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User interfaces for CRCL Simulated Robot Server and Client Pendant.
/*
* This software is public domain software, however it is preferred
* that the following disclaimers be attached.
* Software Copywrite/Warranty Disclaimer
*
* This software was developed at the National Institute of Standards and
* Technology by employees of the Federal Government in the course of their
* official duties. Pursuant to title 17 Section 105 of the United States
* Code this software is not subject to copyright protection and is in the
* public domain.
*
* This software is experimental. NIST assumes no responsibility whatsoever
* for its use by other parties, and makes no guarantees, expressed or
* implied, about its quality, reliability, or any other characteristic.
* We would appreciate acknowledgement if the software is used.
* This software can be redistributed and/or modified freely provided
* that any derivative works bear some notice that they are derived from it,
* and any modified versions bear some notice that they have been modified.
*
* See http://www.copyright.gov/title17/92chap1.html#105
*
*/
package crcl.ui;
import crcl.base.CRCLProgramType;
import crcl.base.MiddleCommandType;
import crcl.base.MoveToType;
import crcl.base.PointType;
import crcl.base.PoseType;
import crcl.utils.CRCLException;
import crcl.utils.CRCLPosemath;
import java.io.File;
import java.io.IOException;
import java.math.BigDecimal;
import java.text.SimpleDateFormat;
import java.util.Date;
import java.util.logging.Level;
import java.util.logging.Logger;
import javax.swing.JFrame;
import javax.swing.JTable;
import javax.swing.event.TableModelEvent;
import javax.swing.event.TableModelListener;
import javax.swing.table.TableModel;
import javax.xml.bind.JAXBException;
/**
*
* @author Will Shackleford {@literal }
*/
public class TransformJPanel extends javax.swing.JPanel {
private PendantClient pendantClient;
/**
* Set the value of pendantClient
*
* @param pendantClient new value of pendantClient
*/
public void setPendantClient(PendantClient pendantClient) {
this.pendantClient = pendantClient;
}
/**
* Creates new form TransformJPanel
*/
public TransformJPanel() {
initComponents();
this.jTableOrigPoint1.getModel().addTableModelListener(new TableModelListener() {
@Override
public void tableChanged(TableModelEvent e) {
try {
if (!ignoreModelUpdates) {
setOrigPoint1(getPointFromTable(jTableOrigPoint1));
}
} catch (Exception ex) {
Logger.getLogger(TransformSetupJFrame.class.getCanonicalName()).log(Level.SEVERE, "TableChanged", ex);
}
}
});
this.jTableOrigPoint2.getModel().addTableModelListener(new TableModelListener() {
@Override
public void tableChanged(TableModelEvent e) {
try {
if (!ignoreModelUpdates) {
setOrigPoint2(getPointFromTable(jTableOrigPoint2));
}
} catch (Exception ex) {
Logger.getLogger(TransformSetupJFrame.class.getCanonicalName()).log(Level.SEVERE, "TableChanged", ex);
}
}
});
this.jTableNewPoint1.getModel().addTableModelListener(new TableModelListener() {
@Override
public void tableChanged(TableModelEvent e) {
try {
if (!ignoreModelUpdates) {
setNewPoint1(getPointFromTable(jTableNewPoint1));
}
} catch (Exception ex) {
Logger.getLogger(TransformSetupJFrame.class.getCanonicalName()).log(Level.SEVERE, "TableChanged", ex);
}
}
});
this.jTableNewPoint2.getModel().addTableModelListener(new TableModelListener() {
@Override
public void tableChanged(TableModelEvent e) {
try {
if (!ignoreModelUpdates) {
setNewPoint2(getPointFromTable(jTableNewPoint2));
}
} catch (Exception ex) {
Logger.getLogger(TransformSetupJFrame.class.getCanonicalName()).log(Level.SEVERE, "TableChanged", ex);
}
}
});
}
static public PointType getPointFromTable(JTable table) {
final TableModel model = table.getModel();
PointType pt = new PointType();
pt.setX(new BigDecimal(model.getValueAt(0, 1).toString()));
pt.setY(new BigDecimal(model.getValueAt(1, 1).toString()));
pt.setZ(new BigDecimal(model.getValueAt(2, 1).toString()));
return pt;
}
private PointType origPoint1 = CRCLPosemath.newZeroedPoint();
/**
* Get the value of origPoint1
*
* @return the value of origPoint1
*/
public PointType getOrigPoint1() {
return origPoint1;
}
/**
* Set the value of origPoint1
*
* @param origPoint1 new value of origPoint1
*/
public void setOrigPoint1(PointType origPoint1) {
this.origPoint1 = origPoint1;
if (null != origPoint1) {
updatePointTable(this.jTableOrigPoint1, origPoint1);
}
}
private volatile boolean ignoreModelUpdates = false;
public synchronized void updatePointTable(JTable table, PointType pt) {
ignoreModelUpdates = true;
final TableModel model = table.getModel();
model.setValueAt(pt.getX().doubleValue(), 0, 1);
model.setValueAt(pt.getY().doubleValue(), 1, 1);
model.setValueAt(pt.getZ().doubleValue(), 2, 1);
ignoreModelUpdates = false;
}
private PoseType transform = CRCLPosemath.identityPose();
/**
* Get the value of transform
*
* @return the value of transform
*/
public PoseType getTransform() {
return transform;
}
/**
* Set the value of transform
*
* @param transform new value of transform
*/
public void setTransform(PoseType transform) {
this.transform = transform;
PendantClient.updatePoseTable(transform, jTablePose);
}
private void updateTransformBothPoints() {
try {
PoseType newTransform = CRCLPosemath.compute2DTransform(origPoint1, origPoint2, newPoint1, newPoint2);
this.setTransform(newTransform);
PointType newPoint1Transformed = CRCLPosemath.multiply(transform, origPoint1);
PointType point1Error = CRCLPosemath.subtract(newPoint1, newPoint1Transformed);
PointType newPoint2Transformed = CRCLPosemath.multiply(transform, origPoint2);
PointType point2Error = CRCLPosemath.subtract(newPoint2, newPoint2Transformed);
TableModel m = this.jTableTransformErrors.getModel();
m.setValueAt(point1Error.getX(), 0, 1);
m.setValueAt(point1Error.getY(), 1, 1);
m.setValueAt(point1Error.getZ(), 2, 1);
m.setValueAt(point2Error.getX(), 3, 1);
m.setValueAt(point2Error.getY(), 4, 1);
m.setValueAt(point2Error.getZ(), 5, 1);
} catch (CRCLException ex) {
Logger.getLogger(TransformSetupJFrame.class.getName()).log(Level.SEVERE, null, ex);
pendantClient.showMessage(ex);
}
}
private void updateTransformPoint1() {
try {
PoseType newTransform = CRCLPosemath.compute2DTransform(origPoint1, origPoint1, newPoint1, newPoint1);
this.setTransform(newTransform);
PointType newPoint1Transformed = CRCLPosemath.multiply(transform, origPoint1);
PointType point1Error = CRCLPosemath.subtract(newPoint1, newPoint1Transformed);
PointType newPoint2Transformed = CRCLPosemath.multiply(transform, origPoint2);
PointType point2Error = CRCLPosemath.subtract(newPoint2, newPoint2Transformed);
TableModel m = this.jTableTransformErrors.getModel();
m.setValueAt(point1Error.getX(), 0, 1);
m.setValueAt(point1Error.getY(), 1, 1);
m.setValueAt(point1Error.getZ(), 2, 1);
m.setValueAt(point2Error.getX(), 3, 1);
m.setValueAt(point2Error.getY(), 4, 1);
m.setValueAt(point2Error.getZ(), 5, 1);
} catch (CRCLException ex) {
Logger.getLogger(TransformSetupJFrame.class.getName()).log(Level.SEVERE, null, ex);
pendantClient.showMessage(ex);
}
}
private void updateTransformPoint2() {
try {
PoseType newTransform = CRCLPosemath.compute2DTransform(origPoint2, origPoint2, newPoint2, newPoint2);
this.setTransform(newTransform);
PointType newPoint1Transformed = CRCLPosemath.multiply(transform, origPoint1);
PointType point1Error = CRCLPosemath.subtract(newPoint1, newPoint1Transformed);
PointType newPoint2Transformed = CRCLPosemath.multiply(transform, origPoint2);
PointType point2Error = CRCLPosemath.subtract(newPoint2, newPoint2Transformed);
TableModel m = this.jTableTransformErrors.getModel();
m.setValueAt(point1Error.getX(), 0, 1);
m.setValueAt(point1Error.getY(), 1, 1);
m.setValueAt(point1Error.getZ(), 2, 1);
m.setValueAt(point2Error.getX(), 3, 1);
m.setValueAt(point2Error.getY(), 4, 1);
m.setValueAt(point2Error.getZ(), 5, 1);
} catch (CRCLException ex) {
Logger.getLogger(TransformSetupJFrame.class.getName()).log(Level.SEVERE, null, ex);
pendantClient.showMessage(ex);
}
}
private PointType origPoint2 = CRCLPosemath.newZeroedPoint();
/**
* Get the value of origPoint2
*
* @return the value of origPoint2
*/
public PointType getOrigPoint2() {
return origPoint2;
}
/**
* Set the value of origPoint2
*
* @param origPoint2 new value of origPoint2
*/
public void setOrigPoint2(PointType origPoint2) {
this.origPoint2 = origPoint2;
if (null != origPoint2) {
updatePointTable(this.jTableOrigPoint2, origPoint2);
}
}
private PointType newPoint1 = CRCLPosemath.newZeroedPoint();
/**
* Get the value of newPoint1
*
* @return the value of newPoint1
*/
public PointType getNewPoint1() {
return newPoint1;
}
/**
* Set the value of newPoint1
*
* @param newPoint1 new value of newPoint1
*/
public void setNewPoint1(PointType newPoint1) {
this.newPoint1 = newPoint1;
if (null != newPoint1) {
updatePointTable(this.jTableNewPoint1, newPoint1);
}
}
private PointType newPoint2 = CRCLPosemath.newZeroedPoint();
/**
* Get the value of newPoint2
*
* @return the value of newPoint2
*/
public PointType getNewPoint2() {
return newPoint2;
}
/**
* Set the value of newPoint2
*
* @param newPoint2 new value of newPoint2
*/
public void setNewPoint2(PointType newPoint2) {
this.newPoint2 = newPoint2;
if (null != newPoint1) {
updatePointTable(this.jTableNewPoint2, newPoint2);
}
}
/**
* This method is called from within the constructor to initialize the form.
* WARNING: Do NOT modify this code. The content of this method is always
* regenerated by the Form Editor.
*/
@SuppressWarnings("unchecked")
// //GEN-BEGIN:initComponents
private void initComponents() {
jPanel1 = new javax.swing.JPanel();
jPanel2 = new javax.swing.JPanel();
jScrollPane1 = new javax.swing.JScrollPane();
jTableOrigPoint1 = new javax.swing.JTable();
jButtonOrigPoint1Current = new javax.swing.JButton();
jButtonOrigPoint1Program = new javax.swing.JButton();
jPanel3 = new javax.swing.JPanel();
jScrollPane2 = new javax.swing.JScrollPane();
jTableOrigPoint2 = new javax.swing.JTable();
jButtonOrigPoint2Current = new javax.swing.JButton();
jButtonOrigPoint2Program = new javax.swing.JButton();
jButtonComputeTransformPoint1 = new javax.swing.JButton();
jPanel4 = new javax.swing.JPanel();
jPanel5 = new javax.swing.JPanel();
jScrollPane3 = new javax.swing.JScrollPane();
jTableNewPoint1 = new javax.swing.JTable();
jButtonNewPoint1Current = new javax.swing.JButton();
jButtonNewPoint1Program = new javax.swing.JButton();
jPanel6 = new javax.swing.JPanel();
jScrollPane4 = new javax.swing.JScrollPane();
jTableNewPoint2 = new javax.swing.JTable();
jButtonNewPoint2Current = new javax.swing.JButton();
jButtonNewPoint2Program = new javax.swing.JButton();
jButtonComputeTransformPoint2 = new javax.swing.JButton();
jPanel7 = new javax.swing.JPanel();
jTablePose = new javax.swing.JTable();
jButtonTransformProgram = new javax.swing.JButton();
jScrollPane5 = new javax.swing.JScrollPane();
jTableTransformErrors = new javax.swing.JTable();
jLabel1 = new javax.swing.JLabel();
jButtonComputeTranformBothPoints = new javax.swing.JButton();
jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Original Points"));
jPanel2.setBorder(javax.swing.BorderFactory.createTitledBorder("Point1"));
jTableOrigPoint1.setModel(new javax.swing.table.DefaultTableModel(
new Object [][] {
{"X", new Double(0.0)},
{"Y", new Double(0.0)},
{"Z", new Double(0.0)}
},
new String [] {
"Axis", "Value"
}
) {
Class[] types = new Class [] {
java.lang.String.class, java.lang.Double.class
};
boolean[] canEdit = new boolean [] {
false, true
};
public Class getColumnClass(int columnIndex) {
return types [columnIndex];
}
public boolean isCellEditable(int rowIndex, int columnIndex) {
return canEdit [columnIndex];
}
});
jScrollPane1.setViewportView(jTableOrigPoint1);
jButtonOrigPoint1Current.setText("Current");
jButtonOrigPoint1Current.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
jButtonOrigPoint1CurrentActionPerformed(evt);
}
});
jButtonOrigPoint1Program.setText("Program");
jButtonOrigPoint1Program.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
jButtonOrigPoint1ProgramActionPerformed(evt);
}
});
javax.swing.GroupLayout jPanel2Layout = new javax.swing.GroupLayout(jPanel2);
jPanel2.setLayout(jPanel2Layout);
jPanel2Layout.setHorizontalGroup(
jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createSequentialGroup()
.addComponent(jScrollPane1, javax.swing.GroupLayout.PREFERRED_SIZE, 0, Short.MAX_VALUE)
.addContainerGap())
.addGroup(jPanel2Layout.createSequentialGroup()
.addComponent(jButtonOrigPoint1Current)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonOrigPoint1Program)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))))
);
jPanel2Layout.setVerticalGroup(
jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel2Layout.createSequentialGroup()
.addContainerGap()
.addComponent(jScrollPane1, javax.swing.GroupLayout.PREFERRED_SIZE, 82, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel2Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jButtonOrigPoint1Current)
.addComponent(jButtonOrigPoint1Program))
.addContainerGap())
);
jPanel3.setBorder(javax.swing.BorderFactory.createTitledBorder("Point2"));
jTableOrigPoint2.setModel(new javax.swing.table.DefaultTableModel(
new Object [][] {
{"X", new Double(0.0)},
{"Y", new Double(0.0)},
{"Z", new Double(0.0)}
},
new String [] {
"Axis", "Value"
}
) {
Class[] types = new Class [] {
java.lang.String.class, java.lang.Double.class
};
boolean[] canEdit = new boolean [] {
false, true
};
public Class getColumnClass(int columnIndex) {
return types [columnIndex];
}
public boolean isCellEditable(int rowIndex, int columnIndex) {
return canEdit [columnIndex];
}
});
jScrollPane2.setViewportView(jTableOrigPoint2);
jButtonOrigPoint2Current.setText("Current");
jButtonOrigPoint2Current.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
jButtonOrigPoint2CurrentActionPerformed(evt);
}
});
jButtonOrigPoint2Program.setText("Program");
jButtonOrigPoint2Program.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
jButtonOrigPoint2ProgramActionPerformed(evt);
}
});
javax.swing.GroupLayout jPanel3Layout = new javax.swing.GroupLayout(jPanel3);
jPanel3.setLayout(jPanel3Layout);
jPanel3Layout.setHorizontalGroup(
jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel3Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel3Layout.createSequentialGroup()
.addComponent(jScrollPane2, javax.swing.GroupLayout.PREFERRED_SIZE, 0, Short.MAX_VALUE)
.addContainerGap())
.addGroup(jPanel3Layout.createSequentialGroup()
.addComponent(jButtonOrigPoint2Current)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonOrigPoint2Program)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))))
);
jPanel3Layout.setVerticalGroup(
jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel3Layout.createSequentialGroup()
.addContainerGap()
.addComponent(jScrollPane2, javax.swing.GroupLayout.PREFERRED_SIZE, 83, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel3Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jButtonOrigPoint2Current)
.addComponent(jButtonOrigPoint2Program))
.addContainerGap())
);
jButtonComputeTransformPoint1.setText("Transform from Point1");
jButtonComputeTransformPoint1.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
jButtonComputeTransformPoint1ActionPerformed(evt);
}
});
javax.swing.GroupLayout jPanel1Layout = new javax.swing.GroupLayout(jPanel1);
jPanel1.setLayout(jPanel1Layout);
jPanel1Layout.setHorizontalGroup(
jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel1Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jButtonComputeTransformPoint1))
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanel1Layout.setVerticalGroup(
jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel1Layout.createSequentialGroup()
.addContainerGap()
.addComponent(jPanel2, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jPanel3, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonComputeTransformPoint1)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanel4.setBorder(javax.swing.BorderFactory.createTitledBorder("New Points"));
jPanel5.setBorder(javax.swing.BorderFactory.createTitledBorder("Point1"));
jTableNewPoint1.setModel(new javax.swing.table.DefaultTableModel(
new Object [][] {
{"X", new Double(0.0)},
{"Y", new Double(0.0)},
{"Z", new Double(0.0)}
},
new String [] {
"Axis", "Value"
}
) {
Class[] types = new Class [] {
java.lang.String.class, java.lang.Double.class
};
boolean[] canEdit = new boolean [] {
false, true
};
public Class getColumnClass(int columnIndex) {
return types [columnIndex];
}
public boolean isCellEditable(int rowIndex, int columnIndex) {
return canEdit [columnIndex];
}
});
jScrollPane3.setViewportView(jTableNewPoint1);
jButtonNewPoint1Current.setText("Current");
jButtonNewPoint1Current.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
jButtonNewPoint1CurrentActionPerformed(evt);
}
});
jButtonNewPoint1Program.setText("Program");
jButtonNewPoint1Program.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
jButtonNewPoint1ProgramActionPerformed(evt);
}
});
javax.swing.GroupLayout jPanel5Layout = new javax.swing.GroupLayout(jPanel5);
jPanel5.setLayout(jPanel5Layout);
jPanel5Layout.setHorizontalGroup(
jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel5Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING, false)
.addComponent(jScrollPane3, javax.swing.GroupLayout.PREFERRED_SIZE, 0, Short.MAX_VALUE)
.addGroup(jPanel5Layout.createSequentialGroup()
.addComponent(jButtonNewPoint1Current)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonNewPoint1Program)))
.addContainerGap())
);
jPanel5Layout.setVerticalGroup(
jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel5Layout.createSequentialGroup()
.addContainerGap()
.addComponent(jScrollPane3, javax.swing.GroupLayout.PREFERRED_SIZE, 83, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel5Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jButtonNewPoint1Current)
.addComponent(jButtonNewPoint1Program))
.addContainerGap())
);
jPanel6.setBorder(javax.swing.BorderFactory.createTitledBorder("Point2"));
jTableNewPoint2.setModel(new javax.swing.table.DefaultTableModel(
new Object [][] {
{"X", new Double(0.0)},
{"Y", new Double(0.0)},
{"Z", new Double(0.0)}
},
new String [] {
"Axis", "Value"
}
) {
Class[] types = new Class [] {
java.lang.String.class, java.lang.Double.class
};
boolean[] canEdit = new boolean [] {
false, true
};
public Class getColumnClass(int columnIndex) {
return types [columnIndex];
}
public boolean isCellEditable(int rowIndex, int columnIndex) {
return canEdit [columnIndex];
}
});
jScrollPane4.setViewportView(jTableNewPoint2);
jButtonNewPoint2Current.setText("Current");
jButtonNewPoint2Current.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
jButtonNewPoint2CurrentActionPerformed(evt);
}
});
jButtonNewPoint2Program.setText("Program");
jButtonNewPoint2Program.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
jButtonNewPoint2ProgramActionPerformed(evt);
}
});
javax.swing.GroupLayout jPanel6Layout = new javax.swing.GroupLayout(jPanel6);
jPanel6.setLayout(jPanel6Layout);
jPanel6Layout.setHorizontalGroup(
jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel6Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jScrollPane4, javax.swing.GroupLayout.PREFERRED_SIZE, 0, Short.MAX_VALUE)
.addGroup(jPanel6Layout.createSequentialGroup()
.addComponent(jButtonNewPoint2Current)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonNewPoint2Program)
.addGap(0, 0, Short.MAX_VALUE)))
.addContainerGap())
);
jPanel6Layout.setVerticalGroup(
jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel6Layout.createSequentialGroup()
.addContainerGap()
.addComponent(jScrollPane4, javax.swing.GroupLayout.PREFERRED_SIZE, 84, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addGroup(jPanel6Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jButtonNewPoint2Current)
.addComponent(jButtonNewPoint2Program))
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jButtonComputeTransformPoint2.setText("Transform from Point2");
jButtonComputeTransformPoint2.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
jButtonComputeTransformPoint2ActionPerformed(evt);
}
});
javax.swing.GroupLayout jPanel4Layout = new javax.swing.GroupLayout(jPanel4);
jPanel4.setLayout(jPanel4Layout);
jPanel4Layout.setHorizontalGroup(
jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel4Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jPanel6, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jPanel5, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addComponent(jButtonComputeTransformPoint2))
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanel4Layout.setVerticalGroup(
jPanel4Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel4Layout.createSequentialGroup()
.addContainerGap()
.addComponent(jPanel5, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jPanel6, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonComputeTransformPoint2)
.addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
jPanel7.setBorder(javax.swing.BorderFactory.createTitledBorder("Computed Transform"));
jTablePose.setModel(new javax.swing.table.DefaultTableModel(
new Object [][] {
{"X", new Double(0.0)},
{"Y", new Double(0.0)},
{"Z", new Double(0.0)},
{"XI", new Double(1.0)},
{"XJ", new Double(0.0)},
{"XK", new Double(0.0)},
{"ZI", new Double(0.0)},
{"ZJ", new Double(0.0)},
{"Zk", new Double(1.0)},
{"Roll", new Double(0.0)},
{"Pitch", new Double(0.0)},
{"Yaw", new Double(0.0)}
},
new String [] {
"Pose Axis", "Position"
}
) {
Class[] types = new Class [] {
java.lang.String.class, java.lang.Double.class
};
boolean[] canEdit = new boolean [] {
false, true
};
public Class getColumnClass(int columnIndex) {
return types [columnIndex];
}
public boolean isCellEditable(int rowIndex, int columnIndex) {
return canEdit [columnIndex];
}
});
jButtonTransformProgram.setText("Apply");
jButtonTransformProgram.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
jButtonTransformProgramActionPerformed(evt);
}
});
jTableTransformErrors.setModel(new javax.swing.table.DefaultTableModel(
new Object [][] {
{"X1", null},
{"Y1", null},
{"Z1", null},
{"X2", null},
{"Y2", null},
{"Z2", null}
},
new String [] {
"Axis", "Value"
}
) {
Class[] types = new Class [] {
java.lang.String.class, java.lang.Double.class
};
boolean[] canEdit = new boolean [] {
false, true
};
public Class getColumnClass(int columnIndex) {
return types [columnIndex];
}
public boolean isCellEditable(int rowIndex, int columnIndex) {
return canEdit [columnIndex];
}
});
jScrollPane5.setViewportView(jTableTransformErrors);
jLabel1.setText("Errors");
jButtonComputeTranformBothPoints.setText("Compute Transform");
jButtonComputeTranformBothPoints.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
jButtonComputeTranformBothPointsActionPerformed(evt);
}
});
javax.swing.GroupLayout jPanel7Layout = new javax.swing.GroupLayout(jPanel7);
jPanel7.setLayout(jPanel7Layout);
jPanel7Layout.setHorizontalGroup(
jPanel7Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(jPanel7Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel7Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
.addComponent(jScrollPane5, javax.swing.GroupLayout.PREFERRED_SIZE, 0, Short.MAX_VALUE)
.addComponent(jLabel1, javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jTablePose, javax.swing.GroupLayout.Alignment.LEADING, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addGroup(javax.swing.GroupLayout.Alignment.LEADING, jPanel7Layout.createSequentialGroup()
.addComponent(jButtonComputeTranformBothPoints)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jButtonTransformProgram)))
.addContainerGap())
);
jPanel7Layout.setVerticalGroup(
jPanel7Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(javax.swing.GroupLayout.Alignment.TRAILING, jPanel7Layout.createSequentialGroup()
.addContainerGap()
.addGroup(jPanel7Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
.addComponent(jButtonComputeTranformBothPoints)
.addComponent(jButtonTransformProgram))
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jTablePose, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jLabel1)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jScrollPane5, javax.swing.GroupLayout.DEFAULT_SIZE, 145, Short.MAX_VALUE)
.addContainerGap())
);
javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
this.setLayout(layout);
layout.setHorizontalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
.addContainerGap()
.addComponent(jPanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
.addComponent(jPanel4, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.UNRELATED)
.addComponent(jPanel7, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addContainerGap())
);
layout.setVerticalGroup(
layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addGroup(layout.createSequentialGroup()
.addContainerGap()
.addGroup(layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
.addComponent(jPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(jPanel4, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
.addComponent(jPanel7, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
.addContainerGap())
);
}// //GEN-END:initComponents
private void jButtonOrigPoint1ProgramActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonOrigPoint1ProgramActionPerformed
if (null != pendantClient) {
MiddleCommandType cmd = pendantClient.getCurrentProgramCommand();
if (cmd instanceof MoveToType) {
MoveToType moveToCmd = (MoveToType) cmd;
PoseType pose = moveToCmd.getEndPosition();
if (null != pose) {
setOrigPoint1(pose.getPoint());
}
}
}
}//GEN-LAST:event_jButtonOrigPoint1ProgramActionPerformed
private void jButtonOrigPoint2CurrentActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonOrigPoint2CurrentActionPerformed
if (null != pendantClient) {
PoseType pose = pendantClient.getCurrentPose();
if (null != pose) {
setOrigPoint2(pose.getPoint());
}
}
}//GEN-LAST:event_jButtonOrigPoint2CurrentActionPerformed
private void jButtonOrigPoint2ProgramActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonOrigPoint2ProgramActionPerformed
if (null != pendantClient) {
MiddleCommandType cmd = pendantClient.getCurrentProgramCommand();
if (cmd instanceof MoveToType) {
MoveToType moveToCmd = (MoveToType) cmd;
PoseType pose = moveToCmd.getEndPosition();
if (null != pose) {
setOrigPoint2(pose.getPoint());
}
}
}
}//GEN-LAST:event_jButtonOrigPoint2ProgramActionPerformed
private void jButtonNewPoint1CurrentActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonNewPoint1CurrentActionPerformed
if (null != pendantClient) {
PoseType pose = pendantClient.getCurrentPose();
if (null != pose) {
setNewPoint1(pose.getPoint());
}
}
}//GEN-LAST:event_jButtonNewPoint1CurrentActionPerformed
private void jButtonNewPoint1ProgramActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonNewPoint1ProgramActionPerformed
if (null != pendantClient) {
MiddleCommandType cmd = pendantClient.getCurrentProgramCommand();
if (cmd instanceof MoveToType) {
MoveToType moveToCmd = (MoveToType) cmd;
PoseType pose = moveToCmd.getEndPosition();
if (null != pose) {
setNewPoint1(pose.getPoint());
}
}
}
}//GEN-LAST:event_jButtonNewPoint1ProgramActionPerformed
private void jButtonNewPoint2CurrentActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonNewPoint2CurrentActionPerformed
if (null != pendantClient) {
PoseType pose = pendantClient.getCurrentPose();
if (null != pose) {
setNewPoint2(pose.getPoint());
}
}
}//GEN-LAST:event_jButtonNewPoint2CurrentActionPerformed
private void jButtonNewPoint2ProgramActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonNewPoint2ProgramActionPerformed
if (null != pendantClient) {
MiddleCommandType cmd = pendantClient.getCurrentProgramCommand();
if (cmd instanceof MoveToType) {
MoveToType moveToCmd = (MoveToType) cmd;
PoseType pose = moveToCmd.getEndPosition();
if (null != pose) {
setNewPoint2(pose.getPoint());
}
}
}
}//GEN-LAST:event_jButtonNewPoint2ProgramActionPerformed
private void jButtonOrigPoint1CurrentActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonOrigPoint1CurrentActionPerformed
if (null != pendantClient) {
PoseType pose = pendantClient.getCurrentPose();
if (null != pose) {
setOrigPoint1(pose.getPoint());
}
}
}//GEN-LAST:event_jButtonOrigPoint1CurrentActionPerformed
static private String currentDateString() {
SimpleDateFormat sdf = new SimpleDateFormat("yyyyMMdd'at'HHmm");
return sdf.format(new Date());
}
private void jButtonTransformProgramActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonTransformProgramActionPerformed
try {
PoseType transform = PendantClient.tableToPose(jTablePose);
CRCLProgramType inProgram = pendantClient.getProgram();
if (null != inProgram) {
CRCLProgramType newProgram = CRCLPosemath.transformProgram(transform, inProgram);
File curFile = pendantClient.getLastOpenedProgramFile();
if (curFile == null) {
curFile = File.createTempFile("program", ".xml");
}
String name = curFile.getName();
int transformedIndex = name.indexOf(".transformed");
if(transformedIndex > 0) {
name = name.substring(0, transformedIndex);
}
int xmlIndex = name.indexOf(".xml");
if(xmlIndex > 0) {
name = name.substring(0, xmlIndex);
}
File newFile = new File(curFile.getParentFile(),name+".transformed."+currentDateString()+".xml");
pendantClient.setProgram(newProgram);
pendantClient.saveXmlProgramFile(newFile);
} else {
pendantClient.showMessage("Can not apply tranform to program when no program is loaded.");
}
} catch (IOException | JAXBException | CRCLException ex) {
Logger.getLogger(TransformJPanel.class.getName()).log(Level.SEVERE, null, ex);
pendantClient.showMessage(ex);
}
}//GEN-LAST:event_jButtonTransformProgramActionPerformed
private void jButtonComputeTransformPoint1ActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonComputeTransformPoint1ActionPerformed
this.updateTransformPoint1();
}//GEN-LAST:event_jButtonComputeTransformPoint1ActionPerformed
private void jButtonComputeTransformPoint2ActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonComputeTransformPoint2ActionPerformed
this.updateTransformPoint2();
}//GEN-LAST:event_jButtonComputeTransformPoint2ActionPerformed
private void jButtonComputeTranformBothPointsActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_jButtonComputeTranformBothPointsActionPerformed
this.updateTransformBothPoints();
}//GEN-LAST:event_jButtonComputeTranformBothPointsActionPerformed
public static void main(String[] args) {
java.awt.EventQueue.invokeLater(() -> {
Thread.dumpStack();
JFrame frame = new JFrame();
frame.add(new TransformJPanel());
frame.pack();
frame.setVisible(true);
});
}
// Variables declaration - do not modify//GEN-BEGIN:variables
private javax.swing.JButton jButtonComputeTranformBothPoints;
private javax.swing.JButton jButtonComputeTransformPoint1;
private javax.swing.JButton jButtonComputeTransformPoint2;
private javax.swing.JButton jButtonNewPoint1Current;
private javax.swing.JButton jButtonNewPoint1Program;
private javax.swing.JButton jButtonNewPoint2Current;
private javax.swing.JButton jButtonNewPoint2Program;
private javax.swing.JButton jButtonOrigPoint1Current;
private javax.swing.JButton jButtonOrigPoint1Program;
private javax.swing.JButton jButtonOrigPoint2Current;
private javax.swing.JButton jButtonOrigPoint2Program;
private javax.swing.JButton jButtonTransformProgram;
private javax.swing.JLabel jLabel1;
private javax.swing.JPanel jPanel1;
private javax.swing.JPanel jPanel2;
private javax.swing.JPanel jPanel3;
private javax.swing.JPanel jPanel4;
private javax.swing.JPanel jPanel5;
private javax.swing.JPanel jPanel6;
private javax.swing.JPanel jPanel7;
private javax.swing.JScrollPane jScrollPane1;
private javax.swing.JScrollPane jScrollPane2;
private javax.swing.JScrollPane jScrollPane3;
private javax.swing.JScrollPane jScrollPane4;
private javax.swing.JScrollPane jScrollPane5;
private javax.swing.JTable jTableNewPoint1;
private javax.swing.JTable jTableNewPoint2;
private javax.swing.JTable jTableOrigPoint1;
private javax.swing.JTable jTableOrigPoint2;
private javax.swing.JTable jTablePose;
private javax.swing.JTable jTableTransformErrors;
// End of variables declaration//GEN-END:variables
}
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