本工程借助于clion配置的qt环境，同时依赖eigen tinyxml2等开源库，也借鉴了博客上一些文章，具体哪些忘记了，十分抱歉。本工程仅供参考。机械臂模型为史陶比尔官网的TX2-60L-HB。可以去那下载对应的stp文件。
最终图：
通过鼠标中键控制旋转 缩放，配合ctrl进行平移。加载模型文件路径是xml文件：书写类似于这种
<?xml version="1.0" encoding="UTF-8"?>
<root>
<Joint>../Mo/1.STL</Joint>
<Joint>../Mo/2.STL</Joint>
<Joint>../Mo/3.STL</Joint>
<Joint>../Mo/4.STL</Joint>
<Joint>../Mo/5.STL</Joint>
<Joint>../Mo/6.STL</Joint>
<Joint>../Mo/7.STL</Joint>
<Joint>../Mo/1.STL</Joint>
</root>单独于机械臂模型之外的为环境模型（示意一下）设置目标关节值控制机器人当前关节。到机器人坐标系转换矩阵为环境模型到机械臂基坐标的转换矩阵。
代码十分粗糙。
#ifndef NEWTRAVEL_ROBOT_BODY_LOAD_H
#define NEWTRAVEL_ROBOT_BODY_LOAD_H
//#include "glew.h"
#include <QMatrix3x3>
#include <QMatrix4x4>
#include <QOpenGLBuffer>
#include <QOpenGLExtraFunctions>
#include <QOpenGLShaderProgram>
#include <QOpenGLVertexArrayObject>
#include <QOpenGLWidget>
#include <QQuaternion>
#include <QStringList>
#include <QTime>
#include <QTimer>
#include <QVector2D>
#include <QVector>
#include "robot_camera.h"
#include "Log/log.h"
struct JointParameters
{
QVector<float> vecJoint; // joint position
QOpenGLVertexArrayObject vaoJoint; //声明VAO顶点数组对象
QOpenGLBuffer vboJoint; //声明VBO数组缓冲对象
GLsizei iNumberOfTriangle;
};
class RobotBody : public QOpenGLWidget, public QOpenGLExtraFunctions
{
Q_OBJECT
public:
RobotBody(QWidget *parent = nullptr);
~RobotBody();
protected:
void initializeGL() override;
void paintGL() override;
void resizeGL(int w, int h) override;
public:
void loadAscllStl(const QString& filename, int ratio, JointParameters &oJointPara); //文件名和放大系数
void SetDrawParameters(JointParameters &oJointPara);
void mousePressEvent(QMouseEvent *event) override;
void mouseMoveEvent(QMouseEvent *event) override;
void wheelEvent(QWheelEvent *event) override;
void InitialTranslate();
void SetRobotRotation(int iJointIndex);
private:
bool ReadXml(std::vector<std::string> &vecNodePath);
void SetJointValue();
public Q_SLOTS:
void SetRotationAngleOfJoint_0(double value);
void SetRotationAngleOfJoint_1(double value);
void SetRotationAngleOfJoint_2(double value);
void SetRotationAngleOfJoint_3(double value);
void SetRotationAngleOfJoint_4(double value);
void SetRotationAngleOfJoint_5(double value);
public Q_SLOTS:
void SetFilePath(const QString &sFilePath);
void setTargetJoints(const QString &sTrans);
void SetTargetJointDegreeFlag(bool bDegreeFlag);
void SetOtherModelTransform(QMatrix4x4 mat4Transform);
void SetUnitOfLength(bool bIsMillimeter);
signals :
void SetRotationOfJoint_0(double dValue);
void SetRotationOfJoint_1(double dValue);
void SetRotationOfJoint_2(double dValue);
void SetRotationOfJoint_3(double dValue);
void SetRotationOfJoint_4(double dValue);
void SetRotationOfJoint_5(double dValue);
private:
JointParameters m_aJointModel[9];
QVector<float> Position;
QVector<float> Normal; //读文件时的俩个临时变量顶点位置，法向量
QOpenGLShaderProgram shaderprogram;
QMatrix4x4 view;
QMatrix4x4 projection;
QVector2D mousePos;
QVector2D mousePosForTranslationView;
QQuaternion rotation;
QMatrix4x4 Rot;
QMatrix4x4 m_matJointTrans[9];
QMatrix4x4 m_matJointRot[7];
QVector<float> m_vecRotDegree;
std::map<int, QVector3D> m_mapRotVector;
QVector3D m_v3dCamera;
qreal alpha;
qreal theta;
double m_dEyeToModelDistance;
QVector2D m_v2cMove;
RobotCamera m_oRobotCamera;
bool m_bIsFile;
QString m_sXmlFile;
bool m_bTargetJointRadianFlag;
bool m_bMillimeterFlag;
};
#endif // NEWTRAVEL_ROBOT_BODY_LOAD_H#include "robot_body_load.h"
#include "Configure/configure_base.h"
#include <QFile>
#include <QMouseEvent>
#include <QOpenGLShaderProgram>
#include <QStringList>
RobotBody::RobotBody(QWidget *parent)
: QOpenGLWidget(parent), alpha(0.0), theta(0.0), m_dEyeToModelDistance(0.00), m_v2cMove(0.0, 0.0)
{
QSurfaceFormat format;
format.setAlphaBufferSize(24); //设置alpha缓冲大小
format.setVersion(3, 3); //设置版本号
format.setSamples(10); //设置重采样次数，用于反走样
m_bIsFile = false;
m_bTargetJointRadianFlag = false;
m_bMillimeterFlag = true;
this->setFormat(format);
// Set Joint rotation
QVector3D qRotVector(0, -1, 0);
m_mapRotVector[0] = qRotVector;
qRotVector = {0, 0, 1};
m_mapRotVector[1] = qRotVector;
qRotVector = {0, 0, 1};
m_mapRotVector[2] = qRotVector;
qRotVector = {0, 0, 1};
m_mapRotVector[3] = qRotVector;
qRotVector = {0, 0, 1};
m_mapRotVector[4] = qRotVector;
qRotVector = {0, 0, 1};
m_mapRotVector[5] = qRotVector;
m_vecRotDegree.resize(6);
for (float &ii : m_vecRotDegree)
{
ii = 0.0;
}
Rot.setToIdentity();
m_v3dCamera = QVector3D(2, 0, 0.5);
mousePosForTranslationView = QVector2D(0.0, 0.0);
// External import fixed model
m_matJointTrans[7].setToIdentity();
m_matJointTrans[7].translate(0, -1, 0);
m_matJointTrans[8].setToIdentity();
}
RobotBody::~RobotBody()
{
makeCurrent();
}
void RobotBody::loadAscllStl(const QString &filename, int ratio, JointParameters &oJointPara)
{
ZLOG << "load text file " << filename.toStdString();
QFile file(filename);
if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
{
ZLOG << "Open stl_file failed.";
return;
}
while (!file.atEnd())
{
QString line = file.readLine().trimmed(); // trimmed去除了开头和结尾的空白字符串
QStringList words = line.split(' ', QString::SkipEmptyParts);
if (words[0] == "facet")
{
Normal = {ratio * words[2].toFloat(), ratio * words[3].toFloat(), ratio * words[4].toFloat()};
}
else if (words[0] == "vertex")
{
Position = {ratio * words[1].toFloat(), ratio * words[2].toFloat(), ratio * words[3].toFloat()};
oJointPara.vecJoint.append(Position);
oJointPara.vecJoint.append(Normal);
}
else
{
continue;
}
}
ZLOG << "write vertice_temp success!";
file.close();
oJointPara.iNumberOfTriangle = oJointPara.vecJoint.size()/6;
}
void RobotBody::SetDrawParameters(JointParameters &oJointPara)
{
oJointPara.vaoJoint.create(); // 创建一个VAO对象，OpenGL会给它（顶点数组缓存对象）分配一个id
oJointPara.vaoJoint.bind(); //将RC中的当前顶点数组缓存对象Id设置为VAO的id
oJointPara.vboJoint.create();
oJointPara.vboJoint.bind();
oJointPara.vboJoint.allocate(oJointPara.vecJoint.data(),
sizeof(float) *
oJointPara.vecJoint.size()); //将顶点数据分配到VBO中，第一个参数为数据指针，第二个参数为数据的字节长度
shaderprogram.setAttributeBuffer("aPos", GL_FLOAT, 0, 3, sizeof(GLfloat) * 6);
shaderprogram.enableAttributeArray("aPos");
shaderprogram.setAttributeBuffer("aNormal", GL_FLOAT, sizeof(GLfloat) * 3, 3, sizeof(GLfloat) * 6);
shaderprogram.enableAttributeArray("aNormal");
this->glEnable(GL_DEPTH_TEST);
oJointPara.vaoJoint.release(); //释放
oJointPara.vboJoint.release();
}
void RobotBody::initializeGL()
{
this->initializeOpenGLFunctions(); //初始化opengl函数
shaderprogram.create(); //生成着色器程序
const char *vertexShaderSource =
"#version 330 core \n"
"layout (location = 0) in vec3 aPos; \n"
"layout (location = 1) in vec3 aNormal; \n"
"uniform mat4 view;\n"
"uniform mat4 projection;\n"
"uniform vec2 v2dMove;\n"
"uniform mat4 baseTrans;\n"
"uniform mat4 Rot;\n"
"out vec3 FragPos;\n"
"out vec3 Normal;\n"
"void main()\n"
"{\n"
"gl_Position = Rot * projection * view * baseTrans * vec4(aPos[0] ,aPos[1] , aPos[2],1.0);\n"
"Normal = vec3(baseTrans * vec4(aNormal,1.0));\n"
"FragPos = vec3(vec4(aPos, 1.0));\n"
"}\0";
// 片段着色器
const char *fragmentShaderSource = "#version 330 core\n"
"out vec4 FragColor;\n"
"uniform vec3 objectColor;\n"
"uniform vec3 lightColor;\n"
"in vec3 FragPos;\n"
"in vec3 Normal;\n"
"uniform vec3 lightPos;\n"
"void main()\n"
"{\n"
"float ambientStrength = 0.05;\n"
"vec3 ambient = ambientStrength * lightColor;\n"
"vec3 norm = normalize(Normal);\n"
"vec3 lightDir = normalize(lightPos - FragPos);\n"
"float diff = max(dot(norm, lightDir), 0.0);\n"
"vec3 diffuse = diff * lightColor;\n"
"vec3 result = (ambient + diffuse) * objectColor;\n"
"FragColor = vec4(result, 1.0);\n"
"}\n\0";
shaderprogram.addShaderFromSourceCode(QOpenGLShader::Vertex, vertexShaderSource);
shaderprogram.addShaderFromSourceCode(QOpenGLShader::Fragment, fragmentShaderSource);
//将添加到此程序的着色器与addshader链接在一起
if (!shaderprogram.link())
{
ZLOG << "ERROR: link error"; //如果链接出错,打印报错信息
}
}
void RobotBody::resizeGL(int w, int h)
{
this->glViewport(0, 0, w, h);
projection.setToIdentity();
projection.perspective(60.0f, (GLfloat)w / (GLfloat)h, 0.001f, 500.0f);
}
void RobotBody::paintGL()
{
this->glClearColor(0.9f, 0.94f, 1.0f, 1.0f); //设置清屏颜色
this->glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); //清空颜色缓冲区
if (m_bIsFile)
{
std::vector<std::string> sPath;
if (ReadXml(sPath))
{
for (size_t ii = 0; ii < sPath.size(); ++ii)
{
loadAscllStl(sPath[ii].c_str(), 1, m_aJointModel[ii]);
ZLOG << sPath[ii];
}
for (auto &ii : m_aJointModel)
{
SetDrawParameters(ii);
}
m_bIsFile = false;
}
}
shaderprogram.bind();
//将此着色器程序绑定到活动的qopenglcontext，并使其成为当前着色器程序。任何先前绑定的着色器程序都将被释放
//成功绑定返回ture,反之，返回false.
{
QVector3D lightColor(1.0f, 1.0f, 1.0f);
QVector3D objectColor(1.0f, 0.5f, 0.31f);
QVector3D lightPos(m_oRobotCamera.NewEye->x(), m_oRobotCamera.NewEye->y(), m_oRobotCamera.NewEye->z());
GLfloat mat_ambient[] = {0.0f, 0.0f, 0.2f, 1.0f};
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
view.setToIdentity();
view.lookAt(QVector3D(m_oRobotCamera.NewEye->x(), m_oRobotCamera.NewEye->y(), m_oRobotCamera.NewEye->z()),
QVector3D(m_oRobotCamera.NewView->x(), m_oRobotCamera.NewView->y(), m_oRobotCamera.NewView->z()),
QVector3D(m_oRobotCamera.NewUp->x(), m_oRobotCamera.NewUp->y(), m_oRobotCamera.NewUp->z()));
shaderprogram.setUniformValue("objectColor", objectColor);
shaderprogram.setUniformValue("lightColor", lightColor);
shaderprogram.setUniformValue("lightPos", lightPos);
Rot.translate(m_v2cMove.x(), -m_v2cMove.y(), 0);
m_v2cMove = QVector2D(0, 0);
shaderprogram.setUniformValue("Rot", Rot);
shaderprogram.setUniformValue("view", view);
projection.translate(0.0, 0.0, m_dEyeToModelDistance);
m_dEyeToModelDistance = 0.0;
shaderprogram.setUniformValue("projection", projection);
InitialTranslate();
for (int ii = 0; ii < 6; ii++)
{
SetRobotRotation(ii);
shaderprogram.setUniformValue("baseTrans", m_matJointTrans[ii]);
m_aJointModel[ii].vaoJoint.bind();
this->glDrawArrays(GL_TRIANGLES, 0, m_aJointModel[ii].iNumberOfTriangle);
}
shaderprogram.setUniformValue("baseTrans", m_matJointTrans[6]);
m_aJointModel[6].vaoJoint.bind();
this->glDrawArrays(GL_TRIANGLES, 0, m_aJointModel[6].iNumberOfTriangle);
shaderprogram.setUniformValue("baseTrans", m_matJointTrans[7]);
m_aJointModel[7].vaoJoint.bind();
this->glDrawArrays(GL_TRIANGLES, 0, m_aJointModel[7].iNumberOfTriangle);
shaderprogram.setUniformValue("baseTrans", m_matJointTrans[8]);
m_aJointModel[8].vaoJoint.bind();
this->glDrawArrays(GL_LINES, 0, m_aJointModel[8].iNumberOfTriangle);
}
}
void RobotBody::InitialTranslate()
{
m_matJointTrans[0].setToIdentity();
m_matJointTrans[1].setToIdentity();
m_matJointTrans[1].translate(0, 0, 0.375);
m_matJointTrans[1].rotate(-90, 1, 0, 0);
m_matJointTrans[2].setToIdentity();
m_matJointTrans[3].setToIdentity();
m_matJointTrans[3].translate(0, -0.4, 0.02);
m_matJointTrans[4].setToIdentity();
m_matJointTrans[4].rotate(90, 1, 0, 0);
m_matJointTrans[5].setToIdentity();
m_matJointTrans[5].translate(0, 0, 0.45);
m_matJointTrans[5].rotate(-90, 1, 0, 0);
m_matJointTrans[6].setToIdentity();
m_matJointTrans[6].translate(0, -0.07, 0.0);
m_matJointTrans[6].rotate(90, 1, 0, 0);
}
void RobotBody::SetRobotRotation(int iJointIndex)
{
m_matJointRot[iJointIndex].setToIdentity();
m_matJointRot[iJointIndex].rotate(m_vecRotDegree[iJointIndex], m_mapRotVector[iJointIndex]);
m_matJointTrans[iJointIndex + 1] =
m_matJointTrans[iJointIndex] * m_matJointTrans[iJointIndex + 1] * m_matJointRot[iJointIndex];
}
void RobotBody::mousePressEvent(QMouseEvent *event)
{
mousePos = QVector2D(event->pos());
m_oRobotCamera.getInitPos(event->x(), event->y());
}
void RobotBody::mouseMoveEvent(QMouseEvent *event)
{
if (event->buttons() & Qt::MiddleButton)
{
if (event->modifiers() == Qt::CTRL)
{
QVector2D newPos = (QVector2D)event->pos();
m_v2cMove = (newPos - mousePos) / 500;
mousePos = newPos;
}
else
{
m_oRobotCamera.executeRotateOperation(event->x(), event->y());
}
}
this->update();
}
void RobotBody::wheelEvent(QWheelEvent *event)
{
if (event->delta() >= 0)
{
m_dEyeToModelDistance = 0.1f;
}
else
{
m_dEyeToModelDistance = -0.1f;
}
this->update();
}
void RobotBody::SetRotationAngleOfJoint_0(double value)
{
InitialTranslate();
m_vecRotDegree[0] = (float)value;
SetRobotRotation(0);
m_v2cMove = QVector2D(0, 0);
m_dEyeToModelDistance = 0.0;
update();
}
void RobotBody::SetRotationAngleOfJoint_1(double value)
{
InitialTranslate();
m_vecRotDegree[1] = (float)value;
SetRobotRotation(1);
m_v2cMove = QVector2D(0, 0);
m_dEyeToModelDistance = 0.0;
update();
}
void RobotBody::SetRotationAngleOfJoint_2(double value)
{
InitialTranslate();
m_vecRotDegree[2] = (float)value;
SetRobotRotation(2);
m_v2cMove = QVector2D(0, 0);
m_dEyeToModelDistance = 0.0;
update();
}
void RobotBody::SetRotationAngleOfJoint_3(double value)
{
InitialTranslate();
m_vecRotDegree[3] = (float)value;
SetRobotRotation(3);
m_v2cMove = QVector2D(0, 0);
m_dEyeToModelDistance = 0.0;
update();
}
void RobotBody::SetRotationAngleOfJoint_4(double value)
{
InitialTranslate();
m_vecRotDegree[4] = (float)value;
SetRobotRotation(4);
m_v2cMove = QVector2D(0, 0);
m_dEyeToModelDistance = 0.0;
update();
}
void RobotBody::SetRotationAngleOfJoint_5(double value)
{
InitialTranslate();
m_vecRotDegree[5] = (float)value;
SetRobotRotation(5);
m_v2cMove = QVector2D(0, 0);
m_dEyeToModelDistance = 0.0;
update();
}
void RobotBody::SetFilePath(const QString &sFilePath)
{
m_sXmlFile = sFilePath;
ZLOG << "The path is: " << sFilePath.toStdString();
m_bIsFile = true;
update();
}
bool RobotBody::ReadXml(std::vector<std::string> &vecNodePath)
{
LoadConfigre oConfig;
oConfig.ReadXML(m_sXmlFile.toStdString());
std::string sNodePath = "/Joint";
int iCount = oConfig.GetCountBrotherElement(sNodePath);
std::string sResult;
for (int ii = 0; ii < iCount; ++ii)
{
ZLOG << "sNodePath: " << sNodePath + "[" + std::to_string(ii) + "]";
if (!oConfig.GetElementValue(sNodePath + "[" + std::to_string(ii) + "]", sResult))
{
ZLOG << "Failed to load xml " << sNodePath;
return false;
}
vecNodePath.push_back(sResult);
}
return true;
}
void RobotBody::setTargetJoints(const QString &sTrans)
{
std::string sTargetJoint = sTrans.toStdString();
ZLOG << "The path is: " << sTargetJoint;
int iIndex = sTargetJoint.find(',');
int iCount = 0;
while (std::string::npos != iIndex)
{
std::string sJointValue = sTargetJoint.substr(0, sTargetJoint.find(','));
m_vecRotDegree[iCount] = strtod(sJointValue.c_str(), nullptr);
iCount++;
sTargetJoint = sTargetJoint.substr(sTargetJoint.find(',') + 1, std::string::npos);
iIndex = sTargetJoint.find(',');
}
m_vecRotDegree[5] = strtod(sTargetJoint.c_str(), nullptr);
if (m_bTargetJointRadianFlag)
{
for (int ii = 0; ii < m_vecRotDegree.size(); ++ii)
{
double dDegree = m_vecRotDegree[ii] * 180 / 3.1415926;
m_vecRotDegree[ii] = dDegree;
}
}
SetJointValue();
}
void RobotBody::SetJointValue()
{
emit SetRotationOfJoint_0(m_vecRotDegree[0]);
emit SetRotationOfJoint_1(m_vecRotDegree[1]);
emit SetRotationOfJoint_2(m_vecRotDegree[2]);
emit SetRotationOfJoint_3(m_vecRotDegree[3]);
emit SetRotationOfJoint_4(m_vecRotDegree[4]);
emit SetRotationOfJoint_5(m_vecRotDegree[5]);
}
void RobotBody::SetTargetJointDegreeFlag(bool bDegreeFlag)
{
m_bTargetJointRadianFlag = bDegreeFlag;
ZLOG << " Degree flag is " << m_bTargetJointRadianFlag;
}
void RobotBody::SetOtherModelTransform(QMatrix4x4 mat4Tansform)
{
if (mat4Tansform(3,0) != 1)
{
QVector4D vecPos;
if (m_bMillimeterFlag)
{
vecPos[0] = mat4Tansform(0, 3)/1000;
vecPos[1] = mat4Tansform(1, 3)/1000;
vecPos[2] = mat4Tansform(2, 3)/1000;
vecPos[3] = 1;
mat4Tansform.setColumn(3,vecPos);
}
m_matJointTrans[7] = mat4Tansform;
ZLOG << "TransForm is: " << mat4Tansform(0, 0) << ", " << mat4Tansform(1, 1) << ", " << mat4Tansform(1, 2) << ", "
<< mat4Tansform(0, 3);
ZLOG << "TransForm is: " << mat4Tansform(1, 0) << ", " << mat4Tansform(2, 1) << ", " << mat4Tansform(2, 2) << ", "
<< mat4Tansform(1, 3);
ZLOG << "TransForm is: " << mat4Tansform(2, 0) << ", " << mat4Tansform(2, 1) << ", " << mat4Tansform(2, 2) << ", "
<< mat4Tansform(2, 3);
update();
}
}
void RobotBody::SetUnitOfLength(bool bIsMillimeter)
{
m_bMillimeterFlag = bIsMillimeter;
}#ifndef NEWTRAVEL_ROBOT_CAMERA_H
#define NEWTRAVEL_ROBOT_CAMERA_H
#include "Eigen/Eigen"
#include <iostream>
class RobotCamera
{
public:
RobotCamera()
{
OldMouse = new Eigen::Vector2d(0,0);
Mouse = new Eigen::Vector2d(0,0);
NewEye = new Eigen::Vector3d(2, 0, 0.5);
NewUp = new Eigen::Vector3d(0, 0, 1);
NewView = new Eigen::Vector3d(0, 0, 0.5);
AuxY = new Eigen::Vector3d(0, 1, 0);
AuxZ = new Eigen::Vector3d();
*AuxZ = *NewEye - *NewView;
AuxX = new Eigen::Vector3d();
*AuxX = (*AuxY).cross(*AuxZ);
AuxX->normalize();
}
Eigen::Matrix<double, 3, 3> getRotateMatrix(float angle, const Eigen::Vector3d &vector)
{
angle = angle / 2 * M_PI / 180;
Eigen::Vector3d vec = vector.normalized();
float cosa = cos(angle);
float sina = sin(angle);
double a = vec.x() * sina;
double b = vec.y() * sina;
double c = vec.z() * sina;
Eigen::Matrix<double, 3, 3> matrix;
matrix(0, 0) = 1.0 - 2.0 * (b * b + c * c);
matrix(1, 1) = 1.0 - 2.0 * (c * c + a * a);
matrix(2, 2) = 1.0 - 2.0 * (a * a + b * b);
matrix(0, 1) = 2.0 * (a * b - c * cosa);
matrix(0, 2) = 2.0 * (a * c + b * cosa);
matrix(1, 0) = 2.0 * (a * b + c * cosa);
matrix(1, 2) = 2.0 * (b * c - a * cosa);
matrix(2, 0) = 2.0 * (a * c - b * cosa);
matrix(2, 1) = 2.0 * (b * c + a * cosa);
return matrix;
}
void getInitPos(int x, int y)
{
Mouse->x() = x;
Mouse->y() = y;
*OldMouse = *Mouse;
}
void executeRotateOperation(int x, int y)
{
Mouse->x() = x;
Mouse->y() = y;
Eigen::Vector3d MouseTrace = *AuxY * (OldMouse->y() - Mouse->y()) + *AuxX * (Mouse->x() - OldMouse->x());
Eigen::Vector3d RotateAsix = MouseTrace.cross(*AuxZ);
RotateAsix.normalize();
float angle = MouseTrace.norm();
Eigen::Matrix<double, 3, 3> rotatMatrix = getRotateMatrix(angle, RotateAsix);
*NewEye = rotatMatrix * (*NewEye);
*NewUp = rotatMatrix * (*NewUp);
NewUp->normalized();
*AuxY = *NewUp;
*AuxZ = *NewEye - *NewView;
*AuxX = (*AuxY).cross(*AuxZ);
AuxX->normalize();
*OldMouse = *Mouse;
}
//旋转后观察点方向与视线向上方向
Eigen::Vector3d *NewEye;
Eigen::Vector3d *NewUp;
Eigen::Vector3d *NewView;
private:
//辅助坐标系三根轴
Eigen::Vector3d *AuxX;
Eigen::Vector3d *AuxY;
Eigen::Vector3d *AuxZ;
Eigen::Vector2d *OldMouse;
Eigen::Vector2d *Mouse;
};
#endif // NEWTRAVEL_ROBOT_CAMERA_Hrobot_joint_degree_control_slider.cpp
#include "robot_joint_degree_control_slider.h"
RobotJointDegreeControlSlider::RobotJointDegreeControlSlider(QWidget *parent) : QSlider(parent), m_Multiplier(10000.0)
{
connect(this, SIGNAL(valueChanged(int)), this, SLOT(setValue(int)));
setSingleStep(1);
setOrientation(Qt::Horizontal);
setFocusPolicy(Qt::NoFocus);
}
RobotJointDegreeControlSlider::~RobotJointDegreeControlSlider() noexcept {}
void RobotJointDegreeControlSlider::Initial(int iIndex)
{
setMaximum(180);
setMinimum(-180);
setOrientation(Qt::Horizontal);
resize(260, 30);
move(920, iIndex * 40 + 10);
setSingleStep(5);
show();
}
int RobotJointDegreeControlSlider::GetCurrent()
{
int iValue = value();
std::cout << iValue << std::endl;
return iValue;
}
void RobotJointDegreeControlSlider::setValue(int Value)
{
emit valueChanged((double)Value / m_Multiplier);
}
void RobotJointDegreeControlSlider::setValue(double Value, bool BlockSignals)
{
QSlider::blockSignals(BlockSignals);
QSlider::setValue(Value * m_Multiplier);
if (!BlockSignals)
emit valueChanged(Value);
QSlider::blockSignals(false);
}
void RobotJointDegreeControlSlider::setRange(double Min, double Max)
{
QSlider::setRange(Min * m_Multiplier, Max * m_Multiplier);
emit rangeChanged(Min, Max);
}
void RobotJointDegreeControlSlider::setMinimum(double Min)
{
QSlider::setMinimum(Min * m_Multiplier);
emit rangeChanged(minimum(), maximum());
}
double RobotJointDegreeControlSlider::minimum() const
{
return QSlider::minimum() / m_Multiplier;
}
void RobotJointDegreeControlSlider::setMaximum(double Max)
{
QSlider::setMaximum(Max * m_Multiplier);
emit rangeChanged(minimum(), maximum());
}
double RobotJointDegreeControlSlider::maximum() const
{
return QSlider::maximum() / m_Multiplier;
}
double RobotJointDegreeControlSlider::value() const
{
int Value = QSlider::value();
return (double)Value / m_Multiplier;
}robot_joint_degree_control_slider.h
#ifndef NEWTRAVEL_ROBOT_JOINT_DEGREE_CONTROL_SLIDER_H
#define NEWTRAVEL_ROBOT_JOINT_DEGREE_CONTROL_SLIDER_H
#include <QSlider>
#include <iostream>
#include <QtGui/QtGui>
class RobotJointDegreeControlSlider : public QSlider
{
Q_OBJECT
public:
RobotJointDegreeControlSlider(QWidget *parent = nullptr);
~RobotJointDegreeControlSlider();
void setRange(double Min, double Max);
void setMinimum(double Min);
double minimum() const;
void setMaximum(double Max);
double maximum() const;
double value() const;
public slots:
void setValue(int value);
void setValue(double Value, bool BlockSignals = false);
private slots:
signals :
void valueChanged(double Value);
void rangeChanged(double Min, double Max);
private:
double m_Multiplier;
public:
void Initial(int iIndex);
int GetCurrent();
};
#endif // NEWTRAVEL_ROBOT_JOINT_DEGREE_CONTROL_SLIDER_H
robot_joint_degree_spinbox.cpp
#include "robot_joint_degree_spinbox.h"
RobotJointSpinBox::RobotJointSpinBox(QWidget *parent) : QDoubleSpinBox(parent)
{
}
RobotJointSpinBox::~RobotJointSpinBox() noexcept {
}
void RobotJointSpinBox::Initial(int iIndex)
{
resize(50, 30);
move(860, iIndex * 40 + 10);
setMinimum(-180);
setMaximum(180);
setSingleStep(1);
show();
}
void RobotJointSpinBox::SetLimitValue(double iMaxValue,double iMinValue,double iStep)
{
setMaximum(iMaxValue);
setMinimum(iMinValue);
setSingleStep(iStep);
setValue(0);
}
#ifndef NEWTRAVEL_ROBOT_JOINT_DEGREE_SPINBOX_H
#define NEWTRAVEL_ROBOT_JOINT_DEGREE_SPINBOX_H
#include <QSpinBox>
#include <QTextEdit>
class RobotJointSpinBox : public QDoubleSpinBox
{
Q_OBJECT
public:
RobotJointSpinBox(QWidget *parent = nullptr);
~RobotJointSpinBox();
public:
void Initial(int iIndex);
void SetLimitValue(double iMaxValue,double iMinValue,double iStep);
};
#endif // NEWTRAVEL_ROBOT_JOINT_DEGREE_SPINBOX_H#include "robot_joint_label.h"
RobotJointLabel::RobotJointLabel(QWidget *parent) : QLabel(parent) {}
RobotJointLabel::~RobotJointLabel() noexcept = default;
void RobotJointLabel::Initial(int iIndex)
{
// move(800, iIndex * 40 + 10);
// resize(50, 30);
setText(QString::fromStdString("Joint_" + std::to_string(iIndex)));
// show();
}#ifndef NEWTRAVEL_ROBOT_JOINT_LABEL_H
#define NEWTRAVEL_ROBOT_JOINT_LABEL_H
#include <QLabel>
#include <iostream>
class RobotJointLabel : public QLabel
{
Q_OBJECT
public:
RobotJointLabel(QWidget *parent = nullptr);
~RobotJointLabel();
public:
void Initial(int iIndex);
};
#endif // NEWTRAVEL_ROBOT_JOINT_LABEL_H#include "ui_robot_simulation_platform.h"
#include "simulation.h"
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
Ui::RobotSimulation w;
w.show();
return a.exec();
}robot_other_model_transform.cpp
#include "robot_other_model_transform.h"
#include "Log/log.h"
OtherModelTrans::OtherModelTrans(QWidget *parent) : QTextEdit(parent) {}
void OtherModelTrans::SetValue()
{
emitValue();
}
void OtherModelTrans::emitValue()
{
QString sValue = toPlainText();
ZLOG << sValue.toStdString();
std::string sTransValue = sValue.toStdString();
QMatrix4x4 mat4Trans;
mat4Trans.setToIdentity();
QVector<std::string> vecRPY;
std::string sRPY = sTransValue.substr(sTransValue.find('{'),std::string::npos);
int iRPYIndex = sRPY.find('{');
while (std::string::npos != iRPYIndex)
{
std::string sRPYValue = sRPY.substr(iRPYIndex + 1,sRPY.find_first_of('}') - iRPYIndex - 1);
vecRPY.push_back(sRPYValue);
sRPY = sRPY.substr(sRPY.find_first_of('}') + 1 ,std::string::npos);
iRPYIndex = sRPY.find('{');
}
QVector4D vecRot;
for (int i = 0; i < vecRPY.size(); ++i)
{
size_t iRPYIndex = vecRPY[i].find(',');
int iIndex = 0;
while (std::string::npos != iRPYIndex)
{
std::string sPPYValue = vecRPY[i].substr(0,iRPYIndex);
vecRot[iIndex] = (strtod(sPPYValue.c_str(), nullptr));
vecRPY[i] = vecRPY[i].substr(iRPYIndex + 1,std::string::npos);
iRPYIndex = vecRPY[i].find(',');
iIndex ++ ;
}
vecRot[iIndex] = (strtod(vecRPY[i].c_str(), nullptr));
mat4Trans.setColumn(i,vecRot);
}
QVector4D vecPose;
if(std::string::npos != sTransValue.find("Vector3D("))
{
int iInd = 0;
int iIndex = sTransValue.find("Vector3D(") + 9;
std::string sPos = sTransValue.substr(iIndex,sTransValue.find_first_of(')') - iIndex);
size_t iCount = sPos.find(',');
while (std::string::npos != iCount)
{
std::string sPoseValue = sPos.substr(0,iCount);
vecPose[iInd] = (strtod(sPoseValue.c_str(), nullptr));
sPos = sPos.substr(iCount + 1,std::string::npos);
iCount = sPos.find(',');
iInd++;
}
vecPose[iInd] = (strtod(sPos.c_str(), nullptr));
vecPose[3] = 1;
}
mat4Trans.setColumn(3,vecPose);
emit SetValue(mat4Trans);
}
OtherModelTrans::~OtherModelTrans() {}#ifndef NEWTRAVEL_ROBOT_OTHER_MODEL_TRANSFORM_H
#define NEWTRAVEL_ROBOT_OTHER_MODEL_TRANSFORM_H
#include <QtWidgets/QTextEdit>
#include <QMatrix4x4>
class OtherModelTrans : public QTextEdit
{
Q_OBJECT
public:
OtherModelTrans(QWidget *parent = nullptr);
~OtherModelTrans() override;
signals :
void SetValue(QMatrix4x4 oFilePath);
public Q_SLOTS:
void SetValue();
public:
void emitValue();
};
#endif // NEWTRAVEL_ROBOT_OTHER_MODEL_TRANSFORM_H#include "robot_pushbutton_openfile.h"
OpenFile::OpenFile(FileDialog *pFileDialog,QWidget *parent) : QPushButton(parent)
{
m_pQFileDialog = pFileDialog;
}
OpenFile::~OpenFile() {}#ifndef NEWTRAVEL_ROBOT_PUSHBUTTON_OPENFILE_H
#define NEWTRAVEL_ROBOT_PUSHBUTTON_OPENFILE_H
#include <QtWidgets/QPushButton>
#include "robot_qfile_dialog.h"
#include <iostream>
class OpenFile : public QPushButton
{
Q_OBJECT
public:
OpenFile(FileDialog *pFileDialog,QWidget *parent = nullptr);
~OpenFile();
void mousePressEvent(QMouseEvent *event) override
{
openfile();
}
void openfile()
{
QString strFileName = FileDialog::getOpenFileName(this, "Open File", "",
tr("XML(*.xml)"), nullptr, QFileDialog::DontResolveSymlinks);
strFileName = QDir::toNativeSeparators(strFileName);
if (!strFileName.isEmpty())
{
m_pQFileDialog->SetPath(strFileName);
std::cout << "strFileName : " << strFileName.toStdString() <<std::endl;
}
}
private:
FileDialog *m_pQFileDialog;
};
#endif // NEWTRAVEL_ROBOT_PUSHBUTTON_OPENFILE_Hrobot_pushbutton_send_message.cpp
#include "robot_pushbutton_send_message.h"
SendButton::SendButton(QWidget*parent):QPushButton(parent){}
SendButton::~SendButton() {}
void SendButton::mousePressEvent(QMouseEvent *event)
{
emit SendMessage();
}robot_pushbutton_send_message.h
#ifndef NEWTRAVEL_ROBOT_PUSHBUTTON_SEND_MESSAGE_H
#define NEWTRAVEL_ROBOT_PUSHBUTTON_SEND_MESSAGE_H
#include "robot_target_joint.h"
#include <QtWidgets/QPushButton>
class SendButton : public QPushButton
{
Q_OBJECT
public:
SendButton(QWidget *parent = nullptr);
~SendButton();
void mousePressEvent(QMouseEvent *event) override;
signals :
void SendMessage();
};
#endif // NEWTRAVEL_ROBOT_PUSHBUTTON_SEND_MESSAGE_H
#include "robot_qfile_dialog.h"
FileDialog::FileDialog(QWidget *parent):QFileDialog(parent)
{
// connect(this, SIGNAL(fileSelected(QString)), this, SLOT(SetPath(QString)));
}
FileDialog::~FileDialog()
{
}
void FileDialog::emitSelectFile(QString oFilePath)
{
{
}
}
void FileDialog::SetPath(QString sPath)
{
emit fileSelected(sPath);
}
#ifndef NEWTRAVEL_ROBOT_QFILE_DIALOG_H
#define NEWTRAVEL_ROBOT_QFILE_DIALOG_H
#include <QtWidgets/QFileDialog>
class FileDialog : public QFileDialog
{
Q_OBJECT
public:
explicit FileDialog(QWidget *parent = nullptr);
~FileDialog() override;
public Q_SLOTS:
void SetPath(QString sPath);
signals :
void fileSelected(QString oFilePath);
public:
void emitSelectFile(QString oFilePath);
};
#endif // NEWTRAVEL_ROBOT_QFILE_DIALOG_H#include "robot_simulation.h"
#include "robot_simulation_main_platform.h"
RobotSimulationPlatform::RobotSimulationPlatform(QWidget *parent) : QWidget(parent), ui(new Ui::RobotSimulation)
{
ui->setupUi(this);
m_pWidget = new RobotBody(this);
m_pWidget->resize(800,600);
m_pWidget->show();
for (int ii = 0; ii < 6; ++ii)
{
m_pRobotJointLabel[ii] = new RobotJointLabel(this);
m_pRobotJointLabel[ii]->Initial(ii);
m_pSpinBox[ii] = new RobotJointSpinBox(this);
m_pSpinBox[ii]->Initial(ii);
m_pMySlider[ii] = new RobotJointDegreeControlSlider(this);
m_pMySlider[ii]->Initial(ii);
connect(m_pMySlider[ii], SIGNAL(valueChanged(int)),m_pSpinBox[ii], SLOT(setValue(int)));
}
connect(m_pMySlider[0], SIGNAL(valueChanged(int)),m_pWidget, SLOT(SetRotationAngleOfJoint_0(int)));
connect(m_pMySlider[1], SIGNAL(valueChanged(int)),m_pWidget, SLOT(SetRotationAngleOfJoint_1(int)));
connect(m_pMySlider[2], SIGNAL(valueChanged(int)),m_pWidget, SLOT(SetRotationAngleOfJoint_2(int)));
connect(m_pMySlider[3], SIGNAL(valueChanged(int)),m_pWidget, SLOT(SetRotationAngleOfJoint_3(int)));
connect(m_pMySlider[4], SIGNAL(valueChanged(int)),m_pWidget, SLOT(SetRotationAngleOfJoint_4(int)));
connect(m_pMySlider[5], SIGNAL(valueChanged(int)),m_pWidget, SLOT(SetRotationAngleOfJoint_5(int)));
}
RobotSimulationPlatform::~RobotSimulationPlatform()
{
delete ui;
}#ifndef NEWTRAVEL_ROBOT_SIMULATION_H
#define NEWTRAVEL_ROBOT_SIMULATION_H
#include "robot_body_load.h"
#include "robot_joint_degree_control_slider.h"
#include "robot_joint_degree_spinbox.h"
#include "robot_joint_label.h"
#include <QWidget>
QT_BEGIN_NAMESPACE
namespace Ui
{
class RobotSimulation;
}
QT_END_NAMESPACE
class RobotSimulationPlatform : public QWidget
{
Q_OBJECT
public:
explicit RobotSimulationPlatform(QWidget *parent = nullptr);
~RobotSimulationPlatform() override;
private:
Ui::RobotSimulation *ui;
RobotBody *m_pWidget;
RobotJointDegreeControlSlider *m_pMySlider[6];
RobotJointSpinBox *m_pSpinBox[6];
RobotJointLabel *m_pRobotJointLabel[6];
};
#endif // NEWTRAVEL_ROBOT_SIMULATION_Hrobot_simulation_main_platform.h
#ifndef UI_MY_ROBOT_H
#define UI_MY_ROBOT_H
#include <QtCore/QVariant>
#include <QtWidgets/QApplication>
#include <QtWidgets/QWidget>
QT_BEGIN_NAMESPACE
class UiWindowOfRobot
{
public:
void setupUi(QWidget *my_robot)
{
if (my_robot->objectName().isEmpty())
my_robot->setObjectName(QString::fromUtf8("my_robot"));
my_robot->resize(1200, 600);
retranslateUi(my_robot);
QMetaObject::connectSlotsByName(my_robot);
} // setupUi
void retranslateUi(QWidget *my_robot)
{
my_robot->setWindowTitle(QApplication::translate("my_robot", "my_robot", nullptr));
} // retranslateUi
};
namespace Ui {
class RobotSimulation : public UiWindowOfRobot
{};
} // namespace Ui
QT_END_NAMESPACE
#endif // UI_MY_ROBOT_H<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>RobotSimulationPlatform</class>
<widget class="QWidget" name="RobotSimulationPlatform">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>1210</width>
<height>916</height>
</rect>
</property>
<property name="windowTitle">
<string>RobotSimulationPlatform</string>
</property>
<widget class="QWidget" name="m_pMainWidget">
<property name="geometry">
<rect>
<x>10</x>
<y>10</y>
<width>1151</width>
<height>791</height>
</rect>
</property>
<layout class="QGridLayout" name="m_pMainGridLayout" columnstretch="2,1">
<item row="0" column="0">
<layout class="QVBoxLayout" name="m_pRobotShowAndButtonVerticalLayout" stretch="6,1">
<property name="spacing">
<number>6</number>
</property>
<item>
<widget class="QGroupBox" name="m_pRobotGroup">
<property name="title">
<string/>
</property>
<widget class="QOpenGLWidget" name="openGLWidget">
<property name="enabled">
<bool>true</bool>
</property>
<property name="geometry">
<rect>
<x>20</x>
<y>40</y>
<width>721</width>
<height>611</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>650</width>
<height>600</height>
</size>
</property>
</widget>
</widget>
</item>
<item>
<widget class="QGroupBox" name="m_pPushButtonGroup">
<property name="title">
<string>GroupBox</string>
</property>
<widget class="QSplitter" name="m_pSplitterPushButton">
<property name="geometry">
<rect>
<x>0</x>
<y>20</y>
<width>311</width>
<height>41</height>
</rect>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<widget class="QPushButton" name="pushButton">
<property name="text">
<string>PushButton</string>
</property>
</widget>
<widget class="QPushButton" name="pushButton_2">
<property name="text">
<string>PushButton</string>
</property>
</widget>
</widget>
</widget>
</item>
</layout>
</item>
<item row="0" column="1">
<layout class="QVBoxLayout" name="m_pVerticalLayoutRobotController" stretch="2,1,1">
<item>
<widget class="QGroupBox" name="m_pGroupBoxRobotJoints">
<property name="minimumSize">
<size>
<width>2</width>
<height>12</height>
</size>
</property>
<property name="tabletTracking">
<bool>false</bool>
</property>
<property name="title">
<string/>
</property>
<widget class="QWidget" name="m_pMainWidget">
<property name="geometry">
<rect>
<x>10</x>
<y>30</y>
<width>361</width>
<height>250</height>
</rect>
</property>
<layout class="QVBoxLayout" name="m_pVerticalLayoutRobotJoints">
<property name="spacing">
<number>16</number>
</property>
<item>
<layout class="QHBoxLayout" name="m_pHorizontalLayoutJoint_1">
<item>
<widget class="QLabel" name="m_pLabelRobotJoint_1">
<property name="text">
<string>Joint_1</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="m_pDoubleSpinBoxJoint_1"/>
</item>
<item>
<widget class="QSlider" name="m_pHorizontalSliderJoint_1">
<property name="minimum">
<number>-180</number>
</property>
<property name="maximum">
<number>180</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="m_pHorizontalLayoutJoint_2">
<item>
<widget class="QLabel" name="m_pLabelRobotJoint_2">
<property name="text">
<string>Joint_2</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="m_pDoubleSpinBoxJoint_2"/>
</item>
<item>
<widget class="QSlider" name="m_pHorizontalSliderJoint_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="m_pHorizontalLayoutJoint_3">
<item>
<widget class="QLabel" name="m_pLabelRobotJoint_3">
<property name="text">
<string>Joint_3</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="m_pDoubleSpinBoxJoint_3"/>
</item>
<item>
<widget class="QSlider" name="m_pHorizontalSliderJoint_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="m_pHorizontalLayoutJoint_4">
<item>
<widget class="QLabel" name="m_pLabelRobotJoint_4">
<property name="text">
<string>Joint_4</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="m_pDoubleSpinBoxJoint_4"/>
</item>
<item>
<widget class="QSlider" name="m_pHorizontalSliderJoint_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="m_pHorizontalLayoutJoint_5">
<item>
<widget class="QLabel" name="m_pLabelRobotJoint_5">
<property name="text">
<string>Joint_5</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="m_pDoubleSpinBoxJoint_5"/>
</item>
<item>
<widget class="QSlider" name="m_pHorizontalSliderJoint_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="m_pHorizontalLayoutJoint_6">
<item>
<widget class="QLabel" name="m_pLabelRobotJoint_6">
<property name="text">
<string>Joint_6</string>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="m_pDoubleSpinBoxJoint_6"/>
</item>
<item>
<widget class="QSlider" name="m_pHorizontalSliderJoint_6">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<widget class="QGroupBox" name="m_pGroupBoxTargetJointsSettingCenter">
<property name="title">
<string/>
</property>
<widget class="QWidget" name="m_pMainWidget">
<property name="geometry">
<rect>
<x>10</x>
<y>30</y>
<width>361</width>
<height>141</height>
</rect>
</property>
<layout class="QVBoxLayout" name="m_pVerticalLayoutTargetJointsSettingCenter">
<item>
<layout class="QHBoxLayout" name="m_pHorizontalLayoutTargetJointsLabel">
<item>
<widget class="QLabel" name="m_pLabelSettingJoints">
<property name="text">
<string>末端关节值</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="m_pCheckBoxDegree">
<property name="text">
<string>弧度</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QTextEdit" name="m_pTextEditTargetJoints"/>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<widget class="QGroupBox" name="m_pGroupBoxOtherModelSetting">
<property name="title">
<string/>
</property>
<widget class="QWidget" name="m_pMainWidget">
<property name="geometry">
<rect>
<x>10</x>
<y>30</y>
<width>361</width>
<height>151</height>
</rect>
</property>
<layout class="QVBoxLayout" name="m_pVerticalLayoutOtherModel">
<item>
<layout class="QHBoxLayout" name="m_pHorizontalLayoutOtherModel">
<item>
<widget class="QLabel" name="m_pLabelOtherModelTransformName">
<property name="text">
<string>头部到机器人坐标转换矩阵：</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="m_pCheckBoxTransformUnitOfLength">
<property name="text">
<string>米</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="m_pCheckBoxOtherModelDegree">
<property name="text">
<string>弧度</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QTextEdit" name="m_pTextEditOtherModelTransform"/>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
<resources/>
<connections/>
</ui>
#include "robot_target_joint.h"
InputText::InputText(QWidget *parent) : QTextEdit(parent) {}
InputText::~InputText() = default;
void InputText::emitValue()
{
QString sValue = toPlainText();
emit SetValue(sValue);
}
void InputText::SetValue()
{
emitValue();
}#ifndef NEWTRAVEL_ROBOT_TARGET_JOINT_H
#define NEWTRAVEL_ROBOT_TARGET_JOINT_H
#include <QtWidgets/QTextEdit>
class InputText : public QTextEdit
{
Q_OBJECT
public:
InputText(QWidget *parent = nullptr);
~InputText() override;
signals :
void SetValue(const QString &oFilePath);
public Q_SLOTS:
void SetValue();
public:
void emitValue();
};
#endif // NEWTRAVEL_ROBOT_TARGET_JOINT_H#ifndef NEWTRAVEL_SIMULATION_H
#define NEWTRAVEL_SIMULATION_H
#include <QFileDialog>
#include "robot_body_load.h"
#include "robot_joint_degree_control_slider.h"
#include "robot_joint_degree_spinbox.h"
#include "robot_joint_label.h"
#include "robot_other_model_transform.h"
#include "robot_pushbutton_openfile.h"
#include "robot_pushbutton_send_message.h"
#include "robot_target_joint.h"
#include "ui_robot_simulation_platform.h"
#include <QGroupBox>
#include <QKeyEvent>
#include <QWidget>
QT_BEGIN_NAMESPACE
namespace Ui
{
class RobotSimulationPlatform;
}
namespace Ui
{
class RobotSimulation : public RobotSimulationPlatform, public QWidget
{
public:
RobotSimulation(QWidget *parent = nullptr);
void Init();
void InitIconInitialPosition();
void InitSignalConnection();
void SetUpUI(QWidget *RobotSimulationPlatform);
void RetranslateUi(QWidget *RobotSimulationPlatform);
public:
void InitMainWindow(QWidget *RobotSimulationPlatform);
void InitRobotShowGroupt(QWidget *pQWidget);
void InitRobotShowAndButtonVerticalLayout();
void InitMainGridLayout(QWidget *pQWidget);
void InitPushButtonGroup();
void InitRobotControllerVerticalLayout();
void InitRobtJointsGroup();
void InitRobtJointsWidget();
void InitRobotJointsVerticalLayout();
void InitRobtJoint_1HorizontalLayout();
void InitRobotJointsController();
void InitRobotTargetJointSettingFormat();
void InitRobotTargetJointSettingComponent();
void InitLoadOtherModelComponent();
void InitLoadOtherModelFormat();
void SetMainGridLayout();
void SetRobotShowAndButtonVerticalLayout();
void SetRobotControllerVerticalLayout();
void SetRobotJointsController();
void SetRobotJointsVerticalLayout();
void SetRobotTargetJointsFormat();
void SetLoadOtherModelFormat();
void keyPressEvent(QKeyEvent *ev) override;
private:
RobotJointSpinBox *m_pMySpinBox[6]{};
RobotJointDegreeControlSlider *m_pMySlider[6]{};
RobotJointLabel *m_pMyJointLabel[6]{};
QHBoxLayout *m_pRobotJointsHorizontalLayout[6]{};
OpenFile *pOpenFile{};
FileDialog *m_pFileDialog{};
InputText *m_pTargetJoints;
SendButton *m_pSendButton;
OtherModelTrans *m_pOtherModelTrans;
};
RobotSimulation::RobotSimulation(QWidget *parent) : QWidget(parent)
{
Init();
SetUpUI(this);
InitIconInitialPosition();
InitSignalConnection();
}
void RobotSimulation::SetUpUI(QWidget *RobotSimulationPlatform)
{
if (RobotSimulationPlatform->objectName().isEmpty())
RobotSimulationPlatform->setObjectName(QString::fromUtf8("RobotSimulationPlatform"));
InitMainWindow(RobotSimulationPlatform);
InitMainGridLayout(m_pMainWidget);
InitRobotShowGroupt(m_pMainWidget);
InitPushButtonGroup();
InitRobotShowAndButtonVerticalLayout();
SetRobotShowAndButtonVerticalLayout();
InitRobtJointsGroup();
InitRobtJointsWidget();
InitRobtJoint_1HorizontalLayout();
InitRobotJointsController();
SetRobotJointsController();
InitRobotJointsVerticalLayout();
SetRobotJointsVerticalLayout();
InitRobotTargetJointSettingFormat();
InitRobotTargetJointSettingComponent();
SetRobotTargetJointsFormat();
InitLoadOtherModelFormat();
InitLoadOtherModelComponent();
//
SetLoadOtherModelFormat();
InitRobotControllerVerticalLayout();
SetRobotControllerVerticalLayout();
SetMainGridLayout();
QMetaObject::connectSlotsByName(RobotSimulationPlatform);
RetranslateUi(RobotSimulationPlatform);
}
void RobotSimulation::RetranslateUi(QWidget *RobotSimulationPlatform)
{
RobotSimulationPlatform->setWindowTitle(
QApplication::translate("RobotSimulationPlatform", "RobotSimulationPlatform", nullptr));
} // retranslateUi
void RobotSimulation::InitIconInitialPosition()
{
for (int ii = 0; ii < 6; ++ii)
{
m_pMySpinBox[ii]->SetLimitValue(180, -180, 1);
m_pMySlider[ii]->setMaximum(180);
m_pMySlider[ii]->setMinimum(-180);
m_pMySlider[ii]->setValue(0);
}
}
void RobotSimulation::InitSignalConnection()
{
for (int ii = 0; ii < 6; ++ii)
{
QObject::connect(m_pMySlider[ii], SIGNAL(valueChanged(double)), m_pMySpinBox[ii], SLOT(setValue(double)));
QObject::connect(m_pMySpinBox[ii], SIGNAL(valueChanged(double)), m_pMySlider[ii], SLOT(setValue(double)));
}
QObject::connect(
m_pMySlider[0], SIGNAL(valueChanged(double)), openGLWidget, SLOT(SetRotationAngleOfJoint_0(double)));
QObject::connect(
m_pMySlider[1], SIGNAL(valueChanged(double)), openGLWidget, SLOT(SetRotationAngleOfJoint_1(double)));
QObject::connect(
m_pMySlider[2], SIGNAL(valueChanged(double)), openGLWidget, SLOT(SetRotationAngleOfJoint_2(double)));
QObject::connect(
m_pMySlider[3], SIGNAL(valueChanged(double)), openGLWidget, SLOT(SetRotationAngleOfJoint_3(double)));
QObject::connect(
m_pMySlider[4], SIGNAL(valueChanged(double)), openGLWidget, SLOT(SetRotationAngleOfJoint_4(double)));
QObject::connect(
m_pMySlider[5], SIGNAL(valueChanged(double)), openGLWidget, SLOT(SetRotationAngleOfJoint_5(double)));
QObject::connect(
m_pFileDialog, SIGNAL(fileSelected(const QString &)), openGLWidget, SLOT(SetFilePath(const QString &)));
QObject::connect(m_pSendButton, SIGNAL(SendMessage()), m_pTargetJoints, SLOT(SetValue()));
QObject::connect(
m_pTargetJoints, SIGNAL(SetValue(const QString &)), openGLWidget, SLOT(setTargetJoints(const QString &)));
QObject::connect(m_pSendButton, SIGNAL(SendMessage()), m_pOtherModelTrans, SLOT(SetValue()));
QObject::connect(
m_pOtherModelTrans, SIGNAL(SetValue(QMatrix4x4)), openGLWidget, SLOT(SetOtherModelTransform(QMatrix4x4)));
QObject::connect(openGLWidget, SIGNAL(SetRotationOfJoint_0(double)), m_pMySlider[0], SLOT(setValue(double)));
QObject::connect(openGLWidget, SIGNAL(SetRotationOfJoint_1(double)), m_pMySlider[1], SLOT(setValue(double)));
QObject::connect(openGLWidget, SIGNAL(SetRotationOfJoint_2(double)), m_pMySlider[2], SLOT(setValue(double)));
QObject::connect(openGLWidget, SIGNAL(SetRotationOfJoint_3(double)), m_pMySlider[3], SLOT(setValue(double)));
QObject::connect(openGLWidget, SIGNAL(SetRotationOfJoint_4(double)), m_pMySlider[4], SLOT(setValue(double)));
QObject::connect(openGLWidget, SIGNAL(SetRotationOfJoint_5(double)), m_pMySlider[5], SLOT(setValue(double)));
QObject::connect(m_pCheckBoxDegree, SIGNAL(clicked(bool)), openGLWidget, SLOT(SetTargetJointDegreeFlag(bool)));
QObject::connect(
m_pCheckBoxTransformUnitOfLength, SIGNAL(clicked(bool)), openGLWidget, SLOT(SetUnitOfLength(bool)));
}
void RobotSimulation::InitRobotShowGroupt(QWidget *pQWidget)
{
m_pRobotGroup = new QGroupBox(pQWidget);
m_pRobotGroup->setObjectName(QString::fromUtf8("groupBox_4"));
openGLWidget = new RobotBody(m_pRobotGroup);
openGLWidget->setObjectName(QString::fromUtf8("openGLWidget"));
openGLWidget->setEnabled(true);
openGLWidget->setGeometry(QRect(20, 40, 721, 611));
openGLWidget->setMinimumSize(QSize(650, 600));
}
void RobotSimulation::InitMainGridLayout(QWidget *pQWidget)
{
m_pMainGridLayout = new QGridLayout(pQWidget);
m_pMainGridLayout->setObjectName(QString::fromUtf8("gridLayout"));
}
void RobotSimulation::InitRobotShowAndButtonVerticalLayout()
{
m_pRobotShowAndButtonVerticalLayout = new QVBoxLayout();
m_pRobotShowAndButtonVerticalLayout->setSpacing(6);
m_pRobotShowAndButtonVerticalLayout->setObjectName(QString::fromUtf8("verticalLayout_4"));
}
void RobotSimulation::InitMainWindow(QWidget *RobotSimulationPlatform)
{
RobotSimulationPlatform->resize(1200, 850);
RobotSimulationPlatform->setWindowTitle("史陶比尔机器人三维仿真软件");
m_pMainWidget = new QWidget(RobotSimulationPlatform);
m_pMainWidget->setObjectName(QString::fromUtf8("layoutWidget"));
m_pMainWidget->setGeometry(QRect(10, 10, 1151, 791));
}
void RobotSimulation::InitPushButtonGroup()
{
m_pPushButtonGroup = new QGroupBox(m_pMainWidget);
m_pPushButtonGroup->setObjectName(QString::fromUtf8("groupBox_5"));
m_pSplitterPushButton = new QSplitter(m_pPushButtonGroup);
m_pSplitterPushButton->setObjectName(QString::fromUtf8("splitter_3"));
m_pSplitterPushButton->setGeometry(QRect(0, 20, 311, 41));
m_pSplitterPushButton->setOrientation(Qt::Horizontal);
m_pFileDialog = new FileDialog(m_pSplitterPushButton);
pOpenFile = new OpenFile(m_pFileDialog, m_pSplitterPushButton);
pOpenFile->setObjectName(QString::fromUtf8("pushButton"));
pOpenFile->setText("加载存储模型路径文件");
m_pSplitterPushButton->addWidget(pOpenFile);
m_pSendButton = new SendButton(m_pSplitterPushButton);
m_pSendButton->setObjectName(QString::fromUtf8("pushButton"));
m_pSendButton->setText("确认");
m_pSplitterPushButton->addWidget(m_pSendButton);
}
void RobotSimulation::SetRobotShowAndButtonVerticalLayout()
{
m_pRobotShowAndButtonVerticalLayout->addWidget(m_pRobotGroup);
m_pRobotShowAndButtonVerticalLayout->addWidget(m_pPushButtonGroup);
m_pRobotShowAndButtonVerticalLayout->setStretch(0, 6);
m_pRobotShowAndButtonVerticalLayout->setStretch(1, 1);
}
void RobotSimulation::SetMainGridLayout()
{
m_pMainGridLayout->setContentsMargins(0, 0, 0, 0);
m_pMainGridLayout->addLayout(m_pRobotShowAndButtonVerticalLayout, 0, 0, 1, 1);
m_pMainGridLayout->addLayout(m_pVerticalLayoutRobotController, 0, 1, 1, 1);
m_pMainGridLayout->setColumnStretch(0, 2);
m_pMainGridLayout->setColumnStretch(1, 1);
}
void RobotSimulation::InitRobotControllerVerticalLayout()
{
m_pVerticalLayoutRobotController = new QVBoxLayout();
m_pVerticalLayoutRobotController->setObjectName(QString::fromUtf8("verticalLayout_5"));
}
void RobotSimulation::SetRobotControllerVerticalLayout()
{
m_pVerticalLayoutRobotController->addWidget(m_pGroupBoxRobotJoints);
m_pVerticalLayoutRobotController->addWidget(m_pGroupBoxTargetJointsSettingCenter);
m_pVerticalLayoutRobotController->addWidget(m_pGroupBoxOtherModelSetting);
m_pVerticalLayoutRobotController->setStretch(0, 2);
m_pVerticalLayoutRobotController->setStretch(1, 1);
m_pVerticalLayoutRobotController->setStretch(2, 1);
}
void RobotSimulation::InitRobtJointsGroup()
{
m_pGroupBoxRobotJoints = new QGroupBox(m_pMainWidget);
m_pGroupBoxRobotJoints->setObjectName(QString::fromUtf8("groupBox"));
m_pGroupBoxRobotJoints->setMinimumSize(QSize(2, 12));
m_pGroupBoxRobotJoints->setTabletTracking(false);
}
void RobotSimulation::InitRobtJointsWidget()
{
m_pQWidgetRobotJoint = new QWidget(m_pGroupBoxRobotJoints);
m_pQWidgetRobotJoint->setObjectName(QString::fromUtf8("layoutWidget1"));
m_pQWidgetRobotJoint->setGeometry(QRect(10, 30, 361, 250));
}
void RobotSimulation::InitRobotJointsVerticalLayout()
{
m_pVerticalLayoutRobotJoints = new QVBoxLayout(m_pQWidgetRobotJoint);
m_pVerticalLayoutRobotJoints->setSpacing(16);
m_pVerticalLayoutRobotJoints->setObjectName(QString::fromUtf8("verticalLayout"));
m_pVerticalLayoutRobotJoints->setContentsMargins(0, 0, 0, 0);
}
void RobotSimulation::InitRobtJoint_1HorizontalLayout()
{
for (auto &ii : m_pRobotJointsHorizontalLayout)
{
ii = new QHBoxLayout();
ii->setObjectName(QString::fromUtf8("horizontalLayout"));
}
}
void RobotSimulation::Init()
{
m_pRobotJointsHorizontalLayout[0] = m_pHorizontalLayoutJoint_1;
m_pRobotJointsHorizontalLayout[1] = m_pHorizontalLayoutJoint_2;
m_pRobotJointsHorizontalLayout[2] = m_pHorizontalLayoutJoint_3;
m_pRobotJointsHorizontalLayout[3] = m_pHorizontalLayoutJoint_4;
m_pRobotJointsHorizontalLayout[4] = m_pHorizontalLayoutJoint_5;
m_pRobotJointsHorizontalLayout[5] = m_pHorizontalLayoutJoint_6;
}
void RobotSimulation::InitRobotJointsController()
{
for (int ii = 0; ii < 6; ++ii)
{
m_pMyJointLabel[ii] = new RobotJointLabel();
m_pMyJointLabel[ii]->Initial(ii);
m_pMySpinBox[ii] = new RobotJointSpinBox(m_pQWidgetRobotJoint);
m_pMySpinBox[ii]->setObjectName(QString::fromUtf8("doubleSpinBox"));
m_pMySlider[ii] = new RobotJointDegreeControlSlider(m_pQWidgetRobotJoint);
m_pMySlider[ii]->setObjectName(QString::fromUtf8("horizontalSlider"));
m_pMySlider[ii]->setOrientation(Qt::Horizontal);
}
}
void RobotSimulation::SetRobotJointsController()
{
for (int ii = 0; ii < 6; ++ii)
{
m_pRobotJointsHorizontalLayout[ii]->addWidget(m_pMyJointLabel[ii]);
m_pRobotJointsHorizontalLayout[ii]->addWidget(m_pMySpinBox[ii]);
m_pRobotJointsHorizontalLayout[ii]->addWidget(m_pMySlider[ii]);
}
}
void RobotSimulation::SetRobotJointsVerticalLayout()
{
m_pVerticalLayoutRobotJoints->addLayout(m_pRobotJointsHorizontalLayout[0]);
m_pVerticalLayoutRobotJoints->addLayout(m_pRobotJointsHorizontalLayout[1]);
m_pVerticalLayoutRobotJoints->addLayout(m_pRobotJointsHorizontalLayout[2]);
m_pVerticalLayoutRobotJoints->addLayout(m_pRobotJointsHorizontalLayout[3]);
m_pVerticalLayoutRobotJoints->addLayout(m_pRobotJointsHorizontalLayout[4]);
m_pVerticalLayoutRobotJoints->addLayout(m_pRobotJointsHorizontalLayout[5]);
}
void RobotSimulation::InitRobotTargetJointSettingFormat()
{
m_pGroupBoxTargetJointsSettingCenter = new QGroupBox(m_pMainWidget);
m_pGroupBoxTargetJointsSettingCenter->setObjectName(QString::fromUtf8("groupBox_3"));
m_pWidgetTargetJointsSettingCenter = new QWidget(m_pGroupBoxTargetJointsSettingCenter);
m_pWidgetTargetJointsSettingCenter->setObjectName(QString::fromUtf8("layoutWidget2"));
m_pWidgetTargetJointsSettingCenter->setGeometry(QRect(10, 30, 361, 141));
m_pVerticalLayoutTargetJointsSettingCenter = new QVBoxLayout(m_pWidgetTargetJointsSettingCenter);
m_pVerticalLayoutTargetJointsSettingCenter->setObjectName(QString::fromUtf8("verticalLayout_2"));
m_pVerticalLayoutTargetJointsSettingCenter->setContentsMargins(0, 0, 0, 0);
m_pHorizontalLayoutTargetJointsLabel = new QHBoxLayout();
m_pHorizontalLayoutTargetJointsLabel->setObjectName(QString::fromUtf8("horizontalLayout_7"));
}
void RobotSimulation::InitRobotTargetJointSettingComponent()
{
m_pLabelSettingJoints = new QLabel(m_pWidgetTargetJointsSettingCenter);
m_pLabelSettingJoints->setObjectName(QString::fromUtf8("Target joints"));
m_pLabelSettingJoints->setText("目标关节值");
m_pCheckBoxDegree = new QCheckBox(m_pWidgetTargetJointsSettingCenter);
m_pCheckBoxDegree->setObjectName(QString::fromUtf8("Angular unit about target joint"));
m_pCheckBoxDegree->setText("弧度");
// m_pTextEditTargetJoints = new QTextEdit(m_pWidgetTargetJointsSettingCenter);
// m_pTextEditTargetJoints->setObjectName(QString::fromUtf8("textEdit"));
m_pTargetJoints = new InputText(m_pWidgetTargetJointsSettingCenter);
m_pTargetJoints->setObjectName(QString::fromUtf8("textEdit"));
m_pTargetJoints->setText("0,0,0,0,0,0");
}
void RobotSimulation::SetRobotTargetJointsFormat()
{
m_pHorizontalLayoutTargetJointsLabel->addWidget(m_pLabelSettingJoints);
m_pHorizontalLayoutTargetJointsLabel->addWidget(m_pCheckBoxDegree);
m_pVerticalLayoutTargetJointsSettingCenter->addLayout(m_pHorizontalLayoutTargetJointsLabel);
m_pVerticalLayoutTargetJointsSettingCenter->addWidget(m_pTargetJoints);
}
void RobotSimulation::InitLoadOtherModelComponent()
{
m_pLabelOtherModelTransformName = new QLabel(m_pWidgetOtherModelSetting);
m_pLabelOtherModelTransformName->setObjectName(QString::fromUtf8("Transform from other model to robot"));
m_pLabelOtherModelTransformName->setText("到机器人坐标系的转换矩阵");
m_pCheckBoxTransformUnitOfLength = new QCheckBox(m_pWidgetOtherModelSetting);
m_pCheckBoxTransformUnitOfLength->setObjectName(QString::fromUtf8("Unit Of Length"));
m_pCheckBoxTransformUnitOfLength->setText("毫米");
m_pCheckBoxTransformUnitOfLength->setChecked(true);
m_pCheckBoxOtherModelDegree = new QCheckBox(m_pWidgetOtherModelSetting);
m_pCheckBoxOtherModelDegree->setObjectName(QString::fromUtf8("Angular Unit"));
m_pCheckBoxOtherModelDegree->setText("弧度");
m_pOtherModelTrans = new OtherModelTrans(m_pWidgetOtherModelSetting);
m_pOtherModelTrans->setObjectName(QString::fromUtf8("textEdit_2"));
m_pOtherModelTrans->setText("Transform(Vector3D(0, -1000, 0), Rotation({1, 0, "
"0},{0, 1, 0},{0, 0, 1}))");
}
void RobotSimulation::InitLoadOtherModelFormat()
{
m_pGroupBoxOtherModelSetting = new QGroupBox(m_pMainWidget);
m_pGroupBoxOtherModelSetting->setObjectName(QString::fromUtf8("groupBox_2"));
m_pWidgetOtherModelSetting = new QWidget(m_pGroupBoxOtherModelSetting);
m_pWidgetOtherModelSetting->setObjectName(QString::fromUtf8("layoutWidget3"));
m_pWidgetOtherModelSetting->setGeometry(QRect(10, 30, 361, 151));
m_pVerticalLayoutOtherModel = new QVBoxLayout(m_pWidgetOtherModelSetting);
m_pVerticalLayoutOtherModel->setObjectName(QString::fromUtf8("verticalLayout_3"));
m_pVerticalLayoutOtherModel->setContentsMargins(0, 0, 0, 0);
m_pHorizontalLayoutOtherModel = new QHBoxLayout();
m_pHorizontalLayoutOtherModel->setObjectName(QString::fromUtf8("horizontalLayout_8"));
}
void RobotSimulation::SetLoadOtherModelFormat()
{
m_pHorizontalLayoutOtherModel->addWidget(m_pLabelOtherModelTransformName);
m_pHorizontalLayoutOtherModel->addWidget(m_pCheckBoxTransformUnitOfLength);
m_pHorizontalLayoutOtherModel->addWidget(m_pCheckBoxOtherModelDegree);
m_pVerticalLayoutOtherModel->addLayout(m_pHorizontalLayoutOtherModel);
m_pVerticalLayoutOtherModel->addWidget(m_pOtherModelTrans);
}
void RobotSimulation::keyPressEvent(QKeyEvent *ev)
{
if (ev->key() == Qt::Key_Escape)
{
close();
}
else if (ev->key() == Qt::Key_E)
{
m_pTargetJoints->emitValue();
}
}
} // namespace Ui
QT_END_NAMESPACE
#endif // NEWTRAVEL_SIMULATION_Hui_robot_simulation_platform.h
/********************************************************************************
** Form generated from reading UI file 'robot_simulation_platform.ui'
**
** Created by: Qt User Interface Compiler version 5.12.8
**
** WARNING! All changes made in this file will be lost when recompiling UI file!
********************************************************************************/
#ifndef UI_ROBOT_SIMULATION_PLATFORM_H
#define UI_ROBOT_SIMULATION_PLATFORM_H
#include <QtCore/QVariant>
#include <QtWidgets/QApplication>
#include <QtWidgets/QCheckBox>
#include <QtWidgets/QDoubleSpinBox>
#include <QtWidgets/QGridLayout>
#include <QtWidgets/QGroupBox>
#include <QtWidgets/QHBoxLayout>
#include <QtWidgets/QLabel>
#include <QtWidgets/QOpenGLWidget>
#include <QtWidgets/QPushButton>
#include <QtWidgets/QSlider>
#include <QtWidgets/QSplitter>
#include <QtWidgets/QTextEdit>
#include <QtWidgets/QVBoxLayout>
#include <QtWidgets/QWidget>
QT_BEGIN_NAMESPACE
class Ui_RobotSimulationPlatform
{
public:
QWidget *m_pMainWidget;
QGridLayout *m_pMainGridLayout;
QVBoxLayout *m_pRobotShowAndButtonVerticalLayout;
QGroupBox *m_pRobotGroup;
QOpenGLWidget *openGLWidget;
QGroupBox *m_pPushButtonGroup;
QSplitter *m_pSplitterPushButton;
QPushButton *pushButton;
QPushButton *pushButton_2;
QVBoxLayout *m_pVerticalLayoutRobotController;
QGroupBox *m_pGroupBoxRobotJoints;
QWidget *m_pQWidgetRobotJoint;
QVBoxLayout *m_pVerticalLayoutRobotJoints;
QHBoxLayout *m_pHorizontalLayoutJoint_1;
QLabel *m_pLabelRobotJoint_1;
QDoubleSpinBox *m_pDoubleSpinBoxJoint_1;
QSlider *m_pHorizontalSliderJoint_1;
QHBoxLayout *m_pHorizontalLayoutJoint_2;
QLabel *m_pLabelRobotJoint_2;
QDoubleSpinBox *m_pDoubleSpinBoxJoint_2;
QSlider *m_pHorizontalSliderJoint_2;
QHBoxLayout *m_pHorizontalLayoutJoint_3;
QLabel *m_pLabelRobotJoint_3;
QDoubleSpinBox *m_pDoubleSpinBoxJoint_3;
QSlider *m_pHorizontalSliderJoint_3;
QHBoxLayout *m_pHorizontalLayoutJoint_4;
QLabel *m_pLabelRobotJoint_4;
QDoubleSpinBox *m_pDoubleSpinBoxJoint_4;
QSlider *m_pHorizontalSliderJoint_4;
QHBoxLayout *m_pHorizontalLayoutJoint_5;
QLabel *m_pLabelRobotJoint_5;
QDoubleSpinBox *m_pDoubleSpinBoxJoint_5;
QSlider *m_pHorizontalSliderJoint_5;
QHBoxLayout *m_pHorizontalLayoutJoint_6;
QLabel *m_pLabelRobotJoint_6;
QDoubleSpinBox *m_pDoubleSpinBoxJoint_6;
QSlider *m_pHorizontalSliderJoint_6;
QGroupBox *m_pGroupBoxTargetJointsSettingCenter;
QWidget *m_pWidgetTargetJointsSettingCenter;
QVBoxLayout *m_pVerticalLayoutTargetJointsSettingCenter;
QHBoxLayout *m_pHorizontalLayoutTargetJointsLabel;
QLabel *m_pLabelSettingJoints;
QCheckBox *m_pCheckBoxDegree;
QTextEdit *m_pTextEditTargetJoints;
QGroupBox *m_pGroupBoxOtherModelSetting;
QWidget *m_pWidgetOtherModelSetting;
QVBoxLayout *m_pVerticalLayoutOtherModel;
QHBoxLayout *m_pHorizontalLayoutOtherModel;
QLabel *m_pLabelOtherModelTransformName;
QCheckBox *m_pCheckBoxTransformUnitOfLength;
QCheckBox *m_pCheckBoxOtherModelDegree;
QTextEdit *m_pTextEditOtherModelTransform;
void setupUi(QWidget *RobotSimulationPlatform)
{
if (RobotSimulationPlatform->objectName().isEmpty())
RobotSimulationPlatform->setObjectName(QString::fromUtf8("RobotSimulationPlatform"));
RobotSimulationPlatform->resize(1210, 916);
m_pMainWidget = new QWidget(RobotSimulationPlatform);
m_pMainWidget->setObjectName(QString::fromUtf8("layoutWidget"));
m_pMainWidget->setGeometry(QRect(10, 10, 1151, 791));
m_pMainGridLayout = new QGridLayout(m_pMainWidget);
m_pMainGridLayout->setObjectName(QString::fromUtf8("gridLayout"));
m_pMainGridLayout->setContentsMargins(0, 0, 0, 0);
m_pRobotShowAndButtonVerticalLayout = new QVBoxLayout();
m_pRobotShowAndButtonVerticalLayout->setSpacing(6);
m_pRobotShowAndButtonVerticalLayout->setObjectName(QString::fromUtf8("verticalLayout_4"));
m_pRobotGroup = new QGroupBox(m_pMainWidget);
m_pRobotGroup->setObjectName(QString::fromUtf8("groupBox_4"));
openGLWidget = new QOpenGLWidget(m_pRobotGroup);
openGLWidget->setObjectName(QString::fromUtf8("openGLWidget"));
openGLWidget->setEnabled(true);
openGLWidget->setGeometry(QRect(20, 40, 721, 611));
openGLWidget->setMinimumSize(QSize(650, 600));
m_pRobotShowAndButtonVerticalLayout->addWidget(m_pRobotGroup);
m_pPushButtonGroup = new QGroupBox(m_pMainWidget);
m_pPushButtonGroup->setObjectName(QString::fromUtf8("groupBox_5"));
m_pSplitterPushButton = new QSplitter(m_pPushButtonGroup);
m_pSplitterPushButton->setObjectName(QString::fromUtf8("splitter_3"));
m_pSplitterPushButton->setGeometry(QRect(0, 20, 311, 41));
m_pSplitterPushButton->setOrientation(Qt::Horizontal);
pushButton = new QPushButton(m_pSplitterPushButton);
pushButton->setObjectName(QString::fromUtf8("pushButton"));
m_pSplitterPushButton->addWidget(pushButton);
pushButton_2 = new QPushButton(m_pSplitterPushButton);
pushButton_2->setObjectName(QString::fromUtf8("pushButton_2"));
m_pSplitterPushButton->addWidget(pushButton_2);
m_pRobotShowAndButtonVerticalLayout->addWidget(m_pPushButtonGroup);
m_pRobotShowAndButtonVerticalLayout->setStretch(0, 6);
m_pRobotShowAndButtonVerticalLayout->setStretch(1, 1);
m_pMainGridLayout->addLayout(m_pRobotShowAndButtonVerticalLayout, 0, 0, 1, 1);
m_pVerticalLayoutRobotController = new QVBoxLayout();
m_pVerticalLayoutRobotController->setObjectName(QString::fromUtf8("verticalLayout_5"));
m_pGroupBoxRobotJoints = new QGroupBox(m_pMainWidget);
m_pGroupBoxRobotJoints->setObjectName(QString::fromUtf8("groupBox"));
m_pGroupBoxRobotJoints->setMinimumSize(QSize(2, 12));
m_pGroupBoxRobotJoints->setTabletTracking(false);
m_pQWidgetRobotJoint = new QWidget(m_pGroupBoxRobotJoints);
m_pQWidgetRobotJoint->setObjectName(QString::fromUtf8("layoutWidget1"));
m_pQWidgetRobotJoint->setGeometry(QRect(10, 30, 361, 250));
m_pVerticalLayoutRobotJoints = new QVBoxLayout(m_pQWidgetRobotJoint);
m_pVerticalLayoutRobotJoints->setSpacing(16);
m_pVerticalLayoutRobotJoints->setObjectName(QString::fromUtf8("verticalLayout"));
m_pVerticalLayoutRobotJoints->setContentsMargins(0, 0, 0, 0);
m_pHorizontalLayoutJoint_1 = new QHBoxLayout();
m_pHorizontalLayoutJoint_1->setObjectName(QString::fromUtf8("horizontalLayout"));
m_pLabelRobotJoint_1 = new QLabel(m_pQWidgetRobotJoint);
m_pLabelRobotJoint_1->setObjectName(QString::fromUtf8("label"));
m_pHorizontalLayoutJoint_1->addWidget(m_pLabelRobotJoint_1);
m_pDoubleSpinBoxJoint_1 = new QDoubleSpinBox(m_pQWidgetRobotJoint);
m_pDoubleSpinBoxJoint_1->setObjectName(QString::fromUtf8("doubleSpinBox"));
m_pHorizontalLayoutJoint_1->addWidget(m_pDoubleSpinBoxJoint_1);
m_pHorizontalSliderJoint_1 = new QSlider(m_pQWidgetRobotJoint);
m_pHorizontalSliderJoint_1->setObjectName(QString::fromUtf8("horizontalSlider"));
m_pHorizontalSliderJoint_1->setMinimum(-180);
m_pHorizontalSliderJoint_1->setMaximum(180);
m_pHorizontalSliderJoint_1->setOrientation(Qt::Horizontal);
m_pHorizontalLayoutJoint_1->addWidget(m_pHorizontalSliderJoint_1);
m_pVerticalLayoutRobotJoints->addLayout(m_pHorizontalLayoutJoint_1);
m_pHorizontalLayoutJoint_2 = new QHBoxLayout();
m_pHorizontalLayoutJoint_2->setObjectName(QString::fromUtf8("horizontalLayout_2"));
m_pLabelRobotJoint_2 = new QLabel(m_pQWidgetRobotJoint);
m_pLabelRobotJoint_2->setObjectName(QString::fromUtf8("label_2"));
m_pHorizontalLayoutJoint_2->addWidget(m_pLabelRobotJoint_2);
m_pDoubleSpinBoxJoint_2 = new QDoubleSpinBox(m_pQWidgetRobotJoint);
m_pDoubleSpinBoxJoint_2->setObjectName(QString::fromUtf8("doubleSpinBox_2"));
m_pHorizontalLayoutJoint_2->addWidget(m_pDoubleSpinBoxJoint_2);
m_pHorizontalSliderJoint_2 = new QSlider(m_pQWidgetRobotJoint);
m_pHorizontalSliderJoint_2->setObjectName(QString::fromUtf8("horizontalSlider_2"));
m_pHorizontalSliderJoint_2->setOrientation(Qt::Horizontal);
m_pHorizontalLayoutJoint_2->addWidget(m_pHorizontalSliderJoint_2);
m_pVerticalLayoutRobotJoints->addLayout(m_pHorizontalLayoutJoint_2);
m_pHorizontalLayoutJoint_3 = new QHBoxLayout();
m_pHorizontalLayoutJoint_3->setObjectName(QString::fromUtf8("horizontalLayout_3"));
m_pLabelRobotJoint_3 = new QLabel(m_pQWidgetRobotJoint);
m_pLabelRobotJoint_3->setObjectName(QString::fromUtf8("label_3"));
m_pHorizontalLayoutJoint_3->addWidget(m_pLabelRobotJoint_3);
m_pDoubleSpinBoxJoint_3 = new QDoubleSpinBox(m_pQWidgetRobotJoint);
m_pDoubleSpinBoxJoint_3->setObjectName(QString::fromUtf8("doubleSpinBox_3"));
m_pHorizontalLayoutJoint_3->addWidget(m_pDoubleSpinBoxJoint_3);
m_pHorizontalSliderJoint_3 = new QSlider(m_pQWidgetRobotJoint);
m_pHorizontalSliderJoint_3->setObjectName(QString::fromUtf8("horizontalSlider_3"));
m_pHorizontalSliderJoint_3->setOrientation(Qt::Horizontal);
m_pHorizontalLayoutJoint_3->addWidget(m_pHorizontalSliderJoint_3);
m_pVerticalLayoutRobotJoints->addLayout(m_pHorizontalLayoutJoint_3);
m_pHorizontalLayoutJoint_4 = new QHBoxLayout();
m_pHorizontalLayoutJoint_4->setObjectName(QString::fromUtf8("horizontalLayout_4"));
m_pLabelRobotJoint_4 = new QLabel(m_pQWidgetRobotJoint);
m_pLabelRobotJoint_4->setObjectName(QString::fromUtf8("label_4"));
m_pHorizontalLayoutJoint_4->addWidget(m_pLabelRobotJoint_4);
m_pDoubleSpinBoxJoint_4 = new QDoubleSpinBox(m_pQWidgetRobotJoint);
m_pDoubleSpinBoxJoint_4->setObjectName(QString::fromUtf8("doubleSpinBox_4"));
m_pHorizontalLayoutJoint_4->addWidget(m_pDoubleSpinBoxJoint_4);
m_pHorizontalSliderJoint_4 = new QSlider(m_pQWidgetRobotJoint);
m_pHorizontalSliderJoint_4->setObjectName(QString::fromUtf8("horizontalSlider_4"));
m_pHorizontalSliderJoint_4->setOrientation(Qt::Horizontal);
m_pHorizontalLayoutJoint_4->addWidget(m_pHorizontalSliderJoint_4);
m_pVerticalLayoutRobotJoints->addLayout(m_pHorizontalLayoutJoint_4);
m_pHorizontalLayoutJoint_5 = new QHBoxLayout();
m_pHorizontalLayoutJoint_5->setObjectName(QString::fromUtf8("horizontalLayout_5"));
m_pLabelRobotJoint_5 = new QLabel(m_pQWidgetRobotJoint);
m_pLabelRobotJoint_5->setObjectName(QString::fromUtf8("label_5"));
m_pHorizontalLayoutJoint_5->addWidget(m_pLabelRobotJoint_5);
m_pDoubleSpinBoxJoint_5 = new QDoubleSpinBox(m_pQWidgetRobotJoint);
m_pDoubleSpinBoxJoint_5->setObjectName(QString::fromUtf8("doubleSpinBox_5"));
m_pHorizontalLayoutJoint_5->addWidget(m_pDoubleSpinBoxJoint_5);
m_pHorizontalSliderJoint_5 = new QSlider(m_pQWidgetRobotJoint);
m_pHorizontalSliderJoint_5->setObjectName(QString::fromUtf8("horizontalSlider_5"));
m_pHorizontalSliderJoint_5->setOrientation(Qt::Horizontal);
m_pHorizontalLayoutJoint_5->addWidget(m_pHorizontalSliderJoint_5);
m_pVerticalLayoutRobotJoints->addLayout(m_pHorizontalLayoutJoint_5);
m_pHorizontalLayoutJoint_6 = new QHBoxLayout();
m_pHorizontalLayoutJoint_6->setObjectName(QString::fromUtf8("horizontalLayout_6"));
m_pLabelRobotJoint_6 = new QLabel(m_pQWidgetRobotJoint);
m_pLabelRobotJoint_6->setObjectName(QString::fromUtf8("label_6"));
m_pHorizontalLayoutJoint_6->addWidget(m_pLabelRobotJoint_6);
m_pDoubleSpinBoxJoint_6 = new QDoubleSpinBox(m_pQWidgetRobotJoint);
m_pDoubleSpinBoxJoint_6->setObjectName(QString::fromUtf8("doubleSpinBox_6"));
m_pHorizontalLayoutJoint_6->addWidget(m_pDoubleSpinBoxJoint_6);
m_pHorizontalSliderJoint_6 = new QSlider(m_pQWidgetRobotJoint);
m_pHorizontalSliderJoint_6->setObjectName(QString::fromUtf8("horizontalSlider_6"));
m_pHorizontalSliderJoint_6->setOrientation(Qt::Horizontal);
m_pHorizontalLayoutJoint_6->addWidget(m_pHorizontalSliderJoint_6);
m_pVerticalLayoutRobotJoints->addLayout(m_pHorizontalLayoutJoint_6);
m_pVerticalLayoutRobotController->addWidget(m_pGroupBoxRobotJoints);
m_pGroupBoxTargetJointsSettingCenter = new QGroupBox(m_pMainWidget);
m_pGroupBoxTargetJointsSettingCenter->setObjectName(QString::fromUtf8("groupBox_3"));
m_pWidgetTargetJointsSettingCenter = new QWidget(m_pGroupBoxTargetJointsSettingCenter);
m_pWidgetTargetJointsSettingCenter->setObjectName(QString::fromUtf8("layoutWidget2"));
m_pWidgetTargetJointsSettingCenter->setGeometry(QRect(10, 30, 361, 141));
m_pVerticalLayoutTargetJointsSettingCenter = new QVBoxLayout(m_pWidgetTargetJointsSettingCenter);
m_pVerticalLayoutTargetJointsSettingCenter->setObjectName(QString::fromUtf8("verticalLayout_2"));
m_pVerticalLayoutTargetJointsSettingCenter->setContentsMargins(0, 0, 0, 0);
m_pHorizontalLayoutTargetJointsLabel = new QHBoxLayout();
m_pHorizontalLayoutTargetJointsLabel->setObjectName(QString::fromUtf8("horizontalLayout_7"));
m_pLabelSettingJoints = new QLabel(m_pWidgetTargetJointsSettingCenter);
m_pLabelSettingJoints->setObjectName(QString::fromUtf8("label_7"));
m_pHorizontalLayoutTargetJointsLabel->addWidget(m_pLabelSettingJoints);
m_pCheckBoxDegree = new QCheckBox(m_pWidgetTargetJointsSettingCenter);
m_pCheckBoxDegree->setObjectName(QString::fromUtf8("checkBox"));
m_pHorizontalLayoutTargetJointsLabel->addWidget(m_pCheckBoxDegree);
m_pVerticalLayoutTargetJointsSettingCenter->addLayout(m_pHorizontalLayoutTargetJointsLabel);
m_pTextEditTargetJoints = new QTextEdit(m_pWidgetTargetJointsSettingCenter);
m_pTextEditTargetJoints->setObjectName(QString::fromUtf8("textEdit"));
m_pVerticalLayoutTargetJointsSettingCenter->addWidget(m_pTextEditTargetJoints);
m_pVerticalLayoutRobotController->addWidget(m_pGroupBoxTargetJointsSettingCenter);
m_pGroupBoxOtherModelSetting = new QGroupBox(m_pMainWidget);
m_pGroupBoxOtherModelSetting->setObjectName(QString::fromUtf8("groupBox_2"));
m_pWidgetOtherModelSetting = new QWidget(m_pGroupBoxOtherModelSetting);
m_pWidgetOtherModelSetting->setObjectName(QString::fromUtf8("layoutWidget3"));
m_pWidgetOtherModelSetting->setGeometry(QRect(10, 30, 361, 151));
m_pVerticalLayoutOtherModel = new QVBoxLayout(m_pWidgetOtherModelSetting);
m_pVerticalLayoutOtherModel->setObjectName(QString::fromUtf8("verticalLayout_3"));
m_pVerticalLayoutOtherModel->setContentsMargins(0, 0, 0, 0);
m_pHorizontalLayoutOtherModel = new QHBoxLayout();
m_pHorizontalLayoutOtherModel->setObjectName(QString::fromUtf8("horizontalLayout_8"));
m_pLabelOtherModelTransformName = new QLabel(m_pWidgetOtherModelSetting);
m_pLabelOtherModelTransformName->setObjectName(QString::fromUtf8("label_8"));
m_pHorizontalLayoutOtherModel->addWidget(m_pLabelOtherModelTransformName);
m_pCheckBoxTransformUnitOfLength = new QCheckBox(m_pWidgetOtherModelSetting);
m_pCheckBoxTransformUnitOfLength->setObjectName(QString::fromUtf8("checkBox_3"));
m_pHorizontalLayoutOtherModel->addWidget(m_pCheckBoxTransformUnitOfLength);
m_pCheckBoxOtherModelDegree = new QCheckBox(m_pWidgetOtherModelSetting);
m_pCheckBoxOtherModelDegree->setObjectName(QString::fromUtf8("checkBox_2"));
m_pHorizontalLayoutOtherModel->addWidget(m_pCheckBoxOtherModelDegree);
m_pVerticalLayoutOtherModel->addLayout(m_pHorizontalLayoutOtherModel);
m_pTextEditOtherModelTransform = new QTextEdit(m_pWidgetOtherModelSetting);
m_pTextEditOtherModelTransform->setObjectName(QString::fromUtf8("textEdit_2"));
m_pVerticalLayoutOtherModel->addWidget(m_pTextEditOtherModelTransform);
m_pVerticalLayoutRobotController->addWidget(m_pGroupBoxOtherModelSetting);
m_pVerticalLayoutRobotController->setStretch(0, 2);
m_pVerticalLayoutRobotController->setStretch(1, 1);
m_pVerticalLayoutRobotController->setStretch(2, 1);
m_pMainGridLayout->addLayout(m_pVerticalLayoutRobotController, 0, 1, 1, 1);
m_pMainGridLayout->setColumnStretch(0, 2);
m_pMainGridLayout->setColumnStretch(1, 1);
retranslateUi(RobotSimulationPlatform);
QMetaObject::connectSlotsByName(RobotSimulationPlatform);
} // setupUi
void retranslateUi(QWidget *RobotSimulationPlatform)
{
RobotSimulationPlatform->setWindowTitle(QApplication::translate("RobotSimulationPlatform", "RobotSimulationPlatform", nullptr));
m_pRobotGroup->setTitle(QString());
m_pPushButtonGroup->setTitle(QApplication::translate("RobotSimulationPlatform", "GroupBox", nullptr));
pushButton->setText(QApplication::translate("RobotSimulationPlatform", "PushButton", nullptr));
pushButton_2->setText(QApplication::translate("RobotSimulationPlatform", "PushButton", nullptr));
m_pGroupBoxRobotJoints->setTitle(QString());
m_pLabelRobotJoint_1->setText(QApplication::translate("RobotSimulationPlatform", "Joint_1", nullptr));
m_pLabelRobotJoint_2->setText(QApplication::translate("RobotSimulationPlatform", "Joint_2", nullptr));
m_pLabelRobotJoint_3->setText(QApplication::translate("RobotSimulationPlatform", "Joint_3", nullptr));
m_pLabelRobotJoint_4->setText(QApplication::translate("RobotSimulationPlatform", "Joint_4", nullptr));
m_pLabelRobotJoint_5->setText(QApplication::translate("RobotSimulationPlatform", "Joint_5", nullptr));
m_pLabelRobotJoint_6->setText(QApplication::translate("RobotSimulationPlatform", "Joint_6", nullptr));
m_pGroupBoxTargetJointsSettingCenter->setTitle(QString());
m_pLabelSettingJoints->setText(QApplication::translate("RobotSimulationPlatform", "\346\234\253\347\253\257\345\205\263\350\212\202\345\200\274", nullptr));
m_pCheckBoxDegree->setText(QApplication::translate("RobotSimulationPlatform", "\345\274\247\345\272\246", nullptr));
m_pGroupBoxOtherModelSetting->setTitle(QString());
m_pLabelOtherModelTransformName->setText(QApplication::translate("RobotSimulationPlatform", "\345\244\264\351\203\250\345\210\260\346\234\272\345\231\250\344\272\272\345\235\220\346\240\207\350\275\254\346\215\242\347\237\251\351\230\265\357\274\232", nullptr));
m_pCheckBoxTransformUnitOfLength->setText(QApplication::translate("RobotSimulationPlatform", "\347\261\263", nullptr));
m_pCheckBoxOtherModelDegree->setText(QApplication::translate("RobotSimulationPlatform", "\345\274\247\345\272\246", nullptr));
} // retranslateUi
};
namespace Ui {
class RobotSimulationPlatform: public Ui_RobotSimulationPlatform {};
} // namespace Ui
QT_END_NAMESPACE
#endif // UI_ROBOT_SIMULATION_PLATFORM_H
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