setup_assistant_widget.h
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00034 
00035 /* Author: Dave Coleman */
00036 
00037 #ifndef MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_SETUP_ASSISTANT_WIDGET_
00038 #define MOVEIT_ROS_MOVEIT_SETUP_ASSISTANT_WIDGETS_SETUP_ASSISTANT_WIDGET_
00039 
00040 // Qt
00041 #include <QWidget>
00042 #include <QVBoxLayout>
00043 #include <QHBoxLayout>
00044 #include <QString>
00045 #include <QApplication>
00046 #include <QObject>
00047 #include <QEvent>
00048 #include <QListWidget>
00049 #include <QTimer>
00050 #include <QSplitter>
00051 #include <QStringList>
00052 // Setup Asst
00053 #include "navigation_widget.h"
00054 #include "start_screen_widget.h"
00055 #include "default_collisions_widget.h"
00056 #include "planning_groups_widget.h"
00057 #include "robot_poses_widget.h"
00058 #include "end_effectors_widget.h"
00059 #include "virtual_joints_widget.h"
00060 #include "passive_joints_widget.h"
00061 #include "author_information_widget.h"
00062 #include "configuration_files_widget.h"
00063 
00064 #ifndef Q_MOC_RUN
00065 #include <moveit/setup_assistant/tools/moveit_config_data.h>
00066 
00067 // Other
00068 #include <ros/ros.h>
00069 #include <boost/program_options.hpp>  // for parsing input arguments
00070 #include <boost/thread/mutex.hpp>
00071 #endif
00072 
00073 // Forward declarations
00074 namespace rviz
00075 {
00076 class GridDisplay;
00077 class RenderPanel;
00078 class VisualizationManager;
00079 }
00080 
00081 namespace moveit_rviz_plugin
00082 {
00083 class RobotStateDisplay;
00084 }
00085 
00086 namespace moveit_setup_assistant
00087 {
00088 class SetupAssistantWidget : public QWidget
00089 {
00090   Q_OBJECT
00091 
00092 public:
00093   // ******************************************************************************************
00094   // Public Functions
00095   // ******************************************************************************************
00096 
00102   SetupAssistantWidget(QWidget* parent, boost::program_options::variables_map args);
00103 
00108   ~SetupAssistantWidget();
00109 
00115   void moveToScreen(const int index);
00116 
00121   void closeEvent(QCloseEvent* event);
00122 
00130   virtual bool notify(QObject* rec, QEvent* ev);
00131 
00136   // void showRviz( bool show );
00137 
00138   // ******************************************************************************************
00139   // Qt Components
00140   // ******************************************************************************************
00141 
00142 private Q_SLOTS:
00143   // ******************************************************************************************
00144   // Slot Event Functions
00145   // ******************************************************************************************
00146 
00151   void navigationClicked(const QModelIndex& index);
00152 
00156   void updateTimer();
00157 
00161   void progressPastStartScreen();
00162 
00167   void loadRviz();
00168 
00174   void setModalMode(bool isModal);
00175 
00181   void highlightLink(const std::string& link_name, const QColor& color);
00182 
00186   void highlightGroup(const std::string& group_name);
00187 
00191   void unhighlightAll();
00192 
00193   // received when virtual joints that change the reference frame are added
00194   void virtualJointReferenceFrameChanged();
00195 
00196 private:
00197   // ******************************************************************************************
00198   // Variables
00199   // ******************************************************************************************
00200   QList<QString> nav_name_list_;
00201   NavigationWidget* navs_view_;
00202 
00203   QWidget* middle_frame_;
00204   QWidget* rviz_container_;
00205   QSplitter* splitter_;
00206   QStackedLayout* main_content_;
00207   int current_index_;
00208   boost::mutex change_screen_lock_;
00209 
00210   // Rviz Panel
00211   rviz::RenderPanel* rviz_render_panel_;
00212   rviz::VisualizationManager* rviz_manager_;
00213   moveit_rviz_plugin::RobotStateDisplay* robot_state_display_;
00214 
00215   // Screen Widgets
00216   StartScreenWidget* ssw_;
00217   DefaultCollisionsWidget* dcw_;
00218   PlanningGroupsWidget* pgw_;
00219   RobotPosesWidget* rpw_;
00220   EndEffectorsWidget* efw_;
00221   VirtualJointsWidget* vjw_;
00222   PassiveJointsWidget* pjw_;
00223   AuthorInformationWidget* aiw_;
00224   ConfigurationFilesWidget* cfw_;
00225 
00227   moveit_setup_assistant::MoveItConfigDataPtr config_data_;
00228 
00229   // ******************************************************************************************
00230   // Private Functions
00231   // ******************************************************************************************
00232 };
00233 }
00234 
00235 #endif


moveit_setup_assistant
Author(s): Dave Coleman
autogenerated on Wed Jun 19 2019 19:25:13