kinematic_chain_widget.h

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/* Author: Dave Coleman */
 
#pragma once
 
#include <QWidget>
class QLabel;
class QLineEdit;
class QTreeWidget;
class QTreeWidgetItem;
 
#ifndef Q_MOC_RUN
#include <moveit/setup_assistant/tools/moveit_config_data.h>
#endif
 
namespace moveit_setup_assistant
{
class KinematicChainWidget : public QWidget
{
  Q_OBJECT
 
  // ******************************************************************************************
  // Reusable double list widget for selecting and deselecting a subset from a set
  // ******************************************************************************************
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  KinematicChainWidget(QWidget* parent, const MoveItConfigDataPtr& config_data);
 
  void setAvailable();
 
  void setSelected(const std::string& base_link, const std::string& tip_link);
 
  void addLinktoTreeRecursive(const moveit::core::LinkModel* link, const moveit::core::LinkModel* parent);
 
  bool addLinkChildRecursive(QTreeWidgetItem* parent, const moveit::core::LinkModel* link,
                             const std::string& parent_name);
 
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
 
  QLabel* title_;  // specify the title from the parent widget
  QTreeWidget* link_tree_;
  QLineEdit* base_link_field_;
  QLineEdit* tip_link_field_;
 
private Q_SLOTS:
 
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  void baseLinkTreeClick();
 
  void tipLinkTreeClick();
 
  void alterTree(const QString& link);
 
  void itemSelected();
 
Q_SIGNALS:
 
  // ******************************************************************************************
  // Emitted Signals
  // ******************************************************************************************
 
  void doneEditing();
 
  void cancelEditing();
 
  void highlightLink(const std::string& name, const QColor& /*_t2*/);
 
  void unhighlightAll();
 
private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
 
  moveit_setup_assistant::MoveItConfigDataPtr config_data_;
 
  bool kinematic_chain_loaded_;
 
  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
};
}  // namespace moveit_setup_assistant