public override void OnInspectorGUI()
{
DrawDefaultInspector();
if (buttonStyle == null)
{
buttonStyle = new GUIStyle(EditorStyles.miniButtonRight)
{
fixedWidth = 75
}
}
;
jointStatePatcher = (JointStatePatcher)target;
GUILayout.Label("All Urdf Joints", EditorStyles.boldLabel);
DisplaySettingsToggle(new GUIContent("Publish Joint State", "Adds/removes a Joint State Reader on each joint."),
jointStatePatcher.SetPublishJointStates);
DisplaySettingsToggle(new GUIContent("Subscribe Joint State", "Adds/removes a Joint State Writer on each joint."),
jointStatePatcher.SetSubscribeJointStates);
}
private void DisableVuforia()
{
UrdfRobot RealRobot = null;
UrdfRobot GhostRobot = null;
foreach (GameObject objectToClone in objectsToClone)
{
GameObject cloneObject = Instantiate <GameObject>(objectToClone);
cloneObject.transform.parent = null;
cloneObject.transform.localScale = objectToClone.transform.lossyScale;
cloneObject.transform.position = objectToClone.transform.position;
cloneObject.transform.rotation = objectToClone.transform.rotation;
if (cloneObject.name == RealRobotName)
{
RealRobot = cloneObject.GetComponent <UrdfRobot>();
}
else if (cloneObject.name == GhostRobotName)
{
GhostRobot = cloneObject.GetComponent <UrdfRobot>();
}
}
VuforiaBehaviour.Instance.enabled = false;
if (RealRobot)
{
JointStatePatcher jsp = rosConnector.GetComponent <JointStatePatcher>();
jsp.UrdfRobot = RealRobot;
jsp.SetSubscribeJointStates(true);
}
if (GhostRobot)
{
TrajectoryPositionsPatcher tpp = rosConnector.GetComponent <TrajectoryPositionsPatcher>();
tpp.ghostRobot = GhostRobot;
tpp.SetSubscribeTrajectoryPositions(true);
}
}
