main_window.hpp

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/*******************************************************************************
* Copyright 2020 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*     http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/

/* Authors: Ryan Shim */

#ifndef TURTLEBOT3_MANIPULATION_GUI_MAIN_WINDOW_H
#define TURTLEBOT3_MANIPULATION_GUI_MAIN_WINDOW_H

/*****************************************************************************
** Includes
*****************************************************************************/

#include <QMainWindow>
#include "ui_main_window.h"
#include "qnode.hpp"
#include <QTimer>
#include <eigen3/Eigen/Eigen>

/*****************************************************************************
** Namespace
*****************************************************************************/

namespace turtlebot3_manipulation_gui {

/*****************************************************************************
** Interface [MainWindow]
*****************************************************************************/
class MainWindow : public QMainWindow {
Q_OBJECT

public:
        MainWindow(int argc, char** argv, QWidget *parent = 0);
        ~MainWindow();
  void writeLog(QString str);

public Q_SLOTS:
  void timerCallback();
  void on_btn_timer_start_clicked(void);
  void on_btn_init_pose_clicked(void);
  void on_btn_home_pose_clicked(void);
  void on_btn_gripper_open_clicked(void);
  void on_btn_gripper_close_clicked(void);
  void on_btn_read_joint_angle_clicked(void);
  void on_btn_send_joint_angle_clicked(void);
  void on_btn_read_kinematic_pose_clicked(void);
  void on_btn_send_kinematic_pose_clicked(void);
  void on_btn_set_gripper_clicked(void);

  void tabSelected();

private:
        Ui::MainWindowDesign ui;
        QNode qnode;
  QTimer *timer;
};

}  // namespace turtlebot3_manipulation_gui

#endif // TURTLEBOT3_MANIPULATION_GUI_MAIN_WINDOW_H