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#WIP Decorator as Behaviour #14

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#WIP Decorator as Behaviour #14

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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
@@ -1 +1,2 @@
*.pyc
*.vscode
6 changes: 6 additions & 0 deletions src/rqt_py_trees/dotcode_behaviour.py
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Original file line number Diff line number Diff line change
Expand Up @@ -114,6 +114,8 @@ def type_to_shape(self, behaviour_type):
return 'note'
elif behaviour_type == py_trees_msgs.Behaviour.CHOOSER:
return 'doubleoctagon'
elif behaviour_type == py_trees_msgs.Behaviour.DECORATOR:
return 'invhouse'
else:
return 'ellipse'

Expand All @@ -128,6 +130,8 @@ def type_to_colour(self, behaviour_type):
return '#ffd700'
elif behaviour_type == py_trees_msgs.Behaviour.CHOOSER:
return '#808080'
elif behaviour_type == py_trees_msgs.Behaviour.DECORATOR:
return '#ff9900'
else:
return None

Expand All @@ -142,6 +146,8 @@ def type_to_string(self, behaviour_type):
return 'Parallel'
elif behaviour_type == py_trees_msgs.Behaviour.CHOOSER:
return 'Chooser'
elif behaviour_type == py_trees_msgs.Behaviour.DECORATOR:
return 'Decorator'
else:
return None

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9 changes: 9 additions & 0 deletions src/rqt_py_trees/qt_dotgraph/node_item.py
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Expand Up @@ -107,6 +107,15 @@ def __init__(self, highlight_level, bounding_box, label, shape, color=None, pare
QPointF(rect[0] + rect[2], rect[1] + rect[3] / 5)])
self._graphics_item = QGraphicsPolygonItem(note_polygon)

elif shape == 'invhouse':
rect = bounding_box.getRect()
invhouse_polygon = QPolygonF([QPointF(rect[0], rect[1]),
QPointF(rect[0], rect[1] + 3 * rect[3] / 4),
QPointF(rect[0] + rect[2]/2, rect[1] + rect[3]),
QPointF(rect[0] + rect[2], rect[1] + 3 * rect[3] / 4),
QPointF(rect[0] + rect[2], rect[1])])
self._graphics_item = QGraphicsPolygonItem(invhouse_polygon)

else:
self._graphics_item = QGraphicsEllipseItem(bounding_box)
self.addToGroup(self._graphics_item)
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