ParameterPanel.cpp

#include "StdAfx.h"
#include "ParameterPanel.h"


#include "Link.h"
#include "joint.h"

#include "ExtendedNumericUpDown.h"


using namespace Core;
using namespace Robotics;

using namespace System;
using namespace System::Diagnostics;


/// [ Constructor ]
ParameterPanel::ParameterPanel( void )
{
    // コンポーネントを初期化する
    InitializeComponent();


    // 位置か姿勢のイベントハンドラを生成する
    System::EventHandler^ positionOrPostureChangedEventHandler = gcnew System::EventHandler( this, &ParameterPanel::PositionOrPostureChanged );

    // ... それを設定する
    m_yawSpinBox->ValueChangedEventHandler = positionOrPostureChangedEventHandler;
    m_pitchSpinBox->ValueChangedEventHandler = positionOrPostureChangedEventHandler;
    m_rollSpinBox->ValueChangedEventHandler = positionOrPostureChangedEventHandler;

    m_zSpinBox->ValueChangedEventHandler = positionOrPostureChangedEventHandler;
    m_ySpinBox->ValueChangedEventHandler = positionOrPostureChangedEventHandler;
    m_xSpinBox->ValueChangedEventHandler = positionOrPostureChangedEventHandler;


    // 角度の変更イベントハンドラを設定する
    m_angleSpinBox->ValueChangedEventHandler = gcnew System::EventHandler( this, &ParameterPanel::AngleChanged );
}

/// < Destructor >
ParameterPanel::~ParameterPanel()
{
    if( components != nullptr )
    {
        delete components;
    }
}


#pragma region Windows Form Designer generated code
/// <summary>
/// デザイナ サポートに必要なメソッドです。このメソッドの内容を
/// コード エディタで変更しないでください。
/// </summary>
void ParameterPanel::InitializeComponent(void)
{
    this->m_postureGroupBox = (gcnew System::Windows::Forms::GroupBox());
    this->m_yawUnitLabel = (gcnew System::Windows::Forms::Label());
    this->m_pitchUnitLabel = (gcnew System::Windows::Forms::Label());
    this->m_rollUnitLabel = (gcnew System::Windows::Forms::Label());
    this->m_yawSpinBox = (gcnew ExtendedNumericUpDown());
    this->m_pitchSpinBox = (gcnew ExtendedNumericUpDown());
    this->m_rollSpinBox = (gcnew ExtendedNumericUpDown());
    this->m_yawLabel = (gcnew System::Windows::Forms::Label());
    this->m_pitchLabel = (gcnew System::Windows::Forms::Label());
    this->m_rollLabel = (gcnew System::Windows::Forms::Label());
    this->m_positionGroupBox = (gcnew System::Windows::Forms::GroupBox());
    this->m_zUnitLabel = (gcnew System::Windows::Forms::Label());
    this->m_yUnitLabel = (gcnew System::Windows::Forms::Label());
    this->m_xUnitLabel = (gcnew System::Windows::Forms::Label());
    this->m_zSpinBox = (gcnew ExtendedNumericUpDown());
    this->m_ySpinBox = (gcnew ExtendedNumericUpDown());
    this->m_xSpinBox = (gcnew ExtendedNumericUpDown());
    this->m_zLabel = (gcnew System::Windows::Forms::Label());
    this->m_yLabel = (gcnew System::Windows::Forms::Label());
    this->m_xLabel = (gcnew System::Windows::Forms::Label());
    this->m_unitLabel = (gcnew System::Windows::Forms::Label());
    this->m_nameLabel = (gcnew System::Windows::Forms::Label());
    this->m_angleSpinBox = (gcnew ExtendedNumericUpDown());
    this->m_angleLabel = (gcnew System::Windows::Forms::Label());
    this->m_postureGroupBox->SuspendLayout();
    (cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->m_yawSpinBox))->BeginInit();
    (cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->m_pitchSpinBox))->BeginInit();
    (cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->m_rollSpinBox))->BeginInit();
    this->m_positionGroupBox->SuspendLayout();
    (cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->m_zSpinBox))->BeginInit();
    (cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->m_ySpinBox))->BeginInit();
    (cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->m_xSpinBox))->BeginInit();
    (cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->m_angleSpinBox))->BeginInit();
    this->SuspendLayout();
    //
    // m_postureGroupBox
    //
    this->m_postureGroupBox->Controls->Add(this->m_yawUnitLabel);
    this->m_postureGroupBox->Controls->Add(this->m_pitchUnitLabel);
    this->m_postureGroupBox->Controls->Add(this->m_rollUnitLabel);
    this->m_postureGroupBox->Controls->Add(this->m_yawSpinBox);
    this->m_postureGroupBox->Controls->Add(this->m_pitchSpinBox);
    this->m_postureGroupBox->Controls->Add(this->m_rollSpinBox);
    this->m_postureGroupBox->Controls->Add(this->m_yawLabel);
    this->m_postureGroupBox->Controls->Add(this->m_pitchLabel);
    this->m_postureGroupBox->Controls->Add(this->m_rollLabel);
    this->m_postureGroupBox->Location = System::Drawing::Point(133, 36);
    this->m_postureGroupBox->Name = L"m_postureGroupBox";
    this->m_postureGroupBox->Size = System::Drawing::Size(149, 97);
    this->m_postureGroupBox->TabIndex = 3;
    this->m_postureGroupBox->TabStop = false;
    this->m_postureGroupBox->Text = L"姿勢";
    //
    // m_yawUnitLabel
    //
    this->m_yawUnitLabel->AutoSize = true;
    this->m_yawUnitLabel->Location = System::Drawing::Point(102, 69);
    this->m_yawUnitLabel->Margin = System::Windows::Forms::Padding(0, 0, 3, 0);
    this->m_yawUnitLabel->Name = L"m_yawUnitLabel";
    this->m_yawUnitLabel->Size = System::Drawing::Size(39, 12);
    this->m_yawUnitLabel->TabIndex = 15;
    this->m_yawUnitLabel->Text = L"( deg )";
    //
    // m_pitchUnitLabel
    //
    this->m_pitchUnitLabel->AutoSize = true;
    this->m_pitchUnitLabel->Location = System::Drawing::Point(102, 44);
    this->m_pitchUnitLabel->Margin = System::Windows::Forms::Padding(0, 0, 3, 0);
    this->m_pitchUnitLabel->Name = L"m_pitchUnitLabel";
    this->m_pitchUnitLabel->Size = System::Drawing::Size(39, 12);
    this->m_pitchUnitLabel->TabIndex = 14;
    this->m_pitchUnitLabel->Text = L"( deg )";
    //
    // m_rollUnitLabel
    //
    this->m_rollUnitLabel->AutoSize = true;
    this->m_rollUnitLabel->Location = System::Drawing::Point(102, 19);
    this->m_rollUnitLabel->Margin = System::Windows::Forms::Padding(0, 0, 3, 0);
    this->m_rollUnitLabel->Name = L"m_rollUnitLabel";
    this->m_rollUnitLabel->Size = System::Drawing::Size(39, 12);
    this->m_rollUnitLabel->TabIndex = 13;
    this->m_rollUnitLabel->Text = L"( deg )";
    //
    // m_yawSpinBox
    //
    this->m_yawSpinBox->DecimalPlaces = 1;
    this->m_yawSpinBox->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) {5, 0, 0, 0});
    this->m_yawSpinBox->Location = System::Drawing::Point(43, 67);
    this->m_yawSpinBox->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) {180, 0, 0, 0});
    this->m_yawSpinBox->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) {180, 0, 0, System::Int32::MinValue});
    this->m_yawSpinBox->Name = L"m_yawSpinBox";
    this->m_yawSpinBox->Size = System::Drawing::Size(56, 19);
    this->m_yawSpinBox->TabIndex = 10;
    this->m_yawSpinBox->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
    //
    // m_pitchSpinBox
    //
    this->m_pitchSpinBox->DecimalPlaces = 1;
    this->m_pitchSpinBox->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) {5, 0, 0, 0});
    this->m_pitchSpinBox->Location = System::Drawing::Point(43, 42);
    this->m_pitchSpinBox->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) {180, 0, 0, 0});
    this->m_pitchSpinBox->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) {180, 0, 0, System::Int32::MinValue});
    this->m_pitchSpinBox->Name = L"m_pitchSpinBox";
    this->m_pitchSpinBox->Size = System::Drawing::Size(56, 19);
    this->m_pitchSpinBox->TabIndex = 11;
    this->m_pitchSpinBox->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
    //
    // m_rollSpinBox
    //
    this->m_rollSpinBox->DecimalPlaces = 1;
    this->m_rollSpinBox->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) {5, 0, 0, 0});
    this->m_rollSpinBox->Location = System::Drawing::Point(43, 17);
    this->m_rollSpinBox->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) {180, 0, 0, 0});
    this->m_rollSpinBox->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) {180, 0, 0, System::Int32::MinValue});
    this->m_rollSpinBox->Name = L"m_rollSpinBox";
    this->m_rollSpinBox->Size = System::Drawing::Size(56, 19);
    this->m_rollSpinBox->TabIndex = 12;
    this->m_rollSpinBox->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
    //
    // m_yawLabel
    //
    this->m_yawLabel->AutoSize = true;
    this->m_yawLabel->Location = System::Drawing::Point(6, 70);
    this->m_yawLabel->Name = L"m_yawLabel";
    this->m_yawLabel->Size = System::Drawing::Size(26, 12);
    this->m_yawLabel->TabIndex = 7;
    this->m_yawLabel->Text = L"Yaw";
    //
    // m_pitchLabel
    //
    this->m_pitchLabel->AutoSize = true;
    this->m_pitchLabel->Location = System::Drawing::Point(6, 45);
    this->m_pitchLabel->Name = L"m_pitchLabel";
    this->m_pitchLabel->Size = System::Drawing::Size(31, 12);
    this->m_pitchLabel->TabIndex = 8;
    this->m_pitchLabel->Text = L"Pitch";
    //
    // m_rollLabel
    //
    this->m_rollLabel->AutoSize = true;
    this->m_rollLabel->Location = System::Drawing::Point(6, 20);
    this->m_rollLabel->Name = L"m_rollLabel";
    this->m_rollLabel->Size = System::Drawing::Size(25, 12);
    this->m_rollLabel->TabIndex = 9;
    this->m_rollLabel->Text = L"Roll";
    //
    // m_positionGroupBox
    //
    this->m_positionGroupBox->Controls->Add(this->m_zUnitLabel);
    this->m_positionGroupBox->Controls->Add(this->m_yUnitLabel);
    this->m_positionGroupBox->Controls->Add(this->m_xUnitLabel);
    this->m_positionGroupBox->Controls->Add(this->m_zSpinBox);
    this->m_positionGroupBox->Controls->Add(this->m_ySpinBox);
    this->m_positionGroupBox->Controls->Add(this->m_xSpinBox);
    this->m_positionGroupBox->Controls->Add(this->m_zLabel);
    this->m_positionGroupBox->Controls->Add(this->m_yLabel);
    this->m_positionGroupBox->Controls->Add(this->m_xLabel);
    this->m_positionGroupBox->Location = System::Drawing::Point(3, 36);
    this->m_positionGroupBox->Name = L"m_positionGroupBox";
    this->m_positionGroupBox->Size = System::Drawing::Size(124, 97);
    this->m_positionGroupBox->TabIndex = 2;
    this->m_positionGroupBox->TabStop = false;
    this->m_positionGroupBox->Text = L"位置";
    //
    // m_zUnitLabel
    //
    this->m_zUnitLabel->AutoSize = true;
    this->m_zUnitLabel->Location = System::Drawing::Point(91, 69);
    this->m_zUnitLabel->Margin = System::Windows::Forms::Padding(0, 0, 3, 0);
    this->m_zUnitLabel->Name = L"m_zUnitLabel";
    this->m_zUnitLabel->Size = System::Drawing::Size(30, 12);
    this->m_zUnitLabel->TabIndex = 9;
    this->m_zUnitLabel->Text = L"( m )";
    //
    // m_yUnitLabel
    //
    this->m_yUnitLabel->AutoSize = true;
    this->m_yUnitLabel->Location = System::Drawing::Point(91, 44);
    this->m_yUnitLabel->Margin = System::Windows::Forms::Padding(0, 0, 3, 0);
    this->m_yUnitLabel->Name = L"m_yUnitLabel";
    this->m_yUnitLabel->Size = System::Drawing::Size(30, 12);
    this->m_yUnitLabel->TabIndex = 8;
    this->m_yUnitLabel->Text = L"( m )";
    //
    // m_xUnitLabel
    //
    this->m_xUnitLabel->AutoSize = true;
    this->m_xUnitLabel->Location = System::Drawing::Point(91, 20);
    this->m_xUnitLabel->Margin = System::Windows::Forms::Padding(0, 0, 3, 0);
    this->m_xUnitLabel->Name = L"m_xUnitLabel";
    this->m_xUnitLabel->Size = System::Drawing::Size(30, 12);
    this->m_xUnitLabel->TabIndex = 7;
    this->m_xUnitLabel->Text = L"( m )";
    //
    // m_zSpinBox
    //
    this->m_zSpinBox->DecimalPlaces = 3;
    this->m_zSpinBox->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) {5, 0, 0, 196608});
    this->m_zSpinBox->Location = System::Drawing::Point(24, 67);
    this->m_zSpinBox->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) {1, 0, 0, 0});
    this->m_zSpinBox->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) {1, 0, 0, System::Int32::MinValue});
    this->m_zSpinBox->Name = L"m_zSpinBox";
    this->m_zSpinBox->Size = System::Drawing::Size(64, 19);
    this->m_zSpinBox->TabIndex = 6;
    this->m_zSpinBox->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
    //
    // m_ySpinBox
    //
    this->m_ySpinBox->DecimalPlaces = 3;
    this->m_ySpinBox->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) {5, 0, 0, 196608});
    this->m_ySpinBox->Location = System::Drawing::Point(24, 42);
    this->m_ySpinBox->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) {1, 0, 0, 0});
    this->m_ySpinBox->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) {1, 0, 0, System::Int32::MinValue});
    this->m_ySpinBox->Name = L"m_ySpinBox";
    this->m_ySpinBox->Size = System::Drawing::Size(64, 19);
    this->m_ySpinBox->TabIndex = 5;
    this->m_ySpinBox->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
    //
    // m_xSpinBox
    //
    this->m_xSpinBox->DecimalPlaces = 3;
    this->m_xSpinBox->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) {5, 0, 0, 196608});
    this->m_xSpinBox->Location = System::Drawing::Point(24, 18);
    this->m_xSpinBox->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) {1, 0, 0, 0});
    this->m_xSpinBox->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) {1, 0, 0, System::Int32::MinValue});
    this->m_xSpinBox->Name = L"m_xSpinBox";
    this->m_xSpinBox->Size = System::Drawing::Size(64, 19);
    this->m_xSpinBox->TabIndex = 4;
    this->m_xSpinBox->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
    //
    // m_zLabel
    //
    this->m_zLabel->AutoSize = true;
    this->m_zLabel->Location = System::Drawing::Point(6, 69);
    this->m_zLabel->Name = L"m_zLabel";
    this->m_zLabel->Size = System::Drawing::Size(12, 12);
    this->m_zLabel->TabIndex = 3;
    this->m_zLabel->Text = L"Z";
    //
    // m_yLabel
    //
    this->m_yLabel->AutoSize = true;
    this->m_yLabel->Location = System::Drawing::Point(6, 44);
    this->m_yLabel->Name = L"m_yLabel";
    this->m_yLabel->Size = System::Drawing::Size(12, 12);
    this->m_yLabel->TabIndex = 2;
    this->m_yLabel->Text = L"Y";
    //
    // m_xLabel
    //
    this->m_xLabel->AutoSize = true;
    this->m_xLabel->Location = System::Drawing::Point(6, 20);
    this->m_xLabel->Name = L"m_xLabel";
    this->m_xLabel->Size = System::Drawing::Size(12, 12);
    this->m_xLabel->TabIndex = 1;
    this->m_xLabel->Text = L"X";
    //
    // m_unitLabel
    //
    this->m_unitLabel->AutoSize = true;
    this->m_unitLabel->Location = System::Drawing::Point(235, 9);
    this->m_unitLabel->Margin = System::Windows::Forms::Padding(0, 0, 3, 0);
    this->m_unitLabel->Name = L"m_unitLabel";
    this->m_unitLabel->Size = System::Drawing::Size(39, 12);
    this->m_unitLabel->TabIndex = 9;
    this->m_unitLabel->Text = L"( deg )";
    //
    // m_nameLabel
    //
    this->m_nameLabel->AutoSize = true;
    this->m_nameLabel->Font = (gcnew System::Drawing::Font(L"MS UI Gothic", 9, System::Drawing::FontStyle::Italic, System::Drawing::GraphicsUnit::Point,
        static_cast<System::Byte>(128)));
    this->m_nameLabel->Location = System::Drawing::Point(12, 9);
    this->m_nameLabel->Name = L"m_nameLabel";
    this->m_nameLabel->Size = System::Drawing::Size(34, 12);
    this->m_nameLabel->TabIndex = 8;
    this->m_nameLabel->Text = L"Name";
    //
    // m_angleSpinBox
    //
    this->m_angleSpinBox->DecimalPlaces = 1;
    this->m_angleSpinBox->Increment = System::Decimal(gcnew cli::array< System::Int32 >(4) {10, 0, 0, 0});
    this->m_angleSpinBox->Location = System::Drawing::Point(168, 7);
    this->m_angleSpinBox->Maximum = System::Decimal(gcnew cli::array< System::Int32 >(4) {180, 0, 0, 0});
    this->m_angleSpinBox->Minimum = System::Decimal(gcnew cli::array< System::Int32 >(4) {180, 0, 0, System::Int32::MinValue});
    this->m_angleSpinBox->Name = L"m_angleSpinBox";
    this->m_angleSpinBox->Size = System::Drawing::Size(64, 19);
    this->m_angleSpinBox->TabIndex = 7;
    this->m_angleSpinBox->TextAlign = System::Windows::Forms::HorizontalAlignment::Right;
    //
    // m_angleLabel
    //
    this->m_angleLabel->AutoSize = true;
    this->m_angleLabel->Location = System::Drawing::Point(133, 9);
    this->m_angleLabel->Name = L"m_angleLabel";
    this->m_angleLabel->Size = System::Drawing::Size(29, 12);
    this->m_angleLabel->TabIndex = 6;
    this->m_angleLabel->Text = L"角度";
    //
    // ParameterPanel
    //
    this->AutoScaleDimensions = System::Drawing::SizeF(6, 12);
    this->AutoScaleMode = System::Windows::Forms::AutoScaleMode::Font;
    this->ClientSize = System::Drawing::Size(284, 146);
    this->CloseButton = false;
    this->Controls->Add(this->m_unitLabel);
    this->Controls->Add(this->m_nameLabel);
    this->Controls->Add(this->m_angleSpinBox);
    this->Controls->Add(this->m_angleLabel);
    this->Controls->Add(this->m_postureGroupBox);
    this->Controls->Add(this->m_positionGroupBox);
    this->DockAreas = static_cast<WeifenLuo::WinFormsUI::Docking::DockAreas>(((((WeifenLuo::WinFormsUI::Docking::DockAreas::Float | WeifenLuo::WinFormsUI::Docking::DockAreas::DockLeft)
        | WeifenLuo::WinFormsUI::Docking::DockAreas::DockRight)
        | WeifenLuo::WinFormsUI::Docking::DockAreas::DockTop)
        | WeifenLuo::WinFormsUI::Docking::DockAreas::DockBottom));
    this->FormBorderStyle = System::Windows::Forms::FormBorderStyle::FixedSingle;
    this->HideOnClose = true;
    this->Name = L"ParameterPanel";
    this->ShowHint = WeifenLuo::WinFormsUI::Docking::DockState::DockRightAutoHide;
    this->TabText = L"Parameter";
    this->Text = L"Parameter";
    this->m_postureGroupBox->ResumeLayout(false);
    this->m_postureGroupBox->PerformLayout();
    (cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->m_yawSpinBox))->EndInit();
    (cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->m_pitchSpinBox))->EndInit();
    (cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->m_rollSpinBox))->EndInit();
    this->m_positionGroupBox->ResumeLayout(false);
    this->m_positionGroupBox->PerformLayout();
    (cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->m_zSpinBox))->EndInit();
    (cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->m_ySpinBox))->EndInit();
    (cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->m_xSpinBox))->EndInit();
    (cli::safe_cast<System::ComponentModel::ISupportInitialize^ >(this->m_angleSpinBox))->EndInit();
    this->ResumeLayout(false);
    this->PerformLayout();

}
#pragma endregion


/// コントロールが初めて表示される
void ParameterPanel::OnLoad( System::EventArgs^ e )
{
    // 基本クラスの同一関数を呼び出す
    Windows::Forms::Form::OnLoad( e );


    // リンクのイベントに登録する
    Link::StandardChanged += gcnew System::EventHandler( this, &ParameterPanel::SetInputEnable );
    Link::AbsolutePositionChanged += gcnew System::EventHandler( this, &ParameterPanel::SetPosition );
    Link::PostureChanged += gcnew System::EventHandler( this, &ParameterPanel::SetPosture );

    // 関節のイベントに登録する
    Joint::AngleChanged += gcnew System::EventHandler( this, &ParameterPanel::SetAngle );


    // 対象を初期化する
    SetTarget( nullptr );
}


/// 対象を設定する
void ParameterPanel::SetTarget( Link^ link )
{
    // リンクを設定する
    SetLink( link );

    // 関節を設定する
    SetJoint( ( link != nullptr )? link->Joint : nullptr );
}


/// リンクを設定する
void ParameterPanel::SetLink( Link^ link )
{
    m_link = link;      // リンク

    if( link != nullptr )
    {
        m_nameLabel->Text = link->Name; // 名称のテキスト


        // 位置を設定する
        SetPosition( link, nullptr );

        // 姿勢を設定する
        SetPosture( link, nullptr );
    }

    // 入力の有効・無効を設定する
    SetInputEnable( link, nullptr );
}


/// 位置を設定する
void ParameterPanel::SetPosition( System::Object^ sender, System::EventArgs^ )
{
    // 引数から目的とする型を取得する
    Link^ link = safe_cast< Link^ >( sender );

    // 管理しているリンクのイベントにしか応じない
    if( m_link == link )
    {
        PositionVector^ position = link->AbsolutePosition;    // リンクの絶対位置

        // スピンボックスに設定する
        m_xSpinBox->Number = position->X;
        m_ySpinBox->Number = position->Y;
        m_zSpinBox->Number = position->Z;
    }
}

/// 姿勢を設定する
void ParameterPanel::SetPosture( System::Object^ sender, System::EventArgs^ )
{
    // 引数から目的とする型を取得する
    Link^ link = safe_cast< Link^ >( sender );

    // 管理しているリンクのイベントにしか応じない
    if( m_link == link )
    {
        RotationMatrix^ posture = link->Posture;  // リンクの姿勢

        // 現在の値を基準として ロール・ピッチ・ヨー角を取得する
        Angle roll = posture->GetRoll( Angle( GetRadian( m_rollSpinBox ) ) );
        Angle pitch = posture->GetPitch( Angle( GetRadian( m_pitchSpinBox ) ) );
        Angle yaw = posture->GetYaw( Angle( GetRadian( m_yawSpinBox ) ) );

        // ... それをスピンボックスに設定する
        m_rollSpinBox->Number = roll.Degree;
        m_pitchSpinBox->Number = pitch.Degree;
        m_yawSpinBox->Number = yaw.Degree;
    }
}


/// 位置か角度が変更された
System::Void ParameterPanel::PositionOrPostureChanged( System::Object^ sender, System::EventArgs^ )
{
    Debug::Assert( m_link != nullptr, "リンクは設定されている" );


    // 引数から目的とする型を取得する
    Windows::Forms::Control^ control = safe_cast< Windows::Forms::Control^ >( sender );

    // ... ユーザーからの入力に対してしか応じない
    if( control->Focused )
    {
        // スピンボックスから 位置を取得する
        PositionVector^ position = gcnew PositionVector(
            m_xSpinBox->Value,
            m_ySpinBox->Value,
            m_zSpinBox->Value
        );

        // スピンボックスから 姿勢を取得する
        RotationMatrix^ posture = gcnew RotationMatrix(
            GetRadian( m_rollSpinBox ),
            GetRadian( m_pitchSpinBox ),
            GetRadian( m_yawSpinBox )
            );

        // ... リンクの位置と姿勢を設定する
        m_link->SetPositionAndPosture( position, posture );
    }
}


/// 入力の有効・無効を設定する
void ParameterPanel::SetInputEnable( System::Object^ sender, System::EventArgs^ )
{
    // 引数から目的とする型を取得する
    Link^ link = safe_cast< Link^ >( sender );

    // 管理しているリンクのイベントにしか応じない
    if( m_link == link )
    {
        // スピンボックスの有効・無効を、無効なリンク及び基準リンクかによって設定する
        bool enable = ( link != nullptr ) && ( !link->IsStandard() );

        m_xSpinBox->Enabled = enable;
        m_ySpinBox->Enabled = enable;
        m_zSpinBox->Enabled = enable;

        m_rollSpinBox->Enabled = enable;
        m_pitchSpinBox->Enabled = enable;
        m_yawSpinBox->Enabled = enable;
    }
}


/// 関節を設定する
void ParameterPanel::SetJoint( Joint^ joint )
{
    // スピンボックスのタグに格納する
    m_angleSpinBox->Tag = joint;


    if( joint != nullptr )
    {
        m_angleSpinBox->Maximum = Decimal( joint->AngleRange.Maximum.Degree );  // スピンボックスの最大値
        m_angleSpinBox->Minimum = Decimal( joint->AngleRange.Minimum.Degree );  // スピンボックスの最小値


        // 角度を設定する
        SetAngle( joint, nullptr );


        // スピンボックスにフォーカスを合わせる
        m_angleSpinBox->Focus();

        // ... 全ての文字を選択する
        m_angleSpinBox->Select( 0, m_angleSpinBox->Text->Length );
    }


    // スピンボックスの有効・無効を、無効なタグかによって設定する
    m_angleSpinBox->Enabled = ( m_angleSpinBox->Tag != nullptr );
}

/// 角度を設定する
void ParameterPanel::SetAngle( System::Object^ sender, System::EventArgs^ )
{
    // タグから関節を取得する
    Joint^ joint = safe_cast< Joint^ >( m_angleSpinBox->Tag );

    // 管理している関節のイベントにしか応じない
    if( joint == sender )
    {
        // 関節から degreeで角度を取得して、スピンボックスに設定する
        m_angleSpinBox->Number = joint->Angle.Degree;
    }
}

/// 角度が変更された
System::Void ParameterPanel::AngleChanged( System::Object^ sender, System::EventArgs^ )
{
    // タグから関節を取得する
    Joint^ joint = safe_cast< Joint^ >( m_angleSpinBox->Tag );

    Debug::Assert( joint != nullptr, "関節は設定されている" );


    // 引数から目的とする型を取得する
    Windows::Forms::Control^ control = safe_cast< Windows::Forms::Control^ >( sender );

    // ... ユーザーからの入力に対してしか応じない
    if( control->Focused )
    {
        // イベントハンドラを生成する
        System::EventHandler^ eventHandler = gcnew System::EventHandler( this, &ParameterPanel::SetAngle );

        // ... 角度の設定時にイベントから呼び出されないように、それを削除する
        Joint::AngleChanged -= eventHandler;


        // スピンボックスから Radianで角度を取得して、関節の角度に設定する
        joint->Angle = Angle( GetRadian( m_angleSpinBox ) );


        // 関節角度の変更イベントを発生する
        JointAngleChanged( joint, nullptr );


        // ... 削除したイベントに登録する
        Joint::AngleChanged += eventHandler;
    }
}


/// Radianで取得する
double ParameterPanel::GetRadian( System::Windows::Forms::NumericUpDown^ control )
{
    // コントロールから値を取得し、それの Radianを求めて返す
    return Angle::CalculateRadian( control->Value );
}

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