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)
self.centralwidget.setMinimumSize(QtCore.QSize(400, 300))
self.centralwidget.setMaximumSize(QtCore.QSize(1920, 1080))
self.centralwidget.setObjectName("centralwidget")
self.gridLayout_3 = QtWidgets.QGridLayout(self.centralwidget)
self.gridLayout_3.setSizeConstraint(QtWidgets.QLayout.SetMinAndMaxSize)
self.gridLayout_3.setObjectName("gridLayout_3")
self.openGLWidget = GLWidget(glFormat, Robot, self.centralwidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.openGLWidget.sizePolicy().hasHeightForWidth())
self.openGLWidget.setSizePolicy(sizePolicy)
self.openGLWidget.setMinimumSize(QtCore.QSize(400, 300))
self.openGLWidget.setMaximumSize(QtCore.QSize(1920, 1080))
self.openGLWidget.setMouseTracking(True)
self.openGLWidget.setObjectName("openGLWidget")
self.gridLayout_3.addWidget(self.openGLWidget, 0, 0, 1, 1)
self.horizontalLayout = QtWidgets.QHBoxLayout()
self.horizontalLayout.setSizeConstraint(
QtWidgets.QLayout.SetDefaultConstraint)
self.horizontalLayout.setObjectName("horizontalLayout")
self.gridLayout_2 = QtWidgets.QGridLayout()
self.gridLayout_2.setSizeConstraint(QtWidgets.QLayout.SetNoConstraint)
self.gridLayout_2.setObjectName("gridLayout_2")
self.append_button = QtWidgets.QPushButton(self.centralwidget)
self.append_button.setMaximumSize(QtCore.QSize(80, 40))
self.append_button.setFlat(False)
self.append_button.setObjectName("append_button")
self.gridLayout_2.addWidget(self.append_button, 0, 0, 1, 1)
self.remove_button = QtWidgets.QPushButton(self.centralwidget)
self.remove_button.setMaximumSize(QtCore.QSize(80, 40))
self.remove_button.setObjectName("remove_button")
self.gridLayout_2.addWidget(self.remove_button, 1, 1, 1, 1)
self.menu_label = QtWidgets.QLabel(self.centralwidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Ignored,
QtWidgets.QSizePolicy.Ignored)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.menu_label.sizePolicy().hasHeightForWidth())
self.menu_label.setSizePolicy(sizePolicy)
self.menu_label.setObjectName("menu_label")
self.gridLayout_2.addWidget(self.menu_label, 2, 0, 1, 1)
self.joint_menu = QtWidgets.QComboBox(self.centralwidget)
self.joint_menu.setMaximumSize(QtCore.QSize(40, 40))
self.joint_menu.setEditable(False)
self.joint_menu.setObjectName("joint_menu")
self.joint_menu.addItem("")
self.gridLayout_2.addWidget(self.joint_menu, 2, 1, 1, 1)
self.insert_button = QtWidgets.QPushButton(self.centralwidget)
self.insert_button.setMaximumSize(QtCore.QSize(80, 40))
self.insert_button.setObjectName("insert_button")
self.gridLayout_2.addWidget(self.insert_button, 1, 0, 1, 1)
self.pop_button = QtWidgets.QPushButton(self.centralwidget)
self.pop_button.setMaximumSize(QtCore.QSize(80, 40))
self.pop_button.setObjectName("pop_button")
self.gridLayout_2.addWidget(self.pop_button, 0, 1, 1, 1)
self.horizontalLayout.addLayout(self.gridLayout_2)
self.gridLayout = QtWidgets.QGridLayout()
self.gridLayout.setSizeConstraint(QtWidgets.QLayout.SetNoConstraint)
self.gridLayout.setObjectName("gridLayout")
self.d_label = QtWidgets.QLabel(self.centralwidget)
self.d_label.setMaximumSize(QtCore.QSize(40, 20))
self.d_label.setObjectName("d_label")
self.gridLayout.addWidget(self.d_label, 0, 2, 1, 1)
self.a_input = QtWidgets.QLineEdit(self.centralwidget)
self.a_input.setMaximumSize(QtCore.QSize(40, 20))
self.a_input.setObjectName("a_input")
self.gridLayout.addWidget(self.a_input, 1, 1, 1, 1)
self.theta_label = QtWidgets.QLabel(self.centralwidget)
self.theta_label.setMaximumSize(QtCore.QSize(40, 20))
self.theta_label.setObjectName("theta_label")
self.gridLayout.addWidget(self.theta_label, 0, 3, 1, 1)
self.d_input = QtWidgets.QLineEdit(self.centralwidget)
self.d_input.setMaximumSize(QtCore.QSize(40, 20))
self.d_input.setObjectName("d_input")
self.gridLayout.addWidget(self.d_input, 1, 2, 1, 1)
self.theta_input = QtWidgets.QLineEdit(self.centralwidget)
self.theta_input.setMaximumSize(QtCore.QSize(40, 20))
self.theta_input.setObjectName("theta_input")
self.gridLayout.addWidget(self.theta_input, 1, 3, 1, 1)
self.theta_var = QtWidgets.QCheckBox(self.centralwidget)
self.theta_var.setMaximumSize(QtCore.QSize(40, 20))
self.theta_var.setObjectName("theta_var")
self.gridLayout.addWidget(self.theta_var, 2, 3, 1, 1)
self.a_label = QtWidgets.QLabel(self.centralwidget)
self.a_label.setEnabled(True)
self.a_label.setMaximumSize(QtCore.QSize(40, 20))
self.a_label.setObjectName("a_label")
self.gridLayout.addWidget(self.a_label, 0, 1, 1, 1)
self.d_var = QtWidgets.QCheckBox(self.centralwidget)
self.d_var.setObjectName("d_var")
self.gridLayout.addWidget(self.d_var, 2, 2, 1, 1)
self.alpha_input = QtWidgets.QLineEdit(self.centralwidget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred,
QtWidgets.QSizePolicy.Preferred)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(
self.alpha_input.sizePolicy().hasHeightForWidth())
self.alpha_input.setSizePolicy(sizePolicy)
self.alpha_input.setMaximumSize(QtCore.QSize(40, 20))
self.alpha_input.setObjectName("alpha_input")
self.gridLayout.addWidget(self.alpha_input, 1, 0, 1, 1)
self.alpha_label = QtWidgets.QLabel(self.centralwidget)
self.alpha_label.setMaximumSize(QtCore.QSize(40, 20))
self.alpha_label.setObjectName("alpha_label")
self.gridLayout.addWidget(self.alpha_label, 0, 0, 1, 1)
self.horizontalLayout.addLayout(self.gridLayout)
self.gridLayout_3.addLayout(self.horizontalLayout, 1, 0, 1, 1)
MainWindow.setCentralWidget(self.centralwidget)
self.statusbar = QtWidgets.QStatusBar(MainWindow)
self.statusbar.setObjectName("statusbar")
MainWindow.setStatusBar(self.statusbar)
self.menu_label.setBuddy(self.joint_menu)
self.d_label.setBuddy(self.d_input)
self.theta_label.setBuddy(self.theta_input)
self.a_label.setBuddy(self.a_input)
self.alpha_label.setBuddy(self.alpha_input)
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
MainWindow.setTabOrder(self.append_button, self.pop_button)
MainWindow.setTabOrder(self.pop_button, self.insert_button)
MainWindow.setTabOrder(self.insert_button, self.remove_button)
MainWindow.setTabOrder(self.remove_button, self.joint_menu)
MainWindow.setTabOrder(self.joint_menu, self.alpha_input)
MainWindow.setTabOrder(self.alpha_input, self.a_input)
MainWindow.setTabOrder(self.a_input, self.d_input)
MainWindow.setTabOrder(self.d_input, self.d_var)
MainWindow.setTabOrder(self.d_var, self.theta_input)
MainWindow.setTabOrder(self.theta_input, self.theta_var)
self.connect_all()
def retranslateUi(self, MainWindow):
_translate = QtCore.QCoreApplication.translate
MainWindow.setWindowTitle(_translate("MainWindow", "DH Modeler"))
self.append_button.setText(_translate("MainWindow", "Append Joint"))
self.remove_button.setText(_translate("MainWindow", "Remove Joint"))
self.menu_label.setText(
_translate(
"MainWindow",
"<html><head/><body><p align=\"right\">Current Joint</p></body></html>"
))
self.joint_menu.setItemText(0, _translate("MainWindow", "1"))
self.insert_button.setText(_translate("MainWindow", "Insert Joint"))
self.pop_button.setText(_translate("MainWindow", "Pop Joint"))
self.d_label.setText(
_translate(
"MainWindow",
"<html><head/><body><p align=\"center\">d</p></body></html>"))
self.a_input.setText(_translate("MainWindow", "0.0"))
self.theta_label.setText(
_translate(
"MainWindow",
"<html><head/><body><p align=\"center\">θ</p></body></html>"
))
self.d_input.setText(_translate("MainWindow", "0.0\n"))
self.theta_input.setText(_translate("MainWindow", "0.0\n"))
self.theta_var.setText(_translate("MainWindow", "var"))
self.a_label.setText(
_translate(
"MainWindow",
"<html><head/><body><p align=\"center\">a</p></body></html>"))
self.d_var.setText(_translate("MainWindow", "var"))
self.alpha_input.setText(_translate("MainWindow", "0.0"))
self.alpha_label.setText(
_translate(
"MainWindow",
"<html><head/><body><p align=\"center\">α</p></body></html>"))
# Following methods are not generated by QT
def connect_all(self):
self.append_button.clicked.connect(self.append_joint)
self.insert_button.clicked.connect(self.insert_joint)
self.pop_button.clicked.connect(self.pop_joint)
self.remove_button.clicked.connect(self.remove_joint)
self.joint_menu.currentIndexChanged.connect(self.switch_joint)
self.alpha_input.editingFinished.connect(self.change_alpha)
self.a_input.editingFinished.connect(self.change_a)
self.d_input.editingFinished.connect(self.change_d)
self.theta_input.editingFinished.connect(self.change_theta)
self.d_var.clicked.connect(self.change_d_var)
self.theta_var.clicked.connect(self.change_theta_var)
def append_joint(self):
if Robot.append_joint():
self.joint_menu.addItem(str(Robot.len - 1))
self.joint_menu.setCurrentIndex(Robot.len - 2)
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 pop_joint(self):
if Robot.pop_joint():
self.joint_menu.removeItem(self.joint_menu.count() - 1)
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 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_alpha(self):
joint_num = self.joint_menu.currentIndex()
joint = Robot.return_joint(joint_num)
text = self.alpha_input.text()
joint.alpha = float(text if text != "" else 0)
Robot.update_joint(joint_num)
self.openGLWidget.update()
def change_a(self):
joint_num = self.joint_menu.currentIndex()
joint = Robot.return_joint(joint_num)
text = self.a_input.text()
joint.a = float(text if text != "" else 0)
Robot.update_joint(joint_num)
self.openGLWidget.update()
def change_d(self):
joint_num = self.joint_menu.currentIndex()
joint = Robot.return_joint(joint_num)
text = self.d_input.text()
joint.d = float(text if text != "" else 0)
Robot.update_joint(joint_num)
self.openGLWidget.update()
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 change_d_var(self):
d_on = self.d_var.isChecked()
Robot.return_joint(self.joint_menu.currentIndex()).d_var = d_on
if d_on:
self.theta_var.setChecked(False)
self.openGLWidget.update()
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()
