add free-motion option to motion widget

rgreid · Aug 3, 2015 · 6211ef5 · 6211ef5
1 parent d0a49db
commit 6211ef5
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Showing 5 changed files with 16 additions and 3 deletions.
diff --git a/vigir_ocs_base_3d_view/src/base_3d_view.cpp b/vigir_ocs_base_3d_view/src/base_3d_view.cpp
@@ -3902,7 +3902,8 @@ void Base3DView::sendCartesianTarget(bool right_hand, std::vector<geometry_msgs:
     }
 
     cmd.use_environment_obstacle_avoidance = motion_settings.use_collision_avoidance;
-    cmd.planner_id = motion_settings.planner_id;
+    cmd.free_motion = motion_settings.free_motion;
+    cmd.planner_id = motion_settings.planner_id;    
 
     cmd.target_link_axis = motion_settings.target_link_axis;
     cmd.orientation_type = motion_settings.orientation_type;

diff --git a/vigir_ocs_base_3d_view/src/ui/cartesian_motion_widget.cpp b/vigir_ocs_base_3d_view/src/ui/cartesian_motion_widget.cpp
@@ -23,6 +23,7 @@ CartesianMotionWidget::~CartesianMotionWidget() {
 void CartesianMotionWidget::getMotionSettings(CartesianMotionSettings &settings) {
     settings.keep_eef_orientation = checkBox_KeepEndeffectorOrientation->isChecked();
     settings.use_collision_avoidance = checkBox_CollisionAvoidance->isChecked();
+    settings.free_motion = checkBox_FreeMotion->isChecked();
 
     settings.planner_id = lineEdit_CustomPlanner->text().toStdString();
     settings.target_link_name = target_link_name_;

diff --git a/vigir_ocs_base_3d_view/src/ui/cartesian_motion_widget.h b/vigir_ocs_base_3d_view/src/ui/cartesian_motion_widget.h
@@ -12,6 +12,7 @@ namespace vigir_ocs {
 struct CartesianMotionSettings {
     bool keep_eef_orientation;
     bool use_collision_avoidance;
+    bool free_motion;
 
     std::string planner_id;
     double sample_rate;
@@ -23,7 +24,7 @@ struct CartesianMotionSettings {
 
 };
 
-class CartesianMotionWidget : public QWidget, Ui::CartesianMotionWidgetUI {
+class CartesianMotionWidget : public QWidget, protected Ui::CartesianMotionWidgetUI {
     Q_OBJECT
 
 public:

diff --git a/vigir_ocs_base_3d_view/src/ui/cartesian_motion_widget.ui b/vigir_ocs_base_3d_view/src/ui/cartesian_motion_widget.ui
@@ -52,6 +52,13 @@
      </property>
     </widget>
    </item>
+   <item>
+    <widget class="QCheckBox" name="checkBox_FreeMotion">
+     <property name="text">
+      <string>Free Motion</string>
+     </property>
+    </widget>
+   </item>
    <item>
     <widget class="Line" name="line">
      <property name="orientation">

diff --git a/vigir_ocs_base_3d_view/src/ui/circular_motion_widget.cpp b/vigir_ocs_base_3d_view/src/ui/circular_motion_widget.cpp
@@ -15,6 +15,9 @@ void CircularMotionWidget::getMotionSettings(CircularMotionSettings &settings) {
 }
 
 void CircularMotionWidget::setupWidgets() {
+    checkBox_FreeMotion->setChecked(false);
+    checkBox_FreeMotion->hide();
+
     QHBoxLayout *rotation_angle_layout = new QHBoxLayout();
     QLabel *rotation_angle_label_ = new QLabel(tr("Rotation: "), this);
 
@@ -26,7 +29,7 @@ void CircularMotionWidget::setupWidgets() {
 
     rotation_angle_layout->addWidget(rotation_angle_label_);
     rotation_angle_layout->addWidget(rotation_angle_spin_, 1);
-    getMainLayout()->insertLayout(3, rotation_angle_layout);
+    layout_MainLayout->insertLayout(3, rotation_angle_layout);
     adjustSize();
 }