trajectory_panel.h

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/* Author: Yannick Jonetzko */

#ifndef MOVEIT_TRAJECTORY_RVIZ_PLUGIN_TRAJECTORY_PANEL_
#define MOVEIT_TRAJECTORY_RVIZ_PLUGIN_TRAJECTORY_PANEL_

#ifndef Q_MOC_RUN
#include <ros/ros.h>
#endif

#include <rviz/panel.h>

#include <QSlider>
#include <QLabel>
#include <QPushButton>

namespace moveit_rviz_plugin
{
class TrajectoryPanel : public rviz::Panel
{
  Q_OBJECT

public:
  TrajectoryPanel(QWidget* parent = 0);

  virtual ~TrajectoryPanel();

  void onInitialize();
  void onEnable();
  void onDisable();
  void update(int way_point_count);

  // Switches between pause and play mode
  void pauseButton(bool check);

  void setSliderPosition(int position);

  int getSliderPosition() const
  {
    return slider_->sliderPosition();
  }

  bool isPaused() const
  {
    return paused_;
  }

private Q_SLOTS:
  void sliderValueChanged(int value);
  void buttonClicked();

protected:
  QSlider* slider_;
  QLabel* maximum_label_;
  QLabel* minimum_label_;
  QPushButton* button_;

  bool paused_;
  int last_way_point_;
};

}  // namespace moveit_rviz_plugin

#endif