From f994efb8bfeb16b9a863b5a3f6cd1e97eb9884b0 Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Mon, 17 Dec 2018 15:08:16 +0100
Subject: [PATCH] Vicon data now displaying in the default controller tab.
Needs to be cleaned up and generalised
---
.../src/defaultcontrollertab.cpp | 47 +++++++++++++------
1 file changed, 33 insertions(+), 14 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
index 2e9040f3..3b2c3896 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
@@ -54,25 +54,44 @@ void DefaultControllerTab::setMeasuredPose(float x , float y , float z , float r
{
if (!occluded)
{
+ // INITIALISE A STRING VARIABLE FOR ADDING THE "+"
+ QString qstr = "";
// UPDATE THE MEASUREMENT COLUMN
- ui->lineEdit_measured_x ->setText(QString::number( x ));
- ui->lineEdit_measured_y ->setText(QString::number( y ));
- ui->lineEdit_measured_z ->setText(QString::number( z ));
- ui->lineEdit_measured_roll ->setText(QString::number( roll ));
- ui->lineEdit_measured_pitch->setText(QString::number( pitch ));
- ui->lineEdit_measured_yaw ->setText(QString::number( yaw ));
+ if (x < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_measured_x ->setText(qstr + QString::number( x, 'f', 3));
+ if (y < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_measured_y ->setText(qstr + QString::number( y, 'f', 3));
+ if (z < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_measured_z ->setText(qstr + QString::number( z, 'f', 3));
+
+ if (roll < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_measured_roll ->setText(qstr + QString::number( roll * RAD2DEG, 'f', 1));
+ if (pitch < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_measured_pitch->setText(qstr + QString::number( pitch * RAD2DEG, 'f', 1));
+ if (yaw < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_measured_yaw ->setText(qstr + QString::number( yaw * RAD2DEG, 'f', 1));
// GET THE CURRENT SETPOINT
- float curr_x_setpoint = (ui->lineEdit_setpoint_current_x->text() ).toFloat();;
- float curr_y_setpoint = (ui->lineEdit_setpoint_current_y->text() ).toFloat();;
- float curr_z_setpoint = (ui->lineEdit_setpoint_current_z->text() ).toFloat();;
- float curr_yaw_setpoint = (ui->lineEdit_setpoint_current_yaw->text()).toFloat();;
+ float error_x = x - (ui->lineEdit_setpoint_current_x->text() ).toFloat();
+ float error_y = y - (ui->lineEdit_setpoint_current_y->text() ).toFloat();
+ float error_z = z - (ui->lineEdit_setpoint_current_z->text() ).toFloat();
+ float error_yaw = yaw - (ui->lineEdit_setpoint_current_yaw->text()).toFloat();
// UPDATE THE ERROR COLUMN
- ui->lineEdit_error_x ->setText(QString::number( x - curr_x_setpoint ));
- ui->lineEdit_error_y ->setText(QString::number( y - curr_y_setpoint ));
- ui->lineEdit_error_z ->setText(QString::number( z - curr_z_setpoint ));
- ui->lineEdit_error_yaw->setText(QString::number( yaw - curr_yaw_setpoint ));
+ if (error_x < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_error_x ->setText(qstr + QString::number( error_x, 'f', 3));
+ if (error_y < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_error_y ->setText(qstr + QString::number( error_y, 'f', 3));
+ if (error_z < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_error_z ->setText(qstr + QString::number( error_z, 'f', 3));
+
+ if (error_yaw < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_error_yaw->setText(qstr + QString::number( error_yaw * RAD2DEG, 'f', 1));
+ }
+ else
+ {
+ //ui->label_measured_title->setTextColor(Qt::green);
+ //ui->label_measured_title_line2
}
}
--
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