.. _program_listing_file_include_moveit_setup_srdf_plugins_kinematic_chain_widget.hpp:

Program Listing for File kinematic_chain_widget.hpp
===================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_moveit_setup_srdf_plugins_kinematic_chain_widget.hpp>` (``include/moveit_setup_srdf_plugins/kinematic_chain_widget.hpp``)

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

.. code-block:: cpp

   /*********************************************************************
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2012, Willow Garage, Inc.
    *  All rights reserved.
    *
    *  Redistribution and use in source and binary forms, with or without
    *  modification, are permitted provided that the following conditions
    *  are met:
    *
    *   * Redistributions of source code must retain the above copyright
    *     notice, this list of conditions and the following disclaimer.
    *   * Redistributions in binary form must reproduce the above
    *     copyright notice, this list of conditions and the following
    *     disclaimer in the documentation and/or other materials provided
    *     with the distribution.
    *   * Neither the name of Willow Garage nor the names of its
    *     contributors may be used to endorse or promote products derived
    *     from this software without specific prior written permission.
    *
    *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
    *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
    *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
    *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
    *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
    *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    *  POSSIBILITY OF SUCH DAMAGE.
    *********************************************************************/
   
   /* Author: Dave Coleman */
   
   #pragma once
   
   #include <QWidget>
   #include <QLabel>
   #include <QLineEdit>
   #include <QTreeWidget>
   #include <QTreeWidgetItem>
   
   #include <moveit_setup_framework/qt/rviz_panel.hpp>
   #include <moveit_setup_srdf_plugins/planning_groups.hpp>
   
   namespace moveit_setup
   {
   namespace srdf_setup
   {
   class KinematicChainWidget : public QWidget
   {
     Q_OBJECT
   public:
     // ******************************************************************************************
     // Public Functions
     // ******************************************************************************************
   
     KinematicChainWidget(QWidget* parent, RVizPanel* rviz_panel);
   
     void setAvailable(const LinkNameTree& link_name_tree);
   
     void setSelected(const std::string& base_link, const std::string& tip_link);
   
     QTreeWidgetItem* addLinkChildRecursive(QTreeWidgetItem* parent, const LinkNameTree& link);
   
     // ******************************************************************************************
     // Qt Components
     // ******************************************************************************************
   
     QLabel* title_;  // specify the title from the parent widget
     QTreeWidget* link_tree_;
     QLineEdit* base_link_field_;
     QLineEdit* tip_link_field_;
   
   private Q_SLOTS:
   
     // ******************************************************************************************
     // Slot Event Functions
     // ******************************************************************************************
   
     void baseLinkTreeClick();
   
     void tipLinkTreeClick();
   
     void alterTree(const QString& link);
   
     void itemSelected();
   
   Q_SIGNALS:
   
     // ******************************************************************************************
     // Emitted Signals
     // ******************************************************************************************
   
     void doneEditing();
   
     void cancelEditing();
   
   private:
     // ******************************************************************************************
     // Variables
     // ******************************************************************************************
   
     bool kinematic_chain_loaded_;
     RVizPanel* rviz_panel_;
   
     // ******************************************************************************************
     // Private Functions
     // ******************************************************************************************
   };
   }  // namespace srdf_setup
   }  // namespace moveit_setup