Program Listing for File robot_poses_widget.hpp

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/* Author: Dave Coleman */

#pragma once

// Qt
#include <QComboBox>
#include <QLabel>
#include <QLineEdit>
#include <QPushButton>
#include <QScrollArea>
#include <QSlider>
#include <QStackedWidget>
#include <QTableWidget>
#include <QVBoxLayout>

// SA
#include <moveit_setup_framework/qt/setup_step_widget.hpp>
#include <moveit_setup_srdf_plugins/robot_poses.hpp>

namespace moveit_setup
{
namespace srdf_setup
{
class RobotPosesWidget : public SetupStepWidget
{
  Q_OBJECT

public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************

  void onInit() override;

  void focusGiven() override;

  SetupStep& getSetupStep() override
  {
    return setup_step_;
  }

  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
  QTableWidget* data_table_;
  QPushButton* btn_edit_;
  QPushButton* btn_delete_;
  QPushButton* btn_save_;
  QPushButton* btn_cancel_;
  QStackedWidget* stacked_widget_;
  QScrollArea* scroll_area_;
  QVBoxLayout* column2_;
  QLineEdit* pose_name_field_;
  QComboBox* group_name_field_;
  QWidget* joint_list_widget_;
  QVBoxLayout* joint_list_layout_;
  QWidget* pose_list_widget_;
  QWidget* pose_edit_widget_;
  QLabel* collision_warning_;

private Q_SLOTS:

  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************

  void showNewScreen();

  void editSelected();

  void editDoubleClicked(int row, int column);

  void previewClicked(int row, int column, int previous_row, int previous_column);

  void deleteSelected();

  void doneEditing();

  void cancelEditing();

  void loadJointSliders(const QString& selected);

  void showDefaultPose();

  void playPoses();

  void updateRobotModel(const std::string& name, double value);

private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************

  RobotPoses setup_step_;

  srdf::Model::GroupState* current_edit_pose_;

  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************

  QWidget* createContentsWidget();

  QWidget* createEditWidget();

  void loadDataTable();

  void loadGroupsComboBox();

  void edit(int row);

  void showPose(const srdf::Model::GroupState& pose);

  void updateStateAndCollision(const moveit::core::RobotState& robot_state);
};

// ******************************************************************************************
// ******************************************************************************************
// Slider Widget
// ******************************************************************************************
// ******************************************************************************************
class SliderWidget : public QWidget
{
  Q_OBJECT

public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************

  SliderWidget(QWidget* parent, const moveit::core::JointModel* joint_model, double init_value);

  ~SliderWidget() override;

  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************

  QLabel* joint_label_;
  QSlider* joint_slider_;
  QLineEdit* joint_value_;

private Q_SLOTS:

  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************

  void changeJointValue(int value);

  void changeJointSlider();

Q_SIGNALS:

  // ******************************************************************************************
  // Emitted Signal Functions
  // ******************************************************************************************

  void jointValueChanged(const std::string& name, double value);

private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************

  // Ptr to the joint's data
  const moveit::core::JointModel* joint_model_;

  // Max & min position
  double max_position_;
  double min_position_;

  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
};

}  // namespace srdf_setup
}  // namespace moveit_setup

// Declare std::string as metatype so we can use it in a signal
Q_DECLARE_METATYPE(std::string)