trajectory_panel.cpp
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00004  *  Copyright (c) 2017, Yannick Jonetzko
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00034 
00035 /* Author: Yannick Jonetzko */
00036 
00037 #include <moveit/rviz_plugin_render_tools/trajectory_panel.h>
00038 #include <QHBoxLayout>
00039 
00040 namespace moveit_rviz_plugin
00041 {
00042 TrajectoryPanel::TrajectoryPanel(QWidget* parent) : Panel(parent)
00043 {
00044 }
00045 
00046 TrajectoryPanel::~TrajectoryPanel()
00047 {
00048 }
00049 
00050 void TrajectoryPanel::onInitialize()
00051 {
00052   slider_ = new QSlider(Qt::Horizontal);
00053   slider_->setTickInterval(1);
00054   slider_->setMinimum(0);
00055   slider_->setMaximum(0);
00056   slider_->setTickPosition(QSlider::TicksBelow);
00057   slider_->setPageStep(1);
00058   slider_->setEnabled(false);
00059   connect(slider_, SIGNAL(valueChanged(int)), this, SLOT(sliderValueChanged(int)));
00060 
00061   maximum_label_ = new QLabel(QString::number(slider_->maximum()));
00062   minimum_label_ = new QLabel(QString::number(slider_->minimum()));
00063   minimum_label_->setFixedWidth(20);
00064 
00065   button_ = new QPushButton();
00066   button_->setText("Pause");
00067   button_->setEnabled(false);
00068   connect(button_, SIGNAL(clicked()), this, SLOT(buttonClicked()));
00069 
00070   QHBoxLayout* layout = new QHBoxLayout;
00071   layout->addWidget(new QLabel("Waypoint:"));
00072   layout->addWidget(minimum_label_);
00073   layout->addWidget(slider_);
00074   layout->addWidget(maximum_label_);
00075   layout->addWidget(button_);
00076   setLayout(layout);
00077 
00078   paused_ = false;
00079   parentWidget()->setVisible(false);
00080 }
00081 
00082 void TrajectoryPanel::onEnable()
00083 {
00084   show();
00085   parentWidget()->show();
00086 }
00087 
00088 void TrajectoryPanel::onDisable()
00089 {
00090   hide();
00091   paused_ = false;
00092   parentWidget()->hide();
00093 }
00094 
00095 void TrajectoryPanel::update(int way_point_count)
00096 {
00097   int max_way_point = std::max(0, way_point_count - 1);
00098 
00099   slider_->setEnabled(way_point_count != 0);
00100   button_->setEnabled(way_point_count != 0);
00101 
00102   last_way_point_ = max_way_point;
00103   paused_ = false;
00104   slider_->setSliderPosition(0);
00105   slider_->setMaximum(max_way_point);
00106   maximum_label_->setText(QString::number(max_way_point));
00107 }
00108 
00109 void TrajectoryPanel::pauseButton(bool pause)
00110 {
00111   if (pause)
00112   {
00113     button_->setText("Play");
00114     paused_ = true;
00115   }
00116   else
00117   {
00118     button_->setText("Pause");
00119     paused_ = false;
00120     if (slider_->sliderPosition() == last_way_point_)
00121       slider_->setSliderPosition(0);
00122   }
00123 }
00124 
00125 void TrajectoryPanel::setSliderPosition(int position)
00126 {
00127   slider_->setSliderPosition(position);
00128 }
00129 
00130 void TrajectoryPanel::sliderValueChanged(int value)
00131 {
00132   minimum_label_->setText(QString::number(value));
00133 }
00134 
00135 void TrajectoryPanel::buttonClicked()
00136 {
00137   if (paused_)
00138     pauseButton(false);
00139   else
00140     pauseButton(true);
00141 }
00142 
00143 }  // namespace moveit_rviz_plugin


visualization
Author(s): Ioan Sucan , Dave Coleman , Sachin Chitta
autogenerated on Mon Jul 24 2017 02:22:14