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objectSelection.cpp
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objectSelection.cpp
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#include "objectSelection.h"
#include "bitmaps/sphere.xpm"
#include "bitmaps/faceSetPart.xpm"
#include "bitmaps/cylindrical.xpm"
#include "bitmaps/prismatic.xpm"
#include "bitmaps/pioneer.xpm"
#include "bitmaps/scara.xpm"
#include "bitmaps/robotSim.xpm"
#include "bitmaps/powercube.xpm"
#include "bitmaps/sickLms.xpm"
#include "bitmaps/wheeledBase.xpm"
#include "bitmaps/laser.xpm"
#include "bitmaps/nemolaser.xpm"
#include "bitmaps/asea.xpm"
#include "bitmaps/positionable.xpm"
BEGIN_EVENT_TABLE(ObjectSelection, wxDialog)
EVT_LIST_ITEM_ACTIVATED(wxID_ANY,ObjectSelection::ObjectSelected)
EVT_LIST_ITEM_SELECTED(wxID_ANY,ObjectSelection::PreliminarView)
EVT_CLOSE(ObjectSelection::OnClose)
END_EVENT_TABLE()
ObjectSelection::ObjectSelection(wxWindow *parent,const wxWindowID id, const wxPoint& pos,const wxSize& size)
:wxDialog(parent,id, wxT("Object Selection"), wxPoint(10,10),wxSize(800,400) /*wxSize(640,400)*/,wxDEFAULT_DIALOG_STYLE|wxSTAY_ON_TOP|wxRESIZE_BORDER)
{
window=parent;
ident=0;
type=id;
face.addVertex(-1.5,1);face.addVertex(-0.5,1);face.addVertex(0,2);face.addVertex(0.5,1);face.addVertex(1.5,1);face.addVertex(1,0);face.addVertex(1.5,-1);
face.addVertex(0.5,-1);face.addVertex(0,-2);face.addVertex(-0.5,-1);face.addVertex(-1.5,-1);face.addVertex(-1,0);face.addVertex(-1.5,1);face.addVertex(-0.5,1);
trans.orientation.setRPY(0,0,0); face1.setBase(trans);
face1.addVertex(-1,-1);face1.addVertex(-1,1);face1.addVertex(1,1);face1.addVertex(1,-1); set.addFace(face1);
trans.position.x=1; trans.position.z=1; trans.orientation.setRPY(0,deg2rad(-90),0); face2.setBase(trans);
face2.addVertex(-1,-1);face2.addVertex(-1,1);face2.addVertex(1,1);face2.addVertex(1,-1); set.addFace(face2);
trans.position.x=0;trans.position.y=1; trans.orientation.setRPY(deg2rad(90),0,0); face3.setBase(trans);
face3.addVertex(-1,-1);face3.addVertex(-1,1);face3.addVertex(1,1);face3.addVertex(1,-1); set.addFace(face3);
preliminar=NULL;
CreateList();
}
void ObjectSelection::PreliminarView(wxListEvent &event)
{
long itemIndex=-1;
wxListItem id=event.GetItem();
itemIndex=ob_list->GetNextItem(itemIndex,wxLIST_NEXT_ALL,wxLIST_STATE_SELECTED);
preView->ClearObjects();
delete preliminar;
if(type==ID_ADDOBJ)
{
preView->SetViewCenter(0,0,0.5);
if(itemIndex<5)
{
preView->SetViewPoint(6,0,30);
if(itemIndex==0) {preliminar=new FaceSetPart(set); object=ID_ADDFACESET;}
else if(itemIndex==1){preView->SetViewCenter(0,0,0); preliminar=new SpherePart();object=ID_ADDSPHERE;}
else if(itemIndex==2){preliminar= new CylindricalPart();object=ID_ADDCYL;}
else if(itemIndex==3){p.setRegularPolygonBase(1,4); p.setColor(0.5,0.5,0.5); preliminar= new PrismaticPart(p); object=ID_ADDPRI;}
else if(itemIndex==4){p.setPolygonalBase(face); p.setColor(1,1,0); preliminar= new PrismaticPart(p); object=ID_ADDIRRPRI;}
}
else
{
preView->SetViewCenter(0,0,0);
preView->SetViewPoint(2,0,30);
if(itemIndex==5){preView->SetViewCenter(0,0,0.1); preliminar = new WheeledBaseSim(); object=ID_WHEEL;}
else if(itemIndex==6){preliminar=new KinectSim(); preliminar->setDrawReferenceSystem(false); object=ID_KINECT;}
else if(itemIndex==7){preliminar=new CameraSim();object=ID_CAMERA;}
else if(itemIndex==8){preliminar = new LaserSensorSim();object=ID_LASER;}
else if(itemIndex==9){preliminar = new LaserSensor3DSim();object=ID_LASER3D;}
}
}
else if(type==ID_ADDCOMP )
{
preView->SetViewCenter(0,0,0);
preView->SetViewPoint(2,0,30);
if(itemIndex<3)
{
preView->SetViewCenter(0,0,0.75);
preView->SetViewPoint(4,0,0);
if(itemIndex==0){preliminar=new AdeptOneSim; object=ID_ADDSCARA;}
else if(itemIndex==1){preliminar=new Puma560Sim; object=ID_ADDPUMA;}
else if(itemIndex==2){preliminar=new AseaIRB2000Sim; object=ID_ADDASEA;}
}
else if(itemIndex<6)
{
if(itemIndex==3){preliminar=new Pioneer3ATSim; object=ID_ADDNEO;}
else if(itemIndex==4){preliminar=new PatrolbotSim; object=ID_PATROL;}
else if(itemIndex==5){preliminar=new QuadrotorSim;object=ID_QUADROTOR;}
}
else
{
preView->SetViewPoint(1.5,0,30);
if(itemIndex==6){preView->SetViewCenter(0,0,-0.1);preliminar=new LMS100Sim; object=ID_LMS100;}
else if(itemIndex==7){preliminar=new LMS200Sim; object=ID_LMS200;}
else if(itemIndex==8){preliminar=new PowerCube70Sim; preliminar->setDrawReferenceSystem(false); object=ID_POWERCUBE;}
else if(itemIndex==9){preliminar=new NemoLaserSensor3DSim; preliminar->setDrawReferenceSystem(false); object=ID_NEMOLASER;}
else if(itemIndex==10){preView->SetViewCenter(0,0,0.75); preView->SetViewPoint(4,0,0); preliminar=new PersonSim;object=ID_PERSON;}
//else if(itemIndex==11){preliminar=new MobileRobot("Robot") ;object=ID_MOBILEROBOT;}
}
}
preView->AddObject(preliminar);
}
void ObjectSelection::CreateList()
{
wxListItem item;
int index=0;
wxBoxSizer *rbox=new wxBoxSizer(wxHORIZONTAL);
preView=new Canvas(this, wxID_ANY, wxDefaultPosition, wxDefaultSize,true);
preView->SetShowFrame(false);
ob_list=new wxListCtrl(this,wxID_ANY,wxDefaultPosition,wxDefaultSize,wxLC_REPORT);
wxImageList *im_list=new wxImageList(16,16);
wxIcon icons[14];
icons[0]=wxIcon(sphere_xpm);
icons[1]=wxIcon(pioneer_xpm);
icons[2]=wxIcon(cylindrical_xpm);
icons[3]=wxIcon(scara_xpm);
icons[4]=wxIcon(prismatic_xpm);
icons[5]=wxIcon(robotSim_xpm);
icons[6]=wxIcon(powercube_xpm);
icons[7]=wxIcon(sickLms_xpm);
icons[8]=wxIcon(wheeledBase_xpm);
icons[9]=wxIcon(laser_xpm);
icons[10]=wxIcon(nemolaser_xpm);
icons[11]=wxIcon(asea_xpm);
icons[12]=wxIcon(faceSetPart_xpm);
icons[13]=wxIcon(positionable_xpm);
for(int i=0;i<WXSIZEOF(icons);i++)
im_list->Add(icons[i]);
ob_list->SetImageList(im_list, wxIMAGE_LIST_SMALL);
item.SetText(wxT("Object"));
item.SetAlign(wxLIST_FORMAT_LEFT);
item.SetWidth(160);
ob_list->InsertColumn(0,item);
item.SetText(wxT("Description"));
item.SetAlign(wxLIST_FORMAT_LEFT);
item.SetWidth(500);
ob_list->InsertColumn(1,item);
if(type==ID_ADDOBJ)
{
ob_list->SetColumnWidth(0,130);
ob_list->SetColumnWidth(1,300);
//ob_list->InsertItem(index,wxT("Laser Sensor 3D"),9); ob_list->SetItem(index,1,wxT("Add a Laser Sensor 3D"));
//ob_list->InsertItem(index,wxT("Laser Sensor"),9); ob_list->SetItem(index,1,wxT("Add a Laser Sensor"));
//ob_list->InsertItem(index,wxT("Camera"),0); ob_list->SetItem(index,1,wxT("Add a Kinect object"));
//ob_list->InsertItem(index,wxT("Kinect"),0); ob_list->SetItem(index,1,wxT("Add a camera object"));
ob_list->InsertItem(index,wxT("WheeledBase"),8); ob_list->SetItem(index,1,wxT("Add a Wheeled Base"));
ob_list->InsertItem(index,wxT("Irregular Prism"),4); ob_list->SetItem(index,1,wxT("Add a irregular prismatic object"));
ob_list->InsertItem(index,wxT("Prism"),4); ob_list->SetItem(index,1,wxT("Add a prismatic object"));
ob_list->InsertItem(index,wxT("Cylinder"),2); ob_list->SetItem(index,1,wxT("Add a cylindric object"));
ob_list->InsertItem(index,wxT("Sphere"),0); ob_list->SetItem(index,1,wxT("Add a spheric object"));
ob_list->InsertItem(index,wxT("FaceSet"),12); ob_list->SetItem(index,1,wxT("Add a set of faces"));
}
if(type==ID_ADDCOMP)
{
SetSize(1250,600);
//ob_list->InsertItem(index,wxT("MobileRobot"),10); ob_list->SetItem(index,1,wxT("Add MobileRobot"));
ob_list->InsertItem(index,wxT("Person"),13); ob_list->SetItem(index,1,wxT("Add Human Figure"));
ob_list->InsertItem(index,wxT("NemoLaser Sensor 3D"),10); ob_list->SetItem(index,1,wxT("Add NemoLaser Sensor 3D, a laser formed with the SickLMS200 and the PowerCube"));
ob_list->InsertItem(index,wxT("PowerCube"),6); ob_list->SetItem(index,1,wxT("Add PowerCube,it provides the basis for flexible combinatorics in automation"));
ob_list->InsertItem(index,wxT("SickLMS200"),7); ob_list->SetItem(index,1,wxT("Add SickLMS200, an extremely accurate distance measurement sensor"));
ob_list->InsertItem(index,wxT("SickLMS100"),7); ob_list->SetItem(index,1,wxT("Add SickLMS100, a laser measurement system"));
ob_list->InsertItem(index,wxT("Quadrotor"),10); ob_list->SetItem(index,1,wxT("Add Quadrotor"));
ob_list->InsertItem(index,wxT("Robot PATROLBOT"),8); ob_list->SetItem(index,1,wxT("Add PATROLBOT, a service robot which scan buildings and create floor plans"));
ob_list->InsertItem(index,wxT("Robot PIONNER"),1); ob_list->SetItem(index,1,wxT("Add PIONEER 3-AT, a versatile four wheel drive robotic platform"));
ob_list->InsertItem(index,wxT("Robot ASEA"),5); ob_list->SetItem(index,1,wxT("Add ASEA IRB 2000, a 6 degrees of freedom robot for welding aplications"));
ob_list->InsertItem(index,wxT("Robot PUMA"),5); ob_list->SetItem(index,1,wxT("Add PUMA560, a 6 degrees of freedom robot due to 6 revolution joints"));
ob_list->InsertItem(index,wxT("Robot SCARA"),3); ob_list->SetItem(index,1,wxT("Add ADEPTONE-MV,a robot with 3 rotational and 1 translational joints"));
}
Thread<ObjectSelection> rotationalView_Thid;
rotationalView_Thid.Start(&ObjectSelection::RotationalView,this,preView);
rbox->Add(ob_list,1,wxEXPAND);
rbox->Add(preView,1,wxEXPAND);
SetSizer(rbox);
}
void* ObjectSelection::RotationalView(void* canvas)
{
Canvas * preView=(Canvas *)canvas;
double d,rot,elv;
while(1)
{
preView->GetViewPoint(d,rot,elv);
preView->SetViewPoint(d,++rot,elv);
if(rot==360)rot=0;
Sleep(30);
if(preView->IsBeingDeleted())
break;
preView->Refresh();
}
return NULL;
}
void ObjectSelection::ObjectSelected(wxListEvent &event)
{
ident=object;
Close();
}
void ObjectSelection::OnClose(wxCloseEvent &event)
{
delete preliminar;
//pthread_cancel(thid);
Destroy();
}