mainwindow.ui

<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>MainWindow</class>
 <widget class="QMainWindow" name="MainWindow">
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>831</width>
    <height>595</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>MarkCommander</string>
  </property>
  <widget class="QWidget" name="centralWidget">
   <layout class="QGridLayout" name="gridLayout">
    <item row="0" column="0">
     <widget class="QTabWidget" name="tabWidget_ctrlView">
      <property name="enabled">
       <bool>true</bool>
      </property>
      <property name="currentIndex">
       <number>0</number>
      </property>
      <widget class="QWidget" name="tab_terminal">
       <attribute name="title">
        <string>Terminal</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout">
        <item>
         <widget class="QPlainTextEdit" name="plainTextEdit_terminalView">
          <property name="enabled">
           <bool>false</bool>
          </property>
          <property name="styleSheet">
           <string notr="true">font: 12pt &quot;Courier New&quot;;
color: rgb(186, 186, 186);
background-color: rgb(0, 0, 0);</string>
          </property>
          <property name="readOnly">
           <bool>true</bool>
          </property>
         </widget>
        </item>
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout_cmdEdit">
          <item>
           <widget class="QLabel" name="label">
            <property name="styleSheet">
             <string notr="true">font: 12pt &quot;Courier New&quot;;</string>
            </property>
            <property name="text">
             <string>&gt;&gt; </string>
            </property>
           </widget>
          </item>
          <item>
           <widget class="CmdLineEdit" name="lineEdit_cmd">
            <property name="enabled">
             <bool>false</bool>
            </property>
            <property name="styleSheet">
             <string notr="true">font: 12pt &quot;Courier New&quot;;</string>
            </property>
           </widget>
          </item>
          <item>
           <widget class="QPushButton" name="pushButton_sendCmd">
            <property name="enabled">
             <bool>false</bool>
            </property>
            <property name="text">
             <string>Enviar comando</string>
            </property>
           </widget>
          </item>
         </layout>
        </item>
       </layout>
      </widget>
      <widget class="QWidget" name="tab_dirkin">
       <attribute name="title">
        <string>Cinemática directa</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_2">
        <item>
         <widget class="QGroupBox" name="groupBox">
          <property name="title">
           <string>Espacio de articulaciones (ángulos)</string>
          </property>
          <layout class="QVBoxLayout" name="verticalLayout_17">
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout_2">
             <item>
              <layout class="QVBoxLayout" name="verticalLayout_3">
               <item>
                <widget class="QLabel" name="label_2">
                 <property name="text">
                  <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Motor F (θ&lt;/span&gt;&lt;span style=&quot; font-weight:600; vertical-align:sub;&quot;&gt;1&lt;/span&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QDoubleSpinBox" name="doubleSpinBox_dirkinTheta1F"/>
               </item>
               <item>
                <widget class="QDial" name="dial_dirkinTheta1F"/>
               </item>
              </layout>
             </item>
             <item>
              <layout class="QVBoxLayout" name="verticalLayout_4">
               <item>
                <widget class="QLabel" name="label_3">
                 <property name="text">
                  <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Motor E (θ&lt;/span&gt;&lt;span style=&quot; font-weight:600; vertical-align:sub;&quot;&gt;2&lt;/span&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QDoubleSpinBox" name="doubleSpinBox_dirkinTheta2E"/>
               </item>
               <item>
                <widget class="QDial" name="dial_dirkinTheta2E"/>
               </item>
              </layout>
             </item>
             <item>
              <layout class="QVBoxLayout" name="verticalLayout_5">
               <item>
                <widget class="QLabel" name="label_4">
                 <property name="text">
                  <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt; font-weight:600;&quot;&gt;Motor D (θ&lt;/span&gt;&lt;span style=&quot; font-size:8pt; font-weight:600; vertical-align:sub;&quot;&gt;3&lt;/span&gt;&lt;span style=&quot; font-size:8pt; font-weight:600;&quot;&gt;)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QDoubleSpinBox" name="doubleSpinBox_dirkinTheta3D"/>
               </item>
               <item>
                <widget class="QDial" name="dial_dirkinTheta3D"/>
               </item>
              </layout>
             </item>
             <item>
              <layout class="QVBoxLayout" name="verticalLayout_7">
               <item>
                <widget class="QLabel" name="label_5">
                 <property name="text">
                  <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Motor C (θ&lt;/span&gt;&lt;span style=&quot; font-weight:600; vertical-align:sub;&quot;&gt;4&lt;/span&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QDoubleSpinBox" name="doubleSpinBox_dirkinTheta4C"/>
               </item>
               <item>
                <widget class="QDial" name="dial_dirkinTheta4C"/>
               </item>
              </layout>
             </item>
             <item>
              <layout class="QVBoxLayout" name="verticalLayout_6">
               <item>
                <widget class="QLabel" name="label_6">
                 <property name="text">
                  <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt; font-weight:600;&quot;&gt;Motor B (θ&lt;/span&gt;&lt;span style=&quot; font-size:8pt; font-weight:600; vertical-align:sub;&quot;&gt;5&lt;/span&gt;&lt;span style=&quot; font-size:8pt; font-weight:600;&quot;&gt;)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QDoubleSpinBox" name="doubleSpinBox_dirkinTheta5B"/>
               </item>
               <item>
                <widget class="QDial" name="dial_dirkinTheta5B"/>
               </item>
              </layout>
             </item>
            </layout>
           </item>
           <item>
            <spacer name="verticalSpacer_2">
             <property name="orientation">
              <enum>Qt::Vertical</enum>
             </property>
             <property name="sizeHint" stdset="0">
              <size>
               <width>20</width>
               <height>40</height>
              </size>
             </property>
            </spacer>
           </item>
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout_7">
             <item>
              <widget class="QCheckBox" name="checkBox_dirkinKeepDirkin">
               <property name="text">
                <string>Preservar ángulos de las otras articulaciones</string>
               </property>
              </widget>
             </item>
             <item>
              <spacer name="horizontalSpacer">
               <property name="orientation">
                <enum>Qt::Horizontal</enum>
               </property>
               <property name="sizeHint" stdset="0">
                <size>
                 <width>40</width>
                 <height>20</height>
                </size>
               </property>
              </spacer>
             </item>
             <item>
              <widget class="QPushButton" name="pushButton_copyInvkin">
               <property name="text">
                <string>Copiar cinemática inversa</string>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QPushButton" name="pushButton_computeDirKin">
               <property name="text">
                <string>Calcular cinemática directa</string>
               </property>
              </widget>
             </item>
            </layout>
           </item>
          </layout>
         </widget>
        </item>
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout">
          <item>
           <widget class="QGroupBox" name="groupBox_2">
            <property name="title">
             <string>Matriz del brazo</string>
            </property>
            <layout class="QGridLayout" name="gridLayout_2">
             <item row="1" column="0">
              <widget class="QLineEdit" name="lineEdit_dirkinArmMatrixN1">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="1" column="1">
              <widget class="QLineEdit" name="lineEdit_dirkinArmMatrixS1">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="1" column="2">
              <widget class="QLineEdit" name="lineEdit_dirkinArmMatrixA1">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="2" column="0">
              <widget class="QLineEdit" name="lineEdit_dirkinArmMatrixN2">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="2" column="2">
              <widget class="QLineEdit" name="lineEdit_dirkinArmMatrixA2">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="3" column="0">
              <widget class="QLineEdit" name="lineEdit_dirkinArmMatrixN3">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="3" column="2">
              <widget class="QLineEdit" name="lineEdit_dirkinArmMatrixA3">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="1" column="3">
              <widget class="QLineEdit" name="lineEdit_dirkinArmMatrixP1">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="2" column="3">
              <widget class="QLineEdit" name="lineEdit_dirkinArmMatrixP2">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="3" column="3">
              <widget class="QLineEdit" name="lineEdit_dirkinArmMatrixP3">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="4" column="0">
              <widget class="QLineEdit" name="lineEdit_13">
               <property name="enabled">
                <bool>true</bool>
               </property>
               <property name="text">
                <string>0</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="4" column="1">
              <widget class="QLineEdit" name="lineEdit_14">
               <property name="enabled">
                <bool>true</bool>
               </property>
               <property name="styleSheet">
                <string notr="true"/>
               </property>
               <property name="text">
                <string>0</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="4" column="2">
              <widget class="QLineEdit" name="lineEdit_15">
               <property name="enabled">
                <bool>true</bool>
               </property>
               <property name="text">
                <string>0</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="4" column="3">
              <widget class="QLineEdit" name="lineEdit_16">
               <property name="enabled">
                <bool>true</bool>
               </property>
               <property name="text">
                <string>1</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="0" column="0">
              <widget class="QLabel" name="label_7">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
               <property name="text">
                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt; font-weight:600;&quot;&gt;N&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
               </property>
              </widget>
             </item>
             <item row="0" column="1">
              <widget class="QLabel" name="label_8">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
               <property name="text">
                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt; font-weight:600;&quot;&gt;S&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
               </property>
              </widget>
             </item>
             <item row="0" column="2">
              <widget class="QLabel" name="label_9">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
               <property name="text">
                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt; font-weight:600;&quot;&gt;A&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
               </property>
              </widget>
             </item>
             <item row="0" column="3">
              <widget class="QLabel" name="label_10">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
               <property name="text">
                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt; font-weight:600;&quot;&gt;P&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
               </property>
              </widget>
             </item>
             <item row="2" column="1">
              <widget class="QLineEdit" name="lineEdit_dirkinArmMatrixS2">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="3" column="1">
              <widget class="QLineEdit" name="lineEdit_dirkinArmMatrixS3">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="groupBox_5">
            <property name="title">
             <string>Instrucciones</string>
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_8">
             <item>
              <widget class="QPlainTextEdit" name="plainTextEdit_dirkinCommands">
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QLabel" name="label_dirkinWarning">
               <property name="styleSheet">
                <string notr="true">font-weight: bold;
color: rgb(170, 0, 0);
/*background-color: red;*/
padding: 2px;</string>
               </property>
               <property name="text">
                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:600; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt;&quot;&gt;Debe hacer el home&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt;&quot;&gt;de la cinemática&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QPushButton" name="pushButton_dirkinGoToPos">
               <property name="text">
                <string>Ir a la posición</string>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
         </layout>
        </item>
       </layout>
      </widget>
      <widget class="QWidget" name="tab_invkin">
       <attribute name="title">
        <string>Cinemática inversa</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_15">
        <item>
         <widget class="QGroupBox" name="groupBox_6">
          <property name="title">
           <string>Matriz del brazo</string>
          </property>
          <layout class="QVBoxLayout" name="verticalLayout_16">
           <item>
            <layout class="QGridLayout" name="gridLayout_3">
             <item row="0" column="0">
              <widget class="QLabel" name="label_11">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
               <property name="text">
                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt; font-weight:600;&quot;&gt;N&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
               </property>
              </widget>
             </item>
             <item row="0" column="1">
              <widget class="QLabel" name="label_12">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
               <property name="text">
                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt; font-weight:600;&quot;&gt;S&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
               </property>
              </widget>
             </item>
             <item row="0" column="2">
              <widget class="QLabel" name="label_13">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
               <property name="text">
                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt; font-weight:600;&quot;&gt;A&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
               </property>
              </widget>
             </item>
             <item row="0" column="3">
              <widget class="QLabel" name="label_14">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
               <property name="text">
                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt; font-weight:600;&quot;&gt;P&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
               </property>
              </widget>
             </item>
             <item row="1" column="0">
              <widget class="QLineEdit" name="lineEdit_invkinArmMatrixN1">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>false</bool>
               </property>
              </widget>
             </item>
             <item row="1" column="1">
              <widget class="QLineEdit" name="lineEdit_invkinArmMatrixS1">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>false</bool>
               </property>
              </widget>
             </item>
             <item row="1" column="2">
              <widget class="QLineEdit" name="lineEdit_invkinArmMatrixA1">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>false</bool>
               </property>
              </widget>
             </item>
             <item row="1" column="3">
              <widget class="QLineEdit" name="lineEdit_invkinArmMatrixP1">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>false</bool>
               </property>
              </widget>
             </item>
             <item row="2" column="0">
              <widget class="QLineEdit" name="lineEdit_invkinArmMatrixN2">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>false</bool>
               </property>
              </widget>
             </item>
             <item row="2" column="1">
              <widget class="QLineEdit" name="lineEdit_invkinArmMatrixS2">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>false</bool>
               </property>
              </widget>
             </item>
             <item row="2" column="2">
              <widget class="QLineEdit" name="lineEdit_invkinArmMatrixA2">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>false</bool>
               </property>
              </widget>
             </item>
             <item row="2" column="3">
              <widget class="QLineEdit" name="lineEdit_invkinArmMatrixP2">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>false</bool>
               </property>
              </widget>
             </item>
             <item row="3" column="0">
              <widget class="QLineEdit" name="lineEdit_invkinArmMatrixN3">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>false</bool>
               </property>
              </widget>
             </item>
             <item row="3" column="1">
              <widget class="QLineEdit" name="lineEdit_invkinArmMatrixS3">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>false</bool>
               </property>
              </widget>
             </item>
             <item row="3" column="2">
              <widget class="QLineEdit" name="lineEdit_invkinArmMatrixA3">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>false</bool>
               </property>
              </widget>
             </item>
             <item row="3" column="3">
              <widget class="QLineEdit" name="lineEdit_invkinArmMatrixP3">
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>false</bool>
               </property>
              </widget>
             </item>
             <item row="4" column="0">
              <widget class="QLineEdit" name="lineEdit_27">
               <property name="enabled">
                <bool>true</bool>
               </property>
               <property name="text">
                <string>0</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="4" column="1">
              <widget class="QLineEdit" name="lineEdit_28">
               <property name="enabled">
                <bool>true</bool>
               </property>
               <property name="styleSheet">
                <string notr="true"/>
               </property>
               <property name="text">
                <string>0</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="4" column="2">
              <widget class="QLineEdit" name="lineEdit_29">
               <property name="enabled">
                <bool>true</bool>
               </property>
               <property name="text">
                <string>0</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item row="4" column="3">
              <widget class="QLineEdit" name="lineEdit_30">
               <property name="enabled">
                <bool>true</bool>
               </property>
               <property name="text">
                <string>1</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
            </layout>
           </item>
           <item>
            <spacer name="verticalSpacer">
             <property name="orientation">
              <enum>Qt::Vertical</enum>
             </property>
             <property name="sizeHint" stdset="0">
              <size>
               <width>20</width>
               <height>40</height>
              </size>
             </property>
            </spacer>
           </item>
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout_5">
             <item>
              <widget class="QComboBox" name="comboBox_invkinVersion">
               <item>
                <property name="text">
                 <string>Cinemática inversa de clase</string>
                </property>
               </item>
               <item>
                <property name="text">
                 <string>Cinemática inversa propia</string>
                </property>
               </item>
              </widget>
             </item>
             <item>
              <spacer name="horizontalSpacer_2">
               <property name="orientation">
                <enum>Qt::Horizontal</enum>
               </property>
               <property name="sizeHint" stdset="0">
                <size>
                 <width>40</width>
                 <height>20</height>
                </size>
               </property>
              </spacer>
             </item>
             <item>
              <widget class="QPushButton" name="pushButton_copyDirkin">
               <property name="text">
                <string>Copiar cinemática directa</string>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QPushButton" name="pushButton_computeInvKin">
               <property name="text">
                <string>Calcular cinemática inversa</string>
               </property>
              </widget>
             </item>
            </layout>
           </item>
          </layout>
         </widget>
        </item>
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout_4">
          <item>
           <widget class="QGroupBox" name="groupBox_7">
            <property name="title">
             <string>Espacio de articulaciones (ángulos)</string>
            </property>
            <layout class="QHBoxLayout" name="horizontalLayout_3">
             <item>
              <layout class="QVBoxLayout" name="verticalLayout_9">
               <item>
                <widget class="QLabel" name="label_15">
                 <property name="text">
                  <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Motor F (θ&lt;/span&gt;&lt;span style=&quot; font-weight:600; vertical-align:sub;&quot;&gt;1&lt;/span&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QDoubleSpinBox" name="doubleSpinBox_invkinTheta1F">
                 <property name="readOnly">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QDial" name="dial_invkinTheta1F">
                 <property name="enabled">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
              </layout>
             </item>
             <item>
              <layout class="QVBoxLayout" name="verticalLayout_10">
               <item>
                <widget class="QLabel" name="label_16">
                 <property name="text">
                  <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Motor E (θ&lt;/span&gt;&lt;span style=&quot; font-weight:600; vertical-align:sub;&quot;&gt;2&lt;/span&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QDoubleSpinBox" name="doubleSpinBox_invkinTheta2E">
                 <property name="readOnly">
                  <bool>true</bool>
                 </property>
                 <property name="accelerated">
                  <bool>false</bool>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QDial" name="dial_invkinTheta2E"/>
               </item>
              </layout>
             </item>
             <item>
              <layout class="QVBoxLayout" name="verticalLayout_11">
               <item>
                <widget class="QLabel" name="label_17">
                 <property name="text">
                  <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt; font-weight:600;&quot;&gt;Motor D (θ&lt;/span&gt;&lt;span style=&quot; font-size:8pt; font-weight:600; vertical-align:sub;&quot;&gt;3&lt;/span&gt;&lt;span style=&quot; font-size:8pt; font-weight:600;&quot;&gt;)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QDoubleSpinBox" name="doubleSpinBox_invkinTheta3D">
                 <property name="readOnly">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QDial" name="dial_invkinTheta3D"/>
               </item>
              </layout>
             </item>
             <item>
              <layout class="QVBoxLayout" name="verticalLayout_12">
               <item>
                <widget class="QLabel" name="label_18">
                 <property name="text">
                  <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Motor C (θ&lt;/span&gt;&lt;span style=&quot; font-weight:600; vertical-align:sub;&quot;&gt;4&lt;/span&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QDoubleSpinBox" name="doubleSpinBox_invkinTheta4C">
                 <property name="readOnly">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QDial" name="dial_invkinTheta4C"/>
               </item>
              </layout>
             </item>
             <item>
              <layout class="QVBoxLayout" name="verticalLayout_13">
               <item>
                <widget class="QLabel" name="label_19">
                 <property name="text">
                  <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt; font-weight:600;&quot;&gt;Motor B (θ&lt;/span&gt;&lt;span style=&quot; font-size:8pt; font-weight:600; vertical-align:sub;&quot;&gt;5&lt;/span&gt;&lt;span style=&quot; font-size:8pt; font-weight:600;&quot;&gt;)&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QDoubleSpinBox" name="doubleSpinBox_invkinTheta5B">
                 <property name="readOnly">
                  <bool>true</bool>
                 </property>
                </widget>
               </item>
               <item>
                <widget class="QDial" name="dial_invkinTheta5B"/>
               </item>
              </layout>
             </item>
            </layout>
           </widget>
          </item>
          <item>
           <widget class="QGroupBox" name="groupBox_8">
            <property name="title">
             <string>Instrucciones</string>
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_14">
             <item>
              <widget class="QPlainTextEdit" name="plainTextEdit_invkinCommands">
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QLabel" name="label_invkinWarning">
               <property name="styleSheet">
                <string notr="true">font-weight: bold;
color: rgb(170, 0, 0);
/*background-color: red;*/
padding: 2px;</string>
               </property>
               <property name="text">
                <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:600; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt;&quot;&gt;Debe hacer el home&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:8pt;&quot;&gt;de la cinemática&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
               </property>
              </widget>
             </item>
             <item>
              <widget class="QPushButton" name="pushButton_invkinGoToPos">
               <property name="text">
                <string>Ir a la posición</string>
               </property>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
         </layout>
        </item>
       </layout>
      </widget>
     </widget>
    </item>
   </layout>
  </widget>
  <widget class="QMenuBar" name="menuBar">
   <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
     <width>831</width>
     <height>22</height>
    </rect>
   </property>
   <widget class="QMenu" name="menuTerminal">
    <property name="title">
     <string>&amp;Terminal</string>
    </property>
    <addaction name="actionConnectToController"/>
    <addaction name="actionSaveTerminalOutput"/>
    <addaction name="actionClearTerminal"/>
    <addaction name="separator"/>
    <addaction name="actionReceiveProgram"/>
    <addaction name="actionTransmitProgram"/>
    <addaction name="separator"/>
    <addaction name="actionCloseConnection"/>
    <addaction name="actionQuit"/>
   </widget>
   <widget class="QMenu" name="menuHelp">
    <property name="enabled">
     <bool>true</bool>
    </property>
    <property name="title">
     <string>&amp;Ayuda</string>
    </property>
    <addaction name="actionAppHelp"/>
    <addaction name="actionCommandRef"/>
    <addaction name="actionErrorCodes"/>
    <addaction name="separator"/>
    <addaction name="actionAboutThisApp"/>
   </widget>
   <widget class="QMenu" name="menuRobot">
    <property name="title">
     <string>&amp;Robot</string>
    </property>
    <addaction name="actionHardHome"/>
    <addaction name="actionSoftHome"/>
    <addaction name="actionGoToKinHome"/>
    <addaction name="actionSetSoftHome"/>
    <addaction name="separator"/>
    <addaction name="actionConfigureController"/>
   </widget>
   <widget class="QMenu" name="menuWindow">
    <property name="title">
     <string>&amp;Ventana</string>
    </property>
    <addaction name="actionTerminal"/>
    <addaction name="actionDirKin"/>
    <addaction name="actionInvKin"/>
    <addaction name="actionManualCtrl"/>
   </widget>
   <addaction name="menuTerminal"/>
   <addaction name="menuRobot"/>
   <addaction name="menuWindow"/>
   <addaction name="menuHelp"/>
  </widget>
  <widget class="QToolBar" name="mainToolBar">
   <attribute name="toolBarArea">
    <enum>TopToolBarArea</enum>
   </attribute>
   <attribute name="toolBarBreak">
    <bool>false</bool>
   </attribute>
   <addaction name="actionConnectToController"/>
   <addaction name="actionSaveTerminalOutput"/>
   <addaction name="actionClearTerminal"/>
   <addaction name="actionReceiveProgram"/>
   <addaction name="actionTransmitProgram"/>
   <addaction name="actionCloseConnection"/>
   <addaction name="separator"/>
   <addaction name="actionNewFile"/>
   <addaction name="actionOpenFile"/>
   <addaction name="actionSaveFile"/>
   <addaction name="actionSaveFileAs"/>
   <addaction name="actionCloseFile"/>
   <addaction name="separator"/>
   <addaction name="actionUndo"/>
   <addaction name="actionRedo"/>
   <addaction name="actionCut"/>
   <addaction name="actionCopy"/>
   <addaction name="actionPaste"/>
   <addaction name="separator"/>
   <addaction name="actionQuit"/>
  </widget>
  <widget class="QStatusBar" name="statusBar"/>
  <action name="actionNewFile">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/filenew.png</normaloff>:/icons/filenew.png</iconset>
   </property>
   <property name="text">
    <string>Nuevo archivo</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+N</string>
   </property>
   <property name="visible">
    <bool>true</bool>
   </property>
  </action>
  <action name="actionClearTerminal">
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/clear_term.png</normaloff>:/icons/clear_term.png</iconset>
   </property>
   <property name="text">
    <string>Borrar pantalla del terminal</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+K</string>
   </property>
  </action>
  <action name="actionQuit">
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/stock_exit.png</normaloff>:/icons/stock_exit.png</iconset>
   </property>
   <property name="text">
    <string>Salir de MarkCommander</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+Q</string>
   </property>
  </action>
  <action name="actionOpenFile">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/fileopen.png</normaloff>:/icons/fileopen.png</iconset>
   </property>
   <property name="text">
    <string>Abrir archivo</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+O</string>
   </property>
  </action>
  <action name="actionOpenRecentFile">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="text">
    <string>Abrir reciente</string>
   </property>
  </action>
  <action name="actionCloseFile">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/gtk-close.png</normaloff>:/icons/gtk-close.png</iconset>
   </property>
   <property name="text">
    <string>Cerrar archivo</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+W</string>
   </property>
  </action>
  <action name="actionSaveFile">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/1300233417_document-save.png</normaloff>:/icons/1300233417_document-save.png</iconset>
   </property>
   <property name="text">
    <string>Guardar archivo</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+S</string>
   </property>
  </action>
  <action name="actionSaveFileAs">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/1300233422_document-save-as.png</normaloff>:/icons/1300233422_document-save-as.png</iconset>
   </property>
   <property name="text">
    <string>Guardar archivo como...</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+Shift+S</string>
   </property>
  </action>
  <action name="actionSaveTerminalOutput">
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/save_term_buffer.png</normaloff>:/icons/save_term_buffer.png</iconset>
   </property>
   <property name="text">
    <string>Guardar texto del terminal...</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+Alt+S</string>
   </property>
  </action>
  <action name="actionConnectToController">
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/1300233114_utilities-terminal.png</normaloff>:/icons/1300233114_utilities-terminal.png</iconset>
   </property>
   <property name="text">
    <string>Conectar con el controlador</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+Alt+O</string>
   </property>
  </action>
  <action name="actionTransmitProgram">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/up.png</normaloff>:/icons/up.png</iconset>
   </property>
   <property name="text">
    <string>Transmitir programa</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+T</string>
   </property>
  </action>
  <action name="actionReceiveProgram">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/down.png</normaloff>:/icons/down.png</iconset>
   </property>
   <property name="text">
    <string>Recibir programa</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+R</string>
   </property>
  </action>
  <action name="actionCloseConnection">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/close_term.png</normaloff>:/icons/close_term.png</iconset>
   </property>
   <property name="text">
    <string>Cerrar conexión</string>
   </property>
   <property name="toolTip">
    <string>Cerrar conexión</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+Alt+W</string>
   </property>
  </action>
  <action name="actionCut">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/edit-cut.png</normaloff>:/icons/edit-cut.png</iconset>
   </property>
   <property name="text">
    <string>Cortar</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+X</string>
   </property>
  </action>
  <action name="actionCopy">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/edit-copy.png</normaloff>:/icons/edit-copy.png</iconset>
   </property>
   <property name="text">
    <string>Copiar</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+C</string>
   </property>
  </action>
  <action name="actionPaste">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/edit-paste.png</normaloff>:/icons/edit-paste.png</iconset>
   </property>
   <property name="text">
    <string>Pegar</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+V</string>
   </property>
  </action>
  <action name="actionSelectAll">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/edit-select-all.png</normaloff>:/icons/edit-select-all.png</iconset>
   </property>
   <property name="text">
    <string>Seleccionar todo</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+A</string>
   </property>
  </action>
  <action name="actionUndo">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/edit-undo.png</normaloff>:/icons/edit-undo.png</iconset>
   </property>
   <property name="text">
    <string>Deshacer</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+Z</string>
   </property>
   <property name="visible">
    <bool>true</bool>
   </property>
  </action>
  <action name="actionRedo">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="icon">
    <iconset resource="icons.qrc">
     <normaloff>:/icons/edit-redo.png</normaloff>:/icons/edit-redo.png</iconset>
   </property>
   <property name="text">
    <string>Rehacer</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+Shift+Z</string>
   </property>
  </action>
  <action name="actionFind">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="text">
    <string>Buscar...</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+F</string>
   </property>
  </action>
  <action name="actionGoToLine">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="text">
    <string>Ir a la línea...</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+G</string>
   </property>
  </action>
  <action name="actionAppHelp">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="text">
    <string>Ayuda de MarkCommander</string>
   </property>
  </action>
  <action name="actionCommandRef">
   <property name="enabled">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>Referencia de comandos de Rhino Mark IV</string>
   </property>
  </action>
  <action name="actionAboutThisApp">
   <property name="text">
    <string>Sobre MarkCommander...</string>
   </property>
  </action>
  <action name="actionPreferences">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="text">
    <string>Preferencias...</string>
   </property>
  </action>
  <action name="actionErrorCodes">
   <property name="enabled">
    <bool>true</bool>
   </property>
   <property name="text">
    <string>Códigos de error de Rhino Mark IV</string>
   </property>
  </action>
  <action name="actionHardHome">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="text">
    <string>Hacer hard home</string>
   </property>
  </action>
  <action name="actionSoftHome">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="text">
    <string>Ir a soft home</string>
   </property>
  </action>
  <action name="actionConfigureController">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="text">
    <string>Configurar controlador...</string>
   </property>
   <property name="shortcut">
    <string>Ctrl+,</string>
   </property>
  </action>
  <action name="actionTerminal">
   <property name="text">
    <string>Terminal</string>
   </property>
   <property name="shortcut">
    <string>Alt+1</string>
   </property>
  </action>
  <action name="actionDirKin">
   <property name="text">
    <string>Cinemática directa</string>
   </property>
   <property name="shortcut">
    <string>Alt+2</string>
   </property>
  </action>
  <action name="actionInvKin">
   <property name="text">
    <string>Cinemática inversa</string>
   </property>
   <property name="shortcut">
    <string>Alt+3</string>
   </property>
  </action>
  <action name="actionManualCtrl">
   <property name="text">
    <string>Control manual</string>
   </property>
   <property name="shortcut">
    <string>Alt+4</string>
   </property>
  </action>
  <action name="actionSetSoftHome">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="text">
    <string>Almacenar posición actual como soft home</string>
   </property>
   <property name="visible">
    <bool>true</bool>
   </property>
  </action>
  <action name="actionGoToKinHome">
   <property name="enabled">
    <bool>false</bool>
   </property>
   <property name="text">
    <string>Ir a home de la cinemática</string>
   </property>
  </action>
 </widget>
 <layoutdefault spacing="6" margin="11"/>
 <customwidgets>
  <customwidget>
   <class>CmdLineEdit</class>
   <extends>QLineEdit</extends>
   <header>cmdlineedit.hpp</header>
  </customwidget>
 </customwidgets>
 <tabstops>
  <tabstop>tabWidget_ctrlView</tabstop>
  <tabstop>lineEdit_cmd</tabstop>
  <tabstop>pushButton_sendCmd</tabstop>
  <tabstop>doubleSpinBox_dirkinTheta1F</tabstop>
  <tabstop>doubleSpinBox_dirkinTheta2E</tabstop>
  <tabstop>doubleSpinBox_dirkinTheta3D</tabstop>
  <tabstop>doubleSpinBox_dirkinTheta4C</tabstop>
  <tabstop>doubleSpinBox_dirkinTheta5B</tabstop>
  <tabstop>lineEdit_dirkinArmMatrixN1</tabstop>
  <tabstop>lineEdit_dirkinArmMatrixN2</tabstop>
  <tabstop>lineEdit_dirkinArmMatrixN3</tabstop>
  <tabstop>lineEdit_dirkinArmMatrixS1</tabstop>
  <tabstop>lineEdit_dirkinArmMatrixS2</tabstop>
  <tabstop>lineEdit_dirkinArmMatrixS3</tabstop>
  <tabstop>lineEdit_dirkinArmMatrixA1</tabstop>
  <tabstop>lineEdit_dirkinArmMatrixA2</tabstop>
  <tabstop>lineEdit_dirkinArmMatrixA3</tabstop>
  <tabstop>lineEdit_dirkinArmMatrixP1</tabstop>
  <tabstop>lineEdit_dirkinArmMatrixP2</tabstop>
  <tabstop>lineEdit_dirkinArmMatrixP3</tabstop>
  <tabstop>plainTextEdit_dirkinCommands</tabstop>
  <tabstop>pushButton_dirkinGoToPos</tabstop>
  <tabstop>lineEdit_invkinArmMatrixN1</tabstop>
  <tabstop>lineEdit_invkinArmMatrixN2</tabstop>
  <tabstop>lineEdit_invkinArmMatrixN3</tabstop>
  <tabstop>lineEdit_invkinArmMatrixS1</tabstop>
  <tabstop>lineEdit_invkinArmMatrixS2</tabstop>
  <tabstop>lineEdit_invkinArmMatrixS3</tabstop>
  <tabstop>lineEdit_invkinArmMatrixA1</tabstop>
  <tabstop>lineEdit_invkinArmMatrixA2</tabstop>
  <tabstop>lineEdit_invkinArmMatrixA3</tabstop>
  <tabstop>lineEdit_invkinArmMatrixP1</tabstop>
  <tabstop>lineEdit_invkinArmMatrixP2</tabstop>
  <tabstop>lineEdit_invkinArmMatrixP3</tabstop>
  <tabstop>doubleSpinBox_invkinTheta1F</tabstop>
  <tabstop>doubleSpinBox_invkinTheta2E</tabstop>
  <tabstop>doubleSpinBox_invkinTheta3D</tabstop>
  <tabstop>doubleSpinBox_invkinTheta4C</tabstop>
  <tabstop>doubleSpinBox_invkinTheta5B</tabstop>
  <tabstop>plainTextEdit_invkinCommands</tabstop>
  <tabstop>pushButton_invkinGoToPos</tabstop>
  <tabstop>lineEdit_30</tabstop>
  <tabstop>lineEdit_14</tabstop>
  <tabstop>dial_dirkinTheta2E</tabstop>
  <tabstop>lineEdit_15</tabstop>
  <tabstop>dial_invkinTheta4C</tabstop>
  <tabstop>lineEdit_16</tabstop>
  <tabstop>dial_invkinTheta5B</tabstop>
  <tabstop>dial_dirkinTheta4C</tabstop>
  <tabstop>dial_dirkinTheta1F</tabstop>
  <tabstop>plainTextEdit_terminalView</tabstop>
  <tabstop>dial_invkinTheta2E</tabstop>
  <tabstop>dial_dirkinTheta5B</tabstop>
  <tabstop>lineEdit_27</tabstop>
  <tabstop>dial_invkinTheta3D</tabstop>
  <tabstop>dial_invkinTheta1F</tabstop>
  <tabstop>lineEdit_28</tabstop>
  <tabstop>dial_dirkinTheta3D</tabstop>
  <tabstop>lineEdit_29</tabstop>
  <tabstop>lineEdit_13</tabstop>
 </tabstops>
 <resources>
  <include location="icons.qrc"/>
 </resources>
 <connections>
  <connection>
   <sender>lineEdit_cmd</sender>
   <signal>returnPressed()</signal>
   <receiver>pushButton_sendCmd</receiver>
   <slot>click()</slot>
   <hints>
    <hint type="sourcelabel">
     <x>228</x>
     <y>961</y>
    </hint>
    <hint type="destinationlabel">
     <x>228</x>
     <y>961</y>
    </hint>
   </hints>
  </connection>
  <connection>
   <sender>MainWindow</sender>
   <signal>destroyed()</signal>
   <receiver>MainWindow</receiver>
   <slot>quitApp()</slot>
   <hints>
    <hint type="sourcelabel">
     <x>326</x>
     <y>292</y>
    </hint>
    <hint type="destinationlabel">
     <x>326</x>
     <y>292</y>
    </hint>
   </hints>
  </connection>
  <connection>
   <sender>actionQuit</sender>
   <signal>triggered()</signal>
   <receiver>MainWindow</receiver>
   <slot>quitApp()</slot>
   <hints>
    <hint type="sourcelabel">
     <x>-1</x>
     <y>-1</y>
    </hint>
    <hint type="destinationlabel">
     <x>326</x>
     <y>292</y>
    </hint>
   </hints>
  </connection>
 </connections>
 <slots>
  <slot>quitApp()</slot>
 </slots>
</ui>