group_edit_widget.h

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/* Author: Dave Coleman */
 
#pragma once
 
#include <QWidget>
class QComboBox;
class QLabel;
class QLineEdit;
class QDoubleSpinBox;
class QPushButton;
 
#ifndef Q_MOC_RUN
#include <moveit/setup_assistant/tools/moveit_config_data.h>
#endif
 
namespace moveit_setup_assistant
{
class GroupEditWidget : public QWidget
{
  Q_OBJECT
 
private:
  const int FORM_CONTROL_WIDTH = 400;
  const int DECIMALS_TOLERANCE = 4;
  const double MIN_TOLERANCE = 1e-4;
  const double MAX_TOLERANCE = 1.0;
  const double STEP_TOLERANCE = 1e-4;
 
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  GroupEditWidget(QWidget* parent, const MoveItConfigDataPtr& config_data);
 
  void setSelected(const std::string& group_name);
 
  void loadKinematicPlannersComboBox();
 
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
 
  QLabel* title_;  // specify the title from the parent widget
  QLineEdit* group_name_field_;
  QComboBox* kinematics_solver_field_;
  QLineEdit* kinematics_resolution_field_;
  QLineEdit* kinematics_timeout_field_;
  QDoubleSpinBox* goal_joint_tolerance_field_;
  QDoubleSpinBox* goal_position_tolerance_field_;
  QDoubleSpinBox* goal_orientation_tolerance_field_;
  QLineEdit* kinematics_parameters_file_field_;
  QComboBox* default_planner_field_;
  QPushButton* btn_delete_;      // this button is hidden for new groups
  QPushButton* btn_save_;        // this button is hidden for new groups
  QWidget* new_buttons_widget_;  // for showing/hiding the new group buttons
 
private Q_SLOTS:
 
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  void selectKinematicsFile();
 
Q_SIGNALS:
 
  // ******************************************************************************************
  // Emitted Signals
  // ******************************************************************************************
 
  void saveJoints();
 
  void saveLinks();
 
  void saveChain();
 
  void saveSubgroups();
 
  void save();
 
  void cancelEditing();
 
  void deleteGroup();
 
private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
 
  moveit_setup_assistant::MoveItConfigDataPtr config_data_;
 
  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
};
}  // namespace moveit_setup_assistant