RobotPoseWidget.h

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#ifndef ROBOT_POSE_WIDGET_H
#define ROBOT_POSE_WIDGET_H

#include <KrisLibrary/GLdraw/Widget.h>
#include <KrisLibrary/GLdraw/TransformWidget.h>
#include <KrisLibrary/robotics/IK.h>
#include "ViewRobot.h"

namespace Klampt {

/* @defgroup View
 * @brief Definitions of OpenGL drawing routines and UI widgets.
 */

class RobotLinkPoseWidget : public GLDraw::Widget
{
public:
  RobotLinkPoseWidget();
  RobotLinkPoseWidget(RobotModel* robot,ViewRobot* viewRobot);
  virtual ~RobotLinkPoseWidget() {}
  void Set(RobotModel* robot,ViewRobot* viewRobot);
  void SetActiveDofs(const vector<int>& activeDofs);
  virtual bool Hover(int x,int y,Camera::Viewport& viewport,double& distance) override;
  virtual void SetHighlight(bool active) override;
  virtual bool BeginDrag(int x,int y,Camera::Viewport& viewport,double& distance) override;
  virtual void Drag(int dx,int dy,Camera::Viewport& viewport) override;
  virtual void DrawGL(Camera::Viewport& viewport) override;
  void InitDefaultAppearance();

  RobotModel* robot;
  ViewRobot* viewRobot;
  Config poseConfig;
  GLDraw::GLColor highlightColor;
  int hoverLink,affectedLink,affectedDriver;
  vector<int> activeDofs;
  vector<int> highlightedLinks;
  Vector3 hoverPt;
  bool draw;
  vector<GLDraw::GeometryAppearance> poserAppearance;
};

class RobotIKPoseWidget : public GLDraw::WidgetSet
{
public:
  RobotIKPoseWidget(RobotModel* robot);
  void ClearLink(int link);
  void FixPoint(int link,const Vector3& localpt);
  void FixLink(int link);
  void Add(const IKGoal& goal);
  void AttachWidget(int widget,int link);
  void SetPoseAndWidgetTransform(int widget,const RigidTransform& T);
  void RefreshWidgets();
  int HoverWidget() const;
  int ActiveWidget() const;
  bool ClearCurrent();
  virtual void DrawGL(Camera::Viewport& viewport) override;
  virtual void Drag(int dx,int dy,Camera::Viewport& viewport) override;

  //these are overloaded to allow IK widgets to shine through
  virtual bool Hover(int x,int y,Camera::Viewport& viewport,double& closestDistance) override;
  virtual bool BeginDrag(int x,int y,Camera::Viewport& viewport,double& closestDistance) override;

  RobotModel* robot;
  vector<IKGoal> poseGoals;
  vector<GLDraw::TransformWidget> poseWidgets;
};

class RobotPoseWidget : public GLDraw::WidgetSet
{
public:
  RobotPoseWidget();
  RobotPoseWidget(RobotModel* robot,ViewRobot* viewRobot);
  void Set(RobotModel* robot,ViewRobot* viewRobot);

  const Config& Pose() const { return linkPoser.poseConfig; }
  void SetPose(const Config& q);
  vector<IKGoal>& Constraints() { return ikPoser.poseGoals; }
  Config Pose_Conditioned(const Config& qref) const;
  void SetActiveDofs(const vector<int>& activeDofs);
  bool FixCurrent();
  bool FixCurrentPoint();
  bool DeleteConstraint();
  void SetAttachIKMode(bool);
  void SetPoseIKMode(bool);
  void SetFixedPoseIKMode(bool);
  void SetDeleteIKMode(bool);

  bool SolveIK(int iters=0,Real tol=0);
  bool SolveIKFixedBase(int iters=0,Real tol=0);
  bool SolveIKFixedJoint(int fixedJoint,int iters=0,Real tol=0);

  virtual void DrawGL(Camera::Viewport& viewport) override;
  virtual bool BeginDrag(int x,int y,Camera::Viewport& viewport,double& distance) override;
  virtual void Drag(int dx,int dy,Camera::Viewport& viewport) override;
  virtual void EndDrag() override;
  virtual void Keypress(char c) override;

  void Snapshot();
  void Undo();

  bool useBase;
  GLDraw::TransformWidget basePoser;
  RobotLinkPoseWidget linkPoser;
  RobotIKPoseWidget ikPoser;
  enum { ModeNormal, ModeIKAttach, ModeIKPose, ModeIKPoseFixed, ModeIKDelete };
  int mode;
  int attachx,attachy;
  Ray3D attachRay;
  vector<Config> undoConfigs;
  vector<vector<pair<int,RigidTransform> > > undoTransforms;
};

} //namespace Klampt

#endif