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ui.py
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# ui.py -- A VTK "Widget" for displaying robots
# -*- coding: utf-8 -*-
#
# Written by Jonathan Kleinehellefort <[email protected]>.
#
# Copyright 2008 Lehrstuhl Bildverstehen und wissensbasierte Systeme,
# Technische Universität München
#
# This file is part of RoboView.
#
# RoboView 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 3 of the License, or
# (at your option) any later version.
#
# RoboView 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 PyPlayerCGen. If
# not, see <http://www.gnu.org/licenses/>.
__all__ = ['RobotWidget']
from display import *
from math import pi, sqrt, acos, sin
arrow_size=0.10
basic_arrow = scale(arrow_size,arrow_size,arrow_size, arrow)
x_arrow = basic_arrow
y_arrow = rotate_z(pi/2, basic_arrow)
z_arrow = rotate_y(-pi/2, basic_arrow)
cylinder_size=0.04
cube_size=0.04
sphere_size=0.04
link_size=0.02
x_cylinder = scale(cylinder_size,cylinder_size, cylinder_size, rotate_z(pi/2, cylinder))
y_cylinder = scale(cylinder_size, cylinder_size, cylinder_size, cylinder)
z_cylinder = scale(cylinder_size, cylinder_size, cylinder_size, rotate_x(pi/2, cylinder))
hx_cylinder = scale(.5, 1, 1, x_cylinder)
joint_cube = scale(cube_size, cube_size, cube_size, cube)
transx_cylinder = scale(cylinder_size, .03, .03, translate(.5, 0, 0,
rotate_z(pi/2, cylinder)))
link_cylinder = translate(0.5, 0, 0,
scale(1, link_size, link_size,
rotate_z(-pi/2, cylinder)))
ef_sphere = scale(sphere_size, sphere_size, sphere_size, sphere)
def vec_abs(v):
x, y, z = v
return sqrt(x*x + y*y + z*z)
def vec_smul(u, v):
ux, uy, uz = u
vx, vy, vz = v
return ux*vx + uy*vy + uz*vz
def vec_xmul(u, v):
ux, uy, uz = u
vx, vy, vz = v
return uy*vz - uz*vy, uz*vx - ux*vz, ux*vy - uy*vx
def vec_xmul_len(u, v):
ret = vec_abs(u) * vec_abs(v) * sin(vec_ang(u, v) - pi/2)
return ret
def vec_ang(u, v):
if vec_abs(u) * vec_abs(v) == 0.0:
return 0.0
ret = acos(vec_smul(u, v) / (vec_abs(u) * vec_abs(v)))
print 'ret', ret
return ret
def vec_s(v, s):
return [ve * s for ve in v]
def vec_add(u, v):
return [ue + ve for ue, ve in zip(u, v)]
def vec_sub(u, v):
return [ue - ve for ue, ve in zip(u, v)]
def matrix_x_dir(m):
return m[0, 0], m[1, 0], m[2, 0]
def matrix_y_dir(m):
return m[0, 1], m[1, 1], m[2, 1]
def matrix_z_dir(m):
return m[0, 2], m[1, 2], m[2, 2]
def vec_from_matrix(m):
return m.p[0], m.p[1], m.p[2]
def normalize(v):
a = vec_abs(v)
return v[0] / a, v[1] / a, v[2] / a
def make_vector_x_base(m, v):
'''Make v the base of the x axis in matrix m.'''
if v[1] == 0 and v[2] == 0:
w = (0, 1, 0)
u = (0, 0, 1)
else:
w = normalize((0, -v[2], v[1]))
u = normalize((v[1]**2 + v[2]**2, v[0] * v[1], -v[0] * v[2]))
m[0, 0] = v[0]
m[1, 0] = v[1]
m[2, 0] = v[2]
m[0, 1] = w[0]
m[1, 1] = w[1]
m[2, 1] = w[2]
m[0, 2] = u[0]
m[1, 2] = u[1]
m[2, 2] = u[2]
def make_link_cylinder(joint):
frame = joint.static_transform.Inverse()
link_frame = MatrixTransform()
make_vector_x_base(link_frame, vec_from_matrix(frame))
return link_frame(link_cylinder)
class JointWidget(object):
def __init__(self, frame, joint=None, type='rot_z'):
self.frame = frame
self.joint = joint
self.rotate_handler = lambda x: None
self.type = type
def add_to(self, display):
t = self.frame
display.add(id(self), t(x_arrow), color=(1, 0, 0))
display.add(id(self), t(y_arrow), color=(0, 1, 0))
display.add(id(self), t(z_arrow), color=(0, 0, 1))
display.add(id(self), t({'rot_x': x_cylinder,
'rot_y': y_cylinder,
'rot_z': z_cylinder}[self.type]))
if self.joint is not None:
display.add(None, t(make_link_cylinder(self.joint)), opacity=.3)
def handle_button_press(*args):
display.enable(id(self))
display.register(None, id(self), 'button-press', handle_button_press)
def handle_button_release(*args):
display.enable(None)
display.register(id(self), None, 'button-release',
handle_button_release)
def handle_move(dx, dy, dv, dr):
e = {'rot_x': matrix_x_dir,
'rot_y': matrix_y_dir,
'rot_z': matrix_z_dir}[self.type](self.frame)
self.rotate_handler(vec_smul(dr, e))
display.register(id(self), None, 'move', handle_move)
def update(self, frame, value):
for i, j in [(i, j) for i in range(3) for j in range(4)]:
self.frame[i, j] = frame[i, j]
class TransJointWidget(object):
def __init__(self, frame, joint=None, type='trans_z'):
self.frame = frame
self.joint = joint
self.rotate_handler = lambda x: None
self.type = type
self.len_frame = MatrixTransform()
def add_to(self, display):
dir = {'trans_x': lambda n: n,
'trans_y': lambda n: rotate_z(pi/2, n),
'trans_z': lambda n: rotate_y(-pi/2, n)}[self.type]
t = self.frame
display.add(id(self), t(x_arrow), color=(1, 0, 0))
display.add(id(self), t(y_arrow), color=(0, 1, 0))
display.add(id(self), t(z_arrow), color=(0, 0, 1))
display.add(id(self), t(dir(hx_cylinder)))
display.add(id(self), t(dir(translate(-1/40.0, 0, 0, self.len_frame(transx_cylinder)))))
if self.joint is not None:
display.add(None, t(make_link_cylinder(self.joint)), opacity=.3)
def handle_button_press(*args):
display.enable(id(self))
display.register(None, id(self), 'button-press', handle_button_press)
def handle_button_release(*args):
display.enable(None)
display.register(id(self), None, 'button-release',
handle_button_release)
def handle_move(dx, dy, dv, dr):
e = {'trans_x': matrix_x_dir,
'trans_y': matrix_y_dir,
'trans_z': matrix_z_dir}[self.type](self.frame)
self.rotate_handler(-.3 * vec_smul(dv, e))
display.register(id(self), None, 'move', handle_move)
def update(self, frame, value):
for i, j in [(i, j) for i in range(3) for j in range(4)]:
self.frame[i, j] = frame[i, j]
self.len_frame[0, 0] = 20 * value + 1
class NoneJointWidget(object):
def __init__(self, frame, joint=None):
self.frame = frame
self.joint = joint
def add_to(self, display):
t = self.frame
display.add(id(self), t(x_arrow), color=(1, 0, 0))
display.add(id(self), t(y_arrow), color=(0, 1, 0))
display.add(id(self), t(z_arrow), color=(0, 0, 1))
display.add(id(self), t(joint_cube))
if self.joint is not None:
display.add(None, t(make_link_cylinder(self.joint)), opacity=.3)
def update(self, frame, value):
for i, j in [(i, j) for i in range(3) for j in range(4)]:
self.frame[i, j] = frame[i, j]
class EndEffectorWidget(object):
def __init__(self, frame, joint=None):
self.frame = frame
self.joint = joint
self.rotate_handler = lambda x: None
def add_to(self, display):
t = self.frame
display.add(id(self), t(x_arrow), color=(1, 0, 0))
display.add(id(self), t(y_arrow), color=(0, 1, 0))
display.add(id(self), t(z_arrow), color=(0, 0, 1))
display.add(id(self), t(ef_sphere))
if self.joint is not None:
display.add(None, t(make_link_cylinder(self.joint)), opacity=.3)
def handle_button_press(x, y, n):
if n == 1:
display.enable((id(self), 'rotating'))
elif n == 2:
display.enable((id(self), 'translating'))
display.register(None, id(self), 'button-press', handle_button_press)
def handle_button_release(*args):
display.enable(None)
display.register((id(self), 'rotating'), None, 'button-release',
handle_button_release)
display.register((id(self), 'translating'), None, 'button-release',
handle_button_release)
def handle_translate(dx, dy, dv, dr):
self.translate_handler(dv)
display.register((id(self), 'translating'), None, 'move',
handle_translate)
def handle_rotate(dx, dy, dv, dr):
self.rotate_handler(dr)
display.register((id(self), 'rotating'), None, 'move', handle_rotate)
def update(self, frame):
for i, j in [(i, j) for i in range(3) for j in range(4)]:
self.frame[i, j] = frame[i, j]
class RobotWidget(object):
def __init__(self, robot):
self.joint_widgets = []
joints = [j for j in robot]
for j_prev, j in zip([None] + joints[:-1], joints):
if j.type == 'none':
self.joint_widgets.append(NoneJointWidget(MatrixTransform(), j_prev))
elif j.type in ('rot_x', 'rot_y', 'rot_z'):
self.joint_widgets.append(JointWidget(MatrixTransform(),
j_prev, j.type))
else:
self.joint_widgets.append(TransJointWidget(MatrixTransform(),
j_prev, j.type))
self.ef_widget = EndEffectorWidget(MatrixTransform(), joints[-1])
def add_to(self, display):
for widget in self.joint_widgets:
widget.add_to(display)
self.ef_widget.add_to(display)
def update(self, frames):
for f, widget in zip(frames, self.joint_widgets + [self.ef_widget]):
widget.update(f)