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@author Shin'ichiro Nakaoka
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#ifndef CNOID_CHOREOGRAPHY_POSE_SEQ_VIEW_BASE_H_INCLUDED
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#define CNOID_CHOREOGRAPHY_POSE_SEQ_VIEW_BASE_H_INCLUDED
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#include "PoseSeqItem.h"
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#include <cnoid/ConnectionSet>
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#include <cnoid/TimeBar>
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#include <cnoid/Archive>
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#include <cnoid/MenuManager>
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#include <cnoid/Button>
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#include <cnoid/ButtonGroup>
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#include <cnoid/SpinBox>
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#include <cnoid/BodyItem>
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#include <cnoid/LinkTreeWidget>
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#include <boost/signal.hpp>
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#include <boost/function.hpp>
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#include <boost/dynamic_bitset.hpp>
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class PoseSelectionDialog; /// \todo this should be independent ?
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class LinkPositionAdjustmentDialog; /// \todo this should be independent ?
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class YawOrientationRotationDialog;
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class PoseSeqViewBase : public boost::signals::trackable
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PoseSeqViewBase(View* view);
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QString textForEmptyName;
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PoseSeqItemPtr currentPoseSeqItem;
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bool isSelectedPoseMoving;
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BodyItemPtr currentBodyItem;
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PoseSeq::iterator currentPoseIter;
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struct PoseIterTimeComp {
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bool operator()(const PoseSeq::iterator it1, const PoseSeq::iterator it2) {
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return it1->time() < it2->time();
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typedef std::multiset<PoseSeq::iterator, PoseIterTimeComp> PoseIterSet;
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PoseIterSet selectedPoseIters;
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PoseSeqPtr copiedPoses;
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ConnectionSet poseSeqConnections;
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boost::signals::connection connectionOfBodyKinematicStateEdited;
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ConnectionSet linkTreeAttributeChangeConnections;
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boost::signals::connection connectionOfTimeChanged;
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LinkTreeWidget* linkTreeWidget;
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ButtonGroup* baseLinkRadioGroup;
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int stationaryPointColumn;
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boost::dynamic_bitset<> possibleIkLinkFlag;
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PosePtr poseForDefaultStateSetting;
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QLabel currentItemLabel;
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CheckBox timeSyncCheck;
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ToolButton insertPoseButton;
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ToolButton updateButton;
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ToggleToolButton updateAllToggle;
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ToolButton deleteButton;
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CheckBox autoUpdateModeCheck;
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DoubleSpinBox transitionTimeSpin;
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: validChildExists(false), allChildrenAreValid(true),
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childWithStationaryPointExists(false), allChildrenAreStationaryPoints(true) { }
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bool validChildExists;
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bool allChildrenAreValid;
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bool childWithStationaryPointExists;
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bool allChildrenAreStationaryPoints;
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MenuManager menuManager;
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PoseSelectionDialog* poseSelectionDialog;
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LinkPositionAdjustmentDialog* linkPositionAdjustmentDialog;
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YawOrientationRotationDialog* yawOrientationRotationDialog;
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PoseSeq::iterator insertPose();
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PoseSeq::iterator insertPronunSymbol();
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PoseSeq::iterator insertPoseUnit(PoseUnitPtr poseUnit);
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PoseIterSet::iterator findPoseIterInSelected(PoseSeq::iterator poseIter);
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bool toggleSelection(PoseSeq::iterator poseIter, bool adding, bool changeTime);
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void selectAllPoses();
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void selectAllPosesAfterCurrentPosition();
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void selectAllPosesBeforeCurrentPosition();
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void selectPosesHavingSelectedLinks();
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void selectPosesJustHavingSelectedLinks();
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void removeSelectedPartsFromKeyPoses();
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void doAutomaticInterpolationUpdate();
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void updateLinkTreeModel();
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bool deleteSelectedPoses();
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bool cutSelectedPoses();
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bool copySelectedPoses();
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bool pasteCopiedPoses(double timeToPaste);
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bool moveSelectedPoses(double time0);
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bool modifyTransitionTimeOfSelectedPoses(double ttime);
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void popupContextMenu(QMouseEvent* event);
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void onSelectSpecifiedKeyPosesActivated();
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void onPoseSelectionDialogAccepted();
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void onAdjustStepPositionsActivated();
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void onRotateYawOrientationsActivated();
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void onYawOrientationRotationDialogAccepted();
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void onAdjustWaistPositionActivated();
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void onLinkPositionAdjustmentDialogAccepted();
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void onUpdateKeyposesWithBalancedTrajectoriesActivated();
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void onFlipPosesActivated();
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void countSelectedKeyPoses();
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virtual void onLinkTreeUpdateRequest(bool isInitialCreation);
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virtual void setCurrentPoseSeqItem(PoseSeqItemPtr poseSeqItem);
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virtual void onTimeScaleChanged();
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virtual void onSelectedPosesModified();
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virtual void onDeleteButtonClicked();
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virtual void onPoseInserted(PoseSeq::iterator it, bool isMoving);
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virtual void onPoseRemoving(PoseSeq::iterator it, bool isMoving);
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virtual void onPoseModified(PoseSeq::iterator it);
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virtual bool onTimeChanged(double time) = 0;
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virtual void onInsertPoseButtonClicked() = 0;
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virtual bool restoreState(const Archive& archive);
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virtual bool storeState(Archive& archive);
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void onViewActivated();
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void onViewDeactivated();
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void onTimeSyncCheckToggled();
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void setupOperationParts();
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void setupLinkTreeWidget();
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bool isChecked(LinkTreeItem* item, int column);
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void setChecked(LinkTreeItem* item, int column, bool checked);
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void setCheckState(LinkTreeItem* item, int column, Qt::CheckState state);
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void initializeLinkTree();
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void initializeLinkTreeIkLinkColumn();
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void initializeLinkTreeTraverse(QTreeWidgetItem* parentItem);
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void togglePoseAttribute(boost::function<bool(PosePtr& pose)> toggleFunction);
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void onBaseLinkRadioClicked();
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bool setBaseLink(PosePtr& pose, Link* link);
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void onValidPartCheckClicked(LinkTreeItem* item, Qt::CheckState checkState);
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bool toggleZmp(PosePtr& pose, bool on);
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bool toggleLink(PosePtr& pose, LinkTreeItem* item, Link* link, bool partOn, bool ikOn);
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bool togglePart(PosePtr& pose, LinkTreeItem* item, bool on);
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void onStationaryPointCheckClicked(LinkTreeItem* linkTreeItem, Qt::CheckState checkState);
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bool toggleZmpStationaryPoint(PosePtr& pose, bool on);
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bool toggleStationaryPoint(PosePtr& pose, Link* link, bool on);
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bool togglePartStationaryPoints(PosePtr& pose, LinkTreeItem* item, bool on);
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void onIkPartCheckClicked(LinkTreeItem* item, Qt::CheckState checkState);
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void onInterpolationParametersChanged();
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void onItemSelectionChanged(const ItemList<PoseSeqItem>& selectedItems);
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void setCurrentItemName(ItemPtr item);
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void onBodyKinematicStateEdited();
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void onUpdateButtonClicked();
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void setCurrentBodyStateToSelectedPoses(bool onlySelected);
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bool setCurrentBodyStateToPose(PosePtr& pose, bool onlySelected);
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bool setCurrentLinkStateToIkLink(Link* link, Pose::LinkInfo* linkInfo);
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ChildrenState updateLinkTreeModelSub(LinkTreeItem* item, Body* body, const Pose& pose);
added
removed
src/PoseSeqPlugin/PoseSeqViewBase.h
