setup_assistant_widget.h

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/* Author: Dave Coleman */
 
#pragma once
 
// Qt
class QSplitter;
 
// Setup Assistant
#include "navigation_widget.h"
#include "start_screen_widget.h"
#include "default_collisions_widget.h"
#include "planning_groups_widget.h"
#include "robot_poses_widget.h"
#include "end_effectors_widget.h"
#include "virtual_joints_widget.h"
#include "passive_joints_widget.h"
#include "author_information_widget.h"
#include "simulation_widget.h"
#include "configuration_files_widget.h"
#include "perception_widget.h"
#include "controllers_widget.h"
 
#ifndef Q_MOC_RUN
#include <moveit/setup_assistant/tools/moveit_config_data.h>
 
// Other
#include <boost/program_options/variables_map.hpp>  // for parsing input arguments
#include <boost/thread/mutex.hpp>
#endif
 
// Forward declarations
namespace rviz
{
class GridDisplay;
class RenderPanel;
class VisualizationManager;
}  // namespace rviz
 
namespace moveit_rviz_plugin
{
class RobotStateDisplay;
}
 
namespace moveit_setup_assistant
{
class SetupAssistantWidget : public QWidget
{
  Q_OBJECT
 
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  SetupAssistantWidget(QWidget* parent, const boost::program_options::variables_map& args);
 
  ~SetupAssistantWidget() override;
 
  void moveToScreen(const int index);
 
  void closeEvent(QCloseEvent* event) override;
 
  virtual bool notify(QObject* rec, QEvent* ev);
 
  // void showRviz( bool show );
 
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
 
private Q_SLOTS:
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  void navigationClicked(const QModelIndex& index);
 
  void updateTimer();
 
  void progressPastStartScreen();
 
  void loadRviz();
 
  void setModalMode(bool isModal);
 
  void highlightLink(const std::string& link_name, const QColor& color);
 
  void highlightGroup(const std::string& group_name);
 
  void unhighlightAll();
 
  // received when virtual joints that change the reference frame are added
  void virtualJointReferenceFrameChanged();
 
private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
  QList<QString> nav_name_list_;
  NavigationWidget* navs_view_;
 
  QWidget* rviz_container_;
  QSplitter* splitter_;
  QStackedWidget* main_content_;
  int current_index_;
  boost::mutex change_screen_lock_;
 
  // Rviz Panel
  rviz::RenderPanel* rviz_render_panel_;
  rviz::VisualizationManager* rviz_manager_;
  moveit_rviz_plugin::RobotStateDisplay* robot_state_display_;
 
  // Screen Widgets
  StartScreenWidget* start_screen_widget_;
  DefaultCollisionsWidget* default_collisions_widget_;
  PlanningGroupsWidget* planning_groups_widget;
  RobotPosesWidget* robot_poses_widget_;
  EndEffectorsWidget* end_effectors_widget_;
  VirtualJointsWidget* virtual_joints_widget_;
  PassiveJointsWidget* passive_joints_widget_;
  AuthorInformationWidget* author_information_widget_;
  ConfigurationFilesWidget* configuration_files_widget_;
  SimulationWidget* simulation_widget_;
  PerceptionWidget* perception_widget_;
  ControllersWidget* controllers_widget_;
 
  MoveItConfigDataPtr config_data_;
 
  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
};
}  // namespace moveit_setup_assistant