Program Listing for File collision_linear_model.hpp

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/* Author: Robert Haschke */

#pragma once

#include <QAbstractProxyModel>
#include <QSortFilterProxyModel>
#include <QVector>

#ifndef Q_MOC_RUN
#include <moveit_setup_srdf_plugins/compute_default_collisions.hpp>
#endif

#include <moveit_setup_srdf_plugins/collision_matrix_model.hpp>

namespace moveit_setup
{
namespace srdf_setup
{
class CollisionLinearModel : public QAbstractProxyModel
{
  Q_OBJECT

public:
  CollisionLinearModel(CollisionMatrixModel* src, QObject* parent = nullptr);
  ~CollisionLinearModel() override;

  // reimplement to return the model index in the proxy model that to the sourceIndex from the source model
  QModelIndex mapFromSource(const QModelIndex& sourceIndex) const override;
  // Reimplement this function to return the model index in the source model that corresponds to the proxyIndex in the
  // proxy model
  QModelIndex mapToSource(const QModelIndex& proxyIndex) const override;

  int rowCount(const QModelIndex& parent) const override;
  int columnCount(const QModelIndex& parent) const override;

  QModelIndex index(int row, int column, const QModelIndex& parent = QModelIndex()) const override;
  QModelIndex parent(const QModelIndex& child) const override;
  QVariant data(const QModelIndex& index, int role) const override;
  DisabledReason reason(int row) const;

  bool setData(const QModelIndex& index, const QVariant& value, int role) override;
  void setEnabled(const QItemSelection& selection, bool value);

  Qt::ItemFlags flags(const QModelIndex& index) const override;
  QVariant headerData(int section, Qt::Orientation orientation, int role) const override;
};

class SortFilterProxyModel : public QSortFilterProxyModel
{
  Q_OBJECT

public:
  SortFilterProxyModel(QObject* parent = nullptr);
  QVariant headerData(int section, Qt::Orientation orientation, int role) const override;
  void sort(int column, Qt::SortOrder order) override;
  void setShowAll(bool show_all);
  void setEnabled(const QItemSelection& selection, bool value);

protected:
  bool filterAcceptsRow(int source_row, const QModelIndex& source_parent) const override;
  bool lessThan(const QModelIndex& src_left, const QModelIndex& src_right) const override;

private Q_SLOTS:
  void initSorting();

private:
  bool show_all_;
  QVector<int> sort_columns_;  // sorting history
  QVector<int> sort_orders_;   // corresponding sort orders
};
}  // namespace srdf_setup
}  // namespace moveit_setup