kinematic_chain_widget.h

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/* Author: Dave Coleman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_KINEMATIC_CHAIN_WIDGET_
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_WIDGETS_KINEMATIC_CHAIN_WIDGET_

#include <QWidget>
#include <QLabel>
#include <QTreeWidget>

#ifndef Q_MOC_RUN
#include <moveit/setup_assistant/tools/moveit_config_data.h>
#include <ros/ros.h>
#endif

namespace moveit_setup_assistant
{
class KinematicChainWidget : public QWidget
{
  Q_OBJECT

  // ******************************************************************************************
  // Reusable double list widget for selecting and deselecting a subset from a set
  // ******************************************************************************************
public:
  // ******************************************************************************************
  // Public Functions
  // ******************************************************************************************

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

  void setAvailable();

  void setSelected(const std::string& base_link, const std::string& tip_link);

  void addLinktoTreeRecursive(const robot_model::LinkModel* link, const robot_model::LinkModel* parent);

  bool addLinkChildRecursive(QTreeWidgetItem* parent, const robot_model::LinkModel* link,
                             const std::string& parent_name);

  // ******************************************************************************************
  // Qt Components
  // ******************************************************************************************

  QLabel* title_;  // specify the title from the parent widget
  QTreeWidget* link_tree_;
  QLineEdit* base_link_field_;
  QLineEdit* tip_link_field_;

private Q_SLOTS:

  // ******************************************************************************************
  // Slot Event Functions
  // ******************************************************************************************

  void baseLinkTreeClick();

  void tipLinkTreeClick();

  void alterTree(const QString& link);

  void itemSelected();

Q_SIGNALS:

  // ******************************************************************************************
  // Emitted Signals
  // ******************************************************************************************

  void doneEditing();

  void cancelEditing();

  void highlightLink(const std::string& name, const QColor&);

  void unhighlightAll();

private:
  // ******************************************************************************************
  // Variables
  // ******************************************************************************************

  moveit_setup_assistant::MoveItConfigDataPtr config_data_;

  bool kinematic_chain_loaded_;

  // ******************************************************************************************
  // Private Functions
  // ******************************************************************************************
};
}

#endif