#include <robot_poses_widget.h>

Inheritance diagram for moveit_setup_assistant::RobotPosesWidget:

Public Member Functions
void	focusGiven () override
	Received when this widget is chosen from the navigation menu. More...

	RobotPosesWidget (QWidget *parent, const MoveItConfigDataPtr &config_data)

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

	SetupScreenWidget (QWidget *parent)

Public Attributes
QPushButton *	btn_cancel_

QPushButton *	btn_delete_

QPushButton *	btn_edit_

QPushButton *	btn_save_

QLabel *	collision_warning_

QVBoxLayout *	column2_

QTableWidget *	data_table_

QComboBox *	group_name_field_

QVBoxLayout *	joint_list_layout_

QWidget *	joint_list_widget_

QWidget *	pose_edit_widget_

QWidget *	pose_list_widget_

QLineEdit *	pose_name_field_

QScrollArea *	scroll_area_

QStackedWidget *	stacked_widget_

Private Slots
void	cancelEditing ()
	Cancel changes. More...

void	deleteSelected ()
	Delete currently editing ite. More...

void	doneEditing ()
	Save editing changes. More...

void	editDoubleClicked (int row, int column)
	Edit the double clicked element. More...

void	editSelected ()
	Edit whatever element is selected. More...

void	loadJointSliders (const QString &selected)
	Run this whenever the group is changed. More...

void	playPoses ()
	Play through the poses. More...

void	previewClicked (int row, int column, int previous_row, int previous_column)
	Preview whatever element is selected. More...

void	publishJoints ()
	Publishes a joint state message based on all the slider locations in a planning group, to rviz. More...

void	showDefaultPose ()
	Show the robot in its default joint positions. More...

void	showNewScreen ()
	Show edit screen. More...

void	updateRobotModel (const std::string &name, double value)

Private Member Functions
QWidget *	createContentsWidget ()

QWidget *	createEditWidget ()

void	edit (int row)

srdf::Model::GroupState *	findPoseByName (const std::string &name, const std::string &group)

void	loadDataTable ()

void	loadGroupsComboBox ()

void	showPose (srdf::Model::GroupState *pose)

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

srdf::Model::GroupState *	current_edit_pose_
	Pointer to currently edited group state. More...

ros::Publisher	pub_robot_state_
	Remember the publisher for quick publishing later. More...

collision_detection::CollisionRequest	request

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

Definition at line 59 of file robot_poses_widget.h.

Constructor & Destructor Documentation

◆ RobotPosesWidget()

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

Definition at line 97 of file robot_poses_widget.cpp.

Member Function Documentation

◆ cancelEditing

void moveit_setup_assistant::RobotPosesWidget::cancelEditing ( )

privateslot

Cancel changes.

Definition at line 714 of file robot_poses_widget.cpp.

◆ createContentsWidget()

QWidget * moveit_setup_assistant::RobotPosesWidget::createContentsWidget ( )

private

Create the main list view of poses for robot

Returns: the widget

Definition at line 150 of file robot_poses_widget.cpp.

◆ createEditWidget()

QWidget * moveit_setup_assistant::RobotPosesWidget::createEditWidget ( )

private

Create the screen for editing poses

Returns: the widget

Definition at line 232 of file robot_poses_widget.cpp.

◆ deleteSelected

void moveit_setup_assistant::RobotPosesWidget::deleteSelected ( )

privateslot

Delete currently editing ite.

Definition at line 577 of file robot_poses_widget.cpp.

◆ doneEditing

void moveit_setup_assistant::RobotPosesWidget::doneEditing ( )

privateslot

Save editing changes.

Definition at line 615 of file robot_poses_widget.cpp.

◆ edit()

void moveit_setup_assistant::RobotPosesWidget::edit ( int row )

private

Edit the pose with the input name

Parameters

name	name of pose

Definition at line 440 of file robot_poses_widget.cpp.

◆ editDoubleClicked

void moveit_setup_assistant::RobotPosesWidget::editDoubleClicked	(	int	row,
		int	column
	)

privateslot

Edit the double clicked element.

Definition at line 347 of file robot_poses_widget.cpp.

◆ editSelected

void moveit_setup_assistant::RobotPosesWidget::editSelected ( )

privateslot

Edit whatever element is selected.

Definition at line 429 of file robot_poses_widget.cpp.

◆ findPoseByName()

srdf::Model::GroupState * moveit_setup_assistant::RobotPosesWidget::findPoseByName	(	const std::string &	name,
		const std::string &	group
	)

private

Find the associated data by name

Parameters

name	- name of data to find in datastructure

Returns: pointer to data in datastructure

Definition at line 557 of file robot_poses_widget.cpp.

◆ focusGiven()

void moveit_setup_assistant::RobotPosesWidget::focusGiven ( )

overridevirtual

Received when this widget is chosen from the navigation menu.

Reimplemented from SetupScreenWidget.

Definition at line 770 of file robot_poses_widget.cpp.

◆ loadDataTable()

void moveit_setup_assistant::RobotPosesWidget::loadDataTable ( )

private

Load the robot poses into the table

Definition at line 726 of file robot_poses_widget.cpp.

◆ loadGroupsComboBox()

void moveit_setup_assistant::RobotPosesWidget::loadGroupsComboBox ( )

private

Populate the combo dropdown box with avail group names

Definition at line 476 of file robot_poses_widget.cpp.

◆ loadJointSliders

void moveit_setup_assistant::RobotPosesWidget::loadJointSliders ( const QString & selected )

privateslot

Run this whenever the group is changed.

Definition at line 491 of file robot_poses_widget.cpp.

◆ playPoses

void moveit_setup_assistant::RobotPosesWidget::playPoses ( )

privateslot

Play through the poses.

Definition at line 412 of file robot_poses_widget.cpp.

◆ previewClicked

void moveit_setup_assistant::RobotPosesWidget::previewClicked	(	int	row,
		int	column,
		int	previous_row,
		int	previous_column
	)

privateslot

Preview whatever element is selected.

Definition at line 356 of file robot_poses_widget.cpp.

◆ publishJoints

void moveit_setup_assistant::RobotPosesWidget::publishJoints ( )

privateslot

Publishes a joint state message based on all the slider locations in a planning group, to rviz.

Definition at line 797 of file robot_poses_widget.cpp.

◆ showDefaultPose

void moveit_setup_assistant::RobotPosesWidget::showDefaultPose ( )

privateslot

Show the robot in its default joint positions.

Definition at line 397 of file robot_poses_widget.cpp.

◆ showNewScreen

void moveit_setup_assistant::RobotPosesWidget::showNewScreen ( )

privateslot

Show edit screen.

Definition at line 325 of file robot_poses_widget.cpp.

◆ showPose()

void moveit_setup_assistant::RobotPosesWidget::showPose ( srdf::Model::GroupState * pose )

private

Show the robot in the current pose

Definition at line 374 of file robot_poses_widget.cpp.

◆ updateRobotModel

void moveit_setup_assistant::RobotPosesWidget::updateRobotModel	(	const std::string &	name,
		double	value
	)

privateslot

Call when one of the sliders has its value changed to store its value in kinematic model

Parameters

name	- name of joint being changed
value	- value of joint

Definition at line 785 of file robot_poses_widget.cpp.

Member Data Documentation

◆ btn_cancel_

QPushButton* moveit_setup_assistant::RobotPosesWidget::btn_cancel_

Definition at line 80 of file robot_poses_widget.h.

◆ btn_delete_

QPushButton* moveit_setup_assistant::RobotPosesWidget::btn_delete_

Definition at line 78 of file robot_poses_widget.h.

◆ btn_edit_

QPushButton* moveit_setup_assistant::RobotPosesWidget::btn_edit_

Definition at line 77 of file robot_poses_widget.h.

◆ btn_save_

QPushButton* moveit_setup_assistant::RobotPosesWidget::btn_save_

Definition at line 79 of file robot_poses_widget.h.

◆ collision_warning_

QLabel* moveit_setup_assistant::RobotPosesWidget::collision_warning_

Definition at line 90 of file robot_poses_widget.h.

◆ column2_

QVBoxLayout* moveit_setup_assistant::RobotPosesWidget::column2_

Definition at line 83 of file robot_poses_widget.h.

◆ config_data_

moveit_setup_assistant::MoveItConfigDataPtr moveit_setup_assistant::RobotPosesWidget::config_data_

private

Contains all the configuration data for the setup assistant.

Definition at line 145 of file robot_poses_widget.h.

◆ current_edit_pose_

srdf::Model::GroupState* moveit_setup_assistant::RobotPosesWidget::current_edit_pose_

private

Pointer to currently edited group state.

Definition at line 148 of file robot_poses_widget.h.

◆ data_table_

QTableWidget* moveit_setup_assistant::RobotPosesWidget::data_table_

Definition at line 76 of file robot_poses_widget.h.

◆ group_name_field_

QComboBox* moveit_setup_assistant::RobotPosesWidget::group_name_field_

Definition at line 85 of file robot_poses_widget.h.

◆ joint_list_layout_

QVBoxLayout* moveit_setup_assistant::RobotPosesWidget::joint_list_layout_

Definition at line 87 of file robot_poses_widget.h.

◆ joint_list_widget_

QWidget* moveit_setup_assistant::RobotPosesWidget::joint_list_widget_

Definition at line 86 of file robot_poses_widget.h.

◆ pose_edit_widget_

QWidget* moveit_setup_assistant::RobotPosesWidget::pose_edit_widget_

Definition at line 89 of file robot_poses_widget.h.

◆ pose_list_widget_

QWidget* moveit_setup_assistant::RobotPosesWidget::pose_list_widget_

Definition at line 88 of file robot_poses_widget.h.

◆ pose_name_field_

QLineEdit* moveit_setup_assistant::RobotPosesWidget::pose_name_field_

Definition at line 84 of file robot_poses_widget.h.

◆ pub_robot_state_

ros::Publisher moveit_setup_assistant::RobotPosesWidget::pub_robot_state_

private

Remember the publisher for quick publishing later.

Definition at line 151 of file robot_poses_widget.h.

◆ request

collision_detection::CollisionRequest moveit_setup_assistant::RobotPosesWidget::request

private

Definition at line 156 of file robot_poses_widget.h.

◆ scroll_area_

QScrollArea* moveit_setup_assistant::RobotPosesWidget::scroll_area_

Definition at line 82 of file robot_poses_widget.h.

◆ stacked_widget_

QStackedWidget* moveit_setup_assistant::RobotPosesWidget::stacked_widget_

Definition at line 81 of file robot_poses_widget.h.

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

Public Member Functions

Public Attributes

Private Slots

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RobotPosesWidget()

Member Function Documentation

◆ cancelEditing

◆ createContentsWidget()

◆ createEditWidget()

◆ deleteSelected

◆ doneEditing

◆ edit()

◆ editDoubleClicked

◆ editSelected

◆ findPoseByName()

◆ focusGiven()

◆ loadDataTable()

◆ loadGroupsComboBox()

◆ loadJointSliders

◆ playPoses

◆ previewClicked

◆ publishJoints

◆ showDefaultPose

◆ showNewScreen

◆ showPose()

◆ updateRobotModel

Member Data Documentation

◆ btn_cancel_

◆ btn_delete_

◆ btn_edit_

◆ btn_save_

◆ collision_warning_

◆ column2_

◆ config_data_

◆ current_edit_pose_

◆ data_table_

◆ group_name_field_

◆ joint_list_layout_

◆ joint_list_widget_

◆ pose_edit_widget_

◆ pose_list_widget_

◆ pose_name_field_

◆ pub_robot_state_

◆ request

◆ scroll_area_

◆ stacked_widget_