Program Listing for File kinematic_chain_widget.hpp

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/* 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