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kdl_parser
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Fix circular logic in joint state publisher events (#140)

This commit is contained in:
Jackie Kay 2016-06-09 00:22:02 -07:00
parent 7fcfc19115
commit 3cee2ec0e2
1 changed files with 11 additions and 12 deletions
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23
joint_state_publisher/joint_state_publisher/joint_state_publisher
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@ -287,7 +287,7 @@ class JointStatePublisherGui(QWidget):
self.joint_map[name] = {'slidervalue': 0, 'display': display, self.joint_map[name] = {'slidervalue': 0, 'display': display,
'slider': slider, 'joint': joint} 'slider': slider, 'joint': joint}
# Connect to the signal provided by QSignal # Connect to the signal provided by QSignal
slider.valueChanged.connect(self.sliderUpdate) slider.valueChanged.connect(self.onValueChanged)
# Synchronize slider and displayed value # Synchronize slider and displayed value
self.sliderUpdate(None) self.sliderUpdate(None)
@ -303,13 +303,13 @@ class JointStatePublisherGui(QWidget):
self.ctrbutton.clicked.connect(self.center_event) self.ctrbutton.clicked.connect(self.center_event)
box_layout.addWidget(self.ctrbutton) box_layout.addWidget(self.ctrbutton)
def update_values(self): def onValueChanged(self, event):
# A slider value was changed, but we need to change the joint_info metadata.
for name, joint_info in self.joint_map.items(): for name, joint_info in self.joint_map.items():
purevalue = joint_info['slidervalue'] joint_info['slidervalue'] = joint_info['slider'].value()
joint = joint_info['joint'] joint = joint_info['joint']
value = self.sliderToValue(purevalue, joint) joint['position'] = self.sliderToValue(joint_info['slidervalue'], joint)
joint['position'] = value joint_info['display'].setText("%.2f" % joint['position'])
self.update_sliders()
def updateSliders(self, event): def updateSliders(self, event):
self.update_sliders() self.update_sliders()
@ -320,7 +320,6 @@ class JointStatePublisherGui(QWidget):
joint_info['slidervalue'] = self.valueToSlider(joint['position'], joint_info['slidervalue'] = self.valueToSlider(joint['position'],
joint) joint)
joint_info['slider'].setValue(joint_info['slidervalue']) joint_info['slider'].setValue(joint_info['slidervalue'])
joint_info['display'].setText("%.2f" % joint['position'])
def center_event(self, event): def center_event(self, event):
@ -330,8 +329,8 @@ class JointStatePublisherGui(QWidget):
rospy.loginfo("Centering") rospy.loginfo("Centering")
for name, joint_info in self.joint_map.items(): for name, joint_info in self.joint_map.items():
joint = joint_info['joint'] joint = joint_info['joint']
joint_info['slidervalue'] = self.valueToSlider(joint['zero'], joint) joint_info['slider'].setValue(self.valueToSlider(joint['zero'], joint))
self.update_values()
def randomize_event(self, event): def randomize_event(self, event):
self.randomize() self.randomize()
@ -340,13 +339,13 @@ class JointStatePublisherGui(QWidget):
rospy.loginfo("Randomizing") rospy.loginfo("Randomizing")
for name, joint_info in self.joint_map.items(): for name, joint_info in self.joint_map.items():
joint = joint_info['joint'] joint = joint_info['joint']
joint_info['slidervalue'] = self.valueToSlider(random.uniform(joint['min'], joint['max']), joint) joint_info['slider'].setValue(
self.update_values() self.valueToSlider(random.uniform(joint['min'], joint['max']), joint))
def sliderUpdate(self, event): def sliderUpdate(self, event):
for name, joint_info in self.joint_map.items(): for name, joint_info in self.joint_map.items():
joint_info['slidervalue'] = joint_info['slider'].value() joint_info['slidervalue'] = joint_info['slider'].value()
self.update_values() self.update_sliders()
def valueToSlider(self, value, joint): def valueToSlider(self, value, joint):
return (value - joint['min']) * float(RANGE) / (joint['max'] - joint['min']) return (value - joint['min']) * float(RANGE) / (joint['max'] - joint['min'])