User interface for editing the default collision matrix list in an SRDF. More...

#include <default_collisions_widget.h>

Inheritance diagram for moveit_setup_assistant::DefaultCollisionsWidget:

Public Types
enum	ViewMode { MATRIX_MODE = 0, LINEAR_MODE = 1 }

Public Member Functions
	DefaultCollisionsWidget (QWidget *parent, const MoveItConfigDataPtr &config_data)
	User interface for editing the default collision matrix list in an SRDF. More...

	~DefaultCollisionsWidget () override

Public Member Functions inherited from SetupScreenWidget
virtual void	focusGiven ()
	function called when widget is activated, allows to update/initialize GUI More...

virtual bool	focusLost ()
	function called when widget lost focus, allows to accept/reject changes and to reject switching (returning false) More...

	SetupScreenWidget (QWidget *parent)

Private Slots
void	changeNumSamples (int value)
	GUI func for showing number of samples. value will be rounded in 1000s. More...

void	checkedFilterChanged ()
	Change filter settings to show/hide enabled collisions. More...

void	collisionsChanged (const QModelIndex &index)
	Collision model changed. More...

void	finishGeneratingCollisionTable ()
	finish generating collision matrix after worker thread has finished More...

void	focusGiven () override
	Called when setup assistant navigation switches to this screen. More...

bool	focusLost () override
	Called when setup assistant navigation switches away from this screen. More...

void	hideOtherSections ()

void	hideSections ()

void	interruptGeneratingCollisionTable ()
	interrupt generating collision matrix More...

void	loadCollisionTable ()
	Update view and data model for the link_pairs data structure. More...

void	previewSelectedLinear (const QModelIndex &index)

void	previewSelectedMatrix (const QModelIndex &index)
	Called when current row has changed. More...

void	revertChanges ()
	Revert current changes to collision matrix. More...

void	showHeaderContextMenu (const QPoint &p)

void	showSections ()

void	startGeneratingCollisionTable ()
	start generating collision matrix in a worker thread More...

Private Member Functions
void	disableControls (bool disable)
	Helper function to disable parts of GUI during computation. More...

bool	eventFilter (QObject object, QEvent event) override

void	generateCollisionTable (unsigned int *collision_progress)
	The thread that is called to allow the GUI to update. Calls an external function to do calcs. More...

QList< int >	selectedSections (QHeaderView *&header) const

void	setDefaults (bool enabled)

void	showSections (QHeaderView *header, const QList< int > &logicalIndexes)

void	toggleSelection (QItemSelection selection)

Private Attributes
QPushButton *	btn_generate_

QPushButton *	btn_interrupt_

QPushButton *	btn_revert_

Qt::Orientations	clicked_headers_

int	clicked_section_

QCheckBox *	collision_checkbox_

QTableView *	collision_table_

moveit_setup_assistant::MoveItConfigDataPtr	config_data_
	Contains all the configuration data for the setup assistant. More...

QGroupBox *	controls_box_

QLabel *	fraction_label_

QSpinBox *	fraction_spinbox_

QList< QAction * >	header_actions_

QVBoxLayout *	layout_

QLineEdit *	link_name_filter_

QAbstractItemModel *	model_

QLabel *	page_title_

QProgressBar *	progress_bar_

QLabel *	progress_label_

QSlider *	sample_slider_

QSpinBox *	sample_spinbox_

QItemSelectionModel *	selection_model_

QButtonGroup *	view_mode_buttons_

srdf::SRDFWriterPtr	wip_srdf_
	Working copy of SRDF config. More...

MonitorThread *	worker_

Additional Inherited Members
Signals inherited from SetupScreenWidget
void	highlightGroup (const std::string &name)
	Event for telling rviz to highlight a group of the robot. More...

void	highlightLink (const std::string &name, const QColor &)
	Event for telling rviz to highlight a link of the robot. More...

void	isModal (bool isModal)
	Event for when the current screen is in modal view. Essential disabled the left navigation. More...

void	unhighlightAll ()
	Event for telling rviz to unhighlight all links of the robot. More...

Detailed Description

User interface for editing the default collision matrix list in an SRDF.

Definition at line 74 of file default_collisions_widget.h.

Member Enumeration Documentation

◆ ViewMode

enum moveit_setup_assistant::DefaultCollisionsWidget::ViewMode

Enumerator
MATRIX_MODE
LINEAR_MODE

Definition at line 79 of file default_collisions_widget.h.

Constructor & Destructor Documentation

◆ DefaultCollisionsWidget()

moveit_setup_assistant::DefaultCollisionsWidget::DefaultCollisionsWidget	(	QWidget *	parent,
		const MoveItConfigDataPtr &	config_data
	)

User interface for editing the default collision matrix list in an SRDF.

Parameters

urdf_file String srdf file location. It will create a new file or will edit an existing one

Definition at line 99 of file default_collisions_widget.cpp.

◆ ~DefaultCollisionsWidget()

moveit_setup_assistant::DefaultCollisionsWidget::~DefaultCollisionsWidget ( )

override

Definition at line 270 of file default_collisions_widget.cpp.

Member Function Documentation

◆ changeNumSamples

void moveit_setup_assistant::DefaultCollisionsWidget::changeNumSamples ( int value )

privateslot

GUI func for showing number of samples. value will be rounded in 1000s.

Parameters

value Number of samples

Definition at line 713 of file default_collisions_widget.cpp.

◆ checkedFilterChanged

void moveit_setup_assistant::DefaultCollisionsWidget::checkedFilterChanged ( )

privateslot

Change filter settings to show/hide enabled collisions.

Definition at line 756 of file default_collisions_widget.cpp.

◆ collisionsChanged

void moveit_setup_assistant::DefaultCollisionsWidget::collisionsChanged ( const QModelIndex & index )

privateslot

Collision model changed.

Definition at line 454 of file default_collisions_widget.cpp.

◆ disableControls()

void moveit_setup_assistant::DefaultCollisionsWidget::disableControls ( bool disable )

private

Helper function to disable parts of GUI during computation.

Parameters

disable A command

Definition at line 732 of file default_collisions_widget.cpp.

◆ eventFilter()

bool moveit_setup_assistant::DefaultCollisionsWidget::eventFilter	(	QObject *	object,
		QEvent *	event
	)

overrideprivate

Allow toggling of all checkboxes in selection by filtering <space> keypresses

Definition at line 637 of file default_collisions_widget.cpp.

◆ finishGeneratingCollisionTable

void moveit_setup_assistant::DefaultCollisionsWidget::finishGeneratingCollisionTable ( )

privateslot

finish generating collision matrix after worker thread has finished

Definition at line 310 of file default_collisions_widget.cpp.

◆ focusGiven

void moveit_setup_assistant::DefaultCollisionsWidget::focusGiven ( )

overrideprivateslot

Called when setup assistant navigation switches to this screen.

Definition at line 812 of file default_collisions_widget.cpp.

◆ focusLost

bool moveit_setup_assistant::DefaultCollisionsWidget::focusLost ( )

overrideprivateslot

Called when setup assistant navigation switches away from this screen.

Definition at line 825 of file default_collisions_widget.cpp.

◆ generateCollisionTable()

void moveit_setup_assistant::DefaultCollisionsWidget::generateCollisionTable ( unsigned int * collision_progress )

private

The thread that is called to allow the GUI to update. Calls an external function to do calcs.

Parameters

collision_progress A shared pointer between 3 threads to allow progress bar to update. See declaration location for more details and warning.

Definition at line 329 of file default_collisions_widget.cpp.

◆ hideOtherSections

void moveit_setup_assistant::DefaultCollisionsWidget::hideOtherSections ( )

privateslot

Definition at line 540 of file default_collisions_widget.cpp.

◆ hideSections

void moveit_setup_assistant::DefaultCollisionsWidget::hideSections ( )

privateslot

Definition at line 531 of file default_collisions_widget.cpp.

◆ interruptGeneratingCollisionTable

void moveit_setup_assistant::DefaultCollisionsWidget::interruptGeneratingCollisionTable ( )

privateslot

interrupt generating collision matrix

Definition at line 293 of file default_collisions_widget.cpp.

◆ loadCollisionTable

void moveit_setup_assistant::DefaultCollisionsWidget::loadCollisionTable ( )

privateslot

Update view and data model for the link_pairs data structure.

Definition at line 358 of file default_collisions_widget.cpp.

◆ previewSelectedLinear

void moveit_setup_assistant::DefaultCollisionsWidget::previewSelectedLinear ( const QModelIndex & index )

privateslot

Definition at line 791 of file default_collisions_widget.cpp.

◆ previewSelectedMatrix

void moveit_setup_assistant::DefaultCollisionsWidget::previewSelectedMatrix ( const QModelIndex & index )

privateslot

Called when current row has changed.

Definition at line 765 of file default_collisions_widget.cpp.

◆ revertChanges

void moveit_setup_assistant::DefaultCollisionsWidget::revertChanges ( )

privateslot

Revert current changes to collision matrix.

Definition at line 630 of file default_collisions_widget.cpp.

◆ selectedSections()

QList< int > moveit_setup_assistant::DefaultCollisionsWidget::selectedSections ( QHeaderView *& header ) const

private

Return list of selected sections

Definition at line 507 of file default_collisions_widget.cpp.

◆ setDefaults()

void moveit_setup_assistant::DefaultCollisionsWidget::setDefaults ( bool enabled )

private

Enable/Disable selected sections by default

Definition at line 580 of file default_collisions_widget.cpp.

◆ showHeaderContextMenu

void moveit_setup_assistant::DefaultCollisionsWidget::showHeaderContextMenu ( const QPoint & p )

privateslot

Definition at line 474 of file default_collisions_widget.cpp.

◆ showSections [1/2]

void moveit_setup_assistant::DefaultCollisionsWidget::showSections ( )

privateslot

Definition at line 550 of file default_collisions_widget.cpp.

◆ showSections() [2/2]

void moveit_setup_assistant::DefaultCollisionsWidget::showSections	(	QHeaderView *	header,
		const QList< int > &	logicalIndexes
	)

private

Show header's sections in logicalIndexes and everything in between

Definition at line 568 of file default_collisions_widget.cpp.

◆ startGeneratingCollisionTable

void moveit_setup_assistant::DefaultCollisionsWidget::startGeneratingCollisionTable ( )

privateslot

start generating collision matrix in a worker thread

Definition at line 278 of file default_collisions_widget.cpp.

◆ toggleSelection()

void moveit_setup_assistant::DefaultCollisionsWidget::toggleSelection ( QItemSelection selection )

private

Toggle enabled status of selection

Definition at line 661 of file default_collisions_widget.cpp.

Member Data Documentation

◆ btn_generate_

QPushButton* moveit_setup_assistant::DefaultCollisionsWidget::btn_generate_

private

Definition at line 173 of file default_collisions_widget.h.

◆ btn_interrupt_

QPushButton* moveit_setup_assistant::DefaultCollisionsWidget::btn_interrupt_

private

Definition at line 176 of file default_collisions_widget.h.

◆ btn_revert_

QPushButton* moveit_setup_assistant::DefaultCollisionsWidget::btn_revert_

private

Definition at line 182 of file default_collisions_widget.h.

◆ clicked_headers_

Qt::Orientations moveit_setup_assistant::DefaultCollisionsWidget::clicked_headers_

private

Definition at line 186 of file default_collisions_widget.h.

◆ clicked_section_

int moveit_setup_assistant::DefaultCollisionsWidget::clicked_section_

private

Definition at line 187 of file default_collisions_widget.h.

◆ collision_checkbox_

QCheckBox* moveit_setup_assistant::DefaultCollisionsWidget::collision_checkbox_

private

Definition at line 179 of file default_collisions_widget.h.

◆ collision_table_

QTableView* moveit_setup_assistant::DefaultCollisionsWidget::collision_table_

private

Definition at line 167 of file default_collisions_widget.h.

◆ config_data_

moveit_setup_assistant::MoveItConfigDataPtr moveit_setup_assistant::DefaultCollisionsWidget::config_data_

private

Contains all the configuration data for the setup assistant.

Definition at line 195 of file default_collisions_widget.h.

◆ controls_box_

QGroupBox* moveit_setup_assistant::DefaultCollisionsWidget::controls_box_

private

Definition at line 174 of file default_collisions_widget.h.

◆ fraction_label_

QLabel* moveit_setup_assistant::DefaultCollisionsWidget::fraction_label_

private

Definition at line 180 of file default_collisions_widget.h.

◆ fraction_spinbox_

QSpinBox* moveit_setup_assistant::DefaultCollisionsWidget::fraction_spinbox_

private

Definition at line 181 of file default_collisions_widget.h.

◆ header_actions_

QList<QAction*> moveit_setup_assistant::DefaultCollisionsWidget::header_actions_

private

Definition at line 185 of file default_collisions_widget.h.

◆ layout_

QVBoxLayout* moveit_setup_assistant::DefaultCollisionsWidget::layout_

private

Definition at line 170 of file default_collisions_widget.h.

◆ link_name_filter_

QLineEdit* moveit_setup_assistant::DefaultCollisionsWidget::link_name_filter_

private

Definition at line 178 of file default_collisions_widget.h.

◆ model_

QAbstractItemModel* moveit_setup_assistant::DefaultCollisionsWidget::model_

private

Definition at line 168 of file default_collisions_widget.h.

◆ page_title_

QLabel* moveit_setup_assistant::DefaultCollisionsWidget::page_title_

private

Definition at line 166 of file default_collisions_widget.h.

◆ progress_bar_

QProgressBar* moveit_setup_assistant::DefaultCollisionsWidget::progress_bar_

private

Definition at line 175 of file default_collisions_widget.h.

◆ progress_label_

QLabel* moveit_setup_assistant::DefaultCollisionsWidget::progress_label_

private

Definition at line 177 of file default_collisions_widget.h.

◆ sample_slider_

QSlider* moveit_setup_assistant::DefaultCollisionsWidget::sample_slider_

private

Definition at line 172 of file default_collisions_widget.h.

◆ sample_spinbox_

QSpinBox* moveit_setup_assistant::DefaultCollisionsWidget::sample_spinbox_

private

Definition at line 171 of file default_collisions_widget.h.

◆ selection_model_

QItemSelectionModel* moveit_setup_assistant::DefaultCollisionsWidget::selection_model_

private

Definition at line 169 of file default_collisions_widget.h.

◆ view_mode_buttons_

QButtonGroup* moveit_setup_assistant::DefaultCollisionsWidget::view_mode_buttons_

private

Definition at line 183 of file default_collisions_widget.h.

◆ wip_srdf_

srdf::SRDFWriterPtr moveit_setup_assistant::DefaultCollisionsWidget::wip_srdf_

private

Working copy of SRDF config.

Definition at line 197 of file default_collisions_widget.h.

◆ worker_

MonitorThread* moveit_setup_assistant::DefaultCollisionsWidget::worker_

private

Definition at line 192 of file default_collisions_widget.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Slots

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ViewMode

Constructor & Destructor Documentation

◆ DefaultCollisionsWidget()

◆ ~DefaultCollisionsWidget()

Member Function Documentation

◆ changeNumSamples

◆ checkedFilterChanged

◆ collisionsChanged

◆ disableControls()

◆ eventFilter()

◆ finishGeneratingCollisionTable

◆ focusGiven

◆ focusLost

◆ generateCollisionTable()

◆ hideOtherSections

◆ hideSections

◆ interruptGeneratingCollisionTable

◆ loadCollisionTable

◆ previewSelectedLinear

◆ previewSelectedMatrix

◆ revertChanges

◆ selectedSections()

◆ setDefaults()

◆ showHeaderContextMenu

◆ showSections [1/2]

◆ showSections() [2/2]

◆ startGeneratingCollisionTable

◆ toggleSelection()

Member Data Documentation

◆ btn_generate_

◆ btn_interrupt_

◆ btn_revert_

◆ clicked_headers_

◆ clicked_section_

◆ collision_checkbox_

◆ collision_table_

◆ config_data_

◆ controls_box_

◆ fraction_label_

◆ fraction_spinbox_

◆ header_actions_

◆ layout_

◆ link_name_filter_

◆ model_

◆ page_title_

◆ progress_bar_

◆ progress_label_

◆ sample_slider_

◆ sample_spinbox_

◆ selection_model_

◆ view_mode_buttons_

◆ wip_srdf_

◆ worker_