Examples with TransformNR com.neuronrobotics.sdk.addons.kinematics.math.TransformNR used on opensource projects

Example 6 with TransformNR

use of com.neuronrobotics.sdk.addons.kinematics.math.TransformNR in project BowlerStudio by CommonWealthRobotics.

the class LinkSliderWidget method enable.

public void enable() {
    if (linkGaugeController3d == null) {
        linkGaugeController3d = new LinkGaugeController();
        BowlerStudioController.addUserNode(linkGaugeController3d.getGauge());
        offsetGauge = new Affine();
        offsetGaugeTranslate = new Affine();
        linkGaugeController3d.setSIZE(60);
    }
    double d = (((double) linkGaugeController3d.getSIZE())) / 2.0;
    TransformNR offsetter2 = new TransformNR().translateX(-d).translateY(-d);
    Platform.runLater(() -> TransformFactory.nrToAffine(offsetter2, offsetGaugeTranslate));
    TransformNR offsetter = new TransformNR();
    double theta = Math.toDegrees(device.getDhParametersChain().getLinks().get(linkIndex).getTheta());
    offsetter.setRotation(new RotationNR(0, 90 + theta, 0));
    Platform.runLater(() -> TransformFactory.nrToAffine(offsetter, offsetGauge));
    linkGaugeController3d.getGauge().getTransforms().clear();
    linkGaugeController3d.setLink(conf, getAbstractLink());
    if (linkIndex == 0)
        linkGaugeController3d.getGauge().getTransforms().add((Affine) device.getRootListener());
    else
        linkGaugeController3d.getGauge().getTransforms().add((Affine) device.getAbstractLink(linkIndex - 1).getGlobalPositionListener());
    linkGaugeController3d.getGauge().getTransforms().add(offsetGauge);
    linkGaugeController3d.getGauge().getTransforms().add(offsetGaugeTranslate);
}

Example 7 with TransformNR

use of com.neuronrobotics.sdk.addons.kinematics.math.TransformNR in project BowlerStudio by CommonWealthRobotics.

the class MobleBaseMenueFactory method load.

@SuppressWarnings("unchecked")
public static void load(MobileBase device, TreeView<String> view, TreeItem<String> rootItem, HashMap<TreeItem<String>, Runnable> callbackMapForTreeitems, HashMap<TreeItem<String>, Group> widgetMapForTreeitems, CreatureLab creatureLab, boolean root, boolean creatureIsOwnedByUser) {
    // boolean creatureIsOwnedByUser = false;
    callbackMapForTreeitems.put(rootItem, () -> {
        BowlerStudio.select(device);
    });
    TreeItem<String> editXml = new TreeItem<String>("Edit Robot XML..", AssetFactory.loadIcon("Script-Tab-RobotXML.png"));
    callbackMapForTreeitems.put(editXml, () -> {
        try {
            File code = ScriptingEngine.fileFromGit(device.getGitSelfSource()[0], device.getGitSelfSource()[1]);
            BowlerStudio.createFileTab(code);
        } catch (Exception e) {
            // TODO Auto-generated catch block
            e.printStackTrace();
        }
    });
    TreeItem<String> physics = new TreeItem<String>("Physics Simulation", AssetFactory.loadIcon("Physics-Creature-Simulation.png"));
    callbackMapForTreeitems.put(physics, () -> {
        if (widgetMapForTreeitems.get(physics) == null) {
            widgetMapForTreeitems.put(physics, new Group(new CreaturePhysicsWidget(device)));
        }
    });
    TreeItem<String> publish;
    publish = new TreeItem<String>("Publish", AssetFactory.loadIcon("Publish.png"));
    if (!(device.getGitSelfSource()[0] == null || device.getGitSelfSource()[1] == null)) {
        try {
            File source = ScriptingEngine.fileFromGit(device.getGitSelfSource()[0], device.getGitSelfSource()[1]);
            callbackMapForTreeitems.put(publish, () -> {
                CommitWidget.commit(source, device.getXml());
            });
        } catch (Exception e) {
            Log.error(device.getGitSelfSource()[0] + " " + device.getGitSelfSource()[1] + " failed to load");
            e.printStackTrace();
        }
    }
    if (creatureIsOwnedByUser) {
        if (root)
            rootItem.getChildren().addAll(publish);
    }
    TreeItem<String> makeCopy = new TreeItem<>("Make Copy of Creature", AssetFactory.loadIcon("Make-Copy-of-Creature.png"));
    if (root)
        rootItem.getChildren().addAll(makeCopy);
    callbackMapForTreeitems.put(makeCopy, () -> {
        Platform.runLater(() -> {
            String oldname = device.getScriptingName();
            TextInputDialog dialog = new TextInputDialog(oldname + "_copy");
            dialog.setTitle("Making a copy of " + oldname);
            dialog.setHeaderText("Set the scripting name for this creature");
            dialog.setContentText("Set the name of the new creature:");
            // Traditional way to get the response value.
            Optional<String> result = dialog.showAndWait();
            if (result.isPresent()) {
                view.getSelectionModel().select(rootItem);
                System.out.println("Your new creature: " + result.get());
                String newName = result.get();
                makeACopyOfACreature(device, oldname, newName).start();
            }
        });
    });
    try {
        TreeItem<String> legs = loadLimbs(device, view, device.getLegs(), "Legs", rootItem, callbackMapForTreeitems, widgetMapForTreeitems, creatureLab, creatureIsOwnedByUser);
        TreeItem<String> arms = loadLimbs(device, view, device.getAppendages(), "Arms", rootItem, callbackMapForTreeitems, widgetMapForTreeitems, creatureLab, creatureIsOwnedByUser);
        TreeItem<String> steer = loadLimbs(device, view, device.getSteerable(), "Steerable Wheels", rootItem, callbackMapForTreeitems, widgetMapForTreeitems, creatureLab, creatureIsOwnedByUser);
        TreeItem<String> drive = loadLimbs(device, view, device.getDrivable(), "Fixed Wheels", rootItem, callbackMapForTreeitems, widgetMapForTreeitems, creatureLab, creatureIsOwnedByUser);
        ArrayList<DHParameterKinematics> paraGroups = device.getAllParallelGroups();
        TreeItem<String> paralell = loadLimbs(device, view, paraGroups, "Paralell", rootItem, callbackMapForTreeitems, widgetMapForTreeitems, creatureLab, creatureIsOwnedByUser);
        TreeItem<String> addleg;
        try {
            addleg = new TreeItem<String>("Add Leg", AssetFactory.loadIcon("Add-Leg.png"));
        } catch (Exception e1) {
            addleg = new TreeItem<String>("Add Leg");
        }
        boolean creatureIsOwnedByUserTmp = creatureIsOwnedByUser;
        callbackMapForTreeitems.put(addleg, () -> {
            // TODO Auto-generated method stub
            System.out.println("Adding Leg");
            String xmlContent;
            try {
                xmlContent = ScriptingEngine.codeFromGit("https://gist.github.com/b5b9450f869dd0d2ea30.git", "defaultleg.xml")[0];
                DHParameterKinematics newLeg = new DHParameterKinematics(null, IOUtils.toInputStream(xmlContent, "UTF-8"));
                System.out.println("Leg has " + newLeg.getNumberOfLinks() + " links");
                addAppendage(device, view, device.getLegs(), newLeg, legs, rootItem, callbackMapForTreeitems, widgetMapForTreeitems, creatureLab, creatureIsOwnedByUserTmp);
            } catch (Exception e) {
                // TODO Auto-generated catch block
                e.printStackTrace();
            }
        });
        TreeItem<String> regnerate = new TreeItem<String>("Generate Cad", AssetFactory.loadIcon("Generate-Cad.png"));
        callbackMapForTreeitems.put(regnerate, () -> {
            creatureLab.generateCad();
        });
        TreeItem<String> kinematics = new TreeItem<String>("Kinematic STL", AssetFactory.loadIcon("Printable-Cad.png"));
        callbackMapForTreeitems.put(kinematics, () -> {
            File defaultStlDir = new File(System.getProperty("user.home") + "/bowler-workspace/STL/");
            if (!defaultStlDir.exists()) {
                defaultStlDir.mkdirs();
            }
            Platform.runLater(() -> {
                DirectoryChooser chooser = new DirectoryChooser();
                chooser.setTitle("Select Output Directory For .STL files");
                chooser.setInitialDirectory(defaultStlDir);
                File baseDirForFiles = chooser.showDialog(BowlerStudioModularFrame.getPrimaryStage());
                new Thread() {

                    public void run() {
                        MobileBaseCadManager baseManager = MobileBaseCadManager.get(device);
                        if (baseDirForFiles == null) {
                            return;
                        }
                        ArrayList<File> files;
                        try {
                            files = baseManager.generateStls((MobileBase) device, baseDirForFiles, true);
                            Platform.runLater(() -> {
                                Alert alert = new Alert(AlertType.INFORMATION);
                                alert.setTitle("Stl Export Success!");
                                alert.setHeaderText("Stl Export Success");
                                alert.setContentText("All SLT's for the Creature Generated at\n" + files.get(0).getAbsolutePath());
                                alert.setWidth(500);
                                alert.initModality(Modality.APPLICATION_MODAL);
                                alert.show();
                            });
                        } catch (Exception e) {
                            BowlerStudioController.highlightException(baseManager.getCadScript(), e);
                        }
                    }
                }.start();
            });
        });
        TreeItem<String> printable = new TreeItem<String>("Printable Cad", AssetFactory.loadIcon("Printable-Cad.png"));
        callbackMapForTreeitems.put(printable, () -> {
            File defaultStlDir = new File(System.getProperty("user.home") + "/bowler-workspace/STL/");
            if (!defaultStlDir.exists()) {
                defaultStlDir.mkdirs();
            }
            Platform.runLater(() -> {
                DirectoryChooser chooser = new DirectoryChooser();
                chooser.setTitle("Select Output Directory For .STL files");
                chooser.setInitialDirectory(defaultStlDir);
                File baseDirForFiles = chooser.showDialog(BowlerStudioModularFrame.getPrimaryStage());
                new Thread() {

                    public void run() {
                        MobileBaseCadManager baseManager = MobileBaseCadManager.get(device);
                        if (baseDirForFiles == null) {
                            return;
                        }
                        ArrayList<File> files;
                        try {
                            files = baseManager.generateStls((MobileBase) device, baseDirForFiles, false);
                            Platform.runLater(() -> {
                                Alert alert = new Alert(AlertType.INFORMATION);
                                alert.setTitle("Stl Export Success!");
                                alert.setHeaderText("Stl Export Success");
                                alert.setContentText("All SLT's for the Creature Generated at\n" + files.get(0).getAbsolutePath());
                                alert.setWidth(500);
                                alert.initModality(Modality.APPLICATION_MODAL);
                                alert.show();
                            });
                        } catch (Exception e) {
                            BowlerStudioController.highlightException(baseManager.getCadScript(), e);
                        }
                    }
                }.start();
            });
        });
        TreeItem<String> setCAD = new TreeItem<>("Set CAD Engine...", AssetFactory.loadIcon("Set-CAD-Engine.png"));
        callbackMapForTreeitems.put(setCAD, () -> {
            PromptForGit.prompt("Select a CAD Engine From a Gist", device.getGitCadEngine()[0], (gitsId, file) -> {
                Log.warn("Loading cad engine");
                try {
                    creatureLab.setGitCadEngine(gitsId, file, device);
                    File code = ScriptingEngine.fileFromGit(gitsId, file);
                    BowlerStudio.createFileTab(code);
                } catch (Exception e) {
                    // TODO Auto-generated catch block
                    e.printStackTrace();
                }
            });
        });
        TreeItem<String> editCAD = new TreeItem<>("Edit CAD Engine...", AssetFactory.loadIcon("Edit-CAD-Engine.png"));
        callbackMapForTreeitems.put(editCAD, () -> {
            try {
                File code = ScriptingEngine.fileFromGit(device.getGitCadEngine()[0], device.getGitCadEngine()[1]);
                BowlerStudio.createFileTab(code);
            } catch (Exception e) {
                // TODO Auto-generated catch block
                e.printStackTrace();
            }
        });
        TreeItem<String> resetWalking = new TreeItem<>("Set Walking Engine...", AssetFactory.loadIcon("Set-Walking-Engine.png"));
        callbackMapForTreeitems.put(resetWalking, () -> {
            PromptForGit.prompt("Select a Walking Engine From a Gist", device.getGitWalkingEngine()[0], (gitsId, file) -> {
                Log.warn("Loading walking engine");
                try {
                    creatureLab.setGitWalkingEngine(gitsId, file, device);
                    File code = ScriptingEngine.fileFromGit(gitsId, file);
                    BowlerStudio.createFileTab(code);
                } catch (Exception e) {
                    // TODO Auto-generated catch block
                    e.printStackTrace();
                }
            });
        });
        TreeItem<String> editWalking = new TreeItem<>("Edit Walking Engine...", AssetFactory.loadIcon("Edit-Walking-Engine.png"));
        callbackMapForTreeitems.put(editWalking, () -> {
            try {
                File code = ScriptingEngine.fileFromGit(device.getGitWalkingEngine()[0], device.getGitWalkingEngine()[1]);
                BowlerStudio.createFileTab(code);
            } catch (Exception e) {
                // TODO Auto-generated catch block
                e.printStackTrace();
            }
        });
        TreeItem<String> addFixed = new TreeItem<>("Add Fixed Wheel", AssetFactory.loadIcon("Add-Fixed-Wheel.png"));
        callbackMapForTreeitems.put(addFixed, () -> {
            // TODO Auto-generated method stub
            System.out.println("Adding Fixed Wheel");
            try {
                String xmlContent = ScriptingEngine.codeFromGit("https://gist.github.com/b5b9450f869dd0d2ea30.git", "defaultFixed.xml")[0];
                DHParameterKinematics newArm = new DHParameterKinematics(null, IOUtils.toInputStream(xmlContent, "UTF-8"));
                System.out.println("Arm has " + newArm.getNumberOfLinks() + " links");
                addAppendage(device, view, device.getDrivable(), newArm, drive, rootItem, callbackMapForTreeitems, widgetMapForTreeitems, creatureLab, creatureIsOwnedByUserTmp);
            } catch (Exception e) {
                // TODO Auto-generated catch block
                e.printStackTrace();
            }
        });
        TreeItem<String> addsteerable = new TreeItem<>("Add Steerable Wheel", AssetFactory.loadIcon("Add-Steerable-Wheel.png"));
        callbackMapForTreeitems.put(addsteerable, () -> {
            // TODO Auto-generated method stub
            System.out.println("Adding Steerable Wheel");
            try {
                String xmlContent = ScriptingEngine.codeFromGit("https://gist.github.com/b5b9450f869dd0d2ea30.git", "defaultSteerable.xml")[0];
                DHParameterKinematics newArm = new DHParameterKinematics(null, IOUtils.toInputStream(xmlContent, "UTF-8"));
                System.out.println("Arm has " + newArm.getNumberOfLinks() + " links");
                addAppendage(device, view, device.getSteerable(), newArm, steer, rootItem, callbackMapForTreeitems, widgetMapForTreeitems, creatureLab, creatureIsOwnedByUserTmp);
            } catch (Exception e) {
                // TODO Auto-generated catch block
                e.printStackTrace();
            }
        });
        TreeItem<String> imuCenter = new TreeItem<>("Imu center", AssetFactory.loadIcon("Advanced-Configuration.png"));
        callbackMapForTreeitems.put(imuCenter, () -> {
            TransformWidget imu = new TransformWidget("IMU center", device.getIMUFromCentroid(), new IOnTransformChange() {

                @Override
                public void onTransformChaging(TransformNR newTrans) {
                }

                @Override
                public void onTransformFinished(TransformNR newTrans) {
                    MobileBaseCadManager manager = MobileBaseCadManager.get(device);
                    if (manager != null)
                        manager.generateCad();
                    device.setIMUFromCentroid(newTrans);
                }
            });
            if (widgetMapForTreeitems.get(imuCenter) == null) {
                widgetMapForTreeitems.put(imuCenter, new Group(imu));
            }
        });
        TreeItem<String> bodymass = new TreeItem<>("Adjust Body Mass", AssetFactory.loadIcon("Advanced-Configuration.png"));
        callbackMapForTreeitems.put(bodymass, () -> {
            if (widgetMapForTreeitems.get(bodymass) == null) {
                widgetMapForTreeitems.put(bodymass, new AdjustbodyMassWidget(device));
            }
        });
        TreeItem<String> addArm = new TreeItem<>("Add Arm", AssetFactory.loadIcon("Add-Arm.png"));
        callbackMapForTreeitems.put(addArm, () -> {
            // TODO Auto-generated method stub
            System.out.println("Adding Arm");
            try {
                String xmlContent = ScriptingEngine.codeFromGit("https://gist.github.com/b5b9450f869dd0d2ea30.git", "defaultarm.xml")[0];
                DHParameterKinematics newArm = new DHParameterKinematics(null, IOUtils.toInputStream(xmlContent, "UTF-8"));
                System.out.println("Arm has " + newArm.getNumberOfLinks() + " links");
                addAppendage(device, view, device.getAppendages(), newArm, arms, rootItem, callbackMapForTreeitems, widgetMapForTreeitems, creatureLab, creatureIsOwnedByUserTmp);
            } catch (Exception e) {
                new IssueReportingExceptionHandler().except(e);
            }
        });
        rootItem.getChildren().addAll(bodymass, imuCenter);
        if (root)
            rootItem.getChildren().addAll(physics, regnerate, printable, kinematics);
        rootItem.getChildren().addAll(addArm, addleg, addFixed, addsteerable);
        if (creatureIsOwnedByUser) {
            if (root)
                rootItem.getChildren().addAll(editXml);
            rootItem.getChildren().addAll(editWalking, editCAD, resetWalking, setCAD);
        }
    } catch (Exception e) {
        new IssueReportingExceptionHandler().except(e);
    }
}

Example 8 with TransformNR

use of com.neuronrobotics.sdk.addons.kinematics.math.TransformNR in project BowlerStudio by CommonWealthRobotics.

the class MobleBaseMenueFactory method loadSingleLimb.

@SuppressWarnings("unchecked")
private static void loadSingleLimb(MobileBase base, TreeView<String> view, DHParameterKinematics dh, TreeItem<String> rootItem, HashMap<TreeItem<String>, Runnable> callbackMapForTreeitems, HashMap<TreeItem<String>, Group> widgetMapForTreeitems, CreatureLab creatureLab, boolean creatureIsOwnedByUser) throws Exception {
    TreeItem<String> dhItem = new TreeItem<>(dh.getScriptingName(), AssetFactory.loadIcon("Move-Limb.png"));
    JogWidget widget = new JogWidget(dh, base);
    callbackMapForTreeitems.put(dhItem, () -> {
        if (widgetMapForTreeitems.get(dhItem) == null) {
            // create the widget for the leg when looking at it for the
            // first time
            VBox jog = new VBox(10);
            jog.getChildren().add(new Label("Jog Limb"));
            jog.getChildren().add(widget);
            widgetMapForTreeitems.put(dhItem, new Group(jog));
        }
        BowlerJInputDevice controller = creatureLab.getController();
        if (controller != null) {
            widget.setGameController(controller);
        }
        widget.setCurrent(dh.getCurrentPoseTarget());
        BowlerStudio.select(base, dh);
    });
    TreeItem<String> remove = new TreeItem<>("Remove " + dh.getScriptingName(), AssetFactory.loadIcon("Remove-Limb.png"));
    callbackMapForTreeitems.put(remove, () -> {
        Platform.runLater(() -> {
            Alert alert = new Alert(AlertType.CONFIRMATION);
            alert.setTitle("Confirm removing limb");
            alert.setHeaderText("This will remove " + dh.getScriptingName());
            alert.setContentText("Are sure you wish to remove this limb?");
            Optional<ButtonType> result = alert.showAndWait();
            view.getSelectionModel().select(rootItem);
            if (result.get() == ButtonType.OK) {
                rootItem.getChildren().remove(dhItem);
                if (base.getLegs().contains(dh)) {
                    base.getLegs().remove(dh);
                }
                if (base.getAppendages().contains(dh)) {
                    base.getAppendages().remove(dh);
                }
                if (base.getSteerable().contains(dh)) {
                    base.getSteerable().remove(dh);
                }
                if (base.getDrivable().contains(dh)) {
                    base.getDrivable().remove(dh);
                }
                if (base.getParallelGroup(dh) != null)
                    base.getParallelGroup(dh).removeLimb(dh);
                creatureLab.generateCad();
            }
        });
    });
    int j = 0;
    try {
        for (LinkConfiguration conf : dh.getFactory().getLinkConfigurations()) {
            loadSingleLink(j++, base, view, conf, dh, dhItem, callbackMapForTreeitems, widgetMapForTreeitems, creatureLab, creatureIsOwnedByUser);
        }
        TreeItem<String> addLink = new TreeItem<>("Add Link", AssetFactory.loadIcon("Add-Link.png"));
        callbackMapForTreeitems.put(addLink, () -> {
            // if(widgetMapForTreeitems.get(advanced)==null){
            // //create the widget for the leg when looking at it for the first
            // time
            // widgetMapForTreeitems.put(advanced, new DhChainWidget(dh,
            // creatureLab));
            // }
            Platform.runLater(() -> {
                TextInputDialog dialog = new TextInputDialog("Link_" + dh.getLinkConfigurations().size());
                dialog.setTitle("Add a new link of");
                dialog.setHeaderText("Set the scripting name for this link");
                dialog.setContentText("Please the name of the new link:");
                // Traditional way to get the response value.
                Optional<String> result = dialog.showAndWait();
                if (result.isPresent()) {
                    view.getSelectionModel().select(rootItem);
                    new Thread() {

                        public void run() {
                            System.out.println("Your new link: " + result.get());
                            LinkConfiguration newLink = new LinkConfiguration();
                            ArrayList<LinkConfiguration> linkConfigurations = dh.getFactory().getLinkConfigurations();
                            int numOfLinks = linkConfigurations.size();
                            String typeOfLink;
                            try {
                                typeOfLink = linkConfigurations.get(numOfLinks - 1).getTypeString();
                            } catch (Exception ex) {
                                typeOfLink = LinkType.VIRTUAL.getName();
                            }
                            if (typeOfLink == null)
                                typeOfLink = LinkType.VIRTUAL.getName();
                            // newLink.setType(typeOfLink);
                            newLink.setTypeString(typeOfLink.toString());
                            getNextChannel(base, newLink);
                            newLink.setName(result.get());
                            if (dh != null)
                                dh.addNewLink(newLink, new DHLink(0, 0, 100, 0));
                            try {
                                loadSingleLink(dh.getLinkConfigurations().size() - 1, base, view, newLink, dh, dhItem, callbackMapForTreeitems, widgetMapForTreeitems, creatureLab, creatureIsOwnedByUser);
                            } catch (Exception e) {
                                // TODO Auto-generated catch block
                                e.printStackTrace();
                            }
                            creatureLab.generateCad();
                        }
                    }.start();
                }
            });
        });
        dhItem.getChildren().addAll(addLink, remove);
    } catch (Throwable T) {
        T.printStackTrace();
    }
    TreeItem<String> parallel = new TreeItem<>("Parallel Settings", AssetFactory.loadIcon("Design-Parameter-Adjustment.png"));
    callbackMapForTreeitems.put(parallel, () -> {
        if (widgetMapForTreeitems.get(parallel) == null) {
            // first time
            try {
                widgetMapForTreeitems.put(parallel, new ParallelWidget(base, dh, creatureLab));
            } catch (Exception ex) {
                BowlerStudio.printStackTrace(ex);
            }
        }
        ((ParallelWidget) widgetMapForTreeitems.get(parallel)).configure(base, dh, creatureLab);
    });
    dhItem.getChildren().addAll(parallel);
    TreeItem<String> PlaceLimb = new TreeItem<>("Move Root Of Limb", AssetFactory.loadIcon("Design-Parameter-Adjustment.png"));
    callbackMapForTreeitems.put(PlaceLimb, () -> {
        if (widgetMapForTreeitems.get(PlaceLimb) == null) {
            // first time
            try {
                widgetMapForTreeitems.put(PlaceLimb, new Group(new TransformWidget("Move place where limb is attached to body", dh.getRobotToFiducialTransform(), new IOnTransformChange() {

                    @Override
                    public void onTransformFinished(TransformNR newTrans) {
                        // Force a cad regeneration
                        creatureLab.onSliderDoneMoving(null, 0);
                    }

                    @Override
                    public void onTransformChaging(TransformNR newTrans) {
                        Log.debug("Limb to base" + newTrans.toString());
                        dh.setRobotToFiducialTransform(newTrans);
                        dh.refreshPose();
                    }
                })));
            } catch (Exception ex) {
                BowlerStudio.printStackTrace(ex);
            }
        }
    });
    dhItem.getChildren().addAll(PlaceLimb);
    // });
    if (creatureIsOwnedByUser) {
        // TreeItem<String> owner = new
        // TreeItem<>("Scripts",AssetFactory.loadIcon("Owner.png"));
        TreeItem<String> setCAD = new TreeItem<>("Set CAD Engine...", AssetFactory.loadIcon("Set-CAD-Engine.png"));
        callbackMapForTreeitems.put(setCAD, () -> {
            PromptForGit.prompt("Select a CAD Engine From Git", dh.getGitCadEngine()[0], (gitsId, file) -> {
                Log.warn("Loading cad engine");
                try {
                    creatureLab.setGitCadEngine(gitsId, file, dh);
                    openCadTab(creatureLab, gitsId, file);
                } catch (Exception e) {
                    // TODO Auto-generated catch block
                    e.printStackTrace();
                }
            });
        });
        TreeItem<String> editCAD = new TreeItem<>("Edit CAD Engine...", AssetFactory.loadIcon("Edit-CAD-Engine.png"));
        callbackMapForTreeitems.put(editCAD, () -> {
            try {
                openCadTab(creatureLab, dh.getGitCadEngine()[0], dh.getGitCadEngine()[1]);
            } catch (Exception e) {
                // TODO Auto-generated catch block
                e.printStackTrace();
            }
        });
        TreeItem<String> resetWalking = new TreeItem<>("Set Dh Kinematics Engine...", AssetFactory.loadIcon("Set-DH-Kinematics.png"));
        callbackMapForTreeitems.put(resetWalking, () -> {
            PromptForGit.prompt("Select a DH Solver Engine From Git", dh.getGitDhEngine()[0], (gitsId, file) -> {
                Log.warn("Loading walking engine");
                try {
                    creatureLab.setGitDhEngine(gitsId, file, dh);
                    File code = ScriptingEngine.fileFromGit(gitsId, file);
                    BowlerStudio.createFileTab(code);
                } catch (Exception e) {
                    // TODO Auto-generated catch block
                    e.printStackTrace();
                }
            });
        });
        TreeItem<String> editWalking = new TreeItem<>("Edit Kinematics Engine...", AssetFactory.loadIcon("Edit-Kinematics-Engine.png"));
        callbackMapForTreeitems.put(editWalking, () -> {
            try {
                File code = ScriptingEngine.fileFromGit(dh.getGitDhEngine()[0], dh.getGitDhEngine()[1]);
                BowlerStudio.createFileTab(code);
            } catch (Exception e) {
                // TODO Auto-generated catch block
                e.printStackTrace();
            }
        });
        dhItem.getChildren().addAll(editWalking, editCAD, resetWalking, setCAD);
    }
    rootItem.getChildren().add(dhItem);
    double[] vect = dh.getCurrentJointSpaceVector();
    for (int i = 0; i < vect.length; i++) {
        vect[i] = 0;
    }
    try {
        dh.setDesiredJointSpaceVector(vect, 1);
    } catch (Exception e) {
        // TODO Auto-generated catch block
        e.printStackTrace();
    }
    dh.updateCadLocations();
}

Example 9 with TransformNR

use of com.neuronrobotics.sdk.addons.kinematics.math.TransformNR in project BowlerStudio by CommonWealthRobotics.

the class TransformWidget method updatePose.

public void updatePose(TransformNR p) {
    TransformNR pose = p;
    Platform.runLater(() -> tx.setValue(pose.getX()));
    Platform.runLater(() -> ty.setValue(pose.getY()));
    Platform.runLater(() -> tz.setValue(pose.getZ()));
    RotationNR rot = pose.getRotation();
    double t = 0;
    try {
        t = Math.toDegrees(rot.getRotationTilt());
    } catch (Exception ex) {
        ex.printStackTrace();
    }
    double e = 0;
    try {
        e = Math.toDegrees(rot.getRotationElevation());
    } catch (Exception ex) {
        ex.printStackTrace();
    }
    double a = 0;
    try {
        a = Math.toDegrees(rot.getRotationAzimuth());
    } catch (Exception ex) {
        ex.printStackTrace();
    }
    double tiltVar = t;
    double eVar = e;
    double aVar = a;
    Platform.runLater(() -> tilt.setValue(tiltVar));
    Platform.runLater(() -> elevation.setValue(eVar));
    Platform.runLater(() -> azimeth.setValue(aVar));
    // Set the rotation after setting the UI so the read will load the rotation in its pure form
    initialState = p;
}

Example 10 with TransformNR

use of com.neuronrobotics.sdk.addons.kinematics.math.TransformNR in project BowlerStudio by CommonWealthRobotics.

the class JogMobileBase method controllerLoop.

private void controllerLoop() {
    new Thread(() -> {
        // System.out.println("controllerLoop");
        double seconds = .1;
        if (stop == false) {
            try {
                seconds = Double.parseDouble(sec.getText());
                if (!stop) {
                    double inc;
                    try {
                        // convert to mm
                        inc = Double.parseDouble(increment.getText()) * 1000 * seconds;
                    } catch (Exception e) {
                        inc = defauletSpeed;
                        Platform.runLater(() -> {
                            try {
                                increment.setText(Double.toString(defauletSpeed));
                            } catch (Exception ex) {
                                ex.printStackTrace();
                            }
                        });
                    }
                    // double rxl=0;
                    double ryl = inc / 20 * slider;
                    double rzl = inc / 2 * rz;
                    TransformNR current = new TransformNR(0, 0, 0, new RotationNR(0, rzl, 0));
                    current.translateX(inc * x);
                    current.translateY(inc * y);
                    current.translateZ(inc * slider);
                    try {
                        TransformNR toSet = current.copy();
                        double toSeconds = seconds;
                        JogThread.setTarget(mobilebase, toSet, toSeconds);
                    } catch (Exception e) {
                        // TODO Auto-generated catch block
                        e.printStackTrace();
                    }
                }
            } catch (Exception e) {
                e.printStackTrace();
            }
            if (seconds < .01) {
                seconds = .01;
                Platform.runLater(() -> sec.setText(".01"));
            }
            FxTimer.runLater(Duration.ofMillis((int) (seconds * 1000.0)), new Runnable() {

                @Override
                public void run() {
                    controllerLoop();
                // System.out.println("Controller loop!");
                }
            });
        }
    }).start();
}