collision_matrix_model.h

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/* Author: Robert Haschke */

#ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_COLLISION_MATRIX_MODEL_
#define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_COLLISION_MATRIX_MODEL_

#include <QAbstractTableModel>

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

class QItemSelection;

class CollisionMatrixModel : public QAbstractTableModel
{
  Q_OBJECT
public:
  CollisionMatrixModel(moveit_setup_assistant::LinkPairMap& pairs, const std::vector<std::string>& names,
                       QObject* parent = NULL);
  int rowCount(const QModelIndex& parent = QModelIndex()) const;
  int columnCount(const QModelIndex& parent = QModelIndex()) const;
  QVariant data(const QModelIndex& index, int role = Qt::DisplayRole) const;
  QVariant headerData(int section, Qt::Orientation orientation, int role) const;
  moveit_setup_assistant::DisabledReason reason(const QModelIndex& index) const;

  // for editing
  Qt::ItemFlags flags(const QModelIndex& index) const;
  bool setData(const QModelIndex&, const QVariant& value, int role);
  void setEnabled(const QItemSelection& selection, bool value);
  void setEnabled(const QModelIndexList& indexes, bool value);

public Q_SLOTS:
  void setFilterRegExp(const QString& filter);

private:
  moveit_setup_assistant::LinkPairMap::iterator item(const QModelIndex& index);
  moveit_setup_assistant::LinkPairMap::const_iterator item(const QModelIndex& index) const
  {
    return const_cast<CollisionMatrixModel*>(this)->item(index);
  }

private:
  moveit_setup_assistant::LinkPairMap& pairs;
  const std::vector<std::string> std_names;  // names of links
  QList<QString> q_names;                    // names of links
  QList<int> visual_to_index;                // map from visual index to actual index
};

#endif  // MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_COLLISION_MATRIX_MODEL_