Configurable stiffnesses in MouseDrag (#2057)

Makes the rotation and translation stiffnesses in the MouseDrag plugin configurable. This can be done either through the <rotation_stiffness> and <position_stiffness> elements on the SDF file or through fields on the interface. --------- Signed-off-by: Henrique-BO <[email protected]>
gazebosim · Aug 21, 2023 · 3432dcb · 3432dcb
1 parent 900a6ea
commit 3432dcb
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Showing 3 changed files with 134 additions and 9 deletions.
diff --git a/src/gui/plugins/mouse_drag/MouseDrag.cc b/src/gui/plugins/mouse_drag/MouseDrag.cc
@@ -169,7 +169,7 @@ namespace sim
     public: MouseDragMode mode = MouseDragMode::NONE;
 
     /// \brief Link to which the wrenches are applied
-    public: Entity linkId;
+    public: Entity linkId{kNullEntity};
 
     /// \brief Plane of force application
     public: math::Planed plane;
@@ -237,7 +237,7 @@ MouseDrag::MouseDrag()
 MouseDrag::~MouseDrag() = default;
 
 /////////////////////////////////////////////////
-void MouseDrag::LoadConfig(const tinyxml2::XMLElement */*_pluginElem*/)
+void MouseDrag::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
 {
   if (this->title.empty())
     this->title = "Mouse drag";
@@ -249,7 +249,7 @@ void MouseDrag::LoadConfig(const tinyxml2::XMLElement */*_pluginElem*/)
     this->dataPtr->worldName = worldNames[0].toStdString();
     const auto topic = transport::TopicUtils::AsValidTopic(
       "/world/" + this->dataPtr->worldName + "/wrench");
-    if (topic == "")
+    if (topic.empty())
     {
       gzerr << "Unable to create publisher" << std::endl;
       return;
@@ -264,6 +264,22 @@ void MouseDrag::LoadConfig(const tinyxml2::XMLElement */*_pluginElem*/)
     return;
   }
 
+  // Read configuration
+  if (_pluginElem)
+  {
+    if (auto elem = _pluginElem->FirstChildElement("rotation_stiffness"))
+    {
+      elem->QueryDoubleText(&this->dataPtr->rotStiffness);
+      emit this->RotStiffnessChanged();
+    }
+
+    if (auto elem = _pluginElem->FirstChildElement("position_stiffness"))
+    {
+      elem->QueryDoubleText(&this->dataPtr->posStiffness);
+      emit this->PosStiffnessChanged();
+    }
+  }
+
   gz::gui::App()->findChild<gz::gui::MainWindow *>
     ()->installEventFilter(this);
 }
@@ -520,6 +536,30 @@ void MouseDrag::OnSwitchCOM(const bool _checked)
   this->dataPtr->applyCOM = _checked;
 }
 
+/////////////////////////////////////////////////
+double MouseDrag::RotStiffness() const
+{
+  return this->dataPtr->rotStiffness;
+}
+
+/////////////////////////////////////////////////
+void MouseDrag::SetRotStiffness(double _rotStiffness)
+{
+  this->dataPtr->rotStiffness = _rotStiffness;
+}
+
+/////////////////////////////////////////////////
+double MouseDrag::PosStiffness() const
+{
+  return this->dataPtr->posStiffness;
+}
+
+/////////////////////////////////////////////////
+void MouseDrag::SetPosStiffness(double _posStiffness)
+{
+  this->dataPtr->posStiffness = _posStiffness;
+}
+
 /////////////////////////////////////////////////
 void MouseDragPrivate::OnRender()
 {

diff --git a/src/gui/plugins/mouse_drag/MouseDrag.hh b/src/gui/plugins/mouse_drag/MouseDrag.hh
@@ -32,11 +32,29 @@ namespace sim
   /// Automatically loads the ApplyLinkWrench system.
   ///
   /// ## Configuration
-  /// This plugin doesn't accept any custom configuration.
+  ///
+  /// * \<rotation_stiffness\> : Stiffness of rotation mode, defaults to 100
+  /// * \<position_stiffness\> : Stiffness of translation mode, defaults to 100
   class MouseDrag : public gz::sim::GuiSystem
   {
     Q_OBJECT
 
+    /// \brief Stiffness of rotation mode
+    Q_PROPERTY(
+      double rotStiffness
+      READ RotStiffness
+      WRITE SetRotStiffness
+      NOTIFY RotStiffnessChanged
+    )
+
+    /// \brief Stiffness of translation mode
+    Q_PROPERTY(
+      double posStiffness
+      READ PosStiffness
+      WRITE SetPosStiffness
+      NOTIFY PosStiffnessChanged
+    )
+
     /// \brief Constructor
     public: MouseDrag();
 
@@ -57,6 +75,28 @@ namespace sim
     /// \param[in] _checked True if force should be applied to center of mass
     public slots: void OnSwitchCOM(const bool _checked);
 
+    /// \brief Get the rotational stiffness
+    /// \return The rotational stiffness
+    public: Q_INVOKABLE double RotStiffness() const;
+
+    /// \brief Notify that the rotational stiffness changed
+    signals: void RotStiffnessChanged();
+
+    /// \brief Set the rotational stiffness
+    /// \param[in] _rotStiffness The new rotational stiffness
+    public: Q_INVOKABLE void SetRotStiffness(double _rotStiffness);
+
+    /// \brief Get the translational stiffness
+    /// \return The translational stiffness
+    public: Q_INVOKABLE double PosStiffness() const;
+
+    /// \brief Notify that the translational stiffness changed
+    signals: void PosStiffnessChanged();
+
+    /// \brief Set the translational stiffness
+    /// \param[in] _posStiffness The new translational stiffness
+    public: Q_INVOKABLE void SetPosStiffness(double _posStiffness);
+
     /// \internal
     /// \brief Pointer to private data.
     private: std::unique_ptr<MouseDragPrivate> dataPtr;

diff --git a/src/gui/plugins/mouse_drag/MouseDrag.qml b/src/gui/plugins/mouse_drag/MouseDrag.qml
@@ -23,23 +23,68 @@ GridLayout {
   columns: 8
   columnSpacing: 10
   Layout.minimumWidth: 350
-  Layout.minimumHeight: 200
+  Layout.minimumHeight: 300
   anchors.fill: parent
   anchors.leftMargin: 10
   anchors.rightMargin: 10
 
+  // Maximum value for GzSpinBoxes
+  property int maxValue: 1000000
+
+  // Precision of the GzSpinBoxes in decimal places
+  property int decimalPlaces: 1
+
+  // Step size of the GzSpinBoxes
+  property double step: 10.0
+
   Text {
     Layout.columnSpan: 8
     id: rotationText
-    color: "dimgrey"
-    text: qsTr("Ctrl+Left-Click: rotation")
+    text: qsTr("Rotation (Ctrl+Left-Click)")
+  }
+
+  Label {
+    Layout.columnSpan: 2
+    horizontalAlignment: Text.AlignRight
+    id: rotStiffText
+    text: qsTr("Rotation stiffness")
+  }
+
+  GzSpinBox {
+    Layout.columnSpan: 6
+    Layout.fillWidth: true
+    id: rotStiffness
+    maximumValue: maxValue
+    minimumValue: 0
+    value: MouseDrag.rotStiffness
+    decimals: decimalPlaces
+    stepSize: step
+    onValueChanged: MouseDrag.rotStiffness = rotStiffness.value
   }
 
   Text {
     Layout.columnSpan: 8
     id: translationText
-    color: "dimgrey"
-    text: qsTr("Ctrl+Right-Click: translation")
+    text: qsTr("Translation (Ctrl+Right-Click)")
+  }
+
+  Label {
+    Layout.columnSpan: 2
+    horizontalAlignment: Text.AlignRight
+    id: posStiffText
+    text: qsTr("Position stiffness")
+  }
+
+  GzSpinBox {
+    Layout.columnSpan: 6
+    Layout.fillWidth: true
+    id: posStiffness
+    maximumValue: maxValue
+    minimumValue: 0
+    value: MouseDrag.posStiffness
+    decimals: decimalPlaces
+    stepSize: step
+    onValueChanged: MouseDrag.posStiffness = posStiffness.value
   }
 
   Switch {