robot_poses_widget.h

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/* Author: Dave Coleman */
 
#pragma once
 
// Qt
class QComboBox;
class QLabel;
class QLineEdit;
class QPushButton;
class QScrollArea;
class QSlider;
class QStackedWidget;
class QTableWidget;
class QVBoxLayout;
 
// 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 RobotPosesWidget : public SetupScreenWidget
{
  Q_OBJECT
 
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  RobotPosesWidget(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_;
  QScrollArea* scroll_area_;
  QVBoxLayout* column2_;
  QLineEdit* pose_name_field_;
  QComboBox* group_name_field_;
  QWidget* joint_list_widget_;
  QVBoxLayout* joint_list_layout_;
  QWidget* pose_list_widget_;
  QWidget* pose_edit_widget_;
  QLabel* collision_warning_;
 
private Q_SLOTS:
 
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  void showNewScreen();
 
  void editSelected();
 
  void editDoubleClicked(int row, int column);
 
  void previewClicked(int row, int column, int previous_row, int previous_column);
 
  void deleteSelected();
 
  void doneEditing();
 
  void cancelEditing();
 
  void loadJointSliders(const QString& selected);
 
  void showDefaultPose();
 
  void playPoses();
 
  void updateRobotModel(const std::string& name, double value);
 
  void publishJoints();
 
private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
 
  moveit_setup_assistant::MoveItConfigDataPtr config_data_;
 
  srdf::Model::GroupState* current_edit_pose_;
 
  ros::Publisher pub_robot_state_;
 
  // ******************************************************************************************
  // Collision Variables
  // ******************************************************************************************
  collision_detection::CollisionRequest request;
 
  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
 
  srdf::Model::GroupState* findPoseByName(const std::string& name, const std::string& group);
 
  QWidget* createContentsWidget();
 
  QWidget* createEditWidget();
 
  void loadDataTable();
 
  void loadGroupsComboBox();
 
  void edit(int row);
 
  void showPose(srdf::Model::GroupState* pose);
};
 
// ******************************************************************************************
// ******************************************************************************************
// Slider Widget
// ******************************************************************************************
// ******************************************************************************************
class SliderWidget : public QWidget
{
  Q_OBJECT
 
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************
 
  SliderWidget(QWidget* parent, const moveit::core::JointModel* joint_model, double init_value);
 
  ~SliderWidget() override;
 
  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
 
  QLabel* joint_label_;
  QSlider* joint_slider_;
  QLineEdit* joint_value_;
 
private Q_SLOTS:
 
  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************
 
  void changeJointValue(int value);
 
  void changeJointSlider();
 
Q_SIGNALS:
 
  // ******************************************************************************************
  // Emitted Signal Functions
  // ******************************************************************************************
 
  void jointValueChanged(const std::string& name, double value);
 
private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************
 
  // Ptr to the joint's data
  const moveit::core::JointModel* joint_model_;
 
  // Max & min position
  double max_position_;
  double min_position_;
 
  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
};
 
}  // namespace moveit_setup_assistant