passive_joints_widget.cpp

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/* Author: Dave Coleman */

// SA
#include "passive_joints_widget.h"
// Qt
#include <QFormLayout>
#include <QMessageBox>

namespace moveit_setup_assistant
{

// ******************************************************************************************
// Constructor
// ******************************************************************************************
PassiveJointsWidget::PassiveJointsWidget( QWidget *parent, moveit_setup_assistant::MoveItConfigDataPtr config_data )
  : SetupScreenWidget( parent ), config_data_(config_data)
{
  // Basic widget container
  QVBoxLayout *layout = new QVBoxLayout( );

  // Top Header Area ------------------------------------------------

  HeaderWidget *header = new HeaderWidget( "Passive Joints",
                                           "Specify the set of passive joints (not actuated). Joint state is not expected to be published for these joints.",
                                           this);
  layout->addWidget( header );

  // Joints edit widget
  joints_widget_ = new DoubleListWidget( this, config_data_, "Joint Collection", "Joint", false);
  connect( joints_widget_, SIGNAL( selectionUpdated() ), this, SLOT( selectionUpdated() ) );
  connect( joints_widget_, SIGNAL( previewSelected( std::vector<std::string> ) ),
           this, SLOT( previewSelectedJoints( std::vector<std::string> ) ) );

  // Set the title
  joints_widget_->title_->setText( "" );

  joints_widget_->setColumnNames("Active Joints", "Passive Joints");

  layout->addWidget( joints_widget_ );

  // Finish Layout --------------------------------------------------
  this->setLayout(layout);
}

// ******************************************************************************************
//
// ******************************************************************************************
void PassiveJointsWidget::focusGiven()
{
  joints_widget_->clearContents();

  // Retrieve pointer to the shared kinematic model
  const robot_model::RobotModelConstPtr &model = config_data_->getRobotModel();

  // Get the names of the all joints
  const std::vector<std::string> &joints = model->getJointModelNames();

  if( joints.size() == 0 )
  {
    QMessageBox::critical( this, "Error Loading", "No joints found for robot model");
    return;
  }
  std::vector<std::string> active_joints;
  for (std::size_t i = 0 ; i < joints.size() ; ++i)
    if (model->getJointModel(joints[i])->getVariableCount() > 0)
      active_joints.push_back(joints[i]);

  // Set the available joints (left box)
  joints_widget_->setAvailable( active_joints );

  std::vector<std::string> passive_joints;
  for (std::size_t i = 0 ; i < config_data_->srdf_->passive_joints_.size() ; ++i)
    passive_joints.push_back(config_data_->srdf_->passive_joints_[i].name_);
  joints_widget_->setSelected( passive_joints );
}

// ******************************************************************************************
//
// ******************************************************************************************
void PassiveJointsWidget::selectionUpdated()
{
  config_data_->srdf_->passive_joints_.clear();
  for( int i = 0; i < joints_widget_->selected_data_table_->rowCount(); ++i )
  {
    srdf::Model::PassiveJoint pj;
    pj.name_ = joints_widget_->selected_data_table_->item( i, 0 )->text().toStdString();
    config_data_->srdf_->passive_joints_.push_back(pj);
  }
}

// ******************************************************************************************
// Called from Double List widget to highlight joints
// ******************************************************************************************
void PassiveJointsWidget::previewSelectedJoints( std::vector<std::string> joints )
{
  // Unhighlight all links
  Q_EMIT unhighlightAll();

  for(int i = 0; i < joints.size(); ++i)
  {

    const robot_model::JointModel *joint_model = config_data_->getRobotModel()->getJointModel( joints[i] );

    // Check that a joint model was found
    if( !joint_model )
    {
      continue;
    }

    // Get the name of the link
    const std::string link = joint_model->getChildLinkModel()->getName();

    if( link.empty() )
    {
      continue;
    }

    // Highlight link
    Q_EMIT highlightLink( link );
  }
}


} // namespace