Program Listing for File setup_step_widget.hpp
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/* Author: Dave Coleman */
#pragma once
#include <rclcpp/node.hpp>
#include <moveit_setup_framework/setup_step.hpp>
#include <moveit_setup_framework/qt/rviz_panel.hpp>
#include <QWidget>
namespace moveit_setup
{
class SetupStepWidget : public QWidget
{
Q_OBJECT
public:
void initialize(const rclcpp::Node::SharedPtr& parent_node, QWidget* parent_widget, RVizPanel* rviz_panel,
const DataWarehousePtr& config_data)
{
getSetupStep().initialize(parent_node, config_data);
setParent(parent_widget);
rviz_panel_ = rviz_panel;
debug_ = config_data->debug;
onInit();
}
virtual void onInit()
{
}
virtual void focusGiven()
{
}
virtual bool focusLost()
{
return true; // accept switching by default
}
virtual SetupStep& getSetupStep() = 0;
bool isReady()
{
return getSetupStep().isReady();
}
// ******************************************************************************************
// Emitted Signal Functions
// ******************************************************************************************
Q_SIGNALS:
void dataUpdated();
void advanceRequest();
void setModalMode(bool isModal);
protected:
RVizPanel* rviz_panel_;
bool debug_;
};
} // namespace moveit_setup