collision_linear_model.h

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/* Author: Robert Haschke */

#ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_COLLISION_LINEAR_MODEL_H
#define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_COLLISION_LINEAR_MODEL_H

#include <QAbstractProxyModel>
#include <QSortFilterProxyModel>
#include <QVector>

#ifndef Q_MOC_RUN
#include <moveit/setup_assistant/tools/compute_default_collisions.h>
#endif

#include "collision_matrix_model.h"

class CollisionLinearModel : public QAbstractProxyModel
{
  Q_OBJECT

public:
  CollisionLinearModel(CollisionMatrixModel* src, QObject* parent = NULL);
  ~CollisionLinearModel();

  // reimplement to return the model index in the proxy model that to the sourceIndex from the source model
  QModelIndex mapFromSource(const QModelIndex& sourceIndex) const;
  // Reimplement this function to return the model index in the source model that corresponds to the proxyIndex in the
  // proxy model
  QModelIndex mapToSource(const QModelIndex& proxyIndex) const;

  int rowCount(const QModelIndex& parent) const;
  int columnCount(const QModelIndex& parent) const;

  QModelIndex index(int row, int column, const QModelIndex& parent = QModelIndex()) const;
  QModelIndex parent(const QModelIndex& child) const;
  QVariant data(const QModelIndex& index, int role) const;
  moveit_setup_assistant::DisabledReason reason(int row) const;

  bool setData(const QModelIndex& index, const QVariant& value, int role);
  void setEnabled(const QItemSelection& selection, bool value);

  Qt::ItemFlags flags(const QModelIndex& index) const;
  QVariant headerData(int section, Qt::Orientation orientation, int role) const;
};

class SortFilterProxyModel : public QSortFilterProxyModel
{
  Q_OBJECT

public:
  SortFilterProxyModel(QObject* parent = 0);
  QVariant headerData(int section, Qt::Orientation orientation, int role) const;
  void sort(int column, Qt::SortOrder order);
  void setShowAll(bool show_all);
  void setEnabled(const QItemSelection& selection, bool value);

protected:
  bool filterAcceptsRow(int source_row, const QModelIndex& source_parent) const;
  bool lessThan(const QModelIndex& src_left, const QModelIndex& src_right) const;

private Q_SLOTS:
  void initSorting();

private:
  bool show_all_;
  QVector<int> sort_columns_;  // sorting history
  QVector<int> sort_orders_;   // corresponding sort orders
};

#endif  // MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_COLLISION_LINEAR_MODEL_H