virtual_joints_widget.h

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/* Author: Dave Coleman */
 
#pragma once
 
// Qt
class QLabel;
class QLineEdit;
class QPushButton;
class QTableWidget;
class QStackedWidget;
class QComboBox;
 
// 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 VirtualJointsWidget : public SetupScreenWidget
{
  Q_OBJECT
 
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  VirtualJointsWidget(QWidget* parent, const MoveItConfigDataPtr& config_data);
 
  void focusGiven() override;
 
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
  QTableWidget* data_table_;
  QPushButton* btn_edit_;
  QPushButton* btn_delete_;
  QPushButton* btn_save_;
  QPushButton* btn_cancel_;
  QStackedWidget* stacked_widget_;
  QLineEdit* vjoint_name_field_;
  QLineEdit* parent_name_field_;
  QComboBox* child_link_field_;
  QComboBox* joint_type_field_;
  QWidget* vjoint_list_widget_;
  QWidget* vjoint_edit_widget_;
 
private Q_SLOTS:
 
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  void showNewScreen();
 
  void editSelected();
 
  void editDoubleClicked(int row, int column);
 
  void previewClicked(int row, int column);
 
  void deleteSelected();
 
  void doneEditing();
 
  void cancelEditing();
 
Q_SIGNALS:
 
  // ******************************************************************************************
  // Emitted Signals
  // ******************************************************************************************
 
  void referenceFrameChanged();
 
private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
 
  moveit_setup_assistant::MoveItConfigDataPtr config_data_;
 
  std::string current_edit_vjoint_;
 
  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
 
  srdf::Model::VirtualJoint* findVJointByName(const std::string& name);
 
  QWidget* createContentsWidget();
 
  QWidget* createEditWidget();
 
  void loadDataTable();
 
  void loadJointTypesComboBox();
 
  void loadChildLinksComboBox();
 
  void edit(const std::string& name);
};
 
}  // namespace moveit_setup_assistant