interface.c

关于机器人路径规划的算法实现

  gtk_widget_show (connect_to_player);
  gtk_fixed_put (GTK_FIXED (fixed2), connect_to_player, 0, 552);
  gtk_widget_set_size_request (connect_to_player, 248, 32);

  path_plan = gtk_button_new_with_mnemonic (_("Path Plan"));
  gtk_widget_show (path_plan);
  gtk_fixed_put (GTK_FIXED (fixed2), path_plan, 0, 512);
  gtk_widget_set_size_request (path_plan, 120, 32);

  frame11 = gtk_frame_new (NULL);
  gtk_widget_show (frame11);
  gtk_fixed_put (GTK_FIXED (fixed2), frame11, 0, 456);
  gtk_widget_set_size_request (frame11, 248, 48);

  alignment11 = gtk_alignment_new (0.5, 0.5, 1, 1);
  gtk_widget_show (alignment11);
  gtk_container_add (GTK_CONTAINER (frame11), alignment11);
  gtk_alignment_set_padding (GTK_ALIGNMENT (alignment11), 0, 0, 12, 0);

  fixed3 = gtk_fixed_new ();
  gtk_widget_show (fixed3);
  gtk_container_add (GTK_CONTAINER (alignment11), fixed3);

  simulate_radio = gtk_radio_button_new_with_mnemonic (NULL, _("Simulate/Stage"));
  gtk_widget_show (simulate_radio);
  gtk_fixed_put (GTK_FIXED (fixed3), simulate_radio, 0, 0);
  gtk_widget_set_size_request (simulate_radio, 120, 21);
  gtk_radio_button_set_group (GTK_RADIO_BUTTON (simulate_radio), simulate_radio_group);
  simulate_radio_group = gtk_radio_button_get_group (GTK_RADIO_BUTTON (simulate_radio));

  wheelchair_radio = gtk_radio_button_new_with_mnemonic (NULL, _("Wheelchair"));
  gtk_widget_show (wheelchair_radio);
  gtk_fixed_put (GTK_FIXED (fixed3), wheelchair_radio, 128, 0);
  gtk_widget_set_size_request (wheelchair_radio, 96, 21);
  gtk_radio_button_set_group (GTK_RADIO_BUTTON (wheelchair_radio), simulate_radio_group);
  simulate_radio_group = gtk_radio_button_get_group (GTK_RADIO_BUTTON (wheelchair_radio));

  label47 = gtk_label_new (_("<b>Platform</b>"));
  gtk_widget_show (label47);
  gtk_frame_set_label_widget (GTK_FRAME (frame11), label47);
  gtk_label_set_use_markup (GTK_LABEL (label47), TRUE);

  generate_cspace = gtk_button_new_with_mnemonic (_("Generate Space"));
  gtk_widget_show (generate_cspace);
  gtk_fixed_put (GTK_FIXED (fixed2), generate_cspace, 128, 512);
  gtk_widget_set_size_request (generate_cspace, 120, 32);

  label13 = gtk_label_new (_("<b>Navigatoion Options</b>"));
  gtk_widget_show (label13);
  gtk_frame_set_label_widget (GTK_FRAME (frame2), label13);
  gtk_label_set_use_markup (GTK_LABEL (label13), TRUE);

  statusbar1 = gtk_statusbar_new ();
  gtk_widget_show (statusbar1);
  gtk_box_pack_start (GTK_BOX (vbox1), statusbar1, FALSE, FALSE, 0);

  g_signal_connect ((gpointer) window1, "destroy",
                    G_CALLBACK (on_window_exit),
                    NULL);
  g_signal_connect ((gpointer) new1, "activate",
                    G_CALLBACK (on_new1_activate),
                    NULL);
  g_signal_connect ((gpointer) open1, "activate",
                    G_CALLBACK (on_open1_activate),
                    NULL);
  g_signal_connect ((gpointer) save1, "activate",
                    G_CALLBACK (on_save1_activate),
                    NULL);
  g_signal_connect ((gpointer) save_as1, "activate",
                    G_CALLBACK (on_save_as1_activate),
                    NULL);
  g_signal_connect ((gpointer) quit1, "activate",
                    G_CALLBACK (on_quit1_activate),
                    NULL);
  g_signal_connect ((gpointer) cut1, "activate",
                    G_CALLBACK (on_cut1_activate),
                    NULL);
  g_signal_connect ((gpointer) copy1, "activate",
                    G_CALLBACK (on_copy1_activate),
                    NULL);
  g_signal_connect ((gpointer) paste1, "activate",
                    G_CALLBACK (on_paste1_activate),
                    NULL);
  g_signal_connect ((gpointer) delete1, "activate",
                    G_CALLBACK (on_delete1_activate),
                    NULL);
  g_signal_connect ((gpointer) about1, "activate",
                    G_CALLBACK (on_about1_activate),
                    NULL);
  g_signal_connect ((gpointer) drawingarea1, "configure_event",
                    G_CALLBACK (on_drawingarea1_configure_event),
                    NULL);
  g_signal_connect ((gpointer) drawingarea1, "expose_event",
                    G_CALLBACK (on_drawingarea1_expose_event),
                    NULL);
  g_signal_connect ((gpointer) drawingarea1, "motion_notify_event",
                    G_CALLBACK (on_drawingarea1_motion_notify_event),
                    NULL);
  g_signal_connect ((gpointer) drawingarea1, "button_release_event",
                    G_CALLBACK (on_drawingarea1_button_release_event),
                    NULL);
  g_signal_connect ((gpointer) entry1, "changed",
                    G_CALLBACK (on_entry1_changed),
                    NULL);
  g_signal_connect ((gpointer) entry2, "changed",
                    G_CALLBACK (on_entry2_changed),
                    NULL);
  g_signal_connect ((gpointer) entry3, "changed",
                    G_CALLBACK (on_entry3_changed),
                    NULL);
  g_signal_connect ((gpointer) startx, "value_changed",
                    G_CALLBACK (on_startx_value_changed),
                    NULL);
  g_signal_connect ((gpointer) starty, "value_changed",
                    G_CALLBACK (on_starty_value_changed),
                    NULL);
  g_signal_connect ((gpointer) start_theta, "value_changed",
                    G_CALLBACK (on_start_theta_value_changed),
                    NULL);
  g_signal_connect ((gpointer) entry4, "changed",
                    G_CALLBACK (on_entry4_changed),
                    NULL);
  g_signal_connect ((gpointer) entry5, "changed",
                    G_CALLBACK (on_entry5_changed),
                    NULL);
  g_signal_connect ((gpointer) entry6, "changed",
                    G_CALLBACK (on_entry6_changed),
                    NULL);
  g_signal_connect ((gpointer) targetx, "value_changed",
                    G_CALLBACK (on_targetx_value_changed),
                    NULL);
  g_signal_connect ((gpointer) targety, "value_changed",
                    G_CALLBACK (on_targety_value_changed),
                    NULL);
  g_signal_connect ((gpointer) target_theta, "value_changed",
                    G_CALLBACK (on_target_theta_value_changed),
                    NULL);
  g_signal_connect ((gpointer) pixel_size, "changed",
                    G_CALLBACK (on_pixel_size_changed),
                    NULL);
  g_signal_connect ((gpointer) pixels_per_tile, "changed",
                    G_CALLBACK (on_pixels_per_tile_changed),
                    NULL);
  g_signal_connect ((gpointer) reg_grid_dist, "changed",
                    G_CALLBACK (on_reg_grid_changed),
                    NULL);
  g_signal_connect ((gpointer) nodes_connection_radius, "changed",
                    G_CALLBACK (on_dist_node_changed),
                    NULL);
  g_signal_connect ((gpointer) obstacle_radius, "changed",
                    G_CALLBACK (on_obstacle_radius_changed),
                    NULL);
  g_signal_connect ((gpointer) bridge_length, "changed",
                    G_CALLBACK (on_bridge_length_changed),
                    NULL);
  g_signal_connect ((gpointer) k_distance, "changed",
                    G_CALLBACK (on_k_distance_changed),
                    NULL);
  g_signal_connect ((gpointer) k_theta, "changed",
                    G_CALLBACK (on_k_theta_changed),
                    NULL);
  g_signal_connect ((gpointer) tracking_distance, "value_changed",
                    G_CALLBACK (on_tracking_distance_value_changed),
                    NULL);
  g_signal_connect ((gpointer) Linea_speed, "value_changed",
                    G_CALLBACK (on_Linea_speed_value_changed),
                    NULL);
  g_signal_connect ((gpointer) safety_distance, "value_changed",
                    G_CALLBACK (on_safety_distance_value_changed),
                    NULL);
  g_signal_connect ((gpointer) follow_path, "released",
                    G_CALLBACK (on_follow_path_released),
                    NULL);
  g_signal_connect ((gpointer) stop_following, "released",
                    G_CALLBACK (on_stop_following_released),
                    NULL);
  g_signal_connect ((gpointer) connect_to_player, "clicked",
                    G_CALLBACK (on_connect_to_player_clicked),
                    NULL);
  g_signal_connect ((gpointer) path_plan, "released",
                    G_CALLBACK (on_path_plan_released),
                    NULL);
  g_signal_connect ((gpointer) simulate_radio, "toggled",
                    G_CALLBACK (on_simulate_radio_toggled),
                    NULL);
  g_signal_connect ((gpointer) wheelchair_radio, "toggled",
                    G_CALLBACK (on_wheelchair_radio_toggled),
                    NULL);
  g_signal_connect ((gpointer) generate_cspace, "released",
                    G_CALLBACK (on_generate_cspace_released),
                    NULL);

  /* Store pointers to all widgets, for use by lookup_widget(). */
  GLADE_HOOKUP_OBJECT_NO_REF (window1, window1, "window1");
  GLADE_HOOKUP_OBJECT (window1, vbox1, "vbox1");
  GLADE_HOOKUP_OBJECT (window1, menubar1, "menubar1");
  GLADE_HOOKUP_OBJECT (window1, menuitem4, "menuitem4");
  GLADE_HOOKUP_OBJECT (window1, menu4, "menu4");
  GLADE_HOOKUP_OBJECT (window1, new1, "new1");
  GLADE_HOOKUP_OBJECT (window1, open1, "open1");
  GLADE_HOOKUP_OBJECT (window1, save1, "save1");
  GLADE_HOOKUP_OBJECT (window1, save_as1, "save_as1");
  GLADE_HOOKUP_OBJECT (window1, separatormenuitem1, "separatormenuitem1");
  GLADE_HOOKUP_OBJECT (window1, quit1, "quit1");
  GLADE_HOOKUP_OBJECT (window1, menuitem5, "menuitem5");
  GLADE_HOOKUP_OBJECT (window1, menu5, "menu5");
  GLADE_HOOKUP_OBJECT (window1, cut1, "cut1");
  GLADE_HOOKUP_OBJECT (window1, copy1, "copy1");
  GLADE_HOOKUP_OBJECT (window1, paste1, "paste1");
  GLADE_HOOKUP_OBJECT (window1, delete1, "delete1");
  GLADE_HOOKUP_OBJECT (window1, menuitem6, "menuitem6");
  GLADE_HOOKUP_OBJECT (window1, menu6, "menu6");
  GLADE_HOOKUP_OBJECT (window1, menuitem7, "menuitem7");
  GLADE_HOOKUP_OBJECT (window1, menu7, "menu7");
  GLADE_HOOKUP_OBJECT (window1, about1, "about1");
  GLADE_HOOKUP_OBJECT (window1, hbox1, "hbox1");
  GLADE_HOOKUP_OBJECT (window1, frame1, "frame1");
  GLADE_HOOKUP_OBJECT (window1, alignment4, "alignment4");
  GLADE_HOOKUP_OBJECT (window1, vbox5, "vbox5");
  GLADE_HOOKUP_OBJECT (window1, drawingarea1, "drawingarea1");
  GLADE_HOOKUP_OBJECT (window1, notebook, "notebook");
  GLADE_HOOKUP_OBJECT (window1, scrolledwindow3, "scrolledwindow3");
  GLADE_HOOKUP_OBJECT (window1, textview1, "textview1");
  GLADE_HOOKUP_OBJECT (window1, label36, "label36");
  GLADE_HOOKUP_OBJECT (window1, label37, "label37");
  GLADE_HOOKUP_OBJECT (window1, label38, "label38");
  GLADE_HOOKUP_OBJECT (window1, label12, "label12");
  GLADE_HOOKUP_OBJECT (window1, frame2, "frame2");
  GLADE_HOOKUP_OBJECT (window1, alignment5, "alignment5");
  GLADE_HOOKUP_OBJECT (window1, fixed2, "fixed2");
  GLADE_HOOKUP_OBJECT (window1, frame7, "frame7");
  GLADE_HOOKUP_OBJECT (window1, vbox2, "vbox2");
  GLADE_HOOKUP_OBJECT (window1, hbox5, "hbox5");
  GLADE_HOOKUP_OBJECT (window1, hbox7, "hbox7");
  GLADE_HOOKUP_OBJECT (window1, label1, "label1");
  GLADE_HOOKUP_OBJECT (window1, entry1, "entry1");
  GLADE_HOOKUP_OBJECT (window1, label2, "label2");
  GLADE_HOOKUP_OBJECT (window1, entry2, "entry2");
  GLADE_HOOKUP_OBJECT (window1, label3, "label3");
  GLADE_HOOKUP_OBJECT (window1, entry3, "entry3");
  GLADE_HOOKUP_OBJECT (window1, hbox6, "hbox6");
  GLADE_HOOKUP_OBJECT (window1, hbox8, "hbox8");
  GLADE_HOOKUP_OBJECT (window1, startx, "startx");
  GLADE_HOOKUP_OBJECT (window1, starty, "starty");
  GLADE_HOOKUP_OBJECT (window1, start_theta, "start_theta");
  GLADE_HOOKUP_OBJECT (window1, label15, "label15");
  GLADE_HOOKUP_OBJECT (window1, frame8, "frame8");
  GLADE_HOOKUP_OBJECT (window1, vbox3, "vbox3");
  GLADE_HOOKUP_OBJECT (window1, hbox10, "hbox10");
  GLADE_HOOKUP_OBJECT (window1, label4, "label4");
  GLADE_HOOKUP_OBJECT (window1, entry4, "entry4");
  GLADE_HOOKUP_OBJECT (window1, label5, "label5");
  GLADE_HOOKUP_OBJECT (window1, entry5, "entry5");
  GLADE_HOOKUP_OBJECT (window1, label6, "label6");
  GLADE_HOOKUP_OBJECT (window1, entry6, "entry6");
  GLADE_HOOKUP_OBJECT (window1, hbox11, "hbox11");
  GLADE_HOOKUP_OBJECT (window1, targetx, "targetx");
  GLADE_HOOKUP_OBJECT (window1, targety, "targety");
  GLADE_HOOKUP_OBJECT (window1, target_theta, "target_theta");
  GLADE_HOOKUP_OBJECT (window1, label20, "label20");
  GLADE_HOOKUP_OBJECT (window1, frame9, "frame9");
  GLADE_HOOKUP_OBJECT (window1, alignment9, "alignment9");
  GLADE_HOOKUP_OBJECT (window1, vbox4, "vbox4");
  GLADE_HOOKUP_OBJECT (window1, hbox12, "hbox12");
  GLADE_HOOKUP_OBJECT (window1, label31, "label31");
  GLADE_HOOKUP_OBJECT (window1, pixel_size, "pixel_size");
  GLADE_HOOKUP_OBJECT (window1, label32, "label32");
  GLADE_HOOKUP_OBJECT (window1, pixels_per_tile, "pixels_per_tile");
  GLADE_HOOKUP_OBJECT (window1, hbox15, "hbox15");
  GLADE_HOOKUP_OBJECT (window1, label33, "label33");
  GLADE_HOOKUP_OBJECT (window1, reg_grid_dist, "reg_grid_dist");
  GLADE_HOOKUP_OBJECT (window1, label34, "label34");
  GLADE_HOOKUP_OBJECT (window1, nodes_connection_radius, "nodes_connection_radius");
  GLADE_HOOKUP_OBJECT (window1, hbox14, "hbox14");
  GLADE_HOOKUP_OBJECT (window1, label35, "label35");
  GLADE_HOOKUP_OBJECT (window1, obstacle_radius, "obstacle_radius");
  GLADE_HOOKUP_OBJECT (window1, hbox21, "hbox21");
  GLADE_HOOKUP_OBJECT (window1, label46, "label46");
  GLADE_HOOKUP_OBJECT (window1, bridge_length, "bridge_length");
  GLADE_HOOKUP_OBJECT (window1, label27, "label27");
  GLADE_HOOKUP_OBJECT (window1, frame10, "frame10");
  GLADE_HOOKUP_OBJECT (window1, alignment10, "alignment10");
  GLADE_HOOKUP_OBJECT (window1, vbox6, "vbox6");
  GLADE_HOOKUP_OBJECT (window1, hbox16, "hbox16");
  GLADE_HOOKUP_OBJECT (window1, label40, "label40");
  GLADE_HOOKUP_OBJECT (window1, k_distance, "k_distance");
  GLADE_HOOKUP_OBJECT (window1, label41, "label41");
  GLADE_HOOKUP_OBJECT (window1, k_theta, "k_theta");
  GLADE_HOOKUP_OBJECT (window1, hbox17, "hbox17");
  GLADE_HOOKUP_OBJECT (window1, label42, "label42");
  GLADE_HOOKUP_OBJECT (window1, tracking_distance, "tracking_distance");
  GLADE_HOOKUP_OBJECT (window1, hbox18, "hbox18");
  GLADE_HOOKUP_OBJECT (window1, label43, "label43");
  GLADE_HOOKUP_OBJECT (window1, Linea_speed, "Linea_speed");
  GLADE_HOOKUP_OBJECT (window1, hbox19, "hbox19");
  GLADE_HOOKUP_OBJECT (window1, label44, "label44");
  GLADE_HOOKUP_OBJECT (window1, hbox20, "hbox20");
  GLADE_HOOKUP_OBJECT (window1, label45, "label45");
  GLADE_HOOKUP_OBJECT (window1, safety_distance, "safety_distance");
  GLADE_HOOKUP_OBJECT (window1, label39, "label39");
  GLADE_HOOKUP_OBJECT (window1, follow_path, "follow_path");
  GLADE_HOOKUP_OBJECT (window1, stop_following, "stop_following");
  GLADE_HOOKUP_OBJECT (window1, connect_to_player, "connect_to_player");
  GLADE_HOOKUP_OBJECT (window1, path_plan, "path_plan");
  GLADE_HOOKUP_OBJECT (window1, frame11, "frame11");
  GLADE_HOOKUP_OBJECT (window1, alignment11, "alignment11");
  GLADE_HOOKUP_OBJECT (window1, fixed3, "fixed3");
  GLADE_HOOKUP_OBJECT (window1, simulate_radio, "simulate_radio");
  GLADE_HOOKUP_OBJECT (window1, wheelchair_radio, "wheelchair_radio");
  GLADE_HOOKUP_OBJECT (window1, label47, "label47");
  GLADE_HOOKUP_OBJECT (window1, generate_cspace, "generate_cspace");
  GLADE_HOOKUP_OBJECT (window1, label13, "label13");
  GLADE_HOOKUP_OBJECT (window1, statusbar1, "statusbar1");

  gtk_widget_grab_focus (window1);
  gtk_widget_grab_default (window1);
  gtk_window_add_accel_group (GTK_WINDOW (window1), accel_group);

  return window1;
}