simulation_widget.h

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 *
 *  Copyright (c) 2018, Mohamad Ayman.
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/* Author: Mohamad Ayman */
 
#pragma once
 
// Qt
class QLabel;
class QTextEdit;
class QPushButton;
 
// 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
{
// ******************************************************************************************
// ******************************************************************************************
// Class for showing changes needed to help user bring his robot into gazebo simulation
// ******************************************************************************************
// ******************************************************************************************
class SimulationWidget : public SetupScreenWidget
{
  Q_OBJECT
 
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  SimulationWidget(QWidget* parent, const MoveItConfigDataPtr& config_data);
  void focusGiven() override;
  bool focusLost() override;
 
private:
  std::string generateGazeboCompatibleURDF() const;
 
private Q_SLOTS:
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  void setDirty(bool dirty = true);
  void overwriteURDF();
  void openURDF();
  void copyURDF();
 
private:
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
 
  QTextEdit* simulation_text_;
  QLabel* no_changes_label_;
  QPushButton* btn_overwrite_;
  QPushButton* btn_open_;
  QLabel* copy_urdf_;
 
  moveit_setup_assistant::MoveItConfigDataPtr config_data_;
};
 
}  // namespace moveit_setup_assistant