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Handle RobotMsg #38

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Handle RobotMsg #38

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f41d49a
Handle RobotMsg
antodld Jan 18, 2024
c8e43e3
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Jan 18, 2024
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23 changes: 9 additions & 14 deletions mc_rtc_rviz_panel/src/Panel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -136,6 +136,7 @@ Panel::Panel(QWidget * parent)
qRegisterMetaType<std::string>("std::string");
qRegisterMetaType<std::vector<std::string>>("std::vector<std::string>");
qRegisterMetaType<WidgetId>("WidgetId");
qRegisterMetaType<mc_control::RobotMsg>("mc_control::RobotMsg");
qRegisterMetaType<Eigen::Vector3d>("Eigen::Vector3d");
qRegisterMetaType<Eigen::VectorXd>("Eigen::VectorXd");
qRegisterMetaType<sva::PTransformd>("sva::PTransformd");
Expand Down Expand Up @@ -207,8 +208,7 @@ Panel::Panel(QWidget * parent)
CONNECT_SIGNAL_SLOT(table_start(const WidgetId &, const std::vector<std::string> &));
CONNECT_SIGNAL_SLOT(table_row(const WidgetId &, const std::vector<std::string> &));
CONNECT_SIGNAL_SLOT(table_end(const WidgetId &));
CONNECT_SIGNAL_SLOT(robot(const WidgetId &, const std::vector<std::string> &,
const std::vector<std::vector<double>> &, const sva::PTransformd &));
CONNECT_SIGNAL_SLOT(robot(const WidgetId &, const mc_control::RobotMsg &));
CONNECT_SIGNAL_SLOT(visual(const WidgetId &, const rbd::parsers::Visual &, const sva::PTransformd &));
CONNECT_SIGNAL_SLOT(form(const WidgetId &));
CONNECT_SIGNAL_SLOT(form_checkbox(const WidgetId &, const std::string &, bool, bool, bool));
Expand Down Expand Up @@ -457,12 +457,9 @@ void Panel::table_end(const WidgetId & id)
Q_EMIT signal_table_end(id);
}

void Panel::robot(const WidgetId & id,
const std::vector<std::string> & parameters,
const std::vector<std::vector<double>> & q,
const sva::PTransformd & posW)
void Panel::robot(const WidgetId & id, const mc_control::RobotMsg & msg)
{
Q_EMIT signal_robot(id, parameters, q, posW);
Q_EMIT signal_robot(id, msg);
}

void Panel::visual(const WidgetId & id, const rbd::parsers::Visual & visual, const sva::PTransformd & pos)
Expand Down Expand Up @@ -869,16 +866,14 @@ void Panel::got_table_end(const WidgetId & id)
w.finalize();
}

void Panel::got_robot(const WidgetId & id,
const std::vector<std::string> & parameters,
const std::vector<std::vector<double>> & /*q*/,
const sva::PTransformd & /*posW*/)
void Panel::got_robot(const WidgetId & id, const mc_control::RobotMsg & msg)
{
// std::cout << id2name(id) << std::endl;
std::string params = "[ ";
for(size_t i = 0; i < parameters.size(); ++i)
for(size_t i = 0; i < msg.parameters.size(); ++i)
{
params += parameters[i];
if(i != parameters.size() - 1) { params += ", "; }
params += msg.parameters[i];
if(i != msg.parameters.size() - 1) { params += ", "; }
}
params += "]";
got_label(id, params);
Expand Down
5 changes: 1 addition & 4 deletions mc_rtc_rviz_panel/src/Panel.h
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Original file line number Diff line number Diff line change
Expand Up @@ -165,10 +165,7 @@ protected: \

DEFINE_OVERRIDE(table_end(const WidgetId & id))

DEFINE_OVERRIDE(robot(const WidgetId & id,
const std::vector<std::string> & parameters,
const std::vector<std::vector<double>> & q,
const sva::PTransformd & posW))
DEFINE_OVERRIDE(robot(const WidgetId & id, const mc_control::RobotMsg &))

DEFINE_OVERRIDE(visual(const WidgetId & id, const rbd::parsers::Visual & visual, const sva::PTransformd & pose))

Expand Down
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