perception_widget.h

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/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2018, Mohamad Ayman.
 *  All rights reserved.
 *
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 *     copyright notice, this list of conditions and the following
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 *     with the distribution.
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/* Author: Mohamad Ayman */
 
#pragma once
 
// Qt
class QComboBox;
class QGroupBox;
class QLineEdit;
 
// SA
#ifndef Q_MOC_RUN
#include <moveit/setup_assistant/tools/moveit_config_data.h>
#endif
 
#include "setup_screen_widget.h"  // a base class for screens in the setup assistant
 
namespace moveit_setup_assistant
{
// ******************************************************************************************
// User Interface for setting up 3D sensor config
// ******************************************************************************************
class PerceptionWidget : public SetupScreenWidget
{
  Q_OBJECT
 
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  PerceptionWidget(QWidget* parent, const MoveItConfigDataPtr& config_data);
 
  void focusGiven() override;
 
  bool focusLost() override;
 
  void loadSensorPluginsComboBox();
  uint loadConfigIntoWidgets(std::map<std::string, GenericParameter> sensor_plugin_config);
 
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
 
  QComboBox* sensor_plugin_field_;
 
  // Group form for each plugin option
  QGroupBox* point_cloud_group_;
  QGroupBox* depth_map_group_;
 
  // Point Cloud plugin feilds
  QLineEdit* point_cloud_topic_field_;
  QLineEdit* max_range_field_;
  QLineEdit* point_subsample_field_;
  QLineEdit* padding_offset_field_;
  QLineEdit* padding_scale_field_;
  QLineEdit* max_update_rate_field_;
  QLineEdit* filtered_cloud_topic_field_;
 
  // Depth Map plugin feilds
  QLineEdit* image_topic_field_;
  QLineEdit* queue_size_field_;
  QLineEdit* near_clipping_field_;
  QLineEdit* far_clipping_field_;
  QLineEdit* shadow_threshold_field_;
  QLineEdit* depth_padding_scale_field_;
  QLineEdit* depth_padding_offset_field_;
  QLineEdit* depth_filtered_cloud_topic_field_;
  QLineEdit* depth_max_update_rate_field_;
 
private Q_SLOTS:
 
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  void sensorPluginChanged(int index);
 
private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
 
  moveit_setup_assistant::MoveItConfigDataPtr config_data_;
};
 
}  // namespace moveit_setup_assistant