robowflex::darts::TSREditWidget Class Reference

IMGUI widget to design TSRs. More...

#include <gui.h>

Inheritance diagram for robowflex::darts::TSREditWidget:

Public Member Functions
	TSREditWidget (const std::string &name="TSR", const TSR::Specification &spec={})
	Constructor. More...
void	initialize (Window *window) override
	Initialization with window context. More...
void	prerefresh () override
	Called before window refresh. More...
void	render () override
	Render GUI. More...
const TSR::Specification &	getSpecification () const
	Get current TSR specification. More...
const TSRPtr &	getTSR () const
	Get the current TSR. More...

Private Attributes
TSR Specification
const std::string	name_
	Name of this window. More...
const TSR::Specification	original_
	Original specification provided to the window. More...
TSR::Specification	spec_
	Current specification. More...
TSR::Specification	prev_
	Prior iteration specification. More...
TSRPtr	tsr_
	Corresponding TSR. More...
std::mutex	mutex_
	Solving mutex. More...
GUI Options
bool	sync_bounds_ {true}
	Synchronize changes in volume on other bound. More...
bool	show_volume_ {true}
	Show TSR volume. More...
bool	show_bounds_ {true}
	Show TSR rotation bounds. More...
GUI Values
const double	volume_alpha_ {0.2}
	Volume alpha. More...
const double	rotation_alpha_ {0.6}
	Rotation bound alpha. More...
const double	rotation_width_ {0.05}
	Rotation bound width. More...
const float	max_position_ {5.0f}
	Max position value. More...
const float	drag_step_ {0.01f}
	Slider drag amount. More...
float	position_ [3]
	GUI frame position. More...
float	rotation_ [3]
	GUI frame rotation. More...
float	xp_ [2]
	GUI X position bounds. More...
float	yp_ [2]
	GUI Y position bounds. More...
float	zp_ [2]
	GUI Z position bounds. More...
float	xr_ [2]
	GUI X orientation bounds. More...
float	yr_ [2]
	GUI Y orientation bounds. More...
float	zr_ [2]
	GUI Z orientation bounds. More...
float	inner_radius {0.2}
	GUI Rotation bound inner radius. More...

Element Synchronization
bool	gui_ {false}
	True if a synchronize call is coming from the GUI update loop. More...
void	updateFrameCB (const dart::gui::osg::InteractiveFrame *frame)
	Frame update callback on moving the main interactive frame. More...
void	updateLLCB (const dart::gui::osg::InteractiveFrame *frame)
	Frame update callback on moving the lower bound control. More...
void	updateUUCB (const dart::gui::osg::InteractiveFrame *frame)
	Frame update callback on moving the upper bound control. More...
void	updateMirror ()
	If synchronizing bounds, mirrors updates on other bound. More...
void	syncTSR ()
	Updates the TSR to the specification. More...
void	syncSpec ()
	Updates the specification to the GUI. More...
void	syncGUI ()
	Updates the GUI to the specification. More...
void	syncFrame ()
	Updates the display frames to the specification. More...

Interactive/Display Frames
dart::dynamics::SimpleFramePtr	offset_
	Offset frame for bounds. More...
dart::dynamics::SimpleFramePtr	shape_
	Display boundary shape frame. More...
dart::dynamics::SimpleFramePtr	rbounds_ [3]
	Display rotation bounds. More...
Window::InteractiveReturn	frame_
	Main interactive frame. More...
Window::InteractiveReturn	ll_frame_
	Lower bound interactive frame. More...
Window::InteractiveReturn	uu_frame_
	Upper bound interactive frame. More...
Eigen::Vector3d	getVolume () const
	Get the volume for the bounds. More...
void	updateShape ()
	Updates the displayed shape volume for the bounds. More...

Detailed Description

IMGUI widget to design TSRs.

Definition at line 417 of file gui.h.

Constructor & Destructor Documentation

TSREditWidget()

TSREditWidget::TSREditWidget	(	const std::string &	name = "TSR",
		const TSR::Specification &	spec = {}
	)

Constructor.

Parameters

[in]	name	Name of TSR.
[in]	spec	Base specification of the TSR

Definition at line 411 of file gui.cpp.

  : name_(name), original_(spec), spec_(spec)
{
}

Member Function Documentation

getSpecification()

const TSR::Specification & TSREditWidget::getSpecification

(

)

const

Get current TSR specification.

Returns

The current TSR specification.

Definition at line 751 of file gui.cpp.

{
    return spec_;
}

getTSR()

const TSRPtr & TSREditWidget::getTSR

(

)

const

Get the current TSR.

Returns

The current TSR.

Definition at line 756 of file gui.cpp.

{
    return tsr_;
}

getVolume()

Eigen::Vector3d TSREditWidget::getVolume ( ) const

private

Get the volume for the bounds.

Returns

The volume of bounds.

Definition at line 625 of file gui.cpp.

{
    return spec_.position.upper - spec_.position.lower;
}

initialize()

void TSREditWidget::initialize ( Window *  window )

overridevirtual

Initialization with window context.

Parameters

[in]

window

GUI window.

Reimplemented from robowflex::darts::Widget.

Definition at line 416 of file gui.cpp.

{
    auto world = window->world_;
 
    // Create main interactive marker.
    Window::InteractiveOptions frame_opt;
    frame_opt.name = "TSREditWidget-" + name_ + "-frame";
    frame_opt.pose = spec_.pose;
    if (spec_.base.frame != magic::ROOT_FRAME)
        frame_opt.parent = world->getRobot(spec_.base.structure)->getFrame(spec_.base.frame);
    frame_opt.callback = [&](const dart::gui::osg::InteractiveFrame *frame) { updateFrameCB(frame); };
    frame_ = window->createInteractiveMarker(frame_opt);
 
    // Create offset frame for bound frames.
    offset_ = std::make_shared<dart::dynamics::SimpleFrame>(dart::dynamics::Frame::World(),
                                                            "TSREditWidget-" + name_ + "-offset");
    world->getSim()->addSimpleFrame(offset_);
 
    // Create lower bound control.
    Window::InteractiveOptions ll_opt;
    ll_opt.name = "TSREditWidget-" + name_ + "-ll";
    ll_opt.callback = [&](const dart::gui::osg::InteractiveFrame *frame) { updateLLCB(frame); };
    ll_opt.parent = offset_.get();
    ll_opt.rotation[0] = false;
    ll_opt.rotation[1] = false;
    ll_opt.rotation[2] = false;
    ll_opt.planar[0] = false;
    ll_opt.planar[1] = false;
    ll_opt.planar[2] = false;
    ll_opt.size = 0.1;
    ll_opt.thickness = 2;
    ll_frame_ = window->createInteractiveMarker(ll_opt);
 
    // Create upper bound control.
    Window::InteractiveOptions uu_opt;
    uu_opt.name = "TSREditWidget-" + name_ + "-uu";
    uu_opt.callback = [&](const dart::gui::osg::InteractiveFrame *frame) { updateUUCB(frame); };
    uu_opt.parent = offset_.get();
    uu_opt.rotation[0] = false;
    uu_opt.rotation[1] = false;
    uu_opt.rotation[2] = false;
    uu_opt.planar[0] = false;
    uu_opt.planar[1] = false;
    uu_opt.planar[2] = false;
    uu_opt.size = 0.1;
    uu_opt.thickness = 2;
    uu_frame_ = window->createInteractiveMarker(uu_opt);
 
    // Create shape frame. Shape is separate since it can be offset from main bound TF.
    shape_ =
        std::make_shared<dart::dynamics::SimpleFrame>(offset_.get(), "TSREditWidget-" + name_ + "-shape");
    world->getSim()->addSimpleFrame(shape_);
 
    // Create rotation bounds.
    for (std::size_t i = 0; i < 3; ++i)
    {
        rbounds_[i] = std::make_shared<dart::dynamics::SimpleFrame>(
            offset_.get(), "TSREditWidget-" + name_ + "-rb" + std::to_string(i));
 
        Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
        if (i == 1)
            tf.rotate(Eigen::AngleAxisd(-constants::half_pi, Eigen::Vector3d::UnitZ()));
        else if (i == 2)
            tf.rotate(Eigen::AngleAxisd(constants::half_pi, Eigen::Vector3d::UnitY()));
 
        rbounds_[i]->setRelativeTransform(tf);
        world->getSim()->addSimpleFrame(rbounds_[i]);
    }
 
    // Create TSR.
    tsr_ = std::make_shared<darts::TSR>(world, spec_);
    tsr_->initialize();
 
    // Synchronize elements.
    syncGUI();
    syncFrame();
    updateShape();
}

prerefresh()

void TSREditWidget::prerefresh ( )

overridevirtual

Called before window refresh.

Reimplemented from robowflex::darts::Widget.

Definition at line 746 of file gui.cpp.

{
    updateShape();
}

render()

void TSREditWidget::render ( )

override

Render GUI.

Definition at line 663 of file gui.cpp.

{
    prev_ = spec_;  // save previous spec
 
    // Draw main window.
    ImGui::SetNextWindowBgAlpha(0.5f);
    std::string title = "TSR Editor - " + name_;
    if (!ImGui::Begin(title.c_str(), nullptr, ImGuiWindowFlags_HorizontalScrollbar))
    {
        ImGui::End();
        return;
    }
 
    // Draw frame position and orientation values.
    if (ImGui::TreeNodeEx("Frame", ImGuiTreeNodeFlags_DefaultOpen))
    {
        ImGui::DragFloat3("Position", position_, drag_step_, -max_position_, max_position_, "%0.2f");
        ImGui::DragFloat3("Rotation", rotation_, drag_step_, -constants::pi, constants::pi, "%0.2f");
 
        if (ImGui::Button("Reset Position"))
        {
            spec_.setPosition(original_.getPosition());
            syncGUI();
        }
 
        ImGui::SameLine();
 
        if (ImGui::Button("Reset Rotation"))
        {
            spec_.setRotation(original_.getRotation());
            syncGUI();
        }
 
        ImGui::TreePop();
    }
 
    ImGui::Separator();
    ImGui::Spacing();
 
    // Draw TSR bound interface.
    if (ImGui::TreeNodeEx("Bounds", ImGuiTreeNodeFlags_DefaultOpen))
    {
        ImGui::Checkbox("Sync. Bounds", &sync_bounds_);
        ImGui::Spacing();
 
        ImGui::Text("Position Bounds");
        auto half = max_position_ / 2;
        ImGui::DragFloat2("X##1", xp_, drag_step_, -half, half, "%0.4f");
        ImGui::DragFloat2("Y##1", yp_, drag_step_, -half, half, "%0.4f");
        ImGui::DragFloat2("Z##1", zp_, drag_step_, -half, half, "%0.4f");
        ImGui::Checkbox("Show Volume", &show_volume_);
        ImGui::Spacing();
        ImGui::Spacing();
 
        ImGui::Text("Rotation Bounds");
        ImGui::DragFloat2("X##2", xr_, drag_step_, -constants::pi, constants::pi, "%0.4f");
        ImGui::DragFloat2("Y##2", yr_, drag_step_, -constants::pi, constants::pi, "%0.4f");
        ImGui::DragFloat2("Z##2", zr_, drag_step_, -constants::pi, constants::pi, "%0.4f");
 
        ImGui::Checkbox("Show Rot. Bounds", &show_bounds_);
        ImGui::DragFloat("Bound Rad.", &inner_radius, drag_step_, 0., 0.5, "%0.2f");
 
        if (ImGui::Button("Reset Bounds"))
        {
            spec_.position = original_.position;
            spec_.orientation = original_.orientation;
            prev_ = spec_;
            syncGUI();
        }
 
        ImGui::TreePop();
    }
 
    if (ImGui::Button("Print TSR"))
        spec_.print(std::cout);
 
    gui_ = true;
    syncSpec();
    syncGUI();
    syncFrame();
    gui_ = false;
}

syncFrame()

void TSREditWidget::syncFrame ( )

private

Updates the display frames to the specification.

Definition at line 495 of file gui.cpp.

{
    frame_.target->setRelativeTransform(spec_.pose);
    offset_->setTranslation(frame_.target->getWorldTransform().translation());
    ll_frame_.target->setRelativeTranslation(spec_.position.lower);
    uu_frame_.target->setRelativeTranslation(spec_.position.upper);
}

syncGUI()

void TSREditWidget::syncGUI ( )

private

Updates the GUI to the specification.

Definition at line 528 of file gui.cpp.

{
    auto pos = spec_.getPosition();
    position_[0] = pos[0];
    position_[1] = pos[1];
    position_[2] = pos[2];
 
    auto rot = spec_.getEulerRotation();
    rotation_[0] = rot[0];
    rotation_[1] = rot[1];
    rotation_[2] = rot[2];
 
    xp_[0] = spec_.position.lower[0];
    xp_[1] = spec_.position.upper[0];
    yp_[0] = spec_.position.lower[1];
    yp_[1] = spec_.position.upper[1];
    zp_[0] = spec_.position.lower[2];
    zp_[1] = spec_.position.upper[2];
 
    xr_[0] = spec_.orientation.lower[0];
    xr_[1] = spec_.orientation.upper[0];
    yr_[0] = spec_.orientation.lower[1];
    yr_[1] = spec_.orientation.upper[1];
    zr_[0] = spec_.orientation.lower[2];
    zr_[1] = spec_.orientation.upper[2];
}

syncSpec()

void TSREditWidget::syncSpec ( )

private

Updates the specification to the GUI.

Definition at line 511 of file gui.cpp.

{
    spec_.setPosition(position_[0], position_[1], position_[2]);
    spec_.setRotation(rotation_[0], rotation_[1], rotation_[2]);
 
    spec_.setXPosTolerance(xp_[0], xp_[1]);
    spec_.setYPosTolerance(yp_[0], yp_[1]);
    spec_.setZPosTolerance(zp_[0], zp_[1]);
 
    spec_.setXRotTolerance(xr_[0], xr_[1]);
    spec_.setYRotTolerance(yr_[0], yr_[1]);
    spec_.setZRotTolerance(zr_[0], zr_[1]);
 
    updateMirror();
    syncTSR();
}

syncTSR()

void TSREditWidget::syncTSR ( )

private

Updates the TSR to the specification.

Definition at line 503 of file gui.cpp.

{
    tsr_->getSpecification() = spec_;
    tsr_->updatePose();
    tsr_->updateBounds();
    tsr_->updateSolver();
}

updateFrameCB()

void TSREditWidget::updateFrameCB ( const dart::gui::osg::InteractiveFrame *  frame )

private

Frame update callback on moving the main interactive frame.

Parameters

[in]

frame

The interactive frame.

Definition at line 555 of file gui.cpp.

{
    if (gui_)
        return;
 
    prev_ = spec_;
    const auto &tf = frame->getRelativeTransform();
    spec_.pose = tf;
 
    updateMirror();
    syncGUI();
    syncTSR();
}

updateLLCB()

void TSREditWidget::updateLLCB ( const dart::gui::osg::InteractiveFrame *  frame )

private

Frame update callback on moving the lower bound control.

Parameters

[in]

frame

The interactive frame.

Definition at line 569 of file gui.cpp.

{
    if (gui_)
        return;
 
    Eigen::Vector3d t = frame->getRelativeTransform().translation();
    Eigen::Vector3d diff =
        (sync_bounds_) ? Eigen::Vector3d(t - spec_.position.lower) : Eigen::Vector3d::Zero();
 
    spec_.setXPosTolerance(t[0], spec_.position.upper[0] - diff[0]);
    spec_.setYPosTolerance(t[1], spec_.position.upper[1] - diff[1]);
    spec_.setZPosTolerance(t[2], spec_.position.upper[2] - diff[2]);
 
    syncGUI();
    syncTSR();
}

updateMirror()

void TSREditWidget::updateMirror ( )

private

If synchronizing bounds, mirrors updates on other bound.

Definition at line 603 of file gui.cpp.

{
    if (not sync_bounds_)
        return;
 
    {
        auto ld = spec_.position.lower - prev_.position.lower;
        auto ud = spec_.position.upper - prev_.position.upper;
 
        spec_.position.lower -= ud;
        spec_.position.upper -= ld;
    }
 
    {
        auto ld = spec_.orientation.lower - prev_.orientation.lower;
        auto ud = spec_.orientation.upper - prev_.orientation.upper;
 
        spec_.orientation.lower -= ud;
        spec_.orientation.upper -= ld;
    }
}

updateShape()

void TSREditWidget::updateShape ( )

private

Updates the displayed shape volume for the bounds.

Definition at line 630 of file gui.cpp.

{
    // Position volume
    {
        Eigen::Vector3d abs = getVolume();
 
        shape_->setShape(makeBox(abs));
        auto *va = shape_->getVisualAspect(true);
        va->setColor(dart::Color::Gray(volume_alpha_));
        va->setShadowed(false);
        va->setHidden(not show_volume_);
 
        shape_->setRelativeTranslation(spec_.position.lower + abs / 2);
    }
 
    // Rotation bounds
    for (std::size_t i = 0; i < 3; ++i)
    {
        rbounds_[i]->setShape(makeArcsegment(spec_.orientation.lower[i], spec_.orientation.upper[i],
                                             inner_radius, inner_radius + rotation_width_));
        auto *va = rbounds_[i]->getVisualAspect(true);
        va->setShadowed(false);
        va->setHidden(not show_bounds_);
 
        if (i == 0)
            va->setColor(dart::Color::Red(rotation_alpha_));
        if (i == 1)
            va->setColor(dart::Color::Green(rotation_alpha_));
        if (i == 2)
            va->setColor(dart::Color::Blue(rotation_alpha_));
    }
}

updateUUCB()

void TSREditWidget::updateUUCB ( const dart::gui::osg::InteractiveFrame *  frame )

private

Frame update callback on moving the upper bound control.

Parameters

[in]

frame

The interactive frame.

Definition at line 586 of file gui.cpp.

{
    if (gui_)
        return;
 
    Eigen::Vector3d t = frame->getRelativeTransform().translation();
    Eigen::Vector3d diff =
        (sync_bounds_) ? Eigen::Vector3d(t - spec_.position.upper) : Eigen::Vector3d::Zero();
 
    spec_.setXPosTolerance(spec_.position.lower[0] - diff[0], t[0]);
    spec_.setYPosTolerance(spec_.position.lower[1] - diff[1], t[1]);
    spec_.setZPosTolerance(spec_.position.lower[2] - diff[2], t[2]);
 
    syncGUI();
    syncTSR();
}

Member Data Documentation

drag_step_

const float robowflex::darts::TSREditWidget::drag_step_ {0.01f}

private

Slider drag amount.

Definition at line 535 of file gui.h.

frame_

Window::InteractiveReturn robowflex::darts::TSREditWidget::frame_

private

Main interactive frame.

Definition at line 500 of file gui.h.

gui_

bool robowflex::darts::TSREditWidget::gui_ {false}

private

True if a synchronize call is coming from the GUI update loop.

Definition at line 481 of file gui.h.

inner_radius

float robowflex::darts::TSREditWidget::inner_radius {0.2}

private

GUI Rotation bound inner radius.

Definition at line 548 of file gui.h.

ll_frame_

Window::InteractiveReturn robowflex::darts::TSREditWidget::ll_frame_

private

Lower bound interactive frame.

Definition at line 501 of file gui.h.

max_position_

const float robowflex::darts::TSREditWidget::max_position_ {5.0f}

private

Max position value.

Definition at line 534 of file gui.h.

mutex_

std::mutex robowflex::darts::TSREditWidget::mutex_

private

Solving mutex.

Definition at line 514 of file gui.h.

name_

const std::string robowflex::darts::TSREditWidget::name_

private

Name of this window.

Definition at line 509 of file gui.h.

offset_

dart::dynamics::SimpleFramePtr robowflex::darts::TSREditWidget::offset_

private

Offset frame for bounds.

Definition at line 497 of file gui.h.

original_

const TSR::Specification robowflex::darts::TSREditWidget::original_

private

Original specification provided to the window.

Definition at line 510 of file gui.h.

position_

float robowflex::darts::TSREditWidget::position_[3]

private

GUI frame position.

Definition at line 537 of file gui.h.

prev_

TSR::Specification robowflex::darts::TSREditWidget::prev_

private

Prior iteration specification.

Definition at line 512 of file gui.h.

rbounds_

dart::dynamics::SimpleFramePtr robowflex::darts::TSREditWidget::rbounds_[3]

private

Display rotation bounds.

Definition at line 499 of file gui.h.

rotation_

float robowflex::darts::TSREditWidget::rotation_[3]

private

GUI frame rotation.

Definition at line 538 of file gui.h.

rotation_alpha_

const double robowflex::darts::TSREditWidget::rotation_alpha_ {0.6}

private

Rotation bound alpha.

Definition at line 531 of file gui.h.

rotation_width_

const double robowflex::darts::TSREditWidget::rotation_width_ {0.05}

private

Rotation bound width.

Definition at line 532 of file gui.h.

shape_

dart::dynamics::SimpleFramePtr robowflex::darts::TSREditWidget::shape_

private

Display boundary shape frame.

Definition at line 498 of file gui.h.

show_bounds_

bool robowflex::darts::TSREditWidget::show_bounds_ {true}

private

Show TSR rotation bounds.

Definition at line 523 of file gui.h.

show_volume_

bool robowflex::darts::TSREditWidget::show_volume_ {true}

private

Show TSR volume.

Definition at line 522 of file gui.h.

spec_

TSR::Specification robowflex::darts::TSREditWidget::spec_

private

Current specification.

Definition at line 511 of file gui.h.

sync_bounds_

bool robowflex::darts::TSREditWidget::sync_bounds_ {true}

private

Synchronize changes in volume on other bound.

Definition at line 521 of file gui.h.

tsr_

TSRPtr robowflex::darts::TSREditWidget::tsr_

private

Corresponding TSR.

Definition at line 513 of file gui.h.

uu_frame_

Window::InteractiveReturn robowflex::darts::TSREditWidget::uu_frame_

private

Upper bound interactive frame.

Definition at line 502 of file gui.h.

volume_alpha_

const double robowflex::darts::TSREditWidget::volume_alpha_ {0.2}

private

Volume alpha.

Definition at line 530 of file gui.h.

xp_

float robowflex::darts::TSREditWidget::xp_[2]

private

GUI X position bounds.

Definition at line 540 of file gui.h.

xr_

float robowflex::darts::TSREditWidget::xr_[2]

private

GUI X orientation bounds.

Definition at line 544 of file gui.h.

yp_

float robowflex::darts::TSREditWidget::yp_[2]

private

GUI Y position bounds.

Definition at line 541 of file gui.h.

yr_

float robowflex::darts::TSREditWidget::yr_[2]

private

GUI Y orientation bounds.

Definition at line 545 of file gui.h.

zp_

float robowflex::darts::TSREditWidget::zp_[2]

private

GUI Z position bounds.

Definition at line 542 of file gui.h.

zr_

float robowflex::darts::TSREditWidget::zr_[2]

private

GUI Z orientation bounds.

Definition at line 546 of file gui.h.

---

The documentation for this class was generated from the following files:

• gui.h
• gui.cpp