kinematic_chain_widget.h

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/* Author: Dave Coleman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_KINEMATIC_CHAIN_WIDGET_
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_KINEMATIC_CHAIN_WIDGET_

#include <QWidget>
#include <QLabel>
#include <QTreeWidget>

#ifndef Q_MOC_RUN
#include <moveit/setup_assistant/tools/moveit_config_data.h>
#include <ros/ros.h>
#endif

namespace moveit_setup_assistant
{

class KinematicChainWidget : public QWidget
{
  Q_OBJECT

  // ******************************************************************************************
  // Reusable double list widget for selecting and deselecting a subset from a set
  // ******************************************************************************************
  public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************

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

  void setAvailable();

  void setSelected( const std::string &base_link, const std::string &tip_link );


  void addLinktoTreeRecursive(const robot_model::LinkModel* link,
                              const robot_model::LinkModel* parent);


  bool addLinkChildRecursive(QTreeWidgetItem* parent,
                             const robot_model::LinkModel* link,
                             const std::string& parent_name);

  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************

  QLabel *title_; // specify the title from the parent widget
  QTreeWidget *link_tree_;
  QLineEdit *base_link_field_;
  QLineEdit *tip_link_field_;


private Q_SLOTS:

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

  void baseLinkTreeClick();

  void tipLinkTreeClick();

  void alterTree( const QString &link );

  void itemSelected();

Q_SIGNALS:

  // ******************************************************************************************
  // Emitted Signals
  // ******************************************************************************************

  void doneEditing();

  void cancelEditing();

  void highlightLink( const std::string& name );

  void unhighlightAll();

private:


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

  moveit_setup_assistant::MoveItConfigDataPtr config_data_;

  bool kinematic_chain_loaded_;

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

};

}

#endif