def change_theta(self):
joint_num = self.joint_menu.currentIndex()
joint = Robot.return_joint(joint_num)
text = self.theta_input.text()
joint.theta = float(text if text != "" else 0)
Robot.update_joint(joint_num)
self.openGLWidget.update()
def switch_joint(self):
i = self.joint_menu.currentIndex()
self.alpha_input.setText(str(Robot.return_joint(i).alpha))
self.a_input.setText(str(Robot.return_joint(i).a))
self.d_input.setText(str(Robot.return_joint(i).d))
self.theta_input.setText(str(Robot.return_joint(i).theta))
self.d_var.setChecked(Robot.return_joint(i).d_var)
self.theta_var.setChecked(Robot.return_joint(i).theta_var)
def change_theta_var(self):
theta_on = self.theta_var.isChecked()
Robot.return_joint(self.joint_menu.currentIndex()).theta_var = theta_on
if theta_on:
self.d_var.setChecked(False)
self.openGLWidget.update()
def remove_joint(self):
if Robot.remove_joint(self.joint_menu.currentIndex()):
self.joint_menu.removeItem(self.joint_menu.count() - 1)
self.switch_joint()
def pop_joint(self):
if Robot.pop_joint():
self.joint_menu.removeItem(self.joint_menu.count() - 1)
def insert_joint(self):
if Robot.insert_joint(self.joint_menu.currentIndex()):
self.joint_menu.addItem(str(Robot.len - 1))
self.joint_menu.setCurrentIndex(self.joint_menu.currentIndex() + 1)
def append_joint(self):
if Robot.append_joint():
self.joint_menu.addItem(str(Robot.len - 1))
self.joint_menu.setCurrentIndex(Robot.len - 2)
# -*- coding: utf-8 -*-
# Form implementation generated from reading ui file '.\Prototyp2.ui'
#
# Created by: PyQt5 UI code generator 5.15.2
#
# WARNING: Any manual changes made to this file will be lost when pyuic5 is
# run again. Do not edit this file unless you know what you are doing.
from PyQt5 import QtCore, QtWidgets
from CoordSys import Robot
from GLWidget import GLWidget
Robot = Robot()
class Ui_MainWindow(object):
def setupUi(self, glFormat, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(1200, 900)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed,
QtWidgets.QSizePolicy.Fixed)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
MainWindow.sizePolicy().hasHeightForWidth())
MainWindow.setSizePolicy(sizePolicy)
MainWindow.setMinimumSize(QtCore.QSize(0, 0))
MainWindow.setMaximumSize(QtCore.QSize(1920, 1080))
self.centralwidget = QtWidgets.QWidget(MainWindow)