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Optimizer: fixed some constraints between same nodes with different type ignored. GraphViewer: fixed display of links between same nodes with different type

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matlabbe
2023-11-12 17:14:17 -08:00
parent 56552afa6c
commit 4812ce4eaf
4 changed files with 90 additions and 11 deletions
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6
guilib/src/GraphViewer.cpp
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@@ -251,10 +251,10 @@ public:
protected:
virtual void hoverEnterEvent ( QGraphicsSceneHoverEvent * event )
{
QString str = QString("%1->%2 (%3 m)").arg(_from).arg(_to).arg(_poseA.getDistance(_poseB));
QString str = QString("%1->%2 (type=%3 length=%4 m)").arg(_from).arg(_to).arg(_link.type()).arg(_poseA.getDistance(_poseB));
if(!_link.transform().isNull())
{
str.append(QString("\n%1\n%2 %3").arg(_link.transform().prettyPrint().c_str()).arg(_link.transVariance()).arg(_link.rotVariance()));
str.append(QString("\n%1\nvar= %2 %3").arg(_link.transform().prettyPrint().c_str()).arg(_link.transVariance()).arg(_link.rotVariance()));
}
this->setToolTip(str);
QPen pen = this->pen();
@@ -566,7 +566,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
itemIter = _linkItems.find(iter->first);
while(itemIter.key() == idFrom && itemIter != _linkItems.end())
{
if(itemIter.value()->to() == idTo)
if(itemIter.value()->to() == idTo && itemIter.value()->type() == iter->second.type())
{
itemIter.value()->setPoses(poseA, poseB, _viewPlane);
itemIter.value()->show();