Only recreate target object when parameters change #86
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Codecov Report
@@ Coverage Diff @@
## master #86 +/- ##
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- Coverage 79.16% 78.38% -0.78%
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Files 9 9
Lines 499 504 +5
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Hits 395 395
- Misses 104 109 +5
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| case moveit_handeye_calibration::HandEyeTargetBase::Parameter::ParameterType::Float: { | ||
| QLineEdit* line_edit = new QLineEdit(); | ||
| connect(line_edit, SIGNAL(textChanged(QString)), this, SLOT(targetParameterChanged(QString))); | ||
| target_param_inputs_.insert(std::make_pair(param.name_, line_edit)); | ||
| target_param_layout_->addRow(param.name_.c_str(), target_param_inputs_[param.name_]); | ||
| static_cast<QLineEdit*>(target_param_inputs_[param.name_])->setText(std::to_string(param.value_.f).c_str()); | ||
| break; |
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This case looks the exact same as above. Can you combine?
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I went to do this and realized that there's a one character difference, in lines 313 and 321: one uses param.value_.i and the other param.value_.f. I'm not thinking of a more elegant way to combine them . . .
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You could make it a lambda function that lives inside loadInputWidgetsForTargetType function and have that one parameter be the input value. And make that parameter const std::string& to avoid having to template it for different value types.
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I don't quite follow your suggestion, @jliukkonen, but I did realize that the parameter could know how to make a string of itself, and so that's what I did and used it here to combine the int and float cases. It also led me to some other situations where things could be simplified related to parameter types.
moveit_calibration_plugins/handeye_calibration_target/src/handeye_target_charuco.cpp
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| case moveit_handeye_calibration::HandEyeTargetBase::Parameter::ParameterType::Float: { | ||
| QLineEdit* line_edit = new QLineEdit(); | ||
| connect(line_edit, SIGNAL(textChanged(QString)), this, SLOT(targetParameterChanged(QString))); | ||
| target_param_inputs_.insert(std::make_pair(param.name_, line_edit)); | ||
| target_param_layout_->addRow(param.name_.c_str(), target_param_inputs_[param.name_]); | ||
| static_cast<QLineEdit*>(target_param_inputs_[param.name_])->setText(std::to_string(param.value_.f).c_str()); | ||
| break; |
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You could make it a lambda function that lives inside loadInputWidgetsForTargetType function and have that one parameter be the input value. And make that parameter const std::string& to avoid having to template it for different value types.
...libration_rviz_plugin/include/moveit/handeye_calibration_rviz_plugin/handeye_target_widget.h
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moveit_calibration_gui/handeye_calibration_rviz_plugin/src/handeye_target_widget.cpp
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moveit_calibration_gui/handeye_calibration_rviz_plugin/src/handeye_target_widget.cpp
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moveit_calibration_gui/handeye_calibration_rviz_plugin/src/handeye_target_widget.cpp
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moveit_calibration_gui/handeye_calibration_rviz_plugin/src/handeye_target_widget.cpp
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moveit_calibration_gui/handeye_calibration_rviz_plugin/src/handeye_target_widget.cpp
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Fixes #14: only re-initializes target object when the parameters change.