perception_widget.h

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 * Software License Agreement (BSD License)
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 *  Copyright (c) 2018, Mohamad Ayman.
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/* Author: Mohamad Ayman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_PERCEPTION_WIDGET_
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_PERCEPTION_WIDGET_

// Qt
#include <QWidget>
#include <QComboBox>
#include <QGroupBox>
#include <QString>
#include <QLineEdit>

// 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
{
// ******************************************************************************************
// User Interface for setting up 3D sensor config
// ******************************************************************************************
class PerceptionWidget : public SetupScreenWidget
{
  Q_OBJECT

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

  PerceptionWidget(QWidget* parent, moveit_setup_assistant::MoveItConfigDataPtr config_data);

  virtual void focusGiven();

  virtual bool focusLost();

  void loadSensorPluginsComboBox();

  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************

  QComboBox* sensor_plugin_field_;

  // Group form for each plugin option
  QGroupBox* point_cloud_group_;
  QGroupBox* depth_map_group_;

  // Point Cloud plugin feilds
  QLineEdit* point_cloud_topic_field_;
  QLineEdit* max_range_field_;
  QLineEdit* point_subsample_field_;
  QLineEdit* padding_offset_field_;
  QLineEdit* padding_scale_field_;
  QLineEdit* max_update_rate_field_;
  QLineEdit* filtered_cloud_topic_field_;

  // Depth Map plugin feilds
  QLineEdit* image_topic_field_;
  QLineEdit* queue_size_field_;
  QLineEdit* near_clipping_field_;
  QLineEdit* far_clipping_field_;
  QLineEdit* shadow_threshold_field_;
  QLineEdit* depth_padding_scale_field_;
  QLineEdit* depth_padding_offset_field_;
  QLineEdit* depth_filtered_cloud_topic_field_;
  QLineEdit* depth_max_update_rate_field_;

private Q_SLOTS:

  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************

  void sensorPluginChanged(int index);

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

  moveit_setup_assistant::MoveItConfigDataPtr config_data_;
};

}  // namespace moveit_setup_assistant

#endif