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Issue27 configure link #84

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Issue27 configure link #84

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90ec936
WIP: add the function to change the name on propertyWidget
kazoo-kmt Apr 26, 2016
8916efb
Add configuration from link to base/tool0. The logic is simply to del…
kazoo-kmt Apr 26, 2016
53c8271
Add TCP modification(issue28). Delete qt creator files.
kazoo-kmt Apr 26, 2016
e91fbeb
Revert "Add TCP modification(issue28). Delete qt creator files."
kazoo-kmt May 4, 2016
8f0b4cc
delete qtcreator files
kazoo-kmt May 8, 2016
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63 changes: 62 additions & 1 deletion urdf_editor/src/urdf_property.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -240,6 +240,32 @@ namespace urdf_editor
QMenu *menu = new QMenu(tree_widget_);
menu->addAction("Add");
menu->addAction("Remove");

// Add menu for converting the link to base/tool0 if there are no base/tool0 before
if (sel->parent() == link_root_)
{
bool base_exist = link_names_.contains("base", Qt::CaseSensitive);
bool tool0_exist = link_names_.contains("tool0", Qt::CaseSensitive);
bool TCP_exist = link_names_.contains("TCP", Qt::CaseSensitive);
if (!base_exist || !tool0_exist || !TCP_exist)
{
menu->addSeparator();
QMenu *convertMenu = menu->addMenu("Convert to");
if (!base_exist)
{
convertMenu->addAction("base");
}
if (!tool0_exist)
{
convertMenu->addAction("tool0");
}
if (!TCP_exist)
{
convertMenu->addAction("TCP");
}
}
}

QAction *selected_item = menu->exec(tree_widget_->mapToGlobal(pos));
if (selected_item)
{
Expand All @@ -254,6 +280,41 @@ namespace urdf_editor
addJoint(sel);
}
}
else if (selected_item->text() == "tool0")
{
// Firstly remove the link, then add new link named "tool0"
// on_propertyWidget_linkNameChanged(ltree_to_link_property_[sel].get(), "tool0");
link_names_.removeOne(sel->text(0));
link_root_->removeChild(sel);
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Would this leak the QTreeItemWidget?

boost::shared_ptr<urdf::Link> new_link(new urdf::Link());
new_link->name = "tool0";
model_->links_.insert(std::make_pair("tool0", new_link));
addLinkProperty(new_link);
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This does create a new LinkProperty, but if I understand this correctly, after this the model will now have a dangling link (ie: one which is not connected to the rest of the model), as you don't also create a joint or update the joint that connected the link this converts to now have new_link as its child.

}
else if (selected_item->text() == "base")
{
link_names_.removeOne(sel->text(0));
link_root_->removeChild(sel);
boost::shared_ptr<urdf::Link> new_link(new urdf::Link());
new_link->name = "base";
model_->links_.insert(std::make_pair("base", new_link));
addLinkProperty(new_link);
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See earlier comment about dangling link.

}
else if (selected_item->text() == "TCP")
{
// Add TCP link
link_names_.removeOne(sel->text(0));
link_root_->removeChild(sel);
boost::shared_ptr<urdf::Link> new_link(new urdf::Link());
new_link->name = "TCP";
model_->links_.insert(std::make_pair("TCP", new_link));
addLinkProperty(new_link);
// Add Joint which has TCP as a child and has origin property
addJoint(joint_root_);
JointPropertyPtr targetJoint = ctree_to_joint_property_[joint_root_->child(0)];
targetJoint->createOriginProperty();
targetJoint->loadProperty(property_editor_);
}
else
{
if (sel->parent() == link_root_)
Expand Down Expand Up @@ -302,7 +363,7 @@ namespace urdf_editor
if (ctree_to_joint_property_.contains(selt))
{
qDebug() << QString("The member ctree_to_joint_property_ contains the link %1").arg(selt->text(0));

JointPropertyPtr activeJoint = ctree_to_joint_property_[selt];
QMenu menu(property_editor_.get());

Expand Down