robot_poses_widget.h

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/* Author: Dave Coleman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_ROBOT_POSES_WIDGET_
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_ROBOT_POSES_WIDGET_

// Qt
#include <QWidget>
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QScrollArea>
#include <QGroupBox>
#include <QLabel>
#include <QPushButton>
#include <QTableWidget>
#include <QStackedLayout>
#include <QString>
#include <QComboBox>

// SA
#ifndef Q_MOC_RUN
#include <moveit/setup_assistant/tools/moveit_config_data.h>
#include <moveit/planning_scene/planning_scene.h>  // for collision stuff
#include <ros/ros.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 RobotPosesWidget : public SetupScreenWidget
{
  Q_OBJECT

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

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

  virtual void focusGiven();

  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
  QTableWidget* data_table_;
  QPushButton* btn_edit_;
  QPushButton* btn_delete_;
  QPushButton* btn_save_;
  QPushButton* btn_cancel_;
  QStackedLayout* stacked_layout_;
  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);

  void deleteSelected();

  void doneEditing();

  void cancelEditing();

  void loadJointSliders(const QString& selected);

  void showDefaultPose();

  void playPoses();

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

  void publishJoints();

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

  moveit_setup_assistant::MoveItConfigDataPtr config_data_;

  std::string current_edit_pose_;

  std::map<std::string, double> joint_state_map_;

  std::vector<const robot_model::JointModel*> joint_models_;

  ros::Publisher pub_robot_state_;

  // ******************************************************************************************
  // Collision Variables
  // ******************************************************************************************
  collision_detection::CollisionRequest request;

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

  srdf::Model::GroupState* findPoseByName(const std::string& name);

  QWidget* createContentsWidget();

  QWidget* createEditWidget();

  void loadDataTable();

  void loadGroupsComboBox();

  void edit(const std::string& name);

  void showPose(srdf::Model::GroupState* pose);
};

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

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

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

  ~SliderWidget();

  // ******************************************************************************************
  // 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 robot_model::JointModel* joint_model_;

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

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

}  // namespace

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

#endif