robot_poses_widget.h
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00034 
00035 /* Author: Dave Coleman */
00036 
00037 #ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_ROBOT_POSES_WIDGET_
00038 #define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_ROBOT_POSES_WIDGET_
00039 
00040 // Qt
00041 #include <QWidget>
00042 #include <QVBoxLayout>
00043 #include <QHBoxLayout>
00044 #include <QScrollArea>
00045 #include <QGroupBox>
00046 #include <QLabel>
00047 #include <QPushButton>
00048 #include <QTableWidget>
00049 #include <QStackedLayout>
00050 #include <QString>
00051 #include <QComboBox>
00052 
00053 // SA
00054 #ifndef Q_MOC_RUN
00055 #include <moveit/setup_assistant/tools/moveit_config_data.h>
00056 #include <moveit/planning_scene/planning_scene.h>  // for collision stuff
00057 #include <ros/ros.h>
00058 #endif
00059 
00060 #include "header_widget.h"
00061 #include "setup_screen_widget.h"  // a base class for screens in the setup assistant
00062 
00063 namespace moveit_setup_assistant
00064 {
00065 class RobotPosesWidget : public SetupScreenWidget
00066 {
00067   Q_OBJECT
00068 
00069 public:
00070   // ******************************************************************************************
00071   // Public Functions
00072   // ******************************************************************************************
00073 
00074   RobotPosesWidget(QWidget* parent, moveit_setup_assistant::MoveItConfigDataPtr config_data);
00075 
00077   virtual void focusGiven();
00078 
00079   // ******************************************************************************************
00080   // Qt Components
00081   // ******************************************************************************************
00082   QTableWidget* data_table_;
00083   QPushButton* btn_edit_;
00084   QPushButton* btn_delete_;
00085   QPushButton* btn_save_;
00086   QPushButton* btn_cancel_;
00087   QStackedLayout* stacked_layout_;
00088   QScrollArea* scroll_area_;
00089   QVBoxLayout* column2_;
00090   QLineEdit* pose_name_field_;
00091   QComboBox* group_name_field_;
00092   QWidget* joint_list_widget_;
00093   QVBoxLayout* joint_list_layout_;
00094   QWidget* pose_list_widget_;
00095   QWidget* pose_edit_widget_;
00096   QLabel* collision_warning_;
00097 
00098 private Q_SLOTS:
00099 
00100   // ******************************************************************************************
00101   // Slot Event Functions
00102   // ******************************************************************************************
00103 
00105   void showNewScreen();
00106 
00108   void editSelected();
00109 
00111   void editDoubleClicked(int row, int column);
00112 
00114   void previewClicked(int row, int column);
00115 
00117   void deleteSelected();
00118 
00120   void doneEditing();
00121 
00123   void cancelEditing();
00124 
00126   void loadJointSliders(const QString& selected);
00127 
00129   void showDefaultPose();
00130 
00132   void playPoses();
00133 
00140   void updateRobotModel(const std::string& name, double value);
00141 
00143   void publishJoints();
00144 
00145 private:
00146   // ******************************************************************************************
00147   // Variables
00148   // ******************************************************************************************
00149 
00151   moveit_setup_assistant::MoveItConfigDataPtr config_data_;
00152 
00154   std::string current_edit_pose_;
00155 
00157   std::map<std::string, double> joint_state_map_;
00158 
00160   std::vector<const robot_model::JointModel*> joint_models_;
00161 
00163   ros::Publisher pub_robot_state_;
00164 
00165   // ******************************************************************************************
00166   // Collision Variables
00167   // ******************************************************************************************
00168   collision_detection::CollisionRequest request;
00169 
00170   // ******************************************************************************************
00171   // Private Functions
00172   // ******************************************************************************************
00173 
00180   srdf::Model::GroupState* findPoseByName(const std::string& name);
00181 
00187   QWidget* createContentsWidget();
00188 
00194   QWidget* createEditWidget();
00195 
00200   void loadDataTable();
00201 
00206   void loadGroupsComboBox();
00207 
00213   void edit(const std::string& name);
00214 
00218   void showPose(srdf::Model::GroupState* pose);
00219 };
00220 
00221 // ******************************************************************************************
00222 // ******************************************************************************************
00223 // Slider Widget
00224 // ******************************************************************************************
00225 // ******************************************************************************************
00226 class SliderWidget : public QWidget
00227 {
00228   Q_OBJECT
00229 
00230 public:
00231   // ******************************************************************************************
00232   // Public Functions
00233   // ******************************************************************************************
00234 
00241   SliderWidget(QWidget* parent, const robot_model::JointModel* joint_model, double init_value);
00242 
00246   ~SliderWidget();
00247 
00248   // ******************************************************************************************
00249   // Qt Components
00250   // ******************************************************************************************
00251 
00252   QLabel* joint_label_;
00253   QSlider* joint_slider_;
00254   QLineEdit* joint_value_;
00255 
00256 private Q_SLOTS:
00257 
00258   // ******************************************************************************************
00259   // Slot Event Functions
00260   // ******************************************************************************************
00261 
00263   void changeJointValue(int value);
00264 
00266   void changeJointSlider();
00267 
00268 Q_SIGNALS:
00269 
00270   // ******************************************************************************************
00271   // Emitted Signal Functions
00272   // ******************************************************************************************
00273 
00275   void jointValueChanged(const std::string& name, double value);
00276 
00277 private:
00278   // ******************************************************************************************
00279   // Variables
00280   // ******************************************************************************************
00281 
00282   // Ptr to the joint's data
00283   const robot_model::JointModel* joint_model_;
00284 
00285   // Max & min position
00286   double max_position_;
00287   double min_position_;
00288 
00289   // ******************************************************************************************
00290   // Private Functions
00291   // ******************************************************************************************
00292 };
00293 
00294 }  // namespace
00295 
00296 // Declare std::string as metatype so we can use it in a signal
00297 Q_DECLARE_METATYPE(std::string)
00298 
00299 #endif


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