public void propertyChange(PropertyChangeEvent e) {
Object subject = e.getSource();
try {
if (subject == viewPx) {
float f = Float.parseFloat(viewPx.getField().getText());
if (!Float.isNaN(f)) {
this.motion_future.finger_tip.x = f;
moveIfAble();
}
}
if (subject == viewPy) {
float f = Float.parseFloat(viewPy.getField().getText());
if (!Float.isNaN(f)) {
this.motion_future.finger_tip.y = f;
moveIfAble();
}
}
if (subject == viewPz) {
float f = Float.parseFloat(viewPz.getField().getText());
if (!Float.isNaN(f)) {
this.motion_future.finger_tip.z = f;
moveIfAble();
}
}
if (subject == viewRx) {
float f = Float.parseFloat(viewRx.getField().getText());
if (!Float.isNaN(f)) {
this.motion_future.iku = f;
moveIfAble();
}
}
if (subject == viewRy) {
float f = Float.parseFloat(viewRy.getField().getText());
if (!Float.isNaN(f)) {
this.motion_future.ikv = f;
moveIfAble();
}
}
if (subject == viewRz) {
float f = Float.parseFloat(viewRz.getField().getText());
if (!Float.isNaN(f)) {
this.motion_future.ikw = f;
moveIfAble();
}
}
} catch (NumberFormatException e2) {
}
}
@Override
public ArrayList<JPanel> getControlPanels() {
ArrayList<JPanel> list = super.getControlPanels();
if (list == null) list = new ArrayList<JPanel>();
CollapsiblePanel rspPanel = new CollapsiblePanel("Inverse Kinematics");
rspPanel.getContentPane().setLayout(new GridLayout(0, 1));
view_home = new JButton("Home");
viewPx = new JLabelledTextField(Float.toString(motion_now.finger_tip.x), "X");
viewPy = new JLabelledTextField(Float.toString(motion_now.finger_tip.y), "Y");
viewPz = new JLabelledTextField(Float.toString(motion_now.finger_tip.z), "Z");
viewRx = new JLabelledTextField(Float.toString(motion_now.iku), "U");
viewRy = new JLabelledTextField(Float.toString(motion_now.ikv), "V");
viewRz = new JLabelledTextField(Float.toString(motion_now.ikw), "W");
rspPanel.getContentPane().add(view_home);
rspPanel.getContentPane().add(viewPx);
rspPanel.getContentPane().add(viewPy);
rspPanel.getContentPane().add(viewPz);
rspPanel.getContentPane().add(viewRx);
rspPanel.getContentPane().add(viewRy);
rspPanel.getContentPane().add(viewRz);
view_home.addActionListener(this);
viewPx.addPropertyChangeListener("value", this);
viewPy.addPropertyChangeListener("value", this);
viewPz.addPropertyChangeListener("value", this);
viewRx.addPropertyChangeListener("value", this);
viewRy.addPropertyChangeListener("value", this);
viewRz.addPropertyChangeListener("value", this);
list.add(rspPanel);
updateGUI();
return list;
}
