/// <summary>
/// This method performs a merge between the Loaded links and the existing configuration
/// based on the names of the loaded links. It also updates the form to match the most
/// updated merge
/// </summary>
/// <returns></returns>
private TreeMerger MergeAndUpdate()
{
// Setup merge to start with a fresh link,
ExistingTreeView.SetTree(ExistingBaseLink.Clone());
LoadedCSVLinkNames.Clear();
LoadedCSVLinkNames.UnionWith(LoadedCSVLinks.Select(link => link.Name));
// Update correspondance with the most up-to-date names as well as the
// appropriate list boxes
TreeCorrespondance.BuildCorrespondance(ExistingTreeView, LoadedCSVLinks,
out List <Link> matched, out List <Link> unmatched);
UpdateList(MatchingLoadedLinks, matched);
UpdateList(UnmatchedLoadedLinks, unmatched);
// Perform merge
TreeMerger merger = new TreeMerger(MassInertiaLoadedButton.IsChecked.Value,
VisualLoadedButton.IsChecked.Value,
JointKinematicsLoadedButton.IsChecked.Value,
OtherJointLoadedButton.IsChecked.Value);
Link mergedRoot = merger.Merge(ExistingTreeView, TreeCorrespondance);
// Update Form Tree
ExistingTreeView.SetTree(mergedRoot);
return(merger);
}
private void MergeClick(object sender, EventArgs e)
{
TreeMerger merger = MergeAndUpdate();
if (UnmatchedLoadedLinks.Items.Count > 0)
{
IEnumerable <string> unmatchedLinkNames =
UnmatchedLoadedLinks.Items
.Cast <ListBoxItem>()
.Select(item => ((Link)item.Tag).Name);
string unmatchedLinksStr = string.Join("\r\n", unmatchedLinkNames);
string message = "The follow links loaded from the CSV " + CSVFileName + " have not " +
"been matched with links in the assembly configuration, would you like to " +
"continue?\r\n\r\n" + unmatchedLinksStr;
MessageBoxResult result =
MessageBox.Show(message, "Merge with unmatched links?", MessageBoxButton.YesNo);
if (result != MessageBoxResult.Yes)
{
return;
}
}
TreeMergedEventArgs mergedArgs = new TreeMergedEventArgs(ExistingTreeView, true, merger, CSVFileName);
TreeMerged(this, mergedArgs);
Close();
}
public TreeMergedEventArgs(URDFTreeView mergedTree, bool success, TreeMerger merger, string csvFilename)
{
MergedTree = mergedTree;
Success = success;
UsedCSVInertial = merger.UseCSVInertial;
UsedCSVVisualCollision = merger.UseCSVVisualCollision;
UsedCSVJointKinematics = merger.UseCSVJointKinematics;
UsedCSVJointOther = merger.UseCSVJointOther;
CSVFilename = csvFilename;
}
