From 33769a7a87bd4fbd0e51cdbb9783eadf6ff4198f Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Sun, 3 Feb 2019 09:20:06 +0100
Subject: [PATCH] Filled in the Picker GUI and connected all the buttons to Qt
code. Next step is to integrate the Picker GUI with ROS
---
.../forms/pickercontrollertab.ui | 2548 ++++++++++++++++-
.../include/pickercontrollertab.h | 186 ++
.../src/pickercontrollertab.cpp | 1337 +++++++++
3 files changed, 4065 insertions(+), 6 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/pickercontrollertab.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/pickercontrollertab.ui
index 0b90bdd1..0527a979 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/pickercontrollertab.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/pickercontrollertab.ui
@@ -6,20 +6,2556 @@
<rect>
<x>0</x>
<y>0</y>
- <width>400</width>
- <height>300</height>
+ <width>1978</width>
+ <height>1188</height>
</rect>
</property>
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ </font>
+ </property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
- <widget class="QLabel" name="label">
- <property name="text">
- <string>Picker</string>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <property name="leftMargin">
+ <number>6</number>
+ </property>
+ <property name="topMargin">
+ <number>6</number>
+ </property>
+ <property name="rightMargin">
+ <number>6</number>
+ </property>
+ <property name="bottomMargin">
+ <number>6</number>
</property>
- </widget>
+ <item row="1" column="0">
+ <widget class="Line" name="line_15">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="1">
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="4" column="0">
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="0" column="0">
+ <layout class="QGridLayout" name="gridLayout_3">
+ <property name="leftMargin">
+ <number>6</number>
+ </property>
+ <property name="topMargin">
+ <number>6</number>
+ </property>
+ <property name="rightMargin">
+ <number>6</number>
+ </property>
+ <property name="bottomMargin">
+ <number>6</number>
+ </property>
+ <item row="19" column="3">
+ <widget class="Line" name="line_24">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="16" column="6">
+ <widget class="QLineEdit" name="lineEdit_increment_y">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="8" column="3">
+ <layout class="QHBoxLayout" name="horizontalLayout_22">
+ <item>
+ <widget class="QCheckBox" name="checkbox_goto_end">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="8" column="4">
+ <layout class="QHBoxLayout" name="horizontalLayout_13">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_goto_end_x">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_goto_end_inc_minus_x">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_goto_end_inc_plus_x">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="8" column="8">
+ <layout class="QHBoxLayout" name="horizontalLayout_35">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_goto_end_yaw">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_goto_end_inc_minus_yaw">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_goto_end_inc_plus_yaw">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="16" column="7">
+ <widget class="QLineEdit" name="lineEdit_increment_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_4">
+ <item>
+ <widget class="QPushButton" name="button_lift_up">
+ <property name="text">
+ <string>Lift Up</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QFrame" name="frame_lift_up_active">
+ <property name="minimumSize">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>20</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:green;</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="12" column="6">
+ <widget class="Line" name="line_4">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="17" column="8">
+ <widget class="Line" name="line_13">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="9" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_6">
+ <item>
+ <widget class="QPushButton" name="button_put_down">
+ <property name="text">
+ <string>Put Down</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QFrame" name="frame_put_down_active">
+ <property name="minimumSize">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>20</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:green;</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_function_column">
+ <property name="text">
+ <string>Function</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="3">
+ <widget class="QLabel" name="label_smooth_column">
+ <property name="text">
+ <string>Smooth</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_3">
+ <item>
+ <widget class="QPushButton" name="button_attach">
+ <property name="text">
+ <string>Attach</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QFrame" name="frame_attach_active">
+ <property name="minimumSize">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>20</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:green;</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="10" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_7">
+ <item>
+ <widget class="QPushButton" name="button_squat">
+ <property name="text">
+ <string>Squaut</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QFrame" name="frame_squat_active">
+ <property name="minimumSize">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>20</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:green;</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="5" column="8">
+ <layout class="QHBoxLayout" name="horizontalLayout_34">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_goto_start_yaw">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_goto_start_inc_minus_yaw">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_goto_start_inc_plus_yaw">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="18" column="0">
+ <widget class="QLabel" name="label_current">
+ <property name="text">
+ <string>Current:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="18" column="8">
+ <widget class="QLineEdit" name="lineEdit_current_yaw">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="12" column="0">
+ <widget class="Line" name="line">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="7">
+ <widget class="QLabel" name="label_z_column">
+ <property name="text">
+ <string>z[m]</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="4">
+ <widget class="QLabel" name="label_x_column">
+ <property name="text">
+ <string>x[m]</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="12" column="9">
+ <widget class="Line" name="line_7">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="18" column="4">
+ <widget class="QLineEdit" name="lineEdit_current_x">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="8" column="6">
+ <layout class="QHBoxLayout" name="horizontalLayout_21">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_goto_end_y">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_goto_end_inc_minus_y">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_goto_end_inc_plus_y">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="2" column="6">
+ <widget class="QLabel" name="label_y_column">
+ <property name="text">
+ <string>y[m]</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="8" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_5">
+ <item>
+ <widget class="QPushButton" name="button_goto_end">
+ <property name="text">
+ <string>Goto End</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QFrame" name="frame_goto_end_active">
+ <property name="minimumSize">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>20</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:green;</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="14" column="6">
+ <layout class="QHBoxLayout" name="horizontalLayout_17">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_standby_y">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_stanby_inc_minus_y">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_stanby_inc_plus_y">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="5" column="7">
+ <layout class="QHBoxLayout" name="horizontalLayout_26">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_goto_start_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_goto_start_inc_minus_z">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_goto_start_inc_plus_z">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="16" column="8">
+ <widget class="QLineEdit" name="lineEdit_increment_yaw">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="21" column="8">
+ <widget class="Line" name="line_35">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="16" column="9">
+ <widget class="QLineEdit" name="lineEdit_increment_mass">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="11" column="7">
+ <layout class="QHBoxLayout" name="horizontalLayout_32">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_jump_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_jump_inc_minus_z">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_jump_inc_plus_z">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="18" column="7">
+ <widget class="QLineEdit" name="lineEdit_current_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="17" column="0">
+ <widget class="Line" name="line_8">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="9">
+ <widget class="QLabel" name="label_mass_column">
+ <property name="text">
+ <string>mass[g]</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="12" column="8">
+ <widget class="Line" name="line_6">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="3">
+ <layout class="QHBoxLayout" name="horizontalLayout_16">
+ <item>
+ <widget class="QCheckBox" name="checkbox_attach">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="5" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <widget class="QPushButton" name="button_goto_start">
+ <property name="text">
+ <string>Goto Start</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QFrame" name="frame_goto_start_active">
+ <property name="minimumSize">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>20</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:green;</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="7" column="7">
+ <layout class="QHBoxLayout" name="horizontalLayout_28">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_lift_up_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_lift_up_inc_minus_z">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_lift_up_inc_plus_z">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="17" column="9">
+ <widget class="Line" name="line_14">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="16" column="4">
+ <widget class="QLineEdit" name="lineEdit_increment_x">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="9">
+ <layout class="QHBoxLayout" name="horizontalLayout_44">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_lift_up_mass">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_lift_up_inc_minus_mass">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_lift_up_inc_plus_mass">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="18" column="6">
+ <widget class="QLineEdit" name="lineEdit_current_y">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="12" column="3">
+ <widget class="Line" name="line_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="17" column="4">
+ <widget class="Line" name="line_10">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="8">
+ <widget class="QLabel" name="label_yaw_column">
+ <property name="text">
+ <string>yaw[deg]</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="17" column="6">
+ <widget class="Line" name="line_11">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="11" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_8">
+ <item>
+ <widget class="QPushButton" name="button_jump">
+ <property name="text">
+ <string>Jump</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QFrame" name="frame_jump_active">
+ <property name="minimumSize">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>20</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:green;</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="10" column="7">
+ <layout class="QHBoxLayout" name="horizontalLayout_31">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_squat_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_squat_inc_minus_z">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_squat_inc_plus_z">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="17" column="7">
+ <widget class="Line" name="line_12">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="7">
+ <layout class="QHBoxLayout" name="horizontalLayout_27">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_attach_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_attach_inc_minus_z">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_attach_inc_plus_z">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="14" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QPushButton" name="button_standby">
+ <property name="text">
+ <string>Standby</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QFrame" name="frame_standby_active">
+ <property name="minimumSize">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>20</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:green;</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="5" column="4">
+ <layout class="QHBoxLayout" name="horizontalLayout_10">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_goto_start_x">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_goto_start_inc_minus_x">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_goto_start_inc_plus_x">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="12" column="7">
+ <widget class="Line" name="line_5">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="16" column="0">
+ <widget class="QLabel" name="label_increment">
+ <property name="text">
+ <string>Increment:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="6">
+ <layout class="QHBoxLayout" name="horizontalLayout_18">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_goto_start_y">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_goto_start_inc_minus_y">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_goto_start_inc_plus_y">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="9" column="7">
+ <layout class="QHBoxLayout" name="horizontalLayout_30">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_put_down_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_put_down_inc_minus_z">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_put_down_inc_plus_z">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="12" column="4">
+ <widget class="Line" name="line_3">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="17" column="3">
+ <widget class="Line" name="line_9">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="15" column="0">
+ <widget class="Line" name="line_16">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="14" column="8">
+ <layout class="QHBoxLayout" name="horizontalLayout_33">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_standby_yaw">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_stanby_inc_minus_yaw">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_stanby_inc_plus_yaw">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="14" column="4">
+ <layout class="QHBoxLayout" name="horizontalLayout_9">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_standby_x">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_stanby_inc_minus_x">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_stanby_inc_plus_x">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="5" column="3">
+ <layout class="QHBoxLayout" name="horizontalLayout_14">
+ <item>
+ <widget class="QCheckBox" name="checkbox_goto_start">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="11" column="3">
+ <layout class="QHBoxLayout" name="horizontalLayout_29">
+ <item>
+ <widget class="QCheckBox" name="checkbox_jump">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="15" column="3">
+ <widget class="Line" name="line_17">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="9" column="3">
+ <layout class="QHBoxLayout" name="horizontalLayout_23">
+ <item>
+ <widget class="QCheckBox" name="checkbox_put_down">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="7" column="3">
+ <layout class="QHBoxLayout" name="horizontalLayout_19">
+ <item>
+ <widget class="QCheckBox" name="checkbox_lift_up">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="14" column="3">
+ <layout class="QHBoxLayout" name="horizontalLayout_11">
+ <item>
+ <widget class="QCheckBox" name="checkbox_standby">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ <property name="checked">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="10" column="3">
+ <layout class="QHBoxLayout" name="horizontalLayout_24">
+ <item>
+ <widget class="QCheckBox" name="checkbox_squat">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="14" column="7">
+ <layout class="QHBoxLayout" name="horizontalLayout_25">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_standby_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_stanby_inc_minus_z">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_stanby_inc_plus_z">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="15" column="4">
+ <widget class="Line" name="line_18">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="14" column="9">
+ <layout class="QHBoxLayout" name="horizontalLayout_41">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_standby_mass">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_stanby_inc_minus_mass">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="button_stanby_inc_plus_mass">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="15" column="6">
+ <widget class="Line" name="line_19">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="15" column="7">
+ <widget class="Line" name="line_20">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="15" column="8">
+ <widget class="Line" name="line_21">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="15" column="9">
+ <widget class="Line" name="line_22">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="20" column="0">
+ <widget class="QLabel" name="label_error">
+ <property name="text">
+ <string>Error:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="22" column="0">
+ <widget class="QLabel" name="label_measured">
+ <property name="text">
+ <string>Measured:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="18" column="9">
+ <widget class="QLineEdit" name="lineEdit">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="19" column="0">
+ <widget class="Line" name="line_23">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="21" column="9">
+ <widget class="Line" name="line_36">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="19" column="4">
+ <widget class="Line" name="line_25">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="19" column="6">
+ <widget class="Line" name="line_26">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="19" column="7">
+ <widget class="Line" name="line_27">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="19" column="9">
+ <widget class="Line" name="line_29">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="19" column="8">
+ <widget class="Line" name="line_28">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="21" column="3">
+ <widget class="Line" name="line_31">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="21" column="0">
+ <widget class="Line" name="line_30">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="21" column="4">
+ <widget class="Line" name="line_32">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="21" column="6">
+ <widget class="Line" name="line_33">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="21" column="7">
+ <widget class="Line" name="line_34">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="18" column="3">
+ <layout class="QHBoxLayout" name="horizontalLayout_15">
+ <item>
+ <widget class="QCheckBox" name="checkbox_current">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="20" column="4">
+ <widget class="QLineEdit" name="lineEdit_error_x">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="20" column="6">
+ <widget class="QLineEdit" name="lineEdit_error_y">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="20" column="7">
+ <widget class="QLineEdit" name="lineEdit_error_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="20" column="8">
+ <widget class="QLineEdit" name="lineEdit_error_yaw">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="22" column="4">
+ <widget class="QLineEdit" name="lineEdit_measured_x">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="22" column="7">
+ <widget class="QLineEdit" name="lineEdit_measured_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="22" column="6">
+ <widget class="QLineEdit" name="lineEdit_measured_y">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="22" column="8">
+ <widget class="QLineEdit" name="lineEdit_measured_yaw">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="2" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_12">
+ <property name="leftMargin">
+ <number>6</number>
+ </property>
+ <property name="topMargin">
+ <number>6</number>
+ </property>
+ <item>
+ <widget class="QCheckBox" name="checkbox_should_publish_value_changed">
+ <property name="maximumSize">
+ <size>
+ <width>40</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_should_publish_value_changed">
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>Publish setpoint change everytime a {x,y,z,yaw,mass} value is changed?</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="3" column="0">
+ <widget class="Line" name="line_37">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
</item>
</layout>
</widget>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/pickercontrollertab.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/pickercontrollertab.h
index c8c83a3a..1a49ebd6 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/pickercontrollertab.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/pickercontrollertab.h
@@ -2,6 +2,34 @@
#define PICKERCONTROLLERTAB_H
#include <QWidget>
+#include <QVector>
+
+#define DECIMAL_PLACES_POSITION 2
+#define DECIMAL_PLACES_ANGLE_DEGREES 1
+#define DECIMAL_PLACES_MASS_GRAMS 1
+
+#define DEFAULT_INCREMENT_POSITION_XY 0.01
+#define DEFAULT_INCREMENT_POSITION_Z 0.01
+#define DEFAULT_INCREMENT_ANGLE_DEGREES 5
+#define DEFAULT_INCREMENT_MASS_GRAMS 1
+
+#define PICKER_STATE_UNKNOWN -1
+#define PICKER_STATE_STANDBY 0
+#define PICKER_STATE_GOTO_START 1
+#define PICKER_STATE_ATTACH 2
+#define PICKER_STATE_LIFT 3
+#define PICKER_STATE_GOTO_END 4
+#define PICKER_STATE_PUT_DOWN 5
+#define PICKER_STATE_SQUAT 6
+#define PICKER_STATE_JUMP 7
+
+#define PICKER_DEFAULT_X 0
+#define PICKER_DEFAULT_Y 0
+#define PICKER_DEFAULT_Z 0.4
+#define PICKER_DEFAULT_YAW_DEGREES 0
+#define PICKER_DEFAULT_MASS_GRAMS 30
+
+
namespace Ui {
class PickerControllerTab;
@@ -15,6 +43,164 @@ public:
explicit PickerControllerTab(QWidget *parent = 0);
~PickerControllerTab();
+private:
+ int current_picker_state = PICKER_STATE_STANDBY;
+
+ void publish_setpoint_if_current_state_matches(QVector<int> state_to_match);
+
+ void publish_request_setpoint_change_for_state(int state_to_publish);
+
+private slots:
+ void on_button_goto_start_clicked();
+
+ void on_button_attach_clicked();
+
+ void on_button_lift_up_clicked();
+
+ void on_button_goto_end_clicked();
+
+ void on_button_put_down_clicked();
+
+ void on_button_squat_clicked();
+
+ void on_button_jump_clicked();
+
+ void on_button_standby_clicked();
+
+ void on_checkbox_goto_start_clicked();
+
+ void on_checkbox_attach_clicked();
+
+ void on_checkbox_lift_up_clicked();
+
+ void on_checkbox_goto_end_clicked();
+
+ void on_checkbox_put_down_clicked();
+
+ void on_checkbox_squat_clicked();
+
+ void on_checkbox_jump_clicked();
+
+ void on_checkbox_standby_clicked();
+
+ void on_button_goto_start_inc_minus_x_clicked();
+
+ void on_button_goto_start_inc_plus_x_clicked();
+
+ void on_button_goto_start_inc_minus_y_clicked();
+
+ void on_button_goto_start_inc_plus_y_clicked();
+
+ void on_button_goto_start_inc_minus_z_clicked();
+
+ void on_button_goto_start_inc_plus_z_clicked();
+
+ void on_button_goto_start_inc_minus_yaw_clicked();
+
+ void on_button_goto_start_inc_plus_yaw_clicked();
+
+ void on_button_attach_inc_minus_z_clicked();
+
+ void on_button_attach_inc_plus_z_clicked();
+
+ void on_button_lift_up_inc_minus_z_clicked();
+
+ void on_button_lift_up_inc_plus_z_clicked();
+
+ void on_button_lift_up_inc_minus_mass_clicked();
+
+ void on_button_lift_up_inc_plus_mass_clicked();
+
+ void on_button_goto_end_inc_minus_x_clicked();
+
+ void on_button_goto_end_inc_plus_x_clicked();
+
+ void on_button_goto_end_inc_minus_y_clicked();
+
+ void on_button_goto_end_inc_plus_y_clicked();
+
+ void on_button_goto_end_inc_minus_yaw_clicked();
+
+ void on_button_goto_end_inc_plus_yaw_clicked();
+
+ void on_button_put_down_inc_minus_z_clicked();
+
+ void on_button_put_down_inc_plus_z_clicked();
+
+ void on_button_squat_inc_minus_z_clicked();
+
+ void on_button_squat_inc_plus_z_clicked();
+
+ void on_button_jump_inc_minus_z_clicked();
+
+ void on_button_jump_inc_plus_z_clicked();
+
+ void on_button_stanby_inc_minus_x_clicked();
+
+ void on_button_stanby_inc_plus_x_clicked();
+
+ void on_button_stanby_inc_minus_y_clicked();
+
+ void on_button_stanby_inc_plus_y_clicked();
+
+ void on_button_stanby_inc_minus_z_clicked();
+
+ void on_button_stanby_inc_plus_z_clicked();
+
+ void on_button_stanby_inc_minus_yaw_clicked();
+
+ void on_button_stanby_inc_plus_yaw_clicked();
+
+ void on_button_stanby_inc_minus_mass_clicked();
+
+ void on_button_stanby_inc_plus_mass_clicked();
+
+ void on_lineEdit_goto_start_x_editingFinished();
+
+ void on_lineEdit_goto_start_y_editingFinished();
+
+ void on_lineEdit_goto_start_z_editingFinished();
+
+ void on_lineEdit_goto_start_yaw_editingFinished();
+
+ void on_lineEdit_attach_z_editingFinished();
+
+ void on_lineEdit_lift_up_z_editingFinished();
+
+ void on_lineEdit_lift_up_mass_editingFinished();
+
+ void on_lineEdit_goto_end_x_editingFinished();
+
+ void on_lineEdit_goto_end_y_editingFinished();
+
+ void on_lineEdit_goto_end_yaw_editingFinished();
+
+ void on_lineEdit_put_down_z_editingFinished();
+
+ void on_lineEdit_squat_z_editingFinished();
+
+ void on_lineEdit_jump_z_editingFinished();
+
+ void on_lineEdit_standby_x_editingFinished();
+
+ void on_lineEdit_standby_y_editingFinished();
+
+ void on_lineEdit_standby_z_editingFinished();
+
+ void on_lineEdit_standby_yaw_editingFinished();
+
+ void on_lineEdit_standby_mass_editingFinished();
+
+ void on_lineEdit_increment_x_editingFinished();
+
+ void on_lineEdit_increment_y_editingFinished();
+
+ void on_lineEdit_increment_z_editingFinished();
+
+ void on_lineEdit_increment_yaw_editingFinished();
+
+ void on_lineEdit_increment_mass_editingFinished();
+
private:
Ui::PickerControllerTab *ui;
};
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/pickercontrollertab.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/pickercontrollertab.cpp
index f71f7205..f8cc168e 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/pickercontrollertab.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/pickercontrollertab.cpp
@@ -6,9 +6,1346 @@ PickerControllerTab::PickerControllerTab(QWidget *parent) :
ui(new Ui::PickerControllerTab)
{
ui->setupUi(this);
+
+
+ // HIDE ALL THE "GREEN FRAMES"
+ ui->frame_goto_start_active->setVisible(false);
+ ui->frame_attach_active->setVisible(false);
+ ui->frame_lift_up_active->setVisible(false);
+ ui->frame_goto_end_active->setVisible(false);
+ ui->frame_put_down_active->setVisible(false);
+ ui->frame_squat_active->setVisible(false);
+ ui->frame_jump_active->setVisible(false);
+ ui->frame_standby_active->setVisible(false);
+
+ // SET DEFAULTS FOR THE INCREMENT
+ ui->lineEdit_increment_x ->setText(QString::number( DEFAULT_INCREMENT_POSITION_XY, 'f', DECIMAL_PLACES_POSITION));
+ ui->lineEdit_increment_y ->setText(QString::number( DEFAULT_INCREMENT_POSITION_XY, 'f', DECIMAL_PLACES_POSITION));
+ ui->lineEdit_increment_z ->setText(QString::number( DEFAULT_INCREMENT_POSITION_Z, 'f', DECIMAL_PLACES_POSITION));
+ ui->lineEdit_increment_yaw ->setText(QString::number( DEFAULT_INCREMENT_ANGLE_DEGREES, 'f', DECIMAL_PLACES_ANGLE_DEGREES));
+ ui->lineEdit_increment_mass->setText(QString::number( DEFAULT_INCREMENT_MASS_GRAMS, 'f', DECIMAL_PLACES_MASS_GRAMS));
+
+ // SET THE INITIAL CHECKBOX STATE FOR SMOOTHING
+ ui->checkbox_goto_start->setChecked(true);
+ ui->checkbox_attach ->setChecked(true);
+ ui->checkbox_lift_up ->setChecked(true);
+ ui->checkbox_goto_end ->setChecked(true);
+ ui->checkbox_put_down ->setChecked(true);
+ ui->checkbox_squat ->setChecked(true);
+ ui->checkbox_jump ->setChecked(false);
+ ui->checkbox_standby ->setChecked(true);
+ ui->checkbox_current ->setChecked(false);
+
+ // SET THE INITIAL CHECKBOX STATE FOR PUBLISHING EVERY CHANGED VALUE
+ ui->checkbox_should_publish_value_changed->setChecked(true);
}
PickerControllerTab::~PickerControllerTab()
{
delete ui;
}
+
+
+
+
+
+
+// ---------------------------------------------------------- //
+// ---------------------------------------------------------- //
+// PUBLISH CHANGES IN STATE AND SETPOINT
+// ---------------------------------------------------------- //
+// ---------------------------------------------------------- //
+
+void PickerControllerTab::publish_setpoint_if_current_state_matches(QVector<int> state_to_match)
+{
+ if ( state_to_match.contains(current_picker_state) )
+ {
+ publish_request_setpoint_change_for_state(current_picker_state);
+ }
+}
+
+void PickerControllerTab::publish_request_setpoint_change_for_state(int state_to_publish)
+{
+ // Initiliase variables for the setpoing
+ bool req_should_smooth;
+ float req_x;
+ float req_y;
+ float req_z;
+ float req_yaw;
+ float req_mass;
+
+
+ // Switch between the possible states and get the respectively
+ // values for the setpoint
+ switch (state_to_publish)
+ {
+ case PICKER_STATE_STANDBY:
+ {
+ req_should_smooth = ui->checkbox_standby->isChecked();
+ req_x = (ui->lineEdit_standby_x ->text()).toFloat();
+ req_y = (ui->lineEdit_standby_y ->text()).toFloat();
+ req_z = (ui->lineEdit_standby_z ->text()).toFloat();
+ req_yaw = (ui->lineEdit_standby_yaw ->text()).toFloat();
+ req_mass = (ui->lineEdit_standby_mass->text()).toFloat();
+ break;
+ }
+ case PICKER_STATE_GOTO_START:
+ {
+ req_should_smooth = ui->checkbox_goto_start->isChecked();
+ req_x = (ui->lineEdit_goto_start_x ->text()).toFloat();
+ req_y = (ui->lineEdit_goto_start_y ->text()).toFloat();
+ req_z = (ui->lineEdit_goto_start_z ->text()).toFloat();
+ req_yaw = (ui->lineEdit_goto_start_yaw->text()).toFloat();
+ req_mass = (ui->lineEdit_standby_mass ->text()).toFloat();
+ break;
+ }
+ case PICKER_STATE_ATTACH:
+ {
+ req_should_smooth = ui->checkbox_attach->isChecked();
+ req_x = (ui->lineEdit_goto_start_x ->text()).toFloat();
+ req_y = (ui->lineEdit_goto_start_y ->text()).toFloat();
+ req_z = (ui->lineEdit_attach_z ->text()).toFloat();
+ req_yaw = (ui->lineEdit_goto_start_yaw->text()).toFloat();
+ req_mass = (ui->lineEdit_standby_mass ->text()).toFloat();
+ break;
+ }
+ case PICKER_STATE_LIFT:
+ {
+ req_should_smooth = ui->checkbox_lift_up->isChecked();
+ req_x = (ui->lineEdit_goto_start_x ->text()).toFloat();
+ req_y = (ui->lineEdit_goto_start_y ->text()).toFloat();
+ req_z = (ui->lineEdit_lift_up_z ->text()).toFloat();
+ req_yaw = (ui->lineEdit_goto_start_yaw->text()).toFloat();
+ req_mass = (ui->lineEdit_lift_up_mass ->text()).toFloat();
+ break;
+ }
+ case PICKER_STATE_GOTO_END:
+ {
+ req_should_smooth = ui->checkbox_goto_end->isChecked();
+ req_x = (ui->lineEdit_goto_end_x ->text()).toFloat();
+ req_y = (ui->lineEdit_goto_end_y ->text()).toFloat();
+ req_z = (ui->lineEdit_lift_up_z ->text()).toFloat();
+ req_yaw = (ui->lineEdit_goto_end_yaw->text()).toFloat();
+ req_mass = (ui->lineEdit_lift_up_mass->text()).toFloat();
+ break;
+ }
+ case PICKER_STATE_PUT_DOWN:
+ {
+ req_should_smooth = ui->checkbox_put_down->isChecked();
+ req_x = (ui->lineEdit_goto_end_x ->text()).toFloat();
+ req_y = (ui->lineEdit_goto_end_y ->text()).toFloat();
+ req_z = (ui->lineEdit_put_down_z ->text()).toFloat();
+ req_yaw = (ui->lineEdit_goto_end_yaw->text()).toFloat();
+ req_mass = (ui->lineEdit_lift_up_mass->text()).toFloat();
+ break;
+ }
+ case PICKER_STATE_SQUAT:
+ {
+ req_should_smooth = ui->checkbox_squat->isChecked();
+ req_x = (ui->lineEdit_goto_end_x ->text()).toFloat();
+ req_y = (ui->lineEdit_goto_end_y ->text()).toFloat();
+ req_z = (ui->lineEdit_squat_z ->text()).toFloat();
+ req_yaw = (ui->lineEdit_goto_end_yaw->text()).toFloat();
+ req_mass = (ui->lineEdit_standby_mass->text()).toFloat();
+ break;
+ }
+ case PICKER_STATE_JUMP:
+ {
+ req_should_smooth = ui->checkbox_jump->isChecked();
+ req_x = (ui->lineEdit_goto_end_x ->text()).toFloat();
+ req_y = (ui->lineEdit_goto_end_y ->text()).toFloat();
+ req_z = (ui->lineEdit_jump_z ->text()).toFloat();
+ req_yaw = (ui->lineEdit_goto_end_yaw->text()).toFloat();
+ req_mass = (ui->lineEdit_standby_mass->text()).toFloat();
+ break;
+ }
+ default:
+ {
+ req_should_smooth = true;
+ req_x = PICKER_DEFAULT_X;
+ req_y = PICKER_DEFAULT_Y;
+ req_z = PICKER_DEFAULT_Z;
+ req_yaw = PICKER_DEFAULT_YAW_DEGREES;
+ req_mass = PICKER_DEFAULT_MASS_GRAMS;
+ break;
+ }
+ }
+
+ // Publish a ROS message with the setpoint to be requested
+
+}
+
+
+
+
+
+// ---------------------------------------------------------- //
+// ---------------------------------------------------------- //
+// STATE BUTTONS CLICKED
+// ---------------------------------------------------------- //
+// ---------------------------------------------------------- //
+
+void PickerControllerTab::on_button_goto_start_clicked()
+{
+ // Directly call the function that publishes state (and setpoint) changes
+ publish_request_setpoint_change_for_state(PICKER_STATE_GOTO_START);
+}
+
+void PickerControllerTab::on_button_attach_clicked()
+{
+ // Directly call the function that publishes state (and setpoint) changes
+ publish_request_setpoint_change_for_state(PICKER_STATE_ATTACH);
+}
+
+void PickerControllerTab::on_button_lift_up_clicked()
+{
+ // Directly call the function that publishes state (and setpoint) changes
+ publish_request_setpoint_change_for_state(PICKER_STATE_LIFT);
+}
+
+void PickerControllerTab::on_button_goto_end_clicked()
+{
+ // Directly call the function that publishes state (and setpoint) changes
+ publish_request_setpoint_change_for_state(PICKER_STATE_GOTO_END);
+}
+
+void PickerControllerTab::on_button_put_down_clicked()
+{
+ // Directly call the function that publishes state (and setpoint) changes
+ publish_request_setpoint_change_for_state(PICKER_STATE_PUT_DOWN);
+}
+
+void PickerControllerTab::on_button_squat_clicked()
+{
+ // Directly call the function that publishes state (and setpoint) changes
+ publish_request_setpoint_change_for_state(PICKER_STATE_SQUAT);
+}
+
+void PickerControllerTab::on_button_jump_clicked()
+{
+ // Directly call the function that publishes state (and setpoint) changes
+ publish_request_setpoint_change_for_state(PICKER_STATE_JUMP);
+}
+
+void PickerControllerTab::on_button_standby_clicked()
+{
+ // Directly call the function that publishes state (and setpoint) changes
+ publish_request_setpoint_change_for_state(PICKER_STATE_STANDBY);
+}
+
+
+
+
+
+// ---------------------------------------------------------- //
+// ---------------------------------------------------------- //
+// CHECK BOXES CLICKED
+// ---------------------------------------------------------- //
+// ---------------------------------------------------------- //
+
+void PickerControllerTab::on_checkbox_goto_start_clicked()
+{
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_START);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_checkbox_attach_clicked()
+{
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_ATTACH);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_checkbox_lift_up_clicked()
+{
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_LIFT);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_checkbox_goto_end_clicked()
+{
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_END);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_checkbox_put_down_clicked()
+{
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_PUT_DOWN);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_checkbox_squat_clicked()
+{
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_SQUAT);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_checkbox_jump_clicked()
+{
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_JUMP);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_checkbox_standby_clicked()
+{
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_STANDBY);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+
+
+
+
+// ---------------------------------------------------------- //
+// ---------------------------------------------------------- //
+// INCREMENT BUTTONS CLICKED
+// ---------------------------------------------------------- //
+// ---------------------------------------------------------- //
+
+// >> FOR GOTO START
+
+void PickerControllerTab::on_button_goto_start_inc_minus_x_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_goto_start_x->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_x ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_goto_start_x->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_START);
+ states_for_which_this_change_applies.append(PICKER_STATE_ATTACH);
+ states_for_which_this_change_applies.append(PICKER_STATE_LIFT);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_goto_start_inc_plus_x_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_goto_start_x->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_x ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_goto_start_x->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_START);
+ states_for_which_this_change_applies.append(PICKER_STATE_ATTACH);
+ states_for_which_this_change_applies.append(PICKER_STATE_LIFT);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_goto_start_inc_minus_y_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_goto_start_y->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_y ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_goto_start_y->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_START);
+ states_for_which_this_change_applies.append(PICKER_STATE_ATTACH);
+ states_for_which_this_change_applies.append(PICKER_STATE_LIFT);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_goto_start_inc_plus_y_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_goto_start_y->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_y ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_goto_start_y->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_START);
+ states_for_which_this_change_applies.append(PICKER_STATE_ATTACH);
+ states_for_which_this_change_applies.append(PICKER_STATE_LIFT);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_goto_start_inc_minus_z_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_goto_start_z->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_z ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_goto_start_z->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_START);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_goto_start_inc_plus_z_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_goto_start_z->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_z ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_goto_start_z->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_START);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_goto_start_inc_minus_yaw_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_goto_start_yaw->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_yaw ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_goto_start_yaw->setText(QString::number( new_value, 'f', DECIMAL_PLACES_ANGLE_DEGREES));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_START);
+ states_for_which_this_change_applies.append(PICKER_STATE_ATTACH);
+ states_for_which_this_change_applies.append(PICKER_STATE_LIFT);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_goto_start_inc_plus_yaw_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_goto_start_yaw->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_yaw ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_goto_start_yaw->setText(QString::number( new_value, 'f', DECIMAL_PLACES_ANGLE_DEGREES));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_START);
+ states_for_which_this_change_applies.append(PICKER_STATE_ATTACH);
+ states_for_which_this_change_applies.append(PICKER_STATE_LIFT);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+// >> FOR ATTACH
+
+void PickerControllerTab::on_button_attach_inc_minus_z_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_attach_z->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_z ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_attach_z->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_ATTACH);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_attach_inc_plus_z_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_attach_z->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_z ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_attach_z->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_ATTACH);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+// >> FOR LIFT UP
+
+void PickerControllerTab::on_button_lift_up_inc_minus_z_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_lift_up_z->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_z ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_lift_up_z->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_LIFT);
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_END);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_lift_up_inc_plus_z_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_lift_up_z->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_z ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_lift_up_z->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_LIFT);
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_END);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_lift_up_inc_minus_mass_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_lift_up_mass->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_mass ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_lift_up_mass->setText(QString::number( new_value, 'f', DECIMAL_PLACES_MASS_GRAMS));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_LIFT);
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_END);
+ states_for_which_this_change_applies.append(PICKER_STATE_PUT_DOWN);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_lift_up_inc_plus_mass_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_lift_up_mass->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_mass ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_lift_up_mass->setText(QString::number( new_value, 'f', DECIMAL_PLACES_MASS_GRAMS));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_LIFT);
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_END);
+ states_for_which_this_change_applies.append(PICKER_STATE_PUT_DOWN);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+// >> FOR GOTO END
+
+void PickerControllerTab::on_button_goto_end_inc_minus_x_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_goto_end_x->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_x ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_goto_end_x->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_END);
+ states_for_which_this_change_applies.append(PICKER_STATE_PUT_DOWN);
+ states_for_which_this_change_applies.append(PICKER_STATE_SQUAT);
+ states_for_which_this_change_applies.append(PICKER_STATE_JUMP);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_goto_end_inc_plus_x_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_goto_end_x->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_x ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_goto_end_x->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_END);
+ states_for_which_this_change_applies.append(PICKER_STATE_PUT_DOWN);
+ states_for_which_this_change_applies.append(PICKER_STATE_SQUAT);
+ states_for_which_this_change_applies.append(PICKER_STATE_JUMP);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_goto_end_inc_minus_y_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_goto_end_y->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_y ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_goto_end_y->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_END);
+ states_for_which_this_change_applies.append(PICKER_STATE_PUT_DOWN);
+ states_for_which_this_change_applies.append(PICKER_STATE_SQUAT);
+ states_for_which_this_change_applies.append(PICKER_STATE_JUMP);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_goto_end_inc_plus_y_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_goto_end_y->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_y ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_goto_end_y->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_END);
+ states_for_which_this_change_applies.append(PICKER_STATE_PUT_DOWN);
+ states_for_which_this_change_applies.append(PICKER_STATE_SQUAT);
+ states_for_which_this_change_applies.append(PICKER_STATE_JUMP);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_goto_end_inc_minus_yaw_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_goto_end_yaw->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_yaw ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_goto_end_yaw->setText(QString::number( new_value, 'f', DECIMAL_PLACES_ANGLE_DEGREES));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_END);
+ states_for_which_this_change_applies.append(PICKER_STATE_PUT_DOWN);
+ states_for_which_this_change_applies.append(PICKER_STATE_SQUAT);
+ states_for_which_this_change_applies.append(PICKER_STATE_JUMP);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_goto_end_inc_plus_yaw_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_goto_end_yaw->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_yaw ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_goto_end_yaw->setText(QString::number( new_value, 'f', DECIMAL_PLACES_ANGLE_DEGREES));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_END);
+ states_for_which_this_change_applies.append(PICKER_STATE_PUT_DOWN);
+ states_for_which_this_change_applies.append(PICKER_STATE_SQUAT);
+ states_for_which_this_change_applies.append(PICKER_STATE_JUMP);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+// >> FOR PUT DOWN
+
+void PickerControllerTab::on_button_put_down_inc_minus_z_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_put_down_z->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_z ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_put_down_z->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_PUT_DOWN);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_put_down_inc_plus_z_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_put_down_z->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_z ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_put_down_z->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_PUT_DOWN);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+// >> FOR SQUAT
+
+void PickerControllerTab::on_button_squat_inc_minus_z_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_squat_z->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_z ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_squat_z->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_SQUAT);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_squat_inc_plus_z_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_squat_z->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_z ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_squat_z->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_SQUAT);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+// >> FOR JUMP
+
+void PickerControllerTab::on_button_jump_inc_minus_z_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_jump_z->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_z ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_jump_z->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_JUMP);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_jump_inc_plus_z_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_jump_z->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_z ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_jump_z->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_JUMP);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+// >> FOR STANDBY
+
+void PickerControllerTab::on_button_stanby_inc_minus_x_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_standby_x->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_x ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_standby_x->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_STANDBY);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_stanby_inc_plus_x_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_standby_x->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_x ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_standby_x->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_STANDBY);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_stanby_inc_minus_y_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_standby_y->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_y ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_standby_y->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_STANDBY);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_stanby_inc_plus_y_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_standby_y->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_y ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_standby_y->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_STANDBY);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_stanby_inc_minus_z_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_standby_z->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_z ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_standby_z->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_STANDBY);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_stanby_inc_plus_z_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_standby_z->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_z ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_standby_z->setText(QString::number( new_value, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_STANDBY);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_stanby_inc_minus_yaw_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_standby_yaw->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_yaw ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_standby_yaw->setText(QString::number( new_value, 'f', DECIMAL_PLACES_ANGLE_DEGREES));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_STANDBY);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_stanby_inc_plus_yaw_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_standby_yaw->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_yaw ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_standby_yaw->setText(QString::number( new_value, 'f', DECIMAL_PLACES_ANGLE_DEGREES));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_STANDBY);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_stanby_inc_minus_mass_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_standby_mass->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_mass ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value - current_inc;
+ ui->lineEdit_standby_mass->setText(QString::number( new_value, 'f', DECIMAL_PLACES_MASS_GRAMS));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_STANDBY);
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_START);
+ states_for_which_this_change_applies.append(PICKER_STATE_ATTACH);
+ states_for_which_this_change_applies.append(PICKER_STATE_SQUAT);
+ states_for_which_this_change_applies.append(PICKER_STATE_JUMP);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_button_stanby_inc_plus_mass_clicked()
+{
+ // Get the value from the respective line edit and increment
+ float current_value = (ui->lineEdit_standby_mass->text()).toFloat();
+ float current_inc = (ui->lineEdit_increment_mass ->text()).toFloat();
+ // Compute the new value and set it back
+ float new_value = current_value + current_inc;
+ ui->lineEdit_standby_mass->setText(QString::number( new_value, 'f', DECIMAL_PLACES_MASS_GRAMS));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_STANDBY);
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_START);
+ states_for_which_this_change_applies.append(PICKER_STATE_ATTACH);
+ states_for_which_this_change_applies.append(PICKER_STATE_SQUAT);
+ states_for_which_this_change_applies.append(PICKER_STATE_JUMP);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+
+
+
+
+// ---------------------------------------------------------- //
+// ---------------------------------------------------------- //
+// LINE EDITS FINISHED EDITING
+// ---------------------------------------------------------- //
+// ---------------------------------------------------------- //
+
+// >> FOR GOTO START
+
+void PickerControllerTab::on_lineEdit_goto_start_x_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_goto_start_x->text()).toFloat();
+ ui->lineEdit_goto_start_x->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_START);
+ states_for_which_this_change_applies.append(PICKER_STATE_ATTACH);
+ states_for_which_this_change_applies.append(PICKER_STATE_LIFT);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_lineEdit_goto_start_y_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_goto_start_y->text()).toFloat();
+ ui->lineEdit_goto_start_y->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_START);
+ states_for_which_this_change_applies.append(PICKER_STATE_ATTACH);
+ states_for_which_this_change_applies.append(PICKER_STATE_LIFT);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_lineEdit_goto_start_z_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_goto_start_z->text()).toFloat();
+ ui->lineEdit_goto_start_z->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_START);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_lineEdit_goto_start_yaw_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_goto_start_yaw->text()).toFloat();
+ ui->lineEdit_goto_start_yaw->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_ANGLE_DEGREES));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_START);
+ states_for_which_this_change_applies.append(PICKER_STATE_ATTACH);
+ states_for_which_this_change_applies.append(PICKER_STATE_LIFT);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+// >> FOR ATTACH
+
+void PickerControllerTab::on_lineEdit_attach_z_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_attach_z->text()).toFloat();
+ ui->lineEdit_attach_z->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_ATTACH);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+// >> FOR LIFT UP
+
+void PickerControllerTab::on_lineEdit_lift_up_z_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_lift_up_z->text()).toFloat();
+ ui->lineEdit_lift_up_z->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_LIFT);
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_END);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_lineEdit_lift_up_mass_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_lift_up_mass->text()).toFloat();
+ ui->lineEdit_lift_up_mass->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_MASS_GRAMS));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_LIFT);
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_END);
+ states_for_which_this_change_applies.append(PICKER_STATE_PUT_DOWN);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+// >> FOR GOTO END
+
+void PickerControllerTab::on_lineEdit_goto_end_x_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_goto_end_x->text()).toFloat();
+ ui->lineEdit_goto_end_x->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_END);
+ states_for_which_this_change_applies.append(PICKER_STATE_PUT_DOWN);
+ states_for_which_this_change_applies.append(PICKER_STATE_SQUAT);
+ states_for_which_this_change_applies.append(PICKER_STATE_JUMP);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_lineEdit_goto_end_y_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_goto_end_y->text()).toFloat();
+ ui->lineEdit_goto_end_y->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_END);
+ states_for_which_this_change_applies.append(PICKER_STATE_PUT_DOWN);
+ states_for_which_this_change_applies.append(PICKER_STATE_SQUAT);
+ states_for_which_this_change_applies.append(PICKER_STATE_JUMP);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_lineEdit_goto_end_yaw_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_goto_end_yaw->text()).toFloat();
+ ui->lineEdit_goto_end_yaw->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_ANGLE_DEGREES));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_END);
+ states_for_which_this_change_applies.append(PICKER_STATE_PUT_DOWN);
+ states_for_which_this_change_applies.append(PICKER_STATE_SQUAT);
+ states_for_which_this_change_applies.append(PICKER_STATE_JUMP);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+// >> FOR PUT DOWN
+
+void PickerControllerTab::on_lineEdit_put_down_z_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_put_down_z->text()).toFloat();
+ ui->lineEdit_put_down_z->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_PUT_DOWN);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+// >> FOR SQUAT
+
+void PickerControllerTab::on_lineEdit_squat_z_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_squat_z->text()).toFloat();
+ ui->lineEdit_squat_z->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_SQUAT);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+// >> FOR JUMP
+
+void PickerControllerTab::on_lineEdit_jump_z_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_jump_z->text()).toFloat();
+ ui->lineEdit_jump_z->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_JUMP);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+// >> FOR STANDBY
+
+void PickerControllerTab::on_lineEdit_standby_x_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_standby_x->text()).toFloat();
+ ui->lineEdit_standby_x->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_STANDBY);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_lineEdit_standby_y_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_standby_y->text()).toFloat();
+ ui->lineEdit_standby_y->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_ANGLE_DEGREES));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_STANDBY);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_lineEdit_standby_z_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_standby_z->text()).toFloat();
+ ui->lineEdit_standby_z->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_POSITION));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_STANDBY);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_lineEdit_standby_yaw_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_standby_yaw->text()).toFloat();
+ ui->lineEdit_standby_yaw->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_ANGLE_DEGREES));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_STANDBY);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+void PickerControllerTab::on_lineEdit_standby_mass_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_standby_mass->text()).toFloat();
+ ui->lineEdit_standby_mass->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_MASS_GRAMS));
+ // Call the function to publish the new setpoint if appropriate
+ if (ui->checkbox_should_publish_value_changed->isChecked())
+ {
+ QVector<int> states_for_which_this_change_applies;
+ states_for_which_this_change_applies.append(PICKER_STATE_STANDBY);
+ states_for_which_this_change_applies.append(PICKER_STATE_GOTO_START);
+ states_for_which_this_change_applies.append(PICKER_STATE_ATTACH);
+ states_for_which_this_change_applies.append(PICKER_STATE_SQUAT);
+ states_for_which_this_change_applies.append(PICKER_STATE_JUMP);
+ publish_setpoint_if_current_state_matches(states_for_which_this_change_applies);
+ }
+}
+
+// >> FOR INCREMENTS
+
+void PickerControllerTab::on_lineEdit_increment_x_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_increment_x->text()).toFloat();
+ ui->lineEdit_increment_x->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_POSITION));
+}
+
+void PickerControllerTab::on_lineEdit_increment_y_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_increment_y->text()).toFloat();
+ ui->lineEdit_increment_y->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_POSITION));
+}
+
+void PickerControllerTab::on_lineEdit_increment_z_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_increment_z->text()).toFloat();
+ ui->lineEdit_increment_z->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_POSITION));
+}
+
+void PickerControllerTab::on_lineEdit_increment_yaw_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_increment_yaw->text()).toFloat();
+ ui->lineEdit_increment_yaw->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_ANGLE_DEGREES));
+}
+
+void PickerControllerTab::on_lineEdit_increment_mass_editingFinished()
+{
+ // Get the value and set it back with two decimal places
+ float value_entered = (ui->lineEdit_increment_mass->text()).toFloat();
+ ui->lineEdit_increment_mass->setText(QString::number( value_entered, 'f', DECIMAL_PLACES_MASS_GRAMS));
+}
--
GitLab