.. _program_listing_file__tmp_ws_src_moveit_moveit_setup_assistant_moveit_setup_controllers_include_moveit_setup_controllers_urdf_modifications_widget.hpp:

Program Listing for File urdf_modifications_widget.hpp
======================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_moveit_moveit_setup_assistant_moveit_setup_controllers_include_moveit_setup_controllers_urdf_modifications_widget.hpp>` (``/tmp/ws/src/moveit/moveit_setup_assistant/moveit_setup_controllers/include/moveit_setup_controllers/urdf_modifications_widget.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: David V. Lu!! */
   
   #pragma once
   
   #include <moveit_setup_framework/qt/setup_step_widget.hpp>
   #include <moveit_setup_controllers/urdf_modifications.hpp>
   
   #include <QPushButton>
   #include <QCheckBox>
   #include <QTextEdit>
   
   namespace moveit_setup
   {
   namespace controllers
   {
   class UrdfModificationsWidget : public SetupStepWidget
   {
     Q_OBJECT
   
   public:
     void onInit() override;
     void focusGiven() override;
   
     SetupStep& getSetupStep() override
     {
       return setup_step_;
     }
   private Q_SLOTS:
     void addInterfaces();
   
   private:
     QWidget* makeInterfacesBox(const std::string& interface_type, const std::vector<std::string>& available_interfaces,
                                const std::vector<std::string>& selected_interfaces, QWidget* parent = nullptr);
     std::vector<std::string> getInterfaces(const char first_letter, const std::vector<std::string>& available_interfaces);
     QWidget* content_widget_;
     QPushButton* btn_add_interfaces_;
     QTextEdit* generated_text_widget_;
     std::unordered_map<std::string, QCheckBox*> check_boxes_;
   
     UrdfModifications setup_step_;
   };
   }  // namespace controllers
   }  // namespace moveit_setup