default_collisions_widget.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2012, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 /* Author: Dave Coleman */
00036 
00037 #ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_DEFAULT_COLLISIONS_WIDGET__
00038 #define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_DEFAULT_COLLISIONS_WIDGET__
00039 
00040 #include <QWidget>
00041 #include <QLabel>
00042 #include <QVBoxLayout>
00043 #include <QTableWidget>
00044 #include <QSlider>
00045 #include <QPushButton>
00046 #include <QGroupBox>
00047 #include <QProgressBar>
00048 #include <QCheckBox>
00049 #include <QSpinBox>
00050 
00051 #ifndef Q_MOC_RUN
00052 #include <boost/thread.hpp>
00053 #include <moveit/setup_assistant/tools/compute_default_collisions.h>
00054 #include <moveit/setup_assistant/tools/moveit_config_data.h>
00055 #endif
00056 
00057 #include "header_widget.h"
00058 #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
00059 
00060 namespace moveit_setup_assistant
00061 {
00065 class DefaultCollisionsWidget : public SetupScreenWidget
00066 {
00067   Q_OBJECT
00068 
00069 public:
00070   // ******************************************************************************************
00071   // Public Functions
00072   // ******************************************************************************************
00073 
00078   DefaultCollisionsWidget(QWidget* parent, moveit_setup_assistant::MoveItConfigDataPtr config_data);
00079 
00083   void linkPairsToSRDF();
00084 
00088   void linkPairsFromSRDF();
00089 
00090 private Q_SLOTS:
00091 
00092   // ******************************************************************************************
00093   // Slot Event Functions
00094   // ******************************************************************************************
00095 
00100   void generateCollisionTable();
00101 
00106   void changeDensityLabel(int value);
00107 
00111   void loadCollisionTable();
00112 
00116   void collisionCheckboxToggle();
00117 
00121   void toggleCheckBox(int row, int column);
00122 
00126   void previewSelected(int row);
00127 
00131   void focusGiven();
00132 
00133 private:
00134   // ******************************************************************************************
00135   // Qt Components
00136   // ******************************************************************************************
00137   QLabel* page_title_;
00138   QTableWidget* collision_table_;
00139   QVBoxLayout* layout_;
00140   QLabel* density_value_label_;
00141   QSlider* density_slider_;
00142   QPushButton* btn_generate_;
00143   QGroupBox* controls_box_;
00144   QProgressBar* progress_bar_;
00145   QLabel* progress_label_;
00146   QCheckBox* collision_checkbox_;
00147   QGroupBox* controls_box_bottom_;
00148   QLabel* fraction_label_;
00149   QSpinBox* fraction_spinbox_;
00150   QTimer* update_timer_;
00151 
00152   // ******************************************************************************************
00153   // Variables
00154   // ******************************************************************************************
00155 
00157   moveit_setup_assistant::LinkPairMap link_pairs_;
00158 
00160   moveit_setup_assistant::MoveItConfigDataPtr config_data_;
00161 
00162   // ******************************************************************************************
00163   // Private Functions
00164   // ******************************************************************************************
00165 
00171   void generateCollisionTableThread(unsigned int* collision_progress);
00172 
00177   void disableControls(bool disable);
00178 };
00179 }
00180 
00181 #endif


moveit_setup_assistant
Author(s): Dave Coleman
autogenerated on Mon Jul 24 2017 02:22:29