Custom Toolbar Sample (S04)¶

Overview ¶

As a practical example of toolbar creation introduced in the previous section, we present a sample plugin that uses a toolbar. This is an extension of the previous sample Project Item Operation Sample (S03), with the same functionality of rotating selected Body item models, but creating a toolbar related to this function and enabling additional operations and settings using toolbar buttons and other elements.

Source Code ¶

Here is the source code for this sample. As before, create a plugin source directory and store the following source code with the filename DevGuidePlugin.cpp:

#include <cnoid/Plugin>
#include <cnoid/ItemList>
#include <cnoid/RootItem>
#include <cnoid/BodyItem>
#include <cnoid/ToolBar>
#include <cnoid/TimeBar>
#include <cnoid/DoubleSpinBox>
#include <cnoid/EigenTypes>
#include <vector>
#include <cmath>

using namespace cnoid;

class DevGuidePlugin : public Plugin
{
    ItemList<BodyItem> bodyItems;
    double initialTime;
    std::vector<Matrix3> initialRotations;
    DoubleSpinBox* speedRatioSpin;
    ToolButton* reverseToggle;

public:
    DevGuidePlugin() : Plugin("DevGuide")
    {
        require("Body");
    }

    virtual bool initialize() override
    {
        RootItem::instance()->sigSelectedItemsChanged().connect(
            [this](const ItemList<>& selectedItems){
                onSelectedItemsChanged(selectedItems);
            });

        TimeBar::instance()->sigTimeChanged().connect(
            [this](double time){
                return onTimeChanged(time);
            });

        auto toolBar = new ToolBar("DevGuideBar");

        ToolButton* flipButton = toolBar->addButton("Flip");
        flipButton->sigClicked().connect(
            [this](){ flipBodyItems(); });

        reverseToggle = toolBar->addToggleButton("Reverse");
        reverseToggle->sigToggled().connect(
            [this](bool on){ updateInitialRotations(); });

        toolBar->addSeparator();

        toolBar->addLabel("Speed ratio");
        speedRatioSpin = new DoubleSpinBox;
        speedRatioSpin->setValue(1.0);
        speedRatioSpin->sigValueChanged().connect(
            [this](double value){ updateInitialRotations(); });
        toolBar->addWidget(speedRatioSpin);

        toolBar->setVisibleByDefault();
        addToolBar(toolBar);

        initialTime = 0.0;

        return true;
    }

    void onSelectedItemsChanged(ItemList<BodyItem> selectedBodyItems)
    {
        if(selectedBodyItems != bodyItems){
            bodyItems = selectedBodyItems;
            updateInitialRotations();
        }
    }

    void updateInitialRotations()
    {
        initialTime = TimeBar::instance()->time();
        initialRotations.clear();
        for(auto& bodyItem : bodyItems){
            initialRotations.push_back(bodyItem->body()->rootLink()->rotation());
        }
    }

    void flipBodyItems()
    {
        for(auto& bodyItem : bodyItems){
            Link* rootLink = bodyItem->body()->rootLink();
            Matrix3 R = AngleAxis(M_PI, Vector3::UnitZ()) * rootLink->rotation();
            rootLink->setRotation(R);
            bodyItem->notifyKinematicStateChange(true);
        }
        updateInitialRotations();
    }

    bool onTimeChanged(double time)
    {
        for(size_t i=0; i < bodyItems.size(); ++i){
            auto bodyItem = bodyItems[i];
            double angle = speedRatioSpin->value() * (time - initialTime);
            if(reverseToggle->isChecked()){
                angle = -angle;
            }
            Matrix3 R = AngleAxis(angle, Vector3::UnitZ()) * initialRotations[i];
            bodyItem->body()->rootLink()->setRotation(R);
            bodyItem->notifyKinematicStateChange(true);
        }

        return !bodyItems.empty();
    }
};

CNOID_IMPLEMENT_PLUGIN_ENTRY(DevGuidePlugin)

The CMakeLists.txt for building is the same as Project Item Operation Sample (S03).

Source Code Explanation ¶

We’ll explain mainly the parts added to Project Item Operation Sample (S03).

#include <cnoid/ToolBar>

This is the header for the ToolBar class. Include this header when creating toolbars. In this sample, we’re also using TimeBar, and its header also includes the ToolBar header, but here we’re explicitly including the ToolBar header as part of the toolbar creation procedure.

#include <cnoid/DoubleSpinBox>

We’re using DoubleSpinBox to implement the numeric box for entering Speed ratio. This extends Qt’s QDoubleSpinBox to enable use of Choreonoid-format signals. QDoubleSpinBox is a spin box widget that can handle double-precision floating-point numbers.

#include <cmath>

This is the C language math header. We’re including this to use the M_PI macro, which has the value of pi.

The following are additions to the plugin’s member variables:

double initialTime;

A variable to store the initial time for determining the rotation amount relative to time. This is introduced to maintain smooth continuous animation even when rotation settings are changed.

DoubleSpinBox* speedRatioSpin;

A pointer to the Speed ratio spin box. This is defined to reference the created spin box from other member functions.

ToolButton* reverseToggle;

A pointer to the toggle button. This is also defined to get the button state from other member variables after creation.

Next, we enter the implementation of the initialization function initialize:

RootItem::instance()->sigSelectedItemsChanged().connect(
    [this](const ItemList<>& selectedItems){
        onSelectedItemsChanged(selectedItems);
    });

TimeBar::instance()->sigTimeChanged().connect(
    [this](double time){
        return onTimeChanged(time);
    });

This part is basically the same as Project Item Operation Sample (S03), but in this sample we’ve omitted signal connection management with ScopedConnectionSet. We included it as an example of connection management in the previous sample, but in this case, the connections are maintained until the application ends, so connection management is not necessarily required. We’ll also omit unnecessary parts in future sample code.

auto toolBar = new ToolBar("DevGuideBar");

Creating the toolbar object. The ToolBar constructor requires a name, which we set as “DevGuideBar” here. In this sample, we’re coding using the “create an instance of the ToolBar class and add necessary interfaces from outside” method among the two creation methods introduced in Creating Toolbars.

ToolButton* flipButton = toolBar->addButton("Flip");
flipButton->sigClicked().connect(
    [this](){ flipBodyItems(); });

Adding a Flip button to the toolbar and connecting the member function flipBodyItems to its sigClicked signal. This causes flipBodyItems to be executed when the Flip button is pressed.

reverseToggle = toolBar->addToggleButton("Reverse");
reverseToggle->sigToggled().connect(
    [this](bool on){ updateInitialRotations(); });

Adding a Reverse toggle button to the toolbar and connecting the member function updateInitialRotations to its sigToggled signal. This causes updateInitialRotations to be executed when the Reverse toggle’s on/off state changes, resetting the current state as the initial state.

toolBar->addSeparator();

Adding a separator to the toolbar. Since the toggle button’s label and the label to be added next are both text and would appear connected, we’re adding a separator to make the boundary clearer. This is purely a matter of visual preference.

toolBar->addLabel("Speed ratio");

Adding the label “Speed ratio” to the toolbar. If we only add the spin box next, it’s unclear what the box is for, so we’re adding a label.

speedRatioSpin = new DoubleSpinBox;

Creating a DoubleSpinBox as a spin box for numeric input.

speedRatioSpin->setValue(1.0);

Setting the initial value of the spin box to 1.0. This is a function of QDoubleSpinBox, the Qt class that DoubleSpinBox inherits from.

speedRatioSpin->sigValueChanged().connect(
     [this](double value){ updateInitialRotations(); });

Connecting the sigValueChanged signal that is emitted when the spin box value changes. sigValueChanged makes the QDoubleSpinBox’s valueChanged signal available as a Choreonoid signal. This also causes updateInitialRotations to be executed when the value changes, updating the initial state.

toolBar->addWidget(speedRatioSpin);

Adding the created spin box to the toolbar.

toolBar->setVisibleByDefault();

Making this toolbar visible by default. If not specified, it’s set to not be displayed by default. Toolbar layout is often determined by project settings, so normally it’s set to not display. Since this is a sample, it’s preferable that the created toolbar is displayed from the beginning for easy operation verification, so we’re deliberately making this setting.

addToolBar(toolBar);

Registering the created toolbar. This process makes the toolbar available for use.

initialTime = 0.0;

Initializing the initial time for rotation amount determination to 0.

The following is a function to update the initial state for rotation amount determination:

void updateInitialRotations()
{
    initialTime = TimeBar::instance()->time();
    initialRotations.clear();
    for(auto& bodyItem : bodyItems){
        initialRotations.push_back(bodyItem->body()->rootLink()->rotation());
    }
}

First, update the value of initialTime with the current time. The rotation amount is calculated using time starting from this time. The remaining part is what was processed in onSelectedItemsChanged in Project Item Operation Sample (S03). By consolidating it in this function, we can update the initial state even when settings are changed.

The following is the function called when the Flip button is pressed:

void flipBodyItems()
{
    for(auto& bodyItem : bodyItems){
        Link* rootLink = bodyItem->body()->rootLink();
        Matrix3 R = AngleAxis(M_PI, Vector3::UnitZ()) * rootLink->rotation();
        rootLink->setRotation(R);
        bodyItem->notifyKinematicStateChange(true);
    }
    updateInitialRotations();
}

For selected Body items, rotate the root link’s orientation by 180 degrees. Finally, also execute updateInitialRotations to ensure that rotation due to time changes continues after this process.

The onTimeChanged function determines the rotation amount according to time changes and updates the model state. This basic process is the same as Project Item Operation Sample (S03), but we’ve modified the formula for determining the rotation amount.

First:

double angle = speedRatioSpin->value() * (time - initialTime);

Here, we make the time relative to initialTime, then multiply it by the Speed ratio spin box value to determine the rotation angle. This achieves smooth changes from the time of setting changes while also reflecting the Speed ratio.

if(reverseToggle->isChecked()){
    angle = -angle;
}

Check the state of the Reverse toggle button, and if it’s on, reverse the rotation angle to the negative direction. This makes the Reverse toggle button functional.

Custom Toolbar Sample (S04)¶

Overview¶

Source Code¶

Toolbar Functions¶

Source Code Explanation¶

Overview ¶

Source Code ¶

Toolbar Functions ¶

Source Code Explanation ¶