public RobotLocalizationViewer(EstimatorInterface l) {
loc = l;
this.rows = loc.getNumRows();
this.cols = loc.getNumCols();
this.head = loc.getNumHead();
runFlag = initFlag = false;
sXCount = sYCount = 0;
tXCount = tYCount = tHCount = 0;
viewer = new JFrame("RobotLocalizer");
viewer.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
viewer.setResizable(false);
JPanel fieldPanel = new JPanel();
Dimension dState = new Dimension(30, 30);
Dimension dPos = new Dimension(90, 90);
fieldPanel.setLayout(new GridLayout(rows, cols));
positions = new JPanel[rows][cols];
states = new JTextField[rows][cols][5];
for (int i = 0; i < rows; i++) {
for (int j = 0; j < cols; j++) {
positions[i][j] = new JPanel();
positions[i][j].setPreferredSize(dPos);
positions[i][j].setLayout(new BorderLayout());
for (int h = 0; h < 5; h++) {
states[i][j][h] = new JTextField();
states[i][j][h].setPreferredSize(dState);
states[i][j][h].setLayout(null);
states[i][j][h].setBackground(Color.white);
states[i][j][h].setText("");
states[i][j][h].setHorizontalAlignment(JTextField.CENTER);
states[i][j][h].setBorder(javax.swing.BorderFactory.createEmptyBorder());
}
positions[i][j].setBorder(new LineBorder(Color.black));
positions[i][j].add(states[i][j][0], BorderLayout.NORTH);
positions[i][j].add(states[i][j][1], BorderLayout.EAST);
positions[i][j].add(states[i][j][2], BorderLayout.SOUTH);
positions[i][j].add(states[i][j][3], BorderLayout.WEST);
positions[i][j].add(states[i][j][4], BorderLayout.CENTER);
fieldPanel.add(positions[i][j]);
}
}
JPanel buttonPanel = new JPanel();
JButton initButton = new JButton("Init filter");
initButton.addActionListener(
new ActionListener() {
public void actionPerformed(ActionEvent e) {
initLocViewer();
}
});
JButton stepButton = new JButton("One step");
stepButton.addActionListener(
new ActionListener() {
public void actionPerformed(ActionEvent e) {
updateOneStep();
}
});
JButton runButton = new JButton("Go");
runButton.addActionListener(
new ActionListener() {
public void actionPerformed(ActionEvent e) {
setRunFlag(true);
}
});
JButton stopButton = new JButton("Stop");
stopButton.addActionListener(
new ActionListener() {
public void actionPerformed(ActionEvent e) {
setRunFlag(false);
}
});
JPanel modelButtonPanel = new JPanel();
JButton transButton = new JButton("Show transitions");
transButton.addActionListener(
new ActionListener() {
public void actionPerformed(ActionEvent e) {
updateTransitionView();
}
});
JButton sensorButton = new JButton("Show sensor");
sensorButton.addActionListener(
new ActionListener() {
public void actionPerformed(ActionEvent e) {
updateSensorView();
}
});
buttonPanel.add(initButton);
buttonPanel.add(stepButton);
buttonPanel.add(runButton);
buttonPanel.add(stopButton);
modelButtonPanel.setLayout(new GridLayout(2, 1));
modelButtonPanel.add(transButton);
modelButtonPanel.add(sensorButton);
viewer.add(fieldPanel, BorderLayout.CENTER);
viewer.add(buttonPanel, BorderLayout.SOUTH);
viewer.add(modelButtonPanel, BorderLayout.WEST);
viewer.pack();
viewer.setVisible(true);
}
