Class that subclasses MainWindow in order to create the whole Grip interface. More...

#include <GripMainWindow.h>

Inheritance diagram for GripMainWindow:

Public Slots
void	slotSetWorldFromPlayback (int sliderTick)
	called when the window gets resized --> Avoid mixing resizing with layout manager. Unless you make a delicate resizing policy, it will mess up your window.
void	slotPlaybackStart ()
	Slot for starting the playback.
void	slotPlaybackPause ()
	Slot for pausing the playback.
void	slotPlaybackReverse ()
	Slot for reversing the playback.
void	slotPlaybackBeginning ()
	Slot for going to the beginning of the playback timeline.
void	slotPlaybackTimeStep (bool playForward)
	Slot that recursively calls it self to run the playback loop. The recursive call allows the event loop to process other events, (eg. Stop Playback)
Public Member Functions
	GripMainWindow (bool debug=false, std::string sceneFile="", std::string configFile="")
	Constructs a GripMainWindow object.
	~GripMainWindow ()
	Destructs a GripMainWindow object.
dart::dynamics::Skeleton *	createGround ()
	Convenience function for creating a ground skeleton.
Public Attributes
ViewerWidget *	viewWidget
	OpenSceneGraph Qt composite viewer widget, which can hold more than one view.
TreeView *	treeviewer
	QDockWidget that contains a QTreeWidget. It is used as an object explorer for the loaded skeletons or robots.
InspectorTab *	inspectorTab
	Tab for manually manipulating objects in the world.
VisualizationTab *	visualizationTab
	Tab for changing visualization settings of the render window.
std::vector< GripTimeslice > *	timeline
	Array of GripTimeSlice objects stored for simulation/kinematic playback.
PlaybackWidget *	playbackWidget
	Widget for playing back the simulation or kinematic states in the timeline.
TreeViewReturn *	activeItem
osgDart::DartNode *	worldNode
	Main OpenSceneGraph node for the main view of the composite viewer.
dart::simulation::World *	world
	The world object that is being rendered and simulated.
GripSimulation *	simulation
	Simulation thread doing the actually simluation loop.
Protected Slots
void	setSimulationRelativeTime (double time)
	Sets the time box for simulation time relative to real time.
void	front ()
	Set the view to front view.
void	top ()
	Set the view to top view.
void	side ()
	Set the view to side view.
void	startSimulation ()
	Starts the simulation.
void	stopSimulation ()
	Stops the simulation.
void	simulateSingleStep ()
	Simulates a single time step of the simulation.
void	renderDuringSimulation ()
	Turns on rendering during simulation, which will simulation slower than if rendering is turned off.
void	white ()
	Sets the background color of the window to white.
void	gray ()
	Sets the background color of the window to gray.
void	black ()
	Sets the background color of the window to black.
void	resetCamera ()
	Resets the camera position to a position so that you can see the front view of the rendered objects.
void	xga1024x768 ()
	Change movie export mode to 1024x768.
void	vga640x480 ()
	Change movie export mode to 640x480.
void	hd1280x720 ()
	Change movie export mode to 1280x720.
void	close ()
	Close current scene.
void	simulationStopped ()
	Notifies thread that simulation has stopped.
Protected Member Functions
QDomDocument *	generateWorkspaceXML ()
	Create an XML file for the workspace contains the list of plugins, status of DockWidgets and the loaded scene.
void	parseConfig (QDomDocument config)
	Parses the configuration file and manipulates the workspace to match the settings in the configuration file.
void	createRenderingWindow ()
	Creates the rendering window.
void	createTreeView ()
	Creates the tree view.
void	createTabs ()
	Creates the default tabs.
void	manageLayout ()
	Manage layout of the main window.
void	createPluginMenu ()
	creates the Plugin Menu
void	clear ()
	Clears the world, simulation and widgets.
bool	stopSimulationWithDialog ()
	Pops up a dialog box for the user to confirm if he wants to stop the currently running simulation.
void	swapStartStopButtons ()
	Swaps the start and stop buttons for covenience. It just shows and hides them.
void	doLoad (std::string sceneFileName)
	Load the scene and renders it. This function resets everything on each load.
int	saveText (std::string scenepath, const QString &filename)
	Saves the loaded scene to file for quick load functionality.
void	loadPluginDirectory (QDir pluginsDirName)
	Reads a QDir directory and loads all the plugins inside it.
void	loadPluginFile (QString pluginFileName)
	Loads a plugin file (.so) by name. When loaded, the plugin will be added to the bottom tabs area.
void	setWorldState_Issue122 (const Eigen::VectorXd &newState)
	Set state of world from an Eigen::VectorXd. Because DART has a major bug with the integration of free and ball joints, some extra work arounds have to been performed.
Protected Attributes
QList< GripTab * > *	pluginList
QMenu *	pluginMenu
	Plugin menu pointer for showing/hiding plugins.
QList< QString * > *	pluginPathList
	Stores the path to all the plugins that are loaded.
QString *	sceneFilePath
	Stores the path to the scene file.
QGridLayout *	gridLayout
	used to maintain the layout of the widgets that are not QDockWidgets
bool	_playingBack
	Whether or not playback is happening.
int	_curPlaybackTick
	Current tick in playback.
int	_playbackSpeed
	Additive value corresponding to playback speed.
bool	_simulationDirty
	Whether or not the timeline has been messed with.
bool	_simulating
	Whether or not simulation is happening.
bool	_debug
	Whether or not to print debug statements.

Detailed Description

Class that subclasses MainWindow in order to create the whole Grip interface.

Constructor & Destructor Documentation

GripMainWindow::GripMainWindow	(	bool	debug = `false`,
		std::string	sceneFile = `""`,
		std::string	configFile = `""`
	)

Constructs a GripMainWindow object.

Parameters:

debug	Whether or not to print debug statements. This gets passed to local class objects
sceneFile	String representing the scene file to load on startup. If empty or unspecified, a scene will not be loaded.
configFile	String representing the workspace file to load on startup. If empty or unspecified, a workspace will not be loaded.

object initialization

create objects for widget classes

load widgets in the user interface and manages the layout

set the status bar for the Grip Window

Member Function Documentation

void GripMainWindow::black ( ) [protected, virtual, slot]

Sets the background color of the window to black.

Returns:: void

Implements MainWindow.

void GripMainWindow::clear ( ) [protected]

Clears the world, simulation and widgets.

Returns:: void

dart::dynamics::Skeleton * GripMainWindow::createGround ( )

Convenience function for creating a ground skeleton.

Returns:: Ground object

void GripMainWindow::createPluginMenu ( ) [protected]

creates the Plugin Menu

Returns:: void

void GripMainWindow::createRenderingWindow ( ) [protected, virtual]

Creates the rendering window.

Returns:: void

Implements MainWindow.

void GripMainWindow::createTabs ( ) [protected, virtual]

Creates the default tabs.

Returns:: void

Implements MainWindow.

void GripMainWindow::createTreeView ( ) [protected, virtual]

Creates the tree view.

Returns:: void

Implements MainWindow.

void GripMainWindow::doLoad ( std::string sceneFileName ) [protected, virtual]

Load the scene and renders it. This function resets everything on each load.

Parameters:

fileName Name of scene file to load

Returns:: void

Implements MainWindow.

void GripMainWindow::front ( ) [protected, virtual, slot]

Set the view to front view.

Returns:: void

Implements MainWindow.

QDomDocument * GripMainWindow::generateWorkspaceXML ( ) [protected, virtual]

Create an XML file for the workspace contains the list of plugins, status of DockWidgets and the loaded scene.

Returns:: QDomDocument

Implements MainWindow.

void GripMainWindow::gray ( ) [protected, virtual, slot]

Sets the background color of the window to gray.

Returns:: void

Implements MainWindow.

void GripMainWindow::loadPluginDirectory ( QDir pluginsDirName ) [protected, virtual]

Reads a QDir directory and loads all the plugins inside it.

Parameters:

pluginsDirName Name of the QDir containing the plugins

Implements MainWindow.

void GripMainWindow::loadPluginFile ( QString pluginFileName ) [protected, virtual]

Loads a plugin file (.so) by name. When loaded, the plugin will be added to the bottom tabs area.

Parameters:

pluginFileName String representing the path of the plugin

Implements MainWindow.

void GripMainWindow::manageLayout ( ) [protected]

Manage layout of the main window.

Returns:: void

viewWidget initial size: 800 x 600

adding tree view

adding the inspector and visualization tabs

void GripMainWindow::parseConfig ( QDomDocument config ) [protected, virtual]

Parses the configuration file and manipulates the workspace to match the settings in the configuration file.

Returns:: void

parse and load plugins

parse and set qDockWidget states

parse and load scene

parse and load cameras parse and load lightsources

Implements MainWindow.

void GripMainWindow::resetCamera ( ) [protected, virtual, slot]

Resets the camera position to a position so that you can see the front view of the rendered objects.

Returns:: void

Implements MainWindow.

int GripMainWindow::saveText	(	std::string	scenepath,
		const QString &	filename
	)		`[protected]`

Saves the loaded scene to file for quick load functionality.

Returns:: void

void GripMainWindow::setSimulationRelativeTime ( double time ) [protected, virtual, slot]

Sets the time box for simulation time relative to real time.

Parameters:

time	The simulation time relative to real time

Returns:: void

Implements MainWindow.

void GripMainWindow::setWorldState_Issue122 ( const Eigen::VectorXd & newState ) [protected]

Set state of world from an Eigen::VectorXd. Because DART has a major bug with the integration of free and ball joints, some extra work arounds have to been performed.

Parameters:

newState New state for the world

void GripMainWindow::side ( ) [protected, virtual, slot]

Set the view to side view.

Returns:: void

Implements MainWindow.

void GripMainWindow::simulateSingleStep ( ) [protected, virtual, slot]

Simulates a single time step of the simulation.

Returns:: void

Implements MainWindow.

void GripMainWindow::simulationStopped ( ) [protected, virtual, slot]

Notifies thread that simulation has stopped.

Returns:: void

Implements MainWindow.

void GripMainWindow::slotPlaybackTimeStep ( bool playForward ) [virtual, slot]

Slot that recursively calls it self to run the playback loop. The recursive call allows the event loop to process other events, (eg. Stop Playback)

Parameters:

playForward Whether or not to play back in forward or reverse

Implements MainWindow.

void GripMainWindow::slotSetWorldFromPlayback ( int sliderTick ) [virtual, slot]

called when the window gets resized --> Avoid mixing resizing with layout manager. Unless you make a delicate resizing policy, it will mess up your window.

Slot for setting the state and time of the world based on the playback widget's slider position and the contents of the timeline

Parameters:

sliderTick Position of the playback widget's slider

Implements MainWindow.

void GripMainWindow::startSimulation ( ) [protected, virtual, slot]

Starts the simulation.

Returns:: void

Implements MainWindow.

void GripMainWindow::stopSimulation ( ) [protected, virtual, slot]

Stops the simulation.

Returns:: void

Implements MainWindow.

bool GripMainWindow::stopSimulationWithDialog ( ) [protected]

Pops up a dialog box for the user to confirm if he wants to stop the currently running simulation.

Returns:: bool Whether or not the user want to stop the simulation or not

void GripMainWindow::swapStartStopButtons ( ) [protected]

Swaps the start and stop buttons for covenience. It just shows and hides them.

Returns:: void

void GripMainWindow::top ( ) [protected, virtual, slot]

Set the view to top view.

Returns:: void

Implements MainWindow.

void GripMainWindow::white ( ) [protected, virtual, slot]

Sets the background color of the window to white.

Returns:: void

Implements MainWindow.

Member Data Documentation

TreeViewReturn* GripMainWindow::activeItem

TreeViewReturn class is defined in tree_view.h It contains two members: void* object and DataType dataType void* object can store a dart Skeleton object or BodyNode object DataType is an enumaration defined in tree_view.h which can take the values Return_Type_Robot and Return_Type_Node

QList<GripTab*>* GripMainWindow::pluginList [protected]

Protected Members Any plugin that is loaded successfully into the Grip will get stored in this QList The plugins are always going to be derived from the GripTab interface defined in qtWidgets/include/GripTab.h In order to execute one of the pure virtual functions defined in the GripTab declaration, you first need to perform a qobject_cast. An example for the same is GripTab* gt = qobject_cast<GripTab*>(plugin); Once a pointer of type GripTab is created you can then call the function directly.

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

/home/pete/myRepos/grip2/include/GripMainWindow.h
/home/pete/myRepos/grip2/src/GripMainWindow.cpp

Public Slots

Public Member Functions

Public Attributes

Protected Slots

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation