virtual_joints_widget.h

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/* Author: Dave Coleman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_VIRTUAL_JOINTS_WIDGET_
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_VIRTUAL_JOINTS_WIDGET_

// Qt
#include <QWidget>
#include <QVBoxLayout>
#include <QHBoxLayout>
#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>
#endif

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

namespace moveit_setup_assistant
{
class VirtualJointsWidget : public SetupScreenWidget
{
  Q_OBJECT

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

  VirtualJointsWidget(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_;
  QLineEdit* vjoint_name_field_;
  QLineEdit* parent_name_field_;
  QComboBox* child_link_field_;
  QComboBox* joint_type_field_;
  QWidget* vjoint_list_widget_;
  QWidget* vjoint_edit_widget_;

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();

Q_SIGNALS:

  // ******************************************************************************************
  // Emitted Signals
  // ******************************************************************************************

  void referenceFrameChanged();

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

  moveit_setup_assistant::MoveItConfigDataPtr config_data_;

  std::string current_edit_vjoint_;

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

  srdf::Model::VirtualJoint* findVJointByName(const std::string& name);

  QWidget* createContentsWidget();

  QWidget* createEditWidget();

  void loadDataTable();

  void loadJointTypesComboBox();

  void loadChildLinksComboBox();

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

}  // namespace

#endif