ModelGenerationPanel.h
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00001 
00012 #ifndef RAIL_PICK_AND_PLACE_MODEL_GENERATION_PANEL_H_
00013 #define RAIL_PICK_AND_PLACE_MODEL_GENERATION_PANEL_H_
00014 
00015 // ROS
00016 #include <actionlib/client/simple_action_client.h>
00017 #include <graspdb/graspdb.h>
00018 #include <rail_pick_and_place_msgs/GenerateModelsAction.h>
00019 #include <rail_pick_and_place_msgs/RetrieveGraspDemonstrationAction.h>
00020 #include <rail_pick_and_place_msgs/RetrieveGraspModelAction.h>
00021 #include <ros/ros.h>
00022 #include <rviz/panel.h>
00023 
00024 // Qt
00025 #include <QComboBox>
00026 #include <QLabel>
00027 #include <QListWidget>
00028 #include <QPushButton>
00029 #include <QSpinBox>
00030 
00031 namespace rail
00032 {
00033 namespace pick_and_place
00034 {
00035 
00042 class ModelGenerationPanel : public rviz::Panel
00043 {
00044 
00045 // this class uses Qt slots and is a subclass of QObject, so it needs the Q_OBJECT macro
00046 Q_OBJECT
00047 
00048 public:
00056   ModelGenerationPanel(QWidget *parent = NULL);
00057 
00063   virtual ~ModelGenerationPanel();
00064 
00072   virtual void load(const rviz::Config &config);
00073 
00081   virtual void save(rviz::Config config) const;
00082 
00083 private:
00092   void doneCallback(const actionlib::SimpleClientGoalState &state,
00093       const rail_pick_and_place_msgs::GenerateModelsResultConstPtr &result);
00094 
00102   void feedbackCallback(const rail_pick_and_place_msgs::GenerateModelsFeedbackConstPtr &feedback);
00103 
00105   graspdb::Client *graspdb_;
00106 
00108   ros::NodeHandle node_;
00110   actionlib::SimpleActionClient<rail_pick_and_place_msgs::GenerateModelsAction> generate_models_ac_;
00112   actionlib::SimpleActionClient<rail_pick_and_place_msgs::RetrieveGraspDemonstrationAction> retrieve_grasp_ac_;
00114   actionlib::SimpleActionClient<rail_pick_and_place_msgs::RetrieveGraspModelAction> retrieve_grasp_model_ac_;
00115 
00117   QLabel *model_generation_status_;
00119   QComboBox *object_list_;
00121   QListWidget *models_list_;
00123   QSpinBox *model_size_spin_box_;
00125   QPushButton *refresh_button_, *select_all_button_, *deselect_all_button_, *generate_models_button_, *delete_button_;
00126 
00127 // used as UI callbacks
00128 private
00129   Q_SLOTS:
00130 
00136   void executeGenerateModels();
00137 
00143   void deleteModel();
00144 
00150   void selectAll();
00151 
00157   void deselectAll();
00158 
00164   void populateModelsList(const QString &text);
00165 
00171   void modelSelectionChanged();
00172 
00178   void refresh();
00179 };
00180 
00181 }
00182 }
00183 
00184 #endif


rail_pick_and_place_tools
Author(s): Russell Toris , David Kent
autogenerated on Thu Jun 6 2019 19:44:16