moveit_plugin.py
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00001 # Software License Agreement (BSD License)
00002 #
00003 # Copyright (c) 2012, Willow Garage, Inc.
00004 # All rights reserved.
00005 #
00006 # Redistribution and use in source and binary forms, with or without
00007 # modification, are permitted provided that the following conditions
00008 # are met:
00009 #
00010 #  * Redistributions of source code must retain the above copyright
00011 #    notice, this list of conditions and the following disclaimer.
00012 #  * Redistributions in binary form must reproduce the above
00013 #    copyright notice, this list of conditions and the following
00014 #    disclaimer in the documentation and/or other materials provided
00015 #    with the distribution.
00016 #  * Neither the name of Willow Garage, Inc. nor the names of its
00017 #    contributors may be used to endorse or promote products derived
00018 #    from this software without specific prior written permission.
00019 #
00020 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00021 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00022 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00023 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00024 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00025 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00026 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00027 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00028 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00029 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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00031 # POSSIBILITY OF SUCH DAMAGE.
00032 #
00033 # Author: Isaac Saito
00034 
00035 from rqt_py_common.plugin_container_widget import PluginContainerWidget
00036 from rqt_gui_py.plugin import Plugin
00037 
00038 from rqt_moveit.moveit_widget import MoveitWidget
00039 
00040 
00041 class MoveitPlugin(Plugin):
00042 
00043     def __init__(self, plugin_context):
00044         super(MoveitPlugin, self).__init__(plugin_context)
00045         self._plugin_context = plugin_context
00046 
00047         self._moveit_widget = MoveitWidget(self, plugin_context)
00048         self.mainwidget = PluginContainerWidget(self._moveit_widget,
00049                                                  True, False)
00050 
00051         if self._plugin_context.serial_number() > 1:
00052             self.mainwidget.setWindowTitle(self.mainwidget.windowTitle() +
00053                                    (' (%d)' % plugin_context.serial_number()))
00054 
00055         plugin_context.add_widget(self.mainwidget)
00056 
00057     def get_widget(self):
00058         return self.mainwidget
00059 
00060     def shutdown_plugin(self):
00061         self.mainwidget.shutdown()
00062 
00063     def save_settings(self, plugin_settings, instance_settings):
00064         self.mainwidget.save_settings(plugin_settings, instance_settings)
00065 
00066     def restore_settings(self, plugin_settings, instance_settings):
00067         self.mainwidget.restore_settings(plugin_settings, instance_settings)
00068 
00069     def _update_msg(self):
00070         """
00071         Update necessary components (per topic) regularly
00072         """
00073         self._moveit_widget.update_topic_table()


rqt_moveit
Author(s): Isaac Saito
autogenerated on Mon Oct 6 2014 07:16:06