icubsimulatorviewer.cpp

/********************************************************************************
 *  FARSA Experiments Library                                                   *
 *  Copyright (C) 2007-2012                                                     *
 *  Gianluca Massera <emmegian@yahoo.it>                                        *
 *  Stefano Nolfi <stefano.nolfi@istc.cnr.it>                                   *
 *  Tomassino Ferrauto <tomassino.ferrauto@istc.cnr.it>                         *
 *                                                                              *
 *  This program is free software; you can redistribute it and/or modify        *
 *  it under the terms of the GNU General Public License as published by        *
 *  the Free Software Foundation; either version 2 of the License, or           *
 *  (at your option) any later version.                                         *
 *                                                                              *
 *  This program is distributed in the hope that it will be useful,             *
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of              *
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the               *
 *  GNU General Public License for more details.                                *
 *                                                                              *
 *  You should have received a copy of the GNU General Public License           *
 *  along with this program; if not, write to the Free Software                 *
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#ifdef FARSA_USE_YARP_AND_ICUB

#include "icubsimulatorviewer.h"
#include <QLabel>
#include <QVBoxLayout>
#include <QMenu>
#include <QAction>

using namespace qglviewer;

namespace farsa {

iCubSimulatorViewer::iCubSimulatorViewer( iCubSimulator* icubsim )
    : ParameterSettableUI() {
    this->icubsimulator = icubsim;
}

iCubSimulatorViewer::~iCubSimulatorViewer() {
}

void iCubSimulatorViewer::fillActionsMenu( QMenu* actionsMenu ) {
    actionsMenu->addAction( "Start", icubsimulator, SLOT(start()) );
    actionsMenu->addAction( "Suspend", icubsimulator, SLOT(suspend()) );
    actionsMenu->addAction( "Step", icubsimulator, SLOT(step()) );
}

QList<ParameterSettableUIViewer> iCubSimulatorViewer::getViewers( QWidget* parent, Qt::WindowFlags flags ) {
    renderworld = new RenderWorld( parent );
    renderworld->setWorld(icubsimulator->getWorld());
    renderworld->setWindowFlags( flags );
    wMatrix icubTm = icubsimulator->getICub()->matrix();
    wVector cameraDefaultPosition = icubTm.transformVector( wVector( -0.8f, 0.0f, +0.6f ) );
    renderworld->camera()->setPosition( Vec( cameraDefaultPosition[0], cameraDefaultPosition[1], cameraDefaultPosition[2] ) );
    renderworld->camera()->setUpVector( Vec(0.0f, 0.0f, 1.0f) );
    renderworld->camera()->lookAt( Vec( icubTm.w_pos[0], icubTm.w_pos[1], icubTm.w_pos[2] ) );
    //connect( (icubsimulator->getWorld()), SIGNAL(advanced()), renderworld, SLOT(update()) );
    QList<ParameterSettableUIViewer> viewsList;
    viewsList.append( ParameterSettableUIViewer( renderworld, "iCub Simulator", QString(), "3D visualization of the world and the iCub robot" ) );
    return viewsList;
}

} // end namespace farsa

#endif // FARSA_USE_YARP_AND_ICUB