robot_poses_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_ROBOT_POSES_WIDGET_
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_ROBOT_POSES_WIDGET_

// Qt
#include <QWidget>
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QScrollArea>
#include <QGroupBox>
#include <QLabel>
#include <QPushButton>
#include <QTableWidget>
#include <QStackedLayout>
#include <QString>
#include <QComboBox>

// SA
#ifndef Q_MOC_RUN
#include <moveit/setup_assistant/tools/moveit_config_data.h>
#include <moveit/planning_scene/planning_scene.h> // for collision stuff
#include <ros/ros.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 RobotPosesWidget : public SetupScreenWidget
{
  Q_OBJECT

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

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

  virtual void focusGiven();

  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************
  QTableWidget *data_table_;
  QPushButton *btn_edit_;
  QPushButton *btn_delete_;
  QPushButton *btn_save_;
  QPushButton *btn_cancel_;
  QStackedLayout *stacked_layout_;
  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 );

  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_;

  std::string current_edit_pose_;

  std::map<std::string, double> joint_state_map_;

  std::vector<const robot_model::JointModel*> joint_models_;

  ros::Publisher pub_robot_state_;

  // ******************************************************************************************
  // Collision Variables
  // ******************************************************************************************
  collision_detection::CollisionRequest request;

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

  srdf::Model::GroupState *findPoseByName( const std::string &name );

  QWidget* createContentsWidget();

  QWidget* createEditWidget();

  void loadDataTable();

  void loadGroupsComboBox();

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

  void showPose( srdf::Model::GroupState *pose );
};


// ******************************************************************************************
// ******************************************************************************************
// Slider Widget
// ******************************************************************************************
// ******************************************************************************************
class SliderWidget : public QWidget
{
  Q_OBJECT

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

  SliderWidget( QWidget *parent, const robot_model::JointModel *joint_model,
                double init_value );

  ~SliderWidget();

  // ******************************************************************************************
  // 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 robot_model::JointModel *joint_model_;

  // Max & min position
  double max_position_;
  double min_position_;

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


};


} //namespace

// Declare std::string as metatype so we can use it in a signal
Q_DECLARE_METATYPE (std::string)


#endif