RobotPanel.RobotPanel Class Reference

Class providing funcionality to a RobRotation panel inside the TaskView. More...

Inheritance diagram for RobotPanel.RobotPanel:

Public Member Functions
def	__init__ (self, robot_joints, forms)
	Initialization method for RobotPanel. More...
def	sliderChanged (self, value, form, joint)
	Feedback method called when any slider position is changed. More...
def	reject (self)
	Feedback method called when 'Close' button was pressed to close the panel. More...
def	getStandardButtons (self, *args)
	Method to set just one button (close) to close the dialog. More...
def	isAllowedAlterSelection (self)
	Method to tell FreeCAD if dialog is allowed to alter a selection. More...
def	isAllowedAlterView (self)
	Method to tell FreeCAD if dialog is allowed to alter a view. More...
def	isAllowedAlterDocument (self)
	Method to tell FreeCAD if dialog is allowed to alter a document. More...

Public Attributes
	robot_joints
	A list of RobRotation and RobTranslation instances. More...
	previous_joint_values
	form
	A list of QDialog instances to show in the TaskView. More...

Detailed Description

Class providing funcionality to a RobRotation panel inside the TaskView.

This class enables user to see a manipulator in different configurations. It provides a dialogs to be shown in the TaskView. These dialogs have sliders which allow user to go through a joint range.

Definition at line 51 of file RobotPanel.py.

Constructor & Destructor Documentation

__init__()

def RobotPanel.RobotPanel.__init__	(		self,
			robot_joints,
			forms
	)

Initialization method for RobotPanel.

A class instance is created. A list of proxies for associated RobRotation and RobTranslation instances are loaded as well as corresponding QDialog forms. Previously visible properties are set to be read-only as not to change when a RobotPanel is open. Finally all sliders on dialogs are moved to a position corresponding to current a RobRotation angle / RobTranslation displacement. If current value exceeds given joint range, the slider is placed to minimum or maximum.

Parameters

robot_joints	A list of RobRotation and RobTranslation instances.
forms	A list of QDialog instances to show in the TaskView.

Definition at line 74 of file RobotPanel.py.

    def __init__(self, robot_joints, forms):
        super(RobotPanel, self).__init__()
        self.robot_joints = robot_joints

        # Disable editing of RobRotation properties, leave some properties
        # hidden and store previous joint variable values
        self.previous_joint_values = []
        for joint in robot_joints:
            if joint.Proxy.__class__.__name__ == "RobRotationProxy":
                self.previous_joint_values.append(joint.theta)
                joint.setEditorMode("ValidRotation", 2)
            elif joint.Proxy.__class__.__name__ == "RobTranslationProxy":
                self.previous_joint_values.append(joint.d)
                joint.setEditorMode("ValidTranslation", 2)

            for prop in joint.PropertiesList:
                joint.setEditorMode(prop, 1)
            joint.setEditorMode("Placement", 2)
            joint.setEditorMode("RobotPanelActive", 2)
            joint.RobotPanelActive = True

        # Add QDialogs to be displayed in freeCAD
        self.form = forms

        # Add callbacks to sliders on all forms and move sliders to a position
        # corresponding with time values
        for i in range(len(forms)):
            rj = robot_joints[i]
            forms[i].sld_value.valueChanged.connect(
                lambda value, form=forms[i], joint=rj:
                self.sliderChanged(value, form, joint))
            if rj.Proxy.__class__.__name__ == "RobRotationProxy":
                val = (100 * (rj.theta - rj.thetaOffset - rj.thetaMinimum)) / \
                      (rj.thetaMaximum - rj.thetaMinimum)
                val = min([100, max([val, 0])])
            elif rj.Proxy.__class__.__name__ == "RobTranslationProxy":
                val = (100 * (rj.d - rj.dOffset - rj.dMinimum)) / \
                      (rj.dMaximum - rj.dMinimum)
                val = min([100, max([val, 0])])

            forms[i].sld_value.setValue(val)

Member Function Documentation

getStandardButtons()

def RobotPanel.RobotPanel.getStandardButtons	(		self,
		*	args
	)

Method to set just one button (close) to close the dialog.

*args: A tuple of unused arguments from Qt.

Definition at line 195 of file RobotPanel.py.

    def getStandardButtons(self, *args):
        return QDialogButtonBox.Close

isAllowedAlterDocument()

def RobotPanel.RobotPanel.isAllowedAlterDocument

(

self

)

Method to tell FreeCAD if dialog is allowed to alter a document.

Returns

True this dialog does change a document.

Definition at line 222 of file RobotPanel.py.

    def isAllowedAlterDocument(self):
        return True

isAllowedAlterSelection()

def RobotPanel.RobotPanel.isAllowedAlterSelection

(

self

)

Method to tell FreeCAD if dialog is allowed to alter a selection.

Returns

False this dialog does not change a selection.

Definition at line 204 of file RobotPanel.py.

    def isAllowedAlterSelection(self):
        return False

isAllowedAlterView()

def RobotPanel.RobotPanel.isAllowedAlterView

(

self

)

Method to tell FreeCAD if dialog is allowed to alter a view.

Returns

True this dialog does change a view.

Definition at line 213 of file RobotPanel.py.

    def isAllowedAlterView(self):
        return True

reject()

def RobotPanel.RobotPanel.reject

(

self

)

Feedback method called when 'Close' button was pressed to close the panel.

Joint properties are return to be editable/read-only/invisible as they were before. After that RobotPanel is closed.

RobRotation and RobTranslation joint variables are set to the original values. RobotPanel is closed. FreeCAD and FreeCADGui documents are updated.

Definition at line 154 of file RobotPanel.py.

    def reject(self):
        # Return RobRotation times to previous values
        for i in range(len(self.robot_joints)):
            if self.robot_joints[i].Proxy.__class__.__name__ \
                    == "RobRotationProxy":
                self.robot_joints[i].theta = self.previous_joint_values[i]
            elif self.robot_joints[i].Proxy.__class__.__name__ \
                    == "RobTranslationProxy":
                self.robot_joints[i].d = self.previous_joint_values[i]

        # Close the panel and recompute the document to show changes
        # Allow editing of properties again
        for joint in self.robot_joints:
            for prop in joint.PropertiesList:
                joint.setEditorMode(prop, 0)
            joint.ViewObject.Proxy.panel = None

            # Keep some properties in read-only or hidden state
            # if they were in it before
            joint.setEditorMode("ObjectPlacement", 1)
            joint.setEditorMode("ParentFramePlacement", 1)
            if joint.Proxy.__class__.__name__ == "RobRotationProxy":
                joint.setEditorMode("theta", 1)
                joint.setEditorMode("ValidRotation", 2)
            elif joint.Proxy.__class__.__name__ == "RobTranslationProxy":
                joint.setEditorMode("d", 1)
                joint.setEditorMode("ValidTranslation", 2)
            joint.setEditorMode("Placement", 2)
            joint.setEditorMode("RobotPanelActive", 2)
            joint.RobotPanelActive = False

        FreeCADGui.Control.closeDialog()
        FreeCAD.ActiveDocument.recompute()
        FreeCADGui.updateGui()

sliderChanged()

def RobotPanel.RobotPanel.sliderChanged	(		self,
			value,
			form,
			joint
	)

Feedback method called when any slider position is changed.

A joint value is extrapolated from the slider position. The value is shown on the dialog and set to a joint. Finally, the FreeCAD document and the FreeCADGui document are updated.

Parameters

value	A slider position.
form	A Dialog panel on which slider was moved.
joint	A RobRotation or RobTranslation associated with the form.

Definition at line 128 of file RobotPanel.py.

    def sliderChanged(self, value, form, joint):
        # Compute a time from the slider position and joint variable range
        if joint.Proxy.__class__.__name__ == "RobRotationProxy":
                val = value * (joint.thetaMaximum - joint.thetaMinimum) / 100 \
                      + joint.thetaMinimum + joint.thetaOffset
                joint.theta = val
        elif joint.Proxy.__class__.__name__ == "RobTranslationProxy":
                val = value * (joint.dMaximum - joint.dMinimum) / 100 \
                      + joint.dMinimum + joint.dOffset
                joint.d = val

        form.lbl_value.setText("Value: " + ("%5.3f" % val))

        # Recompute the document to show changes
        FreeCAD.ActiveDocument.recompute()
        FreeCADGui.updateGui()

Member Data Documentation

form

RobotPanel.RobotPanel.form

A list of QDialog instances to show in the TaskView.

Definition at line 96 of file RobotPanel.py.

robot_joints

RobotPanel.RobotPanel.robot_joints

A list of RobRotation and RobTranslation instances.

Definition at line 76 of file RobotPanel.py.

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

• Doxypypy outputs/RobotPanel.py