Program Listing for File default_collisions_widget.hpp
↰ Return to documentation for file (include/moveit_setup_srdf_plugins/default_collisions_widget.hpp
)
/*********************************************************************
* 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 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 */
#pragma once
#include <moveit_setup_framework/qt/setup_step_widget.hpp>
#include <moveit_setup_srdf_plugins/default_collisions.hpp>
#include <QThread>
#include <QAbstractItemModel>
#include <QAction>
#include <QButtonGroup>
#include <QCheckBox>
#include <QGroupBox>
#include <QHeaderView>
#include <QItemSelection>
#include <QItemSelectionModel>
#include <QLabel>
#include <QLineEdit>
#include <QProgressBar>
#include <QPushButton>
#include <QSlider>
#include <QSpinBox>
#include <QTableView>
#include <QVBoxLayout>
namespace moveit_setup
{
namespace srdf_setup
{
class MonitorThread;
class DefaultCollisionsWidget : public SetupStepWidget
{
Q_OBJECT
public:
enum ViewMode
{
MATRIX_MODE = 0,
LINEAR_MODE = 1
};
// ******************************************************************************************
// Public Functions
// ******************************************************************************************
void onInit() override;
~DefaultCollisionsWidget() override;
SetupStep& getSetupStep() override
{
return setup_step_;
}
private Q_SLOTS:
// ******************************************************************************************
// Slot Event Functions
// ******************************************************************************************
void startGeneratingCollisionTable();
void finishGeneratingCollisionTable();
void changeDensityLabel(int value);
void loadCollisionTable();
void checkedFilterChanged();
void collisionsChanged(const QModelIndex& index);
void revertChanges();
void previewSelectedMatrix(const QModelIndex& index);
void previewSelectedLinear(const QModelIndex& index);
void focusGiven() override;
bool focusLost() override;
void showHeaderContextMenu(const QPoint& p);
void hideSections();
void hideOtherSections();
void showSections();
private:
// ******************************************************************************************
// Qt Components
// ******************************************************************************************
QLabel* page_title_;
QTableView* collision_table_;
QAbstractItemModel* model_;
QItemSelectionModel* selection_model_;
QVBoxLayout* layout_;
QLabel* density_value_label_;
QSlider* density_slider_;
QPushButton* btn_generate_;
QGroupBox* controls_box_;
QProgressBar* progress_bar_;
QLabel* progress_label_;
QLineEdit* link_name_filter_;
QCheckBox* collision_checkbox_;
QLabel* fraction_label_;
QSpinBox* fraction_spinbox_;
QPushButton* btn_revert_;
QButtonGroup* view_mode_buttons_;
QList<QAction*> header_actions_; // context actions for header sections
Qt::Orientations clicked_headers_; // remember which header section activated context actions
int clicked_section_; // remember which header section activated context actions
// ******************************************************************************************
// Variables
// ******************************************************************************************
MonitorThread* worker_;
DefaultCollisions setup_step_;
// ******************************************************************************************
// Private Functions
// ******************************************************************************************
void disableControls(bool disable);
bool eventFilter(QObject* object, QEvent* event) override;
void showSections(QHeaderView* header, const QList<int>& logicalIndexes);
void toggleSelection(QItemSelection selection);
};
class MonitorThread : public QThread
{
Q_OBJECT
public:
MonitorThread(DefaultCollisions& setup_step, QProgressBar* progress_bar = nullptr);
void run() override;
void cancel()
{
canceled_ = true;
}
bool canceled() const
{
return canceled_;
}
Q_SIGNALS:
void progress(int /*_t1*/);
private:
DefaultCollisions& setup_step_;
bool canceled_;
};
} // namespace srdf_setup
} // namespace moveit_setup