default_collisions_widget.h

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/* Author: Dave Coleman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_DEFAULT_COLLISIONS_WIDGET__
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_DEFAULT_COLLISIONS_WIDGET__

#include <QWidget>
#include <QLabel>
#include <QVBoxLayout>
#include <QTableWidget>
#include <QSlider>
#include <QPushButton>
#include <QGroupBox>
#include <QProgressBar>
#include <QCheckBox>
#include <QSpinBox>

#ifndef Q_MOC_RUN
#include <boost/thread.hpp>
#include <moveit/setup_assistant/tools/compute_default_collisions.h>
#include <moveit/setup_assistant/tools/moveit_config_data.h>
#endif

#include "header_widget.h"
#include "setup_screen_widget.h"  // a base class for screens in the setup assistant

namespace moveit_setup_assistant
{
class DefaultCollisionsWidget : public SetupScreenWidget
{
  Q_OBJECT

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

  DefaultCollisionsWidget(QWidget* parent, moveit_setup_assistant::MoveItConfigDataPtr config_data);

  void linkPairsToSRDF();

  void linkPairsFromSRDF();

private Q_SLOTS:

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

  void generateCollisionTable();

  void changeDensityLabel(int value);

  void loadCollisionTable();

  void collisionCheckboxToggle();

  void toggleCheckBox(int row, int column);

  void previewSelected(int row);

  void focusGiven();

private:
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
  QLabel* page_title_;
  QTableWidget* collision_table_;
  QVBoxLayout* layout_;
  QLabel* density_value_label_;
  QSlider* density_slider_;
  QPushButton* btn_generate_;
  QGroupBox* controls_box_;
  QProgressBar* progress_bar_;
  QLabel* progress_label_;
  QCheckBox* collision_checkbox_;
  QGroupBox* controls_box_bottom_;
  QLabel* fraction_label_;
  QSpinBox* fraction_spinbox_;
  QTimer* update_timer_;

  // ******************************************************************************************
  // Variables
  // ******************************************************************************************

  moveit_setup_assistant::LinkPairMap link_pairs_;

  moveit_setup_assistant::MoveItConfigDataPtr config_data_;

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

  void generateCollisionTableThread(unsigned int* collision_progress);

  void disableControls(bool disable);
};
}

#endif