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UR3CalibWidget.h
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1
31 #ifndef UR3CALIBWIDGET_H
32 #define UR3CALIBWIDGET_H
33
34 #include <QWidget>
35 #include <QLineEdit>
36 #include <QLabel>
37 #include "UR3Workspace.h"
38
39
40 namespace Ui {
41 class UR3CalibWidget;
42 }
43
50 class UR3CalibWidget : public QWidget
51 {
52 Q_OBJECT
53
54 public:
60 explicit UR3CalibWidget(UR3Workspace* UR3W, QWidget *parent = 0);
61 ~UR3CalibWidget();
62
63
64
65 private:
66 enum CalibrationEnum{
67 HOME,
68 BOARD,
69 CALIB_POINTS,
70 OVER_BINS,
71 BIN_ARRAY_START,
72 BIN_ARRAY_END,
73 BINS,
74 FINISH
75 };
76
77 Ui::UR3CalibWidget *ui;
78
79 UR3Workspace* UR3Workspace_;
80
81 QVector<QLabel*> labelsPointers_;
82 QVector<QLineEdit*> savedLinesPointers_;
83 QVector<QLineEdit*> currentLinesPointers_;
84
85 void startCalibration();
86
87 void setJointStrings();
88 void setCartesianStrings();
89
90 void setEditsValues(QVector<double> data, char type);
91 QVector<double> getEditValues(char type);
92
93 QMap<int, BinDescriptor> binDescriptors_;
94 QVector<double> homePosition_;
95 QVector<double> boardPosition_;
96 QVector<double> overBinPosition_;
97 QMap<int, QVector<double> > calibrationPoints_;
98
99 bool enableBinArrayMode_;
100 QVector<double> arrayStartPosition_;
101 QVector<double> arrayEndPosition_;
102
103 CalibrationEnum calibrationState_ = HOME;
104 QMap<int, BinDescriptor>::iterator binIterator_;
105 QMap<int, QVector<double> >::iterator calibPointsIterator_;
106
107 char currentDataType_ = 'j';
108
109 void closeEvent(QCloseEvent *event);
110
111 signals:
116 void calibrationFinished(bool settingsChanged);
117
118 private slots:
119 void on_btn_next_clicked();
120 void on_btn_cancel_clicked();
121 void on_btn_transfer_clicked();
122 void newPoseFromRobot(QVector<double> data, char type);
123
124 public slots:
128 void show();
129 };
131 #endif // UR3CALIBWIDGET_H
UR3Workspace
Wraper over UR3Intermediator class. Represents a robot working space. Enables robot connection and ro...
Definition: UR3Workspace.h:50
UR3Workspace.h
Ui
Definition: mainwindow.h:17
UR3CalibWidget
robot calibration user interface wizard for UR3Workspace class
Definition: UR3CalibWidget.h:50