default_collisions_widget.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Dave Coleman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_DEFAULT_COLLISIONS_WIDGET__
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_DEFAULT_COLLISIONS_WIDGET_

#include <QWidget>
#include <QLabel>
#include <QVBoxLayout>
#include <QTableWidget>
#include <QSlider>
#include <QPushButton>
#include <QGroupBox>
#include <QProgressBar>
#include <QCheckBox>
#include <QSpinBox>

#ifndef Q_MOC_RUN
#include <boost/thread.hpp>
#include <moveit/setup_assistant/tools/compute_default_collisions.h>
#include <moveit/setup_assistant/tools/moveit_config_data.h>
#endif

#include "header_widget.h"
#include "setup_screen_widget.h" // a base class for screens in the setup assistant

namespace moveit_setup_assistant
{

class DefaultCollisionsWidget : public SetupScreenWidget
{
  Q_OBJECT

public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************

  DefaultCollisionsWidget( QWidget *parent, moveit_setup_assistant::MoveItConfigDataPtr config_data );

  void linkPairsToSRDF();

  void linkPairsFromSRDF();


private Q_SLOTS:

  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************

  void generateCollisionTable();

  void changeDensityLabel(int value);

  void loadCollisionTable();

  void collisionCheckboxToggle();

  void toggleCheckBox(int j, int i);

  void previewClicked( int row, int column );

  void focusGiven();

private:

  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
  QLabel *page_title_;
  QTableWidget *collision_table_;
  QVBoxLayout *layout_;
  QLabel *density_value_label_;
  QSlider *density_slider_;
  QPushButton *btn_generate_;
  QGroupBox *controls_box_;
  QProgressBar *progress_bar_;
  QLabel *progress_label_;
  QCheckBox *collision_checkbox_;
  QGroupBox *controls_box_bottom_;
  QLabel *fraction_label_;
  QSpinBox *fraction_spinbox_;
  QTimer *update_timer_;

  // ******************************************************************************************
  // Variables
  // ******************************************************************************************

  moveit_setup_assistant::LinkPairMap link_pairs_;

  moveit_setup_assistant::MoveItConfigDataPtr config_data_;

  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************

  void generateCollisionTableThread( unsigned int *collision_progress );

  void disableControls(bool disable);

};

}

#endif