planning_scene_warehouse_viewer.h
Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2011, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the <ORGANIZATION> nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 // Author: Matthew Klingensmith, E. Gil Jones
00031 
00032 #ifndef PLANNING_SCENE_WAREHOUSE_H
00033 #define PLANNING_SCENE_WAREHOUSE_H
00034 
00035 #include <termios.h>
00036 #include <signal.h>
00037 #include <cstdio>
00038 #include <cstdlib>
00039 #include <unistd.h>
00040 #include <math.h>
00041 #include <string>
00042 #include <map>
00043 
00044 #include <ros/ros.h>
00045 
00046 #include <move_arm_warehouse/move_arm_utils.h>
00047 #include <move_arm_warehouse/trajectory_stats.h>
00048 
00049 #include <qt4/QtGui/qwidget.h>
00050 #include <qt4/QtGui/qmenubar.h>
00051 #include <qt4/QtGui/qmenu.h>
00052 #include <qt4/QtGui/qprogressbar.h>
00053 #include <qt4/QtGui/qdialog.h>
00054 #include <qt4/QtGui/qtablewidget.h>
00055 #include <qt4/QtGui/qlayout.h>
00056 #include <qt4/QtGui/qpushbutton.h>
00057 #include <qt4/Qt/qthread.h>
00058 #include <qt4/QtGui/qslider.h>
00059 #include <qt4/QtGui/qspinbox.h>
00060 #include <qt4/QtGui/qlabel.h>
00061 #include <qt4/QtGui/qgroupbox.h>
00062 #include <qt4/QtGui/qcombobox.h>
00063 #include <qt4/QtGui/qcheckbox.h>
00064 #include <qt4/QtGui/qcolordialog.h>
00065 #include <qt4/QtGui/qtreewidget.h>
00066 #include <qt4/QtGui/qpalette.h>
00067 #include <qt4/QtGui/qformlayout.h>
00068 #include <qt4/QtGui/qlineedit.h>
00069 #include <qt4/QtGui/qfiledialog.h>
00070 #include <qt4/QtGui/qmessagebox.h>
00071 #include <qt4/QtGui/qmainwindow.h>
00072 #include <qt4/QtGui/qlistwidget.h>
00073 #include <QDateTime>
00074 
00075 static const std::string VIS_TOPIC_NAME = "planning_scene_visualizer_markers";
00076 
00077 //in 100 hz ticks
00078 static const unsigned int CONTROL_SPEED = 5;
00079 static const std::string EXECUTE_RIGHT_TRAJECTORY = "/r_arm_controller/follow_joint_trajectory";
00080 static const std::string EXECUTE_LEFT_TRAJECTORY = "/l_arm_controller/follow_joint_trajectory";
00081 static const std::string LEFT_IK_NAME = "/pr2_left_arm_kinematics/get_constraint_aware_ik";
00082 static const std::string RIGHT_IK_NAME = "/pr2_right_arm_kinematics/get_constraint_aware_ik";
00083 static const std::string NON_COLL_LEFT_IK_NAME = "/pr2_left_arm_kinematics/get_ik";
00084 static const std::string NON_COLL_RIGHT_IK_NAME = "/pr2_right_arm_kinematics/get_ik";
00085 static const std::string RIGHT_ARM_GROUP = "right_arm";
00086 static const std::string LEFT_ARM_GROUP = "left_arm";
00087 static const std::string RIGHT_ARM_REDUNDANCY = "r_upper_arm_roll_joint";
00088 static const std::string LEFT_ARM_REDUNDANCY = "l_upper_arm_roll_joint";
00089 static const std::string LEFT_IK_LINK = "l_wrist_roll_link";
00090 static const std::string RIGHT_IK_LINK = "r_wrist_roll_link";
00091 static const std::string PLANNER_1_SERVICE_NAME = "/ompl_planning/plan_kinematic_path";
00092 static const std::string PLANNER_2_SERVICE_NAME = "/chomp_planner_longrange";
00093 static const std::string LEFT_INTERPOLATE_SERVICE_NAME = "/l_interpolated_ik_motion_plan";
00094 static const std::string RIGHT_INTERPOLATE_SERVICE_NAME = "/r_interpolated_ik_motion_plan";
00095 static const std::string TRAJECTORY_FILTER_1_SERVICE_NAME = "/trajectory_shortcutting_filter_server/filter_trajectory_with_constraints";
00096 static const std::string TRAJECTORY_FILTER_2_SERVICE_NAME = "/trajectory_smoothing_filter_server/filter_trajectory_with_constraints";
00097 static const std::string PROXIMITY_SPACE_SERVICE_NAME = "/collision_proximity_server_test/get_distance_aware_plan";
00098 static const std::string PROXIMITY_SPACE_VALIDITY_NAME = "/collision_proximity_server_test/get_state_validity";
00099 static const std::string PROXIMITY_SPACE_PLANNER_NAME = "/collision_proximity_planner/plan";
00100 static const std::string LIST_CONTROLLERS_SERVICE = "/pr2_controller_manager/list_controllers";
00101 static const std::string LOAD_CONTROLLERS_SERVICE = "/pr2_controller_manager/load_controller";
00102 static const std::string UNLOAD_CONTROLLERS_SERVICE = "/pr2_controller_manager/unload_controller";
00103 static const std::string SWITCH_CONTROLLERS_SERVICE = "/pr2_controller_manager/switch_controller";
00104 static const std::string GAZEBO_ROBOT_MODEL = "pr2";
00105 static const std::string ROBOT_DESCRIPTION_PARAM = "robot_description";
00106 static const ros::Duration PLANNING_DURATION = ros::Duration(5.0);
00107 static const std::string SET_PLANNING_SCENE_DIFF_NAME = "environment_server/set_planning_scene_diff";
00108 
00112 class ParameterDialog: public QDialog
00113 {
00114 public:
00115   planning_scene_utils::PlanningSceneParameters params_;
00116   ParameterDialog(planning_scene_utils::PlanningSceneParameters params, QWidget* parent = NULL) :
00117     QDialog(parent)
00118   {
00119     params_ = params;
00120     setMinimumWidth(640);
00121     setup();
00122   }
00123 
00127   void setup()
00128   {
00129     QGroupBox* groupBox = new QGroupBox(this);
00130     groupBox->setTitle("Planning Scene Editor Parameters");
00131     QVBoxLayout* boxLayout = new QVBoxLayout(this);
00132 
00133     layout = new QFormLayout(groupBox);
00134     left_ik_name_ = new QLineEdit(groupBox);
00135     layout->addRow("Left IK Service", left_ik_name_);
00136     left_ik_name_->setText(QString::fromStdString(params_.left_ik_name_));
00137 
00138     right_ik_name_ = new QLineEdit(groupBox);
00139     layout->addRow("Right IK Service", right_ik_name_);
00140     right_ik_name_->setText(QString::fromStdString(params_.right_ik_name_));
00141 
00142     non_coll_left_ik_name_ = new QLineEdit(groupBox);
00143     layout->addRow("Non Collision-Aware Left IK Service", non_coll_left_ik_name_);
00144     non_coll_left_ik_name_->setText(QString::fromStdString(params_.non_coll_left_ik_name_));
00145 
00146     non_coll_right_ik_name_ = new QLineEdit(groupBox);
00147     layout->addRow("Non Collision-Aware Right IK Service", non_coll_right_ik_name_);
00148     non_coll_right_ik_name_->setText(QString::fromStdString(params_.non_coll_right_ik_name_));
00149 
00150     right_arm_group_ = new QLineEdit(groupBox);
00151     layout->addRow("Right Arm Group", right_arm_group_);
00152     right_arm_group_->setText(QString::fromStdString(params_.right_arm_group_));
00153 
00154     left_arm_group_ = new QLineEdit(groupBox);
00155     layout->addRow("Left Arm Group", left_arm_group_);
00156     left_arm_group_->setText(QString::fromStdString(params_.left_arm_group_));
00157 
00158     right_arm_redundancy_ = new QLineEdit(groupBox);
00159     layout->addRow("Right Arm Redundancy DOF", right_arm_redundancy_);
00160     right_arm_redundancy_->setText(QString::fromStdString(params_.right_redundancy_));
00161 
00162     left_arm_redundancy_ = new QLineEdit(groupBox);
00163     layout->addRow("Left Arm Redundancy DOF", left_arm_redundancy_);
00164     left_arm_redundancy_->setText(QString::fromStdString(params_.left_redundancy_));
00165 
00166     left_ik_link_ = new QLineEdit(groupBox);
00167     layout->addRow("Left IK Link", left_ik_link_);
00168     left_ik_link_ ->setText(QString::fromStdString(params_.left_ik_link_));
00169 
00170     right_ik_link_ = new QLineEdit(groupBox);
00171     layout->addRow("Right IK Link", right_ik_link_);
00172     right_ik_link_->setText(QString::fromStdString(params_.right_ik_link_));
00173 
00174     planner_1_service_name_ = new QLineEdit(groupBox);
00175     layout->addRow("Planner 1 Service", planner_1_service_name_);
00176     planner_1_service_name_->setText(QString::fromStdString(params_.planner_1_service_name_));
00177 
00178     planner_2_service_name_ = new QLineEdit(groupBox);
00179     layout->addRow("Planner 2 Service", planner_2_service_name_);
00180     planner_2_service_name_->setText(QString::fromStdString(params_.planner_2_service_name_));
00181 
00182     left_interpolate_service_name_ = new QLineEdit(groupBox);
00183     layout->addRow("Left Interpolation Service", left_interpolate_service_name_);
00184     left_interpolate_service_name_->setText(QString::fromStdString(params_.left_interpolate_service_name_));
00185 
00186     right_interpolate_service_name_ = new QLineEdit(groupBox);
00187     layout->addRow("Right Interpolation Service", right_interpolate_service_name_);
00188     right_interpolate_service_name_->setText(QString::fromStdString(params_.right_interpolate_service_name_));
00189 
00190     trajectory_filter_1_service_name_ = new QLineEdit(groupBox);
00191     layout->addRow("Trajectory Filter Service 1", trajectory_filter_1_service_name_);
00192     trajectory_filter_1_service_name_->setText(QString::fromStdString(params_.trajectory_filter_1_service_name_));
00193 
00194     trajectory_filter_2_service_name_ = new QLineEdit(groupBox);
00195     layout->addRow("Trajectory Filter Service 2", trajectory_filter_2_service_name_);
00196     trajectory_filter_2_service_name_->setText(QString::fromStdString(params_.trajectory_filter_2_service_name_));
00197 
00198     proximity_space_service_name_ = new QLineEdit(groupBox);
00199     layout->addRow("Proximity Space Service", proximity_space_service_name_);
00200     proximity_space_service_name_ ->setText(QString::fromStdString(params_.proximity_space_service_name_));
00201 
00202     proximity_space_validity_name_ = new QLineEdit(groupBox);
00203     layout->addRow("Proximity Space Validity Service", proximity_space_validity_name_);
00204     proximity_space_validity_name_ ->setText(QString::fromStdString(params_.proximity_space_validity_name_));
00205 
00206     proximity_space_planner_name_ = new QLineEdit(groupBox);
00207     layout->addRow("Proximity Space Planner", proximity_space_planner_name_);
00208     proximity_space_planner_name_ ->setText(QString::fromStdString(params_.proximity_space_planner_name_));
00209 
00210     execute_left_trajectory_ = new QLineEdit(groupBox);
00211     layout->addRow("Execute Left Trajectory", execute_left_trajectory_);
00212     execute_left_trajectory_ ->setText(QString::fromStdString(params_.execute_left_trajectory_));
00213 
00214     execute_right_trajectory_ = new QLineEdit(groupBox);
00215     layout->addRow("Execute Right Trajectory", execute_right_trajectory_);
00216     execute_right_trajectory_ ->setText(QString::fromStdString(params_.execute_right_trajectory_));
00217 
00218     use_robot_data_ = new QCheckBox(groupBox);
00219     use_robot_data_->setText("Use Robot Data");
00220     use_robot_data_->setChecked(params_.use_robot_data_);
00221     layout->addRow("Use Data From Simulated/Real Robot?", use_robot_data_);
00222     use_robot_data_->setToolTip("When this is checked, a robot state publisher will not be created. Instead, TF data\n\
00223                                   will be taken from the robot's actual state.");
00224     sync_with_gazebo_ = new QCheckBox(groupBox);
00225     sync_with_gazebo_->setText("Sync With Gazebo");
00226     sync_with_gazebo_->setChecked(false);
00227     sync_with_gazebo_->setToolTip("When this is checked, the warehouse viewer will attempt to set the robot state\n\
00228                                      to the start state of any motion plan requests played.");
00229     layout->addRow("Synchronize Robot State With Gazebo?", sync_with_gazebo_);
00230 
00231     QPushButton* button = new QPushButton(groupBox);
00232     button->setText("Accept");
00233     button->setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Maximum);
00234     connect(button, SIGNAL(clicked()), this, SLOT(accept()));
00235 
00236     boxLayout->addWidget(groupBox);
00237     boxLayout->addWidget(button);
00238     groupBox->setLayout(layout);
00239     setLayout(boxLayout);
00240 
00241   }
00242 
00246   void updateParams()
00247   {
00248     params_.left_ik_name_ = left_ik_name_->text().toStdString();
00249     params_.right_ik_name_ = right_ik_name_->text().toStdString();
00250     params_.non_coll_left_ik_name_ = non_coll_left_ik_name_ ->text().toStdString();
00251     params_.non_coll_right_ik_name_ = non_coll_right_ik_name_ ->text().toStdString();
00252     params_.right_arm_group_ = right_arm_group_->text().toStdString();
00253     params_.left_arm_group_ = left_arm_group_ ->text().toStdString();
00254     params_.right_redundancy_ = right_arm_redundancy_->text().toStdString();
00255     params_.left_redundancy_ = left_arm_redundancy_->text().toStdString();
00256     params_.left_ik_link_ = left_ik_link_->text().toStdString();
00257     params_.right_ik_link_ = right_ik_link_->text().toStdString();
00258     params_.planner_1_service_name_ = planner_1_service_name_->text().toStdString();
00259     params_.planner_2_service_name_ = planner_2_service_name_->text().toStdString();
00260     params_.left_interpolate_service_name_ = left_interpolate_service_name_->text().toStdString();
00261     params_.right_interpolate_service_name_ = right_interpolate_service_name_->text().toStdString();
00262     params_.trajectory_filter_1_service_name_ = trajectory_filter_1_service_name_->text().toStdString();
00263     params_.trajectory_filter_2_service_name_ = trajectory_filter_2_service_name_->text().toStdString();
00264     params_.proximity_space_service_name_ = proximity_space_service_name_->text().toStdString();
00265     params_.proximity_space_validity_name_ = proximity_space_validity_name_->text().toStdString();
00266     params_.proximity_space_planner_name_ = proximity_space_planner_name_->text().toStdString();
00267     params_.execute_left_trajectory_ = execute_left_trajectory_->text().toStdString();
00268     params_.execute_right_trajectory_ = execute_right_trajectory_->text().toStdString();
00269     params_.use_robot_data_ = use_robot_data_->isChecked();
00270     params_.sync_robot_state_with_gazebo_ = sync_with_gazebo_->isChecked();
00271   }
00272 
00273 private:
00274   QFormLayout* layout;
00275   QLineEdit* left_ik_name_;
00276   QLineEdit* right_ik_name_;
00277   QLineEdit* non_coll_left_ik_name_;
00278   QLineEdit* non_coll_right_ik_name_;
00279   QLineEdit* right_arm_group_;
00280   QLineEdit* left_arm_group_;
00281   QLineEdit* right_arm_redundancy_;
00282   QLineEdit* left_arm_redundancy_;
00283   QLineEdit* left_ik_link_;
00284   QLineEdit* right_ik_link_;
00285   QLineEdit* planner_1_service_name_;
00286   QLineEdit* planner_2_service_name_;
00287   QLineEdit* left_interpolate_service_name_;
00288   QLineEdit* right_interpolate_service_name_;
00289   QLineEdit* trajectory_filter_1_service_name_;
00290   QLineEdit* trajectory_filter_2_service_name_;
00291   QLineEdit* proximity_space_service_name_;
00292   QLineEdit* proximity_space_validity_name_;
00293   QLineEdit* proximity_space_planner_name_;
00294   QLineEdit* execute_left_trajectory_;
00295   QLineEdit* execute_right_trajectory_;
00296   QCheckBox* use_robot_data_;
00297   QCheckBox* sync_with_gazebo_;
00298 
00299 };
00300 
00301 class PlanningSceneNameTableItem: public QObject, public QTableWidgetItem
00302 {
00303   Q_OBJECT
00304   public:
00305 
00306   PlanningSceneNameTableItem(const QString& qs) : QTableWidgetItem(qs) {}
00307   
00308   bool operator< (const QTableWidgetItem& other) const {
00309     unsigned int other_id = planning_scene_utils::getPlanningSceneIdFromName(other.text().toStdString());
00310     unsigned int my_id = planning_scene_utils::getPlanningSceneIdFromName(this->text().toStdString());
00311     if(my_id < other_id) {
00312       return true;
00313     } else {
00314       return false;
00315     }
00316   }
00317 };
00318 
00319 class PlanningSceneDateTableItem: public QObject, public QTableWidgetItem
00320 {
00321   Q_OBJECT
00322   public:
00323 
00324   PlanningSceneDateTableItem(const QString& qs) : QTableWidgetItem(qs) {}
00325   
00326   bool operator< (const QTableWidgetItem& other) const {
00327     QDateTime other_time = QDateTime::fromString(other.text());
00328     QDateTime my_time = QDateTime::fromString(this->text());
00329     if(my_time < other_time) {
00330       return true;
00331     } else {
00332       return false;
00333     }
00334   }
00335 };
00336 
00340 class WarehouseViewer: public QMainWindow, public planning_scene_utils::PlanningSceneEditor
00341 {
00342   Q_OBJECT
00343   public:
00345   bool quit_threads_;
00346 
00350   class TableLoadThread: public QThread
00351   {
00352   public:
00353     WarehouseViewer* visualizer_;
00354     TableLoadThread(WarehouseViewer* visualizer) :
00355       QThread(visualizer), visualizer_(visualizer)
00356     {
00357     }
00358 
00359     void run()
00360     {
00361       visualizer_->createPlanningSceneTable();
00362     }
00363   };
00364 
00365   WarehouseViewer(QWidget* parent, planning_scene_utils::PlanningSceneParameters& params);
00366   ~WarehouseViewer();
00367 
00369   void initQtWidgets();
00371   void setupPlanningSceneDialog();
00373   void createPlanningSceneTable();
00375   void createTrajectoryTable();
00377   void createMotionPlanTable();
00379   void createNewObjectDialog();
00381   void createNewMeshDialog();
00383   void createRequestDialog();
00384 
00385   void createSetPathConstraintsDialog(planning_scene_utils::MotionPlanRequestData& data);
00386 
00388   void updateState();
00390   void onPlanningSceneLoaded(int scene, int numScenes);
00391   void createOutcomeDialog();
00392   void createAlterLinkPaddingDialog();
00393   void createAlterAllowedCollisionDialog();
00394   void createAttachObjectDialog(const std::string& name);
00395   bool createNewPlanningSceneConfirm();  
00396   void createRobotStateEditor();
00397 
00399   QGroupBox *createMotionPlanBox();
00401   QGroupBox *createTrajectoryBox();
00403   QGroupBox *createTrajectoryControlsBox();
00405   QGroupBox *createTrajectoryInfoBox();
00406 
00407   void saveCurrentPlanningScene(bool copy);
00408 
00409   virtual void planCallback(arm_navigation_msgs::ArmNavigationErrorCodes& errorCode);
00410   virtual void filterCallback(arm_navigation_msgs::ArmNavigationErrorCodes& errorCode);
00411 
00412   virtual void attachObjectCallback(const std::string& name) {
00413     emit attachObjectSignal(name);
00414   }
00415 
00417   virtual void selectedTrajectoryCurrentPointChanged( unsigned int new_current_point );
00418 
00419   void setEnabledDisabledDisplay(const QString& qs1, const QString& qs2);
00420   void getEntryList(const std::string& s1, 
00421                     std::vector<std::string>& sv1);
00422   void addSpecialEntries(QListWidget* list_widget);
00423 
00424 signals:
00426   void changeProgress(int progress);
00428   void updateTables();
00429   
00430   void plannerFailure(int value);
00431   void filterFailure(int value);
00432                                
00433   void attachObjectSignal(const std::string& name);
00434 
00435   void allScenesLoaded();
00436 
00437   void selectedTrajectoryPointChanged( unsigned int new_point );
00438 
00439 public slots:
00440 
00441   void refreshPlanningSceneDialog();
00442 
00443   void popupPlannerFailure(int value);
00444   void popupFilterFailure(int value);
00445 
00447   void quit();
00449   void popupLoadPlanningScenes();
00451   void progressChanged(int progress)
00452   {
00453     load_scene_progress_->setValue(progress);
00454   }
00455   void planningSceneTableHeaderClicked(int col);
00456   void newButtonPressed();
00458   void loadButtonPressed();
00460   void refreshButtonPressed();
00461   void removePlanningSceneButtonPressed();
00463   void trajectoryTableSelection();
00465   void motionPlanTableSelection();
00467   void playButtonPressed();
00469   void filterButtonPressed();
00471   void trajectorySliderChanged(int nv);
00473   void replanButtonPressed();
00475   void trajectoryEditChanged();
00477   void createNewPlanningSceneSlot();
00479   void savePlanningSceneSlot();
00481   void copyPlanningSceneSlot();
00483   void createNewMotionPlanRequest(std::string group_name, std::string end_effector_name);
00485   void motionPlanStartColorButtonClicked();
00487   void motionPlanEndColorButtonClicked();
00489   void motionPlanStartVisibleButtonClicked(bool checked);
00491   void motionPlanEndVisibleButtonClicked(bool checked);
00493   void trajectoryColorButtonClicked();
00495   void trajectoryVisibleButtonClicked(bool checked);
00497   void createNewMotionPlanPressed();
00499   void createNewObjectPressed();
00501   void createObjectConfirmedPressed();
00503   void createMeshConfirmedPressed();
00505   void createNewMeshPressed();
00507   void createRequestPressed();
00509   void motionPlanCollisionVisibleButtonClicked(bool checked);
00511   void trajectoryCollisionsVisibleButtonClicked(bool checked);
00513   void motionPlanJointControlsActiveButtonClicked(bool checked);
00515   void selectMotionPlan(std::string ID);
00517   void selectTrajectory(std::string ID);
00519   void deleteSelectedMotionPlan();
00521   void deleteSelectedTrajectory();
00523   void updateStateTriggered();
00525   void executeButtonPressed();
00527   void refreshSceneButtonPressed();
00529   void viewOutcomesPressed();
00531   void alterLinkPaddingPressed();
00533   void alterAllowedCollisionPressed();
00535   void modelRenderTypeChanged(const QString& type);
00537   void trajectoryRenderTypeChanged(const int& type);
00539   void motionPlanRenderTypeChanged(const QString& type);
00541   void objectColorButtonPressed();
00542   void meshColorButtonPressed();
00543 
00545   void alteredLinkPaddingValueChanged(double d);
00546 
00547   void firstEntityListSelected();
00548   void secondEntityListSelected();
00549   void entityListsEdited();
00550   void disableCollisionClicked();
00551   void enableCollisionClicked();
00552   void resetAllowedCollisionClicked();
00553 
00554   void meshFileSelected(const QString& s);
00555 
00556   void attachObject(const std::string& name);
00557   void addTouchLinkClicked();
00558   void removeTouchLinkClicked();
00559 
00560   void editRobotStatePressed();
00561   void editJointBoxChanged(const QString& joint);
00562   void jointStateSliderChanged(int nv);
00563 
00564   void motionPlanHasPathConstraintsButtonClicked(bool checked);
00565   void setPathConstraintsButtonClicked();
00566 
00567   void primaryPlannerTriggered();
00568   void secondaryPlannerTriggered();
00569   void primaryFilterTriggered();
00570   void secondaryFilterTriggered();
00571 
00572   void onSelectedTrajectoryPointChanged( unsigned int new_point );
00573 
00574 protected:
00575   
00576   bool planning_scene_initialized_;
00577   QLabel* selected_trajectory_label_;
00578   QLabel* selected_trajectory_source_label_;
00579   QLabel* selected_trajectory_error_title_;
00580   QLabel* selected_trajectory_error_label_;
00581   QLabel* selected_request_label_;
00582   QLabel* selected_trajectory_stat_0_title_;
00583   QLabel* selected_trajectory_stat_0_label_;
00584   QLabel* selected_trajectory_stat_1_title_;
00585   QLabel* selected_trajectory_stat_1_label_;
00586   QLabel* selected_trajectory_stat_2_title_;
00587   QLabel* selected_trajectory_stat_2_label_;
00588   QLabel* selected_trajectory_stat_3_title_;
00589   QLabel* selected_trajectory_stat_3_label_;
00590   QLabel* selected_trajectory_stat_4_title_;
00591   QLabel* selected_trajectory_stat_4_label_;
00592   QLabel* selected_trajectory_stat_5_title_;
00593   QLabel* selected_trajectory_stat_5_label_;
00594 
00595   QMenuBar* menu_bar_;
00596   QMenu* file_menu_;
00597   QMenu* planning_scene_menu_;
00598   QMenu* collision_object_menu_;
00599   QAction* new_object_action_;
00600   QAction* new_mesh_action_;
00601   QAction* refresh_action_;
00602   QAction* view_outcomes_action_;
00603   
00604   QMenu* planner_configuration_menu_;
00605   QAction* set_primary_planner_action_;
00606   QAction* set_secondary_planner_action_;
00607   QAction* set_primary_filter_action_;
00608   QAction* set_secondary_filter_action_;
00609 
00610   QAction* alter_link_padding_action_;
00611   QDialog* alter_link_padding_dialog_;
00612   QTableWidget* alter_link_padding_table_;
00613 
00614   QAction* alter_allowed_collision_action_;
00615   QDialog* alter_allowed_collision_dialog_;
00616   QLineEdit* first_allowed_collision_line_edit_;
00617   QLineEdit* second_allowed_collision_line_edit_;
00618   QLineEdit* allowed_status_line_edit_;
00619   QListWidget* first_allowed_collision_list_;
00620   QListWidget* second_allowed_collision_list_;
00621 
00622   QDialog* attach_object_dialog_;
00623   QComboBox* attach_link_box_;
00624   QListWidget* possible_touch_links_;
00625   QListWidget* added_touch_links_;
00626 
00627   QAction* edit_robot_state_action_;
00628   QDialog* edit_robot_state_dialog_;
00629   QComboBox* edit_joint_box_;
00630   QSlider* joint_state_slider_;
00631   QLineEdit* lower_bound_edit_window_;
00632   QLineEdit* upper_bound_edit_window_;
00633   QLineEdit* current_value_window_;
00634 
00635   QDialog* set_path_constraints_dialog_;
00636   QCheckBox* constrain_roll_check_box_;
00637   QCheckBox* constrain_pitch_check_box_;
00638   QCheckBox* constrain_yaw_check_box_;
00639   QDoubleSpinBox* constrain_roll_tolerance_;
00640   QDoubleSpinBox* constrain_pitch_tolerance_;
00641   QDoubleSpinBox* constrain_yaw_tolerance_;
00642 
00643   QDialog* load_planning_scene_dialog_;
00644   QDialog* new_object_dialog_;
00645   QDialog* new_mesh_dialog_;
00646   QDialog* new_request_dialog_;
00647   QDialog* outcome_dialog_;
00648   QTableWidget* stage_outcome_table_;
00649   QTableWidget* trajectory_outcome_table_;
00650   QProgressBar* load_scene_progress_;
00651   QAction* new_planning_scene_action_;
00652   QAction* new_motion_plan_action_;
00653   QAction* load_planning_scene_action_;
00654   QAction* save_planning_scene_action_;
00655   QAction* copy_planning_scene_action_;
00656   QAction* quit_action_;
00657   QTableWidget* planning_scene_table_;
00658   QTreeWidget* motion_plan_tree_;
00659   QTreeWidget* trajectory_tree_;
00660   QSlider* trajectory_slider_;
00661   QPushButton* play_button_;
00662   QPushButton* filter_button_;
00663   QPushButton* replan_button_;
00664   QPushButton* execute_button_;
00665 
00666   QPushButton* new_planning_scene_button_;
00667   QPushButton* load_planning_scene_button_;
00668   QPushButton* refresh_planning_scene_button_;
00669   QPushButton* remove_planning_scene_button_;
00670   QPushButton* object_color_button_;
00671   QComboBox* collision_display_box_;
00672 
00673   QSpinBox* trajectory_point_edit_;
00674 
00675   TableLoadThread* table_load_thread_;
00676 
00677   QComboBox* collision_object_type_box_;
00678   QLineEdit* collision_object_name_;
00679   QComboBox* request_group_name_box_;
00680   QSpinBox* collision_object_scale_x_box_;
00681   QSpinBox* collision_object_scale_y_box_;
00682   QSpinBox* collision_object_scale_z_box_;
00683   QSpinBox* collision_object_pos_x_box_;
00684   QSpinBox* collision_object_pos_y_box_;
00685   QSpinBox* collision_object_pos_z_box_;
00686   QPushButton* make_object_button_;
00687 
00688   QLineEdit* mesh_object_name_;
00689   QSpinBox* mesh_object_pos_x_box_;
00690   QSpinBox* mesh_object_pos_y_box_;
00691   QSpinBox* mesh_object_pos_z_box_;
00692   QDoubleSpinBox* mesh_object_scale_x_box_;
00693   QDoubleSpinBox* mesh_object_scale_y_box_;
00694   QDoubleSpinBox* mesh_object_scale_z_box_;
00695   QPushButton* mesh_color_button_;
00696   QPushButton* make_mesh_button_;
00697 
00698   QCheckBox* load_motion_plan_requests_box_;
00699   QCheckBox* load_trajectories_box_;
00700   QCheckBox* create_request_from_robot_box_;
00701 
00702   QFileDialog* file_selector_;
00703   QLineEdit* mesh_filename_field_;
00704 
00705   QFormLayout* trajectory_info_box_layout_;
00706 
00709   void setSelectedTrajectoryCheckboxVisible();
00710 
00712   void setCommonTrajectoryInfo();
00714   void setPlannedTrajectoryInfo(bool success, planning_scene_utils::TrajectoryData& trajectory);
00716   void setFilteredTrajectoryInfo(bool success, planning_scene_utils::TrajectoryData& trajectory);
00718   void setExecutedTrajectoryInfo(bool success, planning_scene_utils::TrajectoryData& trajectory);
00720   void setOvershootTrajectoryInfo(bool success, planning_scene_utils::TrajectoryData& trajectory);
00721 
00722   // convenience functions
00723   std::string intToString(int val);
00724   std::string floatToString(double val);
00725 
00726 };
00727 #endif


move_arm_warehouse
Author(s): Ioan Sucan, Sachin Chitta(sachinc@willowgarage.com)
autogenerated on Fri Dec 6 2013 21:12:34