Overload task constructors to hide targets and poses in GUI

include/mc_tasks/AdmittanceTask.h

@@ -51,7 +51,11 @@ struct MC_TASKS_DLLAPI AdmittanceTask : TransformTask
    * \throws If the frame does not have a force sensor attached
    *
    */
-  AdmittanceTask(const mc_rbdyn::RobotFrame & frame, double stiffness = 5.0, double weight = 1000.0);
+  AdmittanceTask(const mc_rbdyn::RobotFrame & frame,
+                 double stiffness = 5.0,
+                 double weight = 1000.0,
+                 bool showTarget = true,
+                 bool showPose = true);
 
   /*! \brief Initialize a new admittance task.
    *
@@ -74,7 +78,9 @@ struct MC_TASKS_DLLAPI AdmittanceTask : TransformTask
                  const mc_rbdyn::Robots & robots,
                  unsigned robotIndex,
                  double stiffness = 5.0,
-                 double weight = 1000.0);
+                 double weight = 1000.0,
+                 bool showTarget = true,
+                 bool showPose = true);
 
   /*! \brief Reset the task
    *
@@ -205,6 +211,9 @@ struct MC_TASKS_DLLAPI AdmittanceTask : TransformTask
   void addToGUI(mc_rtc::gui::StateBuilder & gui) override;
   void addToLogger(mc_rtc::Logger & logger) override;
 
+  bool showTarget_ = true;
+  bool showPose_ = true;
+
   /** Transform's refVelB() becomes internal to the task. */
   using TransformTask::refVelB;
 

include/mc_tasks/ImpedanceTask.h

@@ -73,7 +73,10 @@ struct MC_TASKS_DLLAPI ImpedanceTask : TransformTask
                 const mc_rbdyn::Robots & robots,
                 unsigned robotIndex,
                 double stiffness = 5.0,
-                double weight = 1000.0);
+                double weight = 1000.0,
+                bool showTarget = true,
+                bool showPose = true,
+                bool showCompliance = true);
 
   /** \brief Constructor
    *
@@ -85,7 +88,12 @@ struct MC_TASKS_DLLAPI ImpedanceTask : TransformTask
    *
    * \throws If the frame does not have a force sensor attached to it
    */
-  ImpedanceTask(const mc_rbdyn::RobotFrame & frame, double stiffness = 5.0, double weight = 1000.0);
+  ImpedanceTask(const mc_rbdyn::RobotFrame & frame,
+                double stiffness = 5.0,
+                double weight = 1000.0,
+                bool showTarget = true,
+                bool showPose = true,
+                bool showCompliance = true);
 
   /*! \brief Reset the task
    *
@@ -183,6 +191,10 @@ struct MC_TASKS_DLLAPI ImpedanceTask : TransformTask
 protected:
   ImpedanceGains gains_ = ImpedanceGains::Default();
 
+  bool showTarget_ = true;
+  bool showPose_ = true;
+  bool showCompliance_ = true;
+
   /** Relative pose, velocity, and acceleration from target frame to compliance frame represented in the world frame.
    *  To store these values across control cycles, represent them in a constant world frame instead of the time-varying
    *  surface frame.

include/mc_tasks/TransformTask.h

@@ -23,7 +23,11 @@ struct MC_TASKS_DLLAPI TransformTask : public TrajectoryTaskGeneric
    *
    * \param weight Task weight
    */
-  TransformTask(const mc_rbdyn::RobotFrame & frame, double stiffness = 2.0, double weight = 500.0);
+  TransformTask(const mc_rbdyn::RobotFrame & frame,
+                double stiffness = 2.0,
+                double weight = 500.0,
+                bool showTarget = true,
+                bool showPose = true);
 
   /*! \brief Constructor
    *
@@ -44,7 +48,9 @@ struct MC_TASKS_DLLAPI TransformTask : public TrajectoryTaskGeneric
                 const mc_rbdyn::Robots & robots,
                 unsigned int robotIndex,
                 double stiffness = 2.0,
-                double weight = 500);
+                double weight = 500,
+                bool showTarget = true,
+                bool showPose = true);
 
   /*! \brief Reset the task
    *
@@ -209,6 +215,9 @@ struct MC_TASKS_DLLAPI TransformTask : public TrajectoryTaskGeneric
   /* Don't use parent's refVel() as the velocity frame (spatial or body) is
    * ambiguous. */
   using TrajectoryTaskGeneric::refVel;
+
+  bool showTarget_ = true;
+  bool showPose_ = true;
 };
 
 } // namespace mc_tasks

src/mc_tasks/AdmittanceTask.cpp

@@ -11,6 +11,7 @@
 
 #include <mc_rtc/gui/ArrayInput.h>
 #include <mc_rtc/gui/ArrayLabel.h>
+#include <mc_rtc/gui/Checkbox.h>
 #include <mc_rtc/gui/NumberInput.h>
 #include <mc_rtc/gui/Transform.h>
 
@@ -28,12 +29,18 @@ AdmittanceTask::AdmittanceTask(const std::string & surfaceName,
                                const mc_rbdyn::Robots & robots,
                                unsigned int robotIndex,
                                double stiffness,
-                               double weight)
-: AdmittanceTask(robots.robot(robotIndex).frame(surfaceName), stiffness, weight)
+                               double weight,
+                               bool showTarget,
+                               bool showPose)
+: AdmittanceTask(robots.robot(robotIndex).frame(surfaceName), stiffness, weight, showTarget, showPose)
 {
 }
 
-AdmittanceTask::AdmittanceTask(const mc_rbdyn::RobotFrame & frame, double stiffness, double weight)
+AdmittanceTask::AdmittanceTask(const mc_rbdyn::RobotFrame & frame,
+                               double stiffness,
+                               double weight,
+                               bool showTarget,
+                               bool showPose)
 : TransformTask(frame, stiffness, weight)
 {
   if(!frame.hasForceSensor())
@@ -43,6 +50,8 @@ AdmittanceTask::AdmittanceTask(const mc_rbdyn::RobotFrame & frame, double stiffn
   }
   name_ = "admittance_" + frame.robot().name() + "_" + frame.name();
   reset();
+  showTarget_ = showTarget;
+  showPose_ = showPose;
 }
 
 void AdmittanceTask::update(mc_solver::QPSolver &)
@@ -115,12 +124,46 @@ void AdmittanceTask::addToLogger(mc_rtc::Logger & logger)
 
 void AdmittanceTask::addToGUI(mc_rtc::gui::StateBuilder & gui)
 {
+  auto showTarget = [this, &gui]()
+  {
+    if(showTarget_)
+    {
+      gui.addElement({"Tasks", name_}, mc_rtc::gui::Transform(
+                                           "targetPose", [this]() { return this->targetPose(); },
+                                           [this](const sva::PTransformd & pos) { this->targetPose(pos); }));
+    }
+    else { gui.removeElement({"Tasks", name_}, "targetPose"); }
+  };
+
+  auto showPose = [this, &gui]()
+  {
+    if(showPose_)
+    {
+      gui.addElement({"Tasks", name_}, mc_rtc::gui::Transform("pose", [this]() { return this->surfacePose(); }));
+    }
+    else { gui.removeElement({"Tasks", name_}, "pose"); }
+  };
+
+  gui.addElement({"Tasks", name_},
+                 mc_rtc::gui::Checkbox(
+                     "Show target frame", [this]() { return showTarget_; },
+                     [this, showTarget]()
+                     {
+                       showTarget_ = !showTarget_;
+                       showTarget();
+                     }),
+                 mc_rtc::gui::Checkbox(
+                     "Show pose frame", [this]() { return showPose_; },
+                     [this, showPose]()
+                     {
+                       showPose_ = !showPose_;
+                       showPose();
+                     }));
+
+  showPose();
+  showTarget();
   gui.addElement(
       {"Tasks", name_},
-      mc_rtc::gui::Transform(
-          "pos_target", [this]() { return this->targetPose(); },
-          [this](const sva::PTransformd & pos) { this->targetPose(pos); }),
-      mc_rtc::gui::Transform("pos", [this]() { return frame_->position(); }),
       mc_rtc::gui::ArrayInput(
           "admittance", {"cx", "cy", "cz", "fx", "fy", "fz"}, [this]() { return this->admittance().vector(); },
           [this](const Eigen::Vector6d & a) { this->admittance(a); }),

src/mc_tasks/ImpedanceTask.cpp

@@ -24,12 +24,20 @@ ImpedanceTask::ImpedanceTask(const std::string & surfaceName,
                              const mc_rbdyn::Robots & robots,
                              unsigned int robotIndex,
                              double stiffness,
-                             double weight)
-: ImpedanceTask(robots.robot(robotIndex).frame(surfaceName), stiffness, weight)
+                             double weight,
+                             bool showTarget,
+                             bool showPose,
+                             bool showCompliance)
+: ImpedanceTask(robots.robot(robotIndex).frame(surfaceName), stiffness, weight, showTarget, showPose, showCompliance)
 {
 }
 
-ImpedanceTask::ImpedanceTask(const mc_rbdyn::RobotFrame & frame, double stiffness, double weight)
+ImpedanceTask::ImpedanceTask(const mc_rbdyn::RobotFrame & frame,
+                             double stiffness,
+                             double weight,
+                             bool showTarget,
+                             bool showPose,
+                             bool showCompliance)
 : TransformTask(frame, stiffness, weight), lowPass_(0.005, cutoffPeriod_)
 {
   const auto & robot = frame.robot();
@@ -40,6 +48,9 @@ ImpedanceTask::ImpedanceTask(const mc_rbdyn::RobotFrame & frame, double stiffnes
   {
     mc_rtc::log::error_and_throw("[{}] Frame {} does not have a force sensor attached", name_, frame.name());
   }
+  showTarget_ = showTarget;
+  showPose_ = showPose;
+  showCompliance_ = showCompliance;
 }
 
 void ImpedanceTask::update(mc_solver::QPSolver & solver)
@@ -227,13 +238,64 @@ void ImpedanceTask::addToGUI(mc_rtc::gui::StateBuilder & gui)
   // Don't add TransformTask because the target of TransformTask should not be set by user
   TrajectoryTaskGeneric::addToGUI(gui);
 
+  auto showTarget = [this, &gui]()
+  {
+    if(showTarget_)
+    {
+      gui.addElement({"Tasks", name_},
+                     mc_rtc::gui::Transform(
+                         "targetPose", [this]() -> const sva::PTransformd & { return this->targetPose(); },
+                         [this](const sva::PTransformd & pos) { this->targetPose(pos); }));
+    }
+    else { gui.removeElement({"Tasks", name_}, "targetPose"); }
+  };
+
+  auto showCompliance = [this, &gui]()
+  {
+    if(showCompliance_)
+    {
+      gui.addElement({"Tasks", name_},
+                     mc_rtc::gui::Transform("compliancePose", [this]() { return this->compliancePose(); }));
+    }
+    else { gui.removeElement({"Tasks", name_}, "compliancePose"); }
+  };
+
+  auto showPose = [this, &gui]()
+  {
+    if(showPose_)
+    {
+      gui.addElement({"Tasks", name_}, mc_rtc::gui::Transform("pose", [this]() { return this->surfacePose(); }));
+    }
+    else { gui.removeElement({"Tasks", name_}, "pose"); }
+  };
+
+  gui.addElement({"Tasks", name_},
+                 mc_rtc::gui::Checkbox(
+                     "Show target frame", [this]() { return showTarget_; },
+                     [this, showTarget]()
+                     {
+                       showTarget_ = !showTarget_;
+                       showTarget();
+                     }),
+                 mc_rtc::gui::Checkbox(
+                     "Show pose frame", [this]() { return showPose_; },
+                     [this, showPose]()
+                     {
+                       showPose_ = !showPose_;
+                       showPose();
+                     }),
+                 mc_rtc::gui::Checkbox(
+                     "Show compliance frame", [this]() { return showCompliance_; },
+                     [this, showCompliance]()
+                     {
+                       showCompliance_ = !showCompliance_;
+                       showCompliance();
+                     }));
+
+  showPose();
+  showTarget();
+  showCompliance();
   gui.addElement({"Tasks", name_},
-                 // pose
-                 mc_rtc::gui::Transform(
-                     "targetPose", [this]() -> const sva::PTransformd & { return this->targetPose(); },
-                     [this](const sva::PTransformd & pos) { this->targetPose(pos); }),
-                 mc_rtc::gui::Transform("compliancePose", [this]() { return this->compliancePose(); }),
-                 mc_rtc::gui::Transform("pose", [this]() { return this->surfacePose(); }),
                  // wrench
                  mc_rtc::gui::ArrayInput(
                      "targetWrench", {"cx", "cy", "cz", "fx", "fy", "fz"},

src/mc_tasks/TransformTask.cpp

@@ -15,6 +15,7 @@
 #include <mc_rbdyn/hat.h>
 #include <mc_rtc/ConfigurationHelpers.h>
 #include <mc_rtc/deprecated.h>
+#include <mc_rtc/gui/Checkbox.h>
 #include <mc_rtc/gui/Transform.h>
 
 namespace mc_tasks
@@ -23,7 +24,11 @@ namespace mc_tasks
 static inline mc_rtc::void_ptr_caster<tasks::qp::SurfaceTransformTask> tasks_error{};
 static inline mc_rtc::void_ptr_caster<mc_tvm::TransformFunction> tvm_error{};
 
-TransformTask::TransformTask(const mc_rbdyn::RobotFrame & frame, double stiffness, double weight)
+TransformTask::TransformTask(const mc_rbdyn::RobotFrame & frame,
+                             double stiffness,
+                             double weight,
+                             bool showTarget,
+                             bool showPose)
 : TrajectoryTaskGeneric(frame.robot().robots(), frame.robot().robotIndex(), stiffness, weight), frame_(frame)
 {
   switch(backend_)
@@ -41,14 +46,18 @@ TransformTask::TransformTask(const mc_rbdyn::RobotFrame & frame, double stiffnes
 
   type_ = "transform";
   name_ = "transform_" + frame.robot().name() + "_" + frame.name();
+  showTarget_ = showTarget;
+  showPose_ = showPose;
 }
 
 TransformTask::TransformTask(const std::string & surfaceName,
                              const mc_rbdyn::Robots & robots,
                              unsigned int robotIndex,
                              double stiffness,
-                             double weight)
-: TransformTask(robots.robot(robotIndex).frame(surfaceName), stiffness, weight)
+                             double weight,
+                             bool showTarget,
+                             bool showPose)
+: TransformTask(robots.robot(robotIndex).frame(surfaceName), stiffness, weight, showTarget, showPose)
 {
 }
 
@@ -242,11 +251,43 @@ std::function<bool(const mc_tasks::MetaTask &, std::string &)> TransformTask::bu
 void TransformTask::addToGUI(mc_rtc::gui::StateBuilder & gui)
 {
   TrajectoryTaskGeneric::addToGUI(gui);
+  auto showTarget = [this, &gui]()
+  {
+    if(showTarget_)
+    {
+      gui.addElement({"Tasks", name_}, mc_rtc::gui::Transform(
+                                           "targetPose", [this]() { return this->target(); },
+                                           [this](const sva::PTransformd & pos) { this->target(pos); }));
+    }
+    else { gui.removeElement({"Tasks", name_}, "targetPose"); }
+  };
+
+  auto showPose = [this, &gui]()
+  {
+    if(showPose_)
+    {
+      gui.addElement({"Tasks", name_}, mc_rtc::gui::Transform("pose", [this]() { return frame_->position(); }));
+    }
+    else { gui.removeElement({"Tasks", name_}, "pose"); }
+  };
+
   gui.addElement({"Tasks", name_},
-                 mc_rtc::gui::Transform(
-                     "pos_target", [this]() { return this->target(); },
-                     [this](const sva::PTransformd & pos) { this->target(pos); }),
-                 mc_rtc::gui::Transform("pos", [this]() { return frame_->position(); }));
+                 mc_rtc::gui::Checkbox(
+                     "Show target", [this]() { return showTarget_; },
+                     [this, showTarget]()
+                     {
+                       showTarget_ = !showTarget_;
+                       showTarget();
+                     }),
+                 mc_rtc::gui::Checkbox(
+                     "Show pose", [this]() { return showPose_; },
+                     [this, showPose]()
+                     {
+                       showPose_ = !showPose_;
+                       showPose();
+                     }));
+  showTarget();
+  showPose();
 }
 
 } // namespace mc_tasks