = imageView
self.view = imageView.view
self.obj = obj
self.drawLines = drawLines
self.annotationObj = None
self.annotationFunc = callback
self.eventFilter = None
self.numberOfPoints = numberOfPoints
self.showCursor = False
self.cursorObj = None
self.callbacks = callbacks.CallbackRegistry([self.DOUBLE_CLICK_EVENT])
self.clear()
