Clean up

Author: IsabelParedes

src/widget.ts

@@ -30,7 +30,6 @@ export class UrdfWidget extends DocumentWidget<UrdfPanel, DocumentModel> {
 /**
  * UrdfPanel: widget that contains the main view of the UrdfWidget.
  */
-
 export class UrdfPanel extends Panel {
   private _context: DocumentRegistry.IContext<DocumentModel>;
 
@@ -40,22 +39,18 @@ export class UrdfPanel extends Panel {
    * @param context - The documents context
    */
   constructor(context: DocumentRegistry.IContext<DocumentModel>) {
-    super({
-      layout: new URDFLayout()
-    });
+    super({ layout: new URDFLayout() });
+    
     this.addClass('jp-urdf-canvas'); // for css styling
     this._context = context;
 
     this._context.ready.then(value => {
-      // TODO
       (this.layout as URDFLayout).setURDF(this._context.model.toString());
       this._context.model.contentChanged.connect((sender, args)=>{
         console.log("Model changed.", args);
         (this.layout as URDFLayout).setURDF(this._context.model.toString());
       });
     });
-
-    // TODO
   }
 
   // Dispose of resources held by widget
@@ -74,7 +69,6 @@ export class UrdfPanel extends Panel {
    */
   protected onAfterAttach(msg: Message): void {
     super.onAfterAttach(msg);
-    // TODO
   }
 
   /**
@@ -84,7 +78,6 @@ export class UrdfPanel extends Panel {
    */
   protected onBeforeDetach(msg: Message): void {
     super.onBeforeDetach(msg);
-    // TODO
   }
 
   /**
@@ -93,166 +86,5 @@ export class UrdfPanel extends Panel {
    * @param event - Event on the widget
    */
   public handleEvent(event: MouseEvent): void {
-    // TODO
   }
 }
-// export class UrdfPanel extends Widget {
-//     /**
-//      * Construct a UrdfPanel
-//      * 
-//      * @param context - The documents context
-//      */
-//     constructor(context: DocumentRegistry.IContext<DocumentModel>) {
-//         super();
-//         this.id = 'canvasP';
-//         this.addClass('jp-urdf-canvas');  // for css styling
-//         this._context = context;
-//         // this._isDown = false;
-//         // this._offset = { x: 0, y: 0};
-        
-
-//         this._context.ready.then((value) => {
-//             // TODO
-//             this.update();
-//         });
-
-    
-
-//         // TODO
-//         // const obj = this._context.model.getSharedObject();
-//         this._canvas = document.createElement('div');
-//         this._canvas.className = 'jp-urdf-canvas';
-//         this._canvas.style.left = '0px';
-//         this._canvas.innerText = 'URDF ROBOT';
-//         // this.node.appendChild(this._canvas);
-
-//         // URDF Loader
-//         this._scene = new Scene();
-//         this._scene.background = new Color(0x263238);
-
-//         this._camera = new PerspectiveCamera();
-//         this._camera.position.set(10, 10, 10);
-//         this._camera.lookAt(0, 0, 0);
-
-//         this._renderer = new WebGLRenderer({ antialias: true });
-//         this._renderer.outputEncoding = sRGBEncoding;
-//         this._renderer.shadowMap.enable = true;
-//         this._renderer.shadowMap.type = PCFSoftShadowMap;
-
-//         const directionalLight = new DirectionalLight(0xffffff, 1.0);
-//         directionalLight.castShadow = true;
-//         directionalLight.shadow.mapSize.setScalar(1024);
-//         directionalLight.position.set(5, 30, 5);
-//         this._scene.add(directionalLight);
-
-//         const ambientLight = new AmbientLight(0xffffff, 0.2);
-//         this._scene.add(ambientLight);
-
-//         const ground = new Mesh(new PlaneBufferGeometry(), 
-//                                 new ShadowMaterial({ opacity: 0.25}));
-//         ground.rotation.x = -Math.PI / 2;
-//         ground.scale.setScalar(30);
-//         ground.receiveShadow = true;
-//         this._scene.add(ground);
-
-//         // TODO import orbit controls
-
-//         // Load Robot
-//         this._manager = new LoadingManager();
-//         this._loader = new URDFLoader(this._manager);
-         
-//         // this._loader.load(context.path, (result: any) => {
-//         //     this._robot = result;
-//         // });
-        
-//         this._robot = this._loader.parse(context.model.value.text);
-
-
-//         // Wait until all geometry has been loaded to add model to scene
-//         this._manager.onLoad = () => {
-//             this._robot.rotation.x = Math.PI / 2;
-//             this._robot.traverse((c : any) => {
-//                 c.castShadow = true;
-//             });
-//             for (let i = 1; i <=6; i++) {
-//                 this._robot.joints[`HP${ i }`].setJointValue(MathUtils.degToRad(30));
-//                 this._robot.joints[`KP${ i }`].setJointValue(MathUtils.degToRad(120));
-//                 this._robot.joints[`AP${ i }`].setJointValue(MathUtils.degToRad(-60));
-//             }
-//             this._robot.updateMatrixWorld(true);
-
-//             const bb = new Box3();
-//             bb.setFromObject(this._robot);
-
-//             this._robot.position.y -= bb.min.y;
-//             this._scene.add(this._robot);
-//         };
-
-//         // TODO add onResize() 
-        
-//         this._renderer.render(this._scene, this._camera);
-
-//         this.node.appendChild(this._renderer.domElement);
-        
-
-//     }
-
-//     // Dispose of resources held by widget
-//     dispose(): void {
-//         if (this.isDisposed) {
-//             return;
-//         }
-//         Signal.clearData(this);
-//         super.dispose();
-//     }
-
-//     /**
-//      * Handle after-attach messages sent to widget
-//      * 
-//      * @param msg - Widget layout message
-//      */
-//     protected onAfterAttach(msg: Message): void {
-//         super.onAfterAttach(msg);
-//         // this._cube.addEventListener('mousedown', this, true);
-//         // TODO
-//     }
-
-//     /**
-//      * Handle before-detach messages sent to widget
-//      * 
-//      * @param msg - Widget layout message
-//      */
-//     protected onBeforeDetach(msg: Message): void {
-//         super.onBeforeDetach(msg);
-//         // this._cube.removeEventListener('mousedown', this, true);
-//         // TODO
-//     }
-
-//     /**
-//      * Handle event messages sent to widget
-//      * 
-//      * @param event - Event on the widget
-//      */
-//     public handleEvent(event: MouseEvent): void {
-//         event.preventDefault();
-//         event.stopPropagation();
-
-//         // TODO
-//     }
-
-
-//     private _context: DocumentRegistry.IContext<DocumentModel>;
-//     private _canvas: HTMLElement;
-//     // private _isDown: boolean;
-//     // private _offset: Position;
-//     // private _cube: HTMLElement;
-
-//     // URDF Loader variables
-//     private _scene: any;
-//     private _camera: any;
-//     private _renderer: any;
-//     private _robot: any;
-//     // private _controls: any;
-//     private _manager: any;
-//     private _loader: any;
-// }