local_task_model.h

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/* Author: Robert Haschke */
 
#pragma once
 
#include "task_list_model.h"
#include <moveit/task_constructor/task.h>
 
namespace moveit_rviz_plugin {
 
class LocalTaskModel : public BaseTaskModel, public moveit::task_constructor::Task
{
        Q_OBJECT
        using Node = moveit::task_constructor::Stage;
        Node* root_;
        StageFactoryPtr stage_factory_;
        std::map<Node*, rviz::PropertyTreeModel*> properties_;
 
        inline Node* node(const QModelIndex& index) const;
        QModelIndex index(Node* n) const;
 
public:
        LocalTaskModel(ContainerBase::pointer&& container, const planning_scene::PlanningSceneConstPtr& scene,
                       rviz::DisplayContext* display_context, QObject* parent = nullptr);
        int rowCount(const QModelIndex& parent = QModelIndex()) const override;
 
        QModelIndex index(int row, int column, const QModelIndex& parent = QModelIndex()) const override;
        QModelIndex parent(const QModelIndex& index) const override;
 
        Qt::ItemFlags flags(const QModelIndex& index) const override;
        QVariant data(const QModelIndex& index, int role = Qt::DisplayRole) const override;
        bool setData(const QModelIndex& index, const QVariant& value, int role = Qt::EditRole) override;
 
        bool removeRows(int row, int count, const QModelIndex& parent) override;
 
        void setStageFactory(const StageFactoryPtr& factory) override;
        bool dropMimeData(const QMimeData* data, Qt::DropAction action, int row, int column,
                          const QModelIndex& parent) override;
 
        QModelIndex indexFromStageId(size_t id) const override;
 
        QAbstractItemModel* getSolutionModel(const QModelIndex& index) override;
        DisplaySolutionPtr getSolution(const QModelIndex& index) override;
 
        rviz::PropertyTreeModel* getPropertyModel(const QModelIndex& index) override;
};
}  // namespace moveit_rviz_plugin